void CvCaptureCAM_PvAPI::close()
{
// Stop the acquisition & free the camera
stopCapture();
PvCameraClose(Camera.Handle);
PvUnInitialize();
}
//--------------------------------------------------------------------
void ofxVideoGrabberPvAPI::close(){
if( bGrabberInited ) {
// stop the streaming
PvCommandRun(cameraHandle,"AcquisitionStop");
PvCaptureEnd(cameraHandle);
// unsetup the camera
PvCameraClose(cameraHandle);
// and free the image buffer of the frame
delete [] (char*)cameraFrame.ImageBuffer;
}
if( bPvApiInitiated ) {
// uninitialise the API
PvUnInitialize();
}
if (pixels != NULL){
delete[] pixels;
pixels = NULL;
}
tex.clear();
}
int main(int argc, char* argv[])
{
// initialize PvAPI
if(PvInitialize() == ePvErrSuccess)
{
//IMPORTANT. Initialize camera structure. See tPvFrame in PvApi.h for more info.
memset(&GCamera,0,sizeof(tCamera));
// the only command line argument accepted is the IP@ of the camera to be open
if(argc>1)
{
unsigned long IP = inet_addr(argv[1]);
if(IP)
{
// open the camera
if(CameraOpen(IP))
{
ListAttributes();
// unsetup the camera
CameraClose();
}
else
printf("Failed to open the camera (maybe not found?)\n");
}
else
printf("a valid IP address must be entered\n");
}
else
{
// wait for a camera to be plugged
WaitForCamera();
if(CameraGrab())
{
// open the camera
if(CameraOpen())
{
ListAttributes();
// unsetup the camera
CameraClose();
}
else
printf("failed to open the camera\n");
}
else
printf("failed to grab a camera!\n");
}
// uninitialize the API
PvUnInitialize();
}
else
printf("failed to initialize the API\n");
return 0;
}
int main(int argc, char* argv[])
{
// initialise the Prosilica API
if(!PvInitialize())
{
memset(&GCamera,0,sizeof(tCamera));
// the only command line argument accepted is the IP@ of the camera to be open
if(argc>1)
{
unsigned long IP = inet_addr(argv[1]);
if(IP)
{
// open the camera
if(CameraOpen(IP))
{
ListAttributes();
// unsetup the camera
CameraClose();
}
else
printf("Failed to open the camera (maybe not found?)\n");
}
else
printf("a valid IP address must be entered\n");
}
else
{
// wait for a camera to be plugged
WaitForCamera();
if(CameraGrab())
{
// open the camera
if(CameraOpen())
{
ListAttributes();
// unsetup the camera
CameraClose();
}
else
printf("failed to open the camera\n");
}
else
printf("failed to grab a camera!\n");
}
// uninitialise the API
PvUnInitialize();
}
else
printf("failed to initialise the API\n");
return 0;
}
//
// idlPvUnInitialize
//
// Uninitialize the PvAPI module, freeing resources.
//
// command line arguments
// argv[0]: IN/FLAG debug
int idlPvUnInitialize (int argc, char *argv[])
{
debug = *(IDL_INT *) argv[0];
PvUnInitialize();
return 0;
}
void CvCaptureCAM_PvAPI::close()
{
// Stop the acquisition & free the camera
PvCommandRun(Camera.Handle, "AcquisitionStop");
PvCaptureEnd(Camera.Handle);
PvCameraClose(Camera.Handle);
PvUnInitialize();
}
int main(int argc, char* argv[])
{
// initialise the Prosilica API
if(!PvInitialize())
{
tCamera Camera;
memset(&Camera,0,sizeof(tCamera));
// wait for a camera to be plugged
WaitForCamera();
// get a camera from the list
if(CameraGet(&Camera))
{
// setup the camera
if(CameraSetup(&Camera))
{
// strat streaming from the camera
if(CameraStart(&Camera))
{
printf("camera is ready now. Press q to quit or s to take a picture\n");
// wait for the user to quit or snap
if(WaitForUserToQuitOrSnap())
{
// snap now
CameraSnap(&Camera);
}
// stop the streaming
CameraStop(&Camera);
}
else
printf("failed to start streaming\n");
// unsetup the camera
CameraUnsetup(&Camera);
}
else
printf("failed to setup the camera\n");
}
else
printf("failed to find a camera\n");
// uninitialise the API
PvUnInitialize();
}
else
printf("failed to initialise the API\n");
return 0;
}
int main(int argc, char* argv[])
{
tPvErr errCode;
// initialize the PvAPI
if((errCode = PvInitialize()) != ePvErrSuccess)
{
printf("PvInitialize err: %u\n", errCode);
}
else
{
//IMPORTANT: Initialize camera structure. See tPvFrame in PvApi.h for more info.
