Changeset 64 in pacpussensors for trunk/PtGreyCameras/Flea3Grabber.cpp

Timestamp:

09/04/14 11:19:05 (10 years ago)

Author:

phudelai

Message:

Programme détection d'obstacles amélioré

File:

• trunk/PtGreyCameras/Flea3Grabber.cpp (modified) (3 diffs)

trunk/PtGreyCameras/Flea3Grabber.cpp

@@ -43 +43 @@
         this->nbrCamera_ = 1;
         this->masterCamera_ = 0;
+        this->img2send_ = 0;
 }
 
@@ -951 +952 @@
                         //++imageCount;
                 }
-
-                // Has to change
-                this->img_sending_->write((void*)correctedImg[0].data, settings_[0].mMaxImageOutputSize);
-        }
+                
+                switch (img2send_)
+                {
+                case 0:
+                        this->img_sending_->write((void*)convertedImage[0].GetData(), settings_[0].mMaxImageOutputSize);
+                        break;
+                case 1:
+                        this->img_sending_->write((void*)correctedImg[0].data, settings_[0].mMaxImageOutputSize);
+                        break;
+                case 2:
+                        this->img_sending_->write((void*)convertedImage[1].GetData(), settings_[0].mMaxImageOutputSize);
+                        break;
+                case 3:
+                        this->img_sending_->write((void*)correctedImg[1].data, settings_[0].mMaxImageOutputSize);
+                        break;
+                default:
+                        // Should not happen
+                        break; 
+                }
+        }
                 
         for (int i = 0; i < this->nbrCamera_; i++)
@@ -989 +1006 @@
         }
 }
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Slot to change the image
+////////////////////////////////////////////////////////////////////////////////
+void Flea3Grabber::changeImage()
+{
+        img2send_ = ++img2send_ & 0x03;
+}