Changeset 56 in pacpussensors for trunk/PtGreyCameras

Timestamp:

Jun 27, 2014, 2:16:15 PM (10 years ago)

Author:

phudelai

Message:

Vision component updated for StereoVision for PointGrey Flea3

Location:

trunk/PtGreyCameras

Files:

• Flea3Grabber.cpp (modified) (13 diffs)
• Flea3Grabber.h (modified) (1 diff)

trunk/PtGreyCameras/Flea3Grabber.cpp

@@ -144 +144 @@
                         msleep(10);
                 }
-                                
         }
 
@@ -365 +364 @@
         
         // Camera configuration
-        this->settings_[indice].auto_FrameRate = false;                                 // Set auto frame rate
+        this->settings_[indice].auto_FrameRate = true;                                  // Set auto frame rate
         this->settings_[indice].cam_FrameRate = 15.0;                                           // Frame rates in frames per second = FlyCapture2::FRAMERATE_15
-        this->settings_[indice].auto_Gain = false;                                              // Set auto gain
+        this->settings_[indice].auto_Gain = true;                                               // Set auto gain
         this->settings_[indice].cam_Gain = 1.0;                                                 // Gain value in db
         this->settings_[indice].auto_Exposure = true;                                           // Set auto exposure
-        this->settings_[indice].cam_Exposure = 2.414;                                           // Auto exposure in EV
+        this->settings_[indice].cam_Exposure = 1.322;                                           // Auto exposure in EV
         this->settings_[indice].auto_Shutter = true;                                            // Set auto shutter
         this->settings_[indice].cam_Shutter = 66.639;                                           // Shutter in miliseconds
@@ -377 +376 @@
         this->settings_[indice].cam_start_point_left = 0;                                       // Image left point (for standard modes only)
         this->settings_[indice].cam_start_point_top = 0;                                        // Image top point (for standard modes only)
-        this->settings_[indice].cam_width = 4096;                                                       // Image width (for standard modes only)
-        this->settings_[indice].cam_height = 2160;                                              // image height (for standard modes only)
+        this->settings_[indice].cam_width = 1280;                                                       // Image width (for standard modes only)
+        this->settings_[indice].cam_height = 960;                                               // image height (for standard modes only)
         this->settings_[indice].cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7;                                // DCAM video modes
         this->settings_[indice].cam_mode = FlyCapture2::MODE_0;                                                         // Camera modes for DCAM formats as well as Format7
@@ -428 +427 @@
 
         this->is_running = true;
+        bool triggered = false;
 
         // Tmp matrice used because of intelligent pointer of OpenCV and "intelligent" memory free 
@@ -514 +514 @@
                 }
         
-                cams.push_back(new FlyCapture2::Camera);        // FlyCapture camera class      
+                cams.push_back(new FlyCapture2::Camera);        // FlyCapture camera class
 
                 // Connect to a camerak
@@ -550 +550 @@
                         camInfo.firmwareVersion,
                         camInfo.firmwareBuildTime);*/
-            
+
                 // Query for available Format 7 modes
                 FlyCapture2::Format7Info fmt7Info;
@@ -698 +698 @@
                                 ComponentManager::getInstance()->stop(name());
                         }
+
+                        triggered = true;
                 }
 
@@ -715 +717 @@
                         }
                 }
+
                 //============================================================================================================
         
@@ -747 +750 @@
                 cams[masterCamera_]->FireSoftwareTrigger();
                 usleep(50000);
+
                 cams[masterCamera_]->FireSoftwareTrigger();
                 usleep(50000);
         }
+
+        img_sending_ = new ShMem("Flea3Grabber_sending", settings_[0].mMaxImageOutputSize); 
+
 
         road_time_t time;
@@ -762 +769 @@
                                         LOG_ERROR(error.GetDescription());
                                         continue;
-                        }
-                        time = road_time();
-                }
+                        }                       
+                }
+
+                time = road_time();
 
                 //cout << settings_[1].timeStamp.microSeconds - settings_[0].timeStamp.microSeconds << endl;
@@ -832 +840 @@
                                 cv::waitKey(1);
                         }
-                
+
                         /////////////////////
                         // Write images to disk
@@ -943 +951 @@
                         //++imageCount;
                 }
+
+                // Has to change
+                this->img_sending_->write((void*)correctedImg[0].data, settings_[0].mMaxImageOutputSize);
         }
                 
@@ -948 +959 @@
         {
                 //====================================== Camera finalization =================================================
-                LOG_INFO("Finished grabbing images!");
+                LOG_INFO(QString("Finished grabbing images!" + QString::number(settings_[i].cam_serial)));
                 // Stop capturing images
                 error = cams[i]->StopCapture();

trunk/PtGreyCameras/Flea3Grabber.h

@@ -135 +135 @@
         float rot_[3], trans_[3];
 
+        ShMem * img_sending_;
+
         std::vector<camSetting> settings_;
         std::vector<ShMem*> shmem_images_;