memset(&GCamera,0,sizeof(tCamera));
//Set function to handle ctrl+C
SetConsoleCtrlHandler(CtrlCHandler, TRUE);
printf("Press CTRL-C to terminate\n");
// wait for a camera to be plugged in
WaitForCamera();
// get first camera found
if(CameraGet())
{
// open camera
if(CameraSetup())
{
// start camera streaming
if(CameraStart())
{
while(GCamera.Abort == false)
CameraSnap();
// stop camera streaming
CameraStop();
}
// close camera
CameraUnsetup();
}
}
// uninitialize PvAPI
PvUnInitialize();
}
return 0;
}
int main(int argc, char* argv[])
{
// initialise the Prosilica API
if(!PvInitialize())
{
memset(&GCamera,0,sizeof(tCamera));
SetConsoleCtrlHandler(&CtrlCHandler, TRUE);
// wait for a camera to be plugged
WaitForCamera();
// get a camera from the list
if(CameraGet())
{
// setup the camera
if(CameraSetup())
{
// strat streaming from the camera
if(CameraStart())
{
printf("The camera is ready now. \n");
// snap now
while(!GCamera.Abort)
CameraSnap();
// stop the streaming
CameraStop();
}
else
printf("failed to start streaming\n");
// unsetup the camera
CameraUnsetup();
}
else
printf("failed to setup the camera\n");
}
else
printf("failed to find a camera\n");
// uninitialise the API
PvUnInitialize();
}
else
printf("failed to initialise the API\n");
return 0;
}
void camera_free(void *obj) {
tCamera *camera = (tCamera *) obj;
try {
// unsetup the camera
cameraUnsetup(camera);
// uninitialise the API
PvUnInitialize();
} catch ( string msg ) {
y_error(msg.c_str());
}
catch ( char const * msg ) {
y_error(msg);
}
}
int main(int argc, char* argv[])
{
tPvErr errCode;
// initialize the PvAPI
if((errCode = PvInitialize()) != ePvErrSuccess)
printf("PvInitialize err: %u\n", errCode);
else
{
//IMPORTANT: Initialize camera structure. See tPvFrame in PvApi.h for more info.
memset(&GCamera,0,sizeof(tCamera));
// set the CTRL-C handler
SetConsoleCtrlHandler(&CtrlCHandler, TRUE);
printf("Waiting for camera discovery...\n");
// register camera plugged in callback
if((errCode = PvLinkCallbackRegister(CameraEventCB,ePvLinkAdd,NULL)) != ePvErrSuccess)
printf("PvLinkCallbackRegister err: %u\n", errCode);
// register camera unplugged callback
if((errCode = PvLinkCallbackRegister(CameraEventCB,ePvLinkRemove,NULL)) != ePvErrSuccess)
printf("PvLinkCallbackRegister err: %u\n", errCode);
// wait until ctrl+c break
printf("Ctrl+C to break.\n");
WaitForEver();
CameraStop();
CameraUnsetup();
// If thread spawned (see HandleCameraPlugged), wait to finish
if(GCamera.ThHandle)
WaitThread();
if((errCode = PvLinkCallbackUnRegister(CameraEventCB,ePvLinkAdd)) != ePvErrSuccess)
printf("PvLinkCallbackUnRegister err: %u\n", errCode);
if((errCode = PvLinkCallbackUnRegister(CameraEventCB,ePvLinkRemove)) != ePvErrSuccess)
printf("PvLinkCallbackUnRegister err: %u\n", errCode);
// uninitialize the API
PvUnInitialize();
}
return 0;
}
int main(int argc, char* argv[])
{
tPvErr errCode;
// initialize the PvAPI
if((errCode = PvInitialize()) != ePvErrSuccess)
printf("PvInitialize err: %u\n", errCode);
else
{
//IMPORTANT: Initialize camera structure. See tPvFrame in PvApi.h for more info.
