[127] | 1 | // Includes, project.
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| 2 | #include "VislabCamera.hpp"
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| 3 |
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| 4 | // Includes, qt.imageformat
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| 5 | #include <QDebug>
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| 6 |
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| 7 | // Includes, standard.
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| 8 | #include <cassert>
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| 9 | #include <stdexcept>
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| 10 |
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| 11 | // Includes lib3dv
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[142] | 12 | #include <lib3dv/device.h>
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[127] | 13 | #include "DiskWriter.h"
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| 14 | #include "Display.h"
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| 15 | #include "VislabImageProcessor.h"
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| 16 |
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| 17 | #include <boost/asio/io_service.hpp>
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| 18 | #include <boost/asio/ip/address.hpp>
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| 19 | #include <boost/bind.hpp>
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| 20 | #include <boost/ref.hpp>
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| 21 | #include <boost/thread.hpp>
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| 22 |
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| 23 | using namespace pacpus;
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| 24 |
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| 25 | //ComponentFactory<VislabCamera> sFactory("VislabComponent");
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[132] | 26 | /*! Constructor with 2 instantiations of DiskWriter and 2 instatiations of Display*/
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[127] | 27 | VislabCamera::VislabCamera(const QString& name)
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| 28 | :diskwriterVideo(name,lib3dv::image::type::RIGHT_RECTIFIED),
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| 29 | diskwriterDisparite(name,lib3dv::image::type::DSI),
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[147] | 30 | //displayVideo("Video",lib3dv::image::type::RIGHT_RECTIFIED),
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| 31 | //displayDisparite("Disparite",lib3dv::image::type::DSI),
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[134] | 32 | outputVideo(lib3dv::image::type::RIGHT_RECTIFIED),
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| 33 | outputDisparite(lib3dv::image::type::DSI)
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[127] | 34 | {
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| 35 |
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| 36 | }
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| 37 |
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| 38 | VislabCamera::~VislabCamera()
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| 39 | {
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| 40 |
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| 41 | }
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| 42 |
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| 43 | void VislabCamera::open()
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| 44 | {
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[142] | 45 | curr_devices = lib3dv::device::enumerate(boost::asio::ip::address_v4::from_string("192.168.0.2"), 0);
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| 46 | if (error != lib3dv::error::NONE)
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| 47 | {
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| 48 | std::cout << "[EE] 3dv-client: error detected: " << error << std::endl;
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| 49 | return;
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| 50 | }
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[127] | 51 |
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| 52 | if(curr_devices.empty())
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| 53 | {
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| 54 | std::cout << "[EE] 3dv-client: no devices found" << std::endl;
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[142] | 55 | return;
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[127] | 56 | //return lib3dv::error::NONE;
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| 57 | }
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| 58 | //disk_writer = boost::shared_ptr< ::disk_writer>(new ::disk_writer(paths, data_format, autonumber, params, guid_type, log_level));
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[142] | 59 |
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| 60 | //curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &displayVideo, _1)));
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| 61 | //curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &displayDisparite, _1)));
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[144] | 62 | curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &diskwriterVideo, _1)));
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| 63 | curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &diskwriterDisparite, _1)));
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[142] | 64 | curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &outputVideo, _1)));
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| 65 | curr_devices[0].connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>)>(boost::bind(&::VislabImageProcessor::image_callback, &outputDisparite, _1)));
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| 66 | curr_devices[0].start_transmission(false);
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[127] | 67 | if(error != lib3dv::error::NONE)
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| 68 | std::cout << "[EE] 3dv-client: error detected: " << error << std::endl;
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[131] | 69 | else
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| 70 | std::cout << "[II] 3dv-client: device successfully opened" << std::endl;
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[127] | 71 | }
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| 72 |
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[133] | 73 | void VislabCamera::close()
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[127] | 74 | {
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[142] | 75 | if (curr_devices.empty())
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| 76 | {
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| 77 | std::cout << "[EE] 3dv-client: no devices found" << std::endl;
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| 78 | return;
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| 79 | //return lib3dv::error::NONE;
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| 80 | }
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| 81 | else
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| 82 | {
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| 83 | curr_devices[0].stop_transmission();
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| 84 | }
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| 85 |
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| 86 | //curr_devices[0].poweroff();
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[127] | 87 | }
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[133] | 88 |
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| 89 | void VislabCamera::setVideoOutput(OutputInterface<cv::Mat, VislabComponent>* output)
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| 90 | {
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| 91 | outputVideo.setOutput(output);
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| 92 | }
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| 93 |
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| 94 | void VislabCamera::setDispariteOutput(OutputInterface<cv::Mat, VislabComponent>* output)
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| 95 | {
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| 96 | outputDisparite.setOutput(output);
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| 97 | }
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