memset(&GCamera,0,sizeof(tCamera));
// set the CTRL-C handler
SetConsoleCtrlHandler(&CtrlCHandler, TRUE);
printf("Waiting for camera discovery...\n");
// register camera plugged in callback
if((errCode = PvLinkCallbackRegister(CameraLinkCallback,ePvLinkAdd,NULL)) != ePvErrSuccess)
printf("PvLinkCallbackRegister err: %u\n", errCode);
// register camera unplugged callback
if((errCode = PvLinkCallbackRegister(CameraLinkCallback,ePvLinkRemove,NULL)) != ePvErrSuccess)
printf("PvLinkCallbackRegister err: %u\n", errCode);
// All camera setup, event setup, streaming, handled in ePvLinkAdd callback
// wait until ctrl+c break or failure
printf("***Ctrl+C to break***\n");
WaitForEver();
CameraStop();
EventUnsetup();
CameraUnsetup();
if((errCode = PvLinkCallbackUnRegister(CameraLinkCallback,ePvLinkAdd)) != ePvErrSuccess)
printf("PvLinkCallbackUnRegister err: %u\n", errCode);
if((errCode = PvLinkCallbackUnRegister(CameraLinkCallback,ePvLinkRemove)) != ePvErrSuccess)
printf("PvLinkCallbackUnRegister err: %u\n", errCode);
// uninitialize the API
PvUnInitialize();
}
return 0;
}
int main(int argc, char* argv[])
{
// initialize PvAPI
if(PvInitialize() == ePvErrSuccess)
{
// set the handler for CTRL-C
//SetConsoleCtrlHandler(CtrlCHandler, TRUE);
// the following call will only return upon CTRL-C
ListCameras();
// uninit the API
PvUnInitialize();
}
else
printf("failed to initialize the API\n");
return 0;
}
int main(int argc, char* argv[])
{
// initialise the Prosilica API
if(!PvInitialize())
{
// the only command line argument accepted is the IP@ of the camera to be open
if(argc>1)
{
unsigned long IP = inet_addr(argv[1]);
if(IP)
{
tPvHandle Handle;
// open the camera
if((Handle = CameraOpen(IP)) != NULL)
{
// seek the best packet size
CameraAdjust(Handle);
// close the camera
CameraClose(Handle);
}
else
printf("Failed to open the camera (maybe not found?)\n");
}
else
printf("a valid IP address must be entered\n");
}
else
printf("usage : AdjustPacket <IP@>\n");
// uninitialise the API
PvUnInitialize();
}
else
printf("failed to initialise the API\n");
return 0;
}
CameraGigE::~CameraGigE() {
LOG(LTRACE) << "Goodbye CameraGigE from dl\n";
PvUnInitialize();
}
int main(int argc, char* argv[])
{
tPvErr errCode;
// initialize PvAPI
if((errCode = PvInitializeNoDiscovery())!= ePvErrSuccess)
{
printf("PvInitialize err: %u\n", errCode);
}
else
{
// the only command line argument accepted is the IP@ of the camera to be open
if(argc>1)
{
//windows call to convert user input to IP address
unsigned long IP = inet_addr(argv[1]);
if((IP == INADDR_NONE) || (IP == INADDR_ANY))
{
printf("A valid IP address must be entered\n");
}
else
{
tPvCameraInfo Info;
tPvIpSettings Conf;
if((errCode = PvCameraInfoByAddr(IP,&Info,&Conf)) == ePvErrSuccess)
{
struct in_addr addr;
printf("-> %s - %s\n",Info.SerialString,Info.DisplayName);
printf("Mode supported:\t\t");
if(Conf.ConfigModeSupport & ePvIpConfigPersistent)
printf("FIXED,");
if(Conf.ConfigModeSupport & ePvIpConfigDhcp)
printf("DHCP,");
if(Conf.ConfigModeSupport & ePvIpConfigAutoIp)
printf("AutoIP");
printf("\n");
printf("Current mode:\t\t");
if(Conf.ConfigMode & ePvIpConfigPersistent)
printf("FIXED\n");
else
if(Conf.ConfigMode & ePvIpConfigDhcp)
printf("DHCP&AutoIP\n");
else
if(Conf.ConfigMode & ePvIpConfigAutoIp)
printf("AutoIP\n");
else
printf("None\n");
addr.s_addr = Conf.CurrentIpAddress;
printf("Current address:\t%s\n",inet_ntoa(addr));
addr.s_addr = Conf.CurrentIpSubnet;
printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
addr.s_addr = Conf.CurrentIpGateway;
printf("Current gateway:\t%s\n",inet_ntoa(addr));
}
else
if(errCode == ePvErrTimeout)
printf("No camera was detected at the address you supplied\n");
else
printf("PvCameraInfoByAddr err: %u\n",errCode);
}
}
else
printf("usage : Ping <IP@>\n");
// uninitialize the API
PvUnInitialize();
}
return 0;
}
void fini()
{
PvUnInitialize();
}
int main(int argc, char* argv[])
{
int err = 0;
// initialise the Prosilica API
if(!PvInitialize())
{
int c;
unsigned long uid = 0;
unsigned long addr = 0;
bool bLoad = false;
bool bSave = false;
while ((c = getopt (argc, argv, "u:i:ls:h?")) != -1)
{
switch(c)
{
case 'u':
{
if(optarg)
uid = atol(optarg);
break;
}
case 'i':
{
if(optarg)
addr = inet_addr(optarg);
break;
}
case 'l':
{
bLoad = true;
break;
}
case 's':
{
bSave = true;
break;
}
case '?':
case 'h':
{
ShowUsage();
break;
}
default:
break;
}
}
if((uid || addr) && (bSave || bLoad))
{
tPvHandle Camera;
tPvAccessFlags Flags = (bLoad ? ePvAccessMaster : ePvAccessMonitor);
tPvErr Err;
bool Done = false;
if(uid)
{
// wait a bit to leave some time to the API to detect any camera
Sleep(500);
// and open the camera
Err = PvCameraOpen(uid,Flags,&Camera);
}
else
Err = PvCameraOpenByAddr(addr,Flags,&Camera);
if(!Err)
{
if(bLoad) // load the camera setup
Done = SetupLoad(Camera,argv[argc-1]);
else
if(bSave) // save the camera setup
Done = SetupSave(Camera,argv[argc-1]);
if(!Done)
fprintf(stderr,"sorry, an error occured\n");
err = 1;
// close the camera
PvCameraClose(Camera);
}
else
{
if(Err == ePvErrNotFound || Err == ePvErrUnplugged)
fprintf(stderr,"sorry, couldn't found the camera\n");
else
if(Err == ePvErrAccessDenied)
fprintf(stderr,"sorry, this camera is already in use\n");
else
fprintf(stderr,"sorry, couldn't open the camera for some reason\n");
err = 1;
}
}
else
{
ShowUsage();
err = 1;
}
// uninitialise the API
PvUnInitialize();
}
else
{
err = 1;
fprintf(stderr,"failed to initialise the API\n");
}
return err;
}
int Process(int argc, const char* argv[])
{
std::cout << "/*************************************/" << std::endl;
std::cout << "Input LANE_IMG_RECORD" << std::endl;
std::cout << "Input LANE_DETECTOR" << std::endl;
std::cout << "Input DATA_RECORD" << std::endl;
std::cout << "Input SEND_DATA" << std::endl;
std::cout << "Input SAMPLING_FREQ" << std::endl;
std::cout << "Input COMPRESSION_RATE" << std::endl;
std::cout << "Input YAW_ANGLE" << std::endl;
std::cout << "Input PITCH_ANGLE" << std::endl;
std::cout << "Input TIME_BASELINE" << std::endl;
std::cout << "Input LANE_ANALYSER" << std::endl;
std::cout << "/*************************************/" << std::endl;
if(argc < 11)
std::cout << "Not enough parameters" << std::endl;
/// Debug Marker
int LANE_IMG_RECORD = atoi(argv[1]);//Record the lane image
int LANE_DETECTOR = atoi(argv[2]);//Whether detect Lane
int DATA_RECORD = atoi(argv[3]);//Record the lane features
int SEND_DATA = atoi(argv[4]);//Whether send data
int SAMPLING_FREQ = atoi(argv[5]);//Sampling Frequency
int COMPRESSION_RATE = atoi(argv[6]);//Compression rate for recording images
double YAW_ANGLE = atof(argv[7]);//yaw - X
double PITCH_ANGLE = atof(argv[8]);//pitch - Y
double TIME_BASELINE = atof(argv[9]);//sec
int LANE_ANALYSER = atoi(argv[10]);
// std::cout << "LANE_IMG_RECORD: " << LANE_IMG_RECORD << std::endl;
// std::cout << "DATA_RECORD: " << DATA_RECORD << std::endl;
// std::cout << "SAMPLING_FREQ: " << SAMPLING_FREQ << endl;
// std::cout << "COMPRESSION_RATE: " << COMPRESSION_RATE << std::endl;
// std::cout << "LANE_DETECTOR: " << LANE_DETECTOR << std::endl;
// std::cout << "NUM_WINDOW_SAMPLE: " << NUM_WINDOW_SAMPLE << std::endl;
std::cout << "/*****************************************/" << std::endl;
std::cout << "Press q / Q / ESC to quit " << std::endl;
std::cout << "Press s / S to stop " << std::endl;
std::cout << "/*****************************************/" << std::endl;
// Init parameters
int idx = FRAME_START; //index for image sequence
int sampleIdx = 1;
//! Get the current time
time_t t;
time(&t);
tm *tmTime = localtime(&t);
char currentTime[50];
sprintf(currentTime,"%02d-%02d-%d_%02dh%02dm%02ds",tmTime->tm_mday,tmTime->tm_mon+1,tmTime->tm_year+1900, tmTime->tm_hour,tmTime->tm_min, tmTime->tm_sec);
std::cout << "Current Time: " << currentTime << std::endl;
//! Init the Record file
std::ofstream laneFeatureFile;
char *laneFeaturePath = new char[100];
if (DATA_RECORD){
sprintf(laneFeaturePath, FILE_LANE_FEATURES, tmTime->tm_mday,tmTime->tm_mon+1,tmTime->tm_year+1900, tmTime->tm_hour,tmTime->tm_min, tmTime->tm_sec);
InitRecordData(laneFeatureFile, laneFeaturePath, laneFeatureName, NUM_LANE_FEATURES);
}
//! Create a new dir for recording the images
char * laneRawImgPath = new char[100];
DIR *pDir = NULL;
if(LANE_IMG_RECORD){
do{
sprintf(laneRawImgPath, LANE_PATH_NAME, tmTime->tm_mday,tmTime->tm_mon+1,tmTime->tm_year+1900, tmTime->tm_hour,tmTime->tm_min, tmTime->tm_sec);
pDir = opendir(laneRawImgPath);
}while (pDir != NULL);
mkdir(laneRawImgPath, S_IRWXU);
}
/* Parameters for Lane Detector */
cv::Mat laneMat;
LaneDetector::LaneDetectorConf laneDetectorConf;
std::vector<cv::Vec2f> hfLanes;
std::vector<cv::Vec2f> lastHfLanes;
std::vector<cv::Vec2f> preHfLanes;
//lane features
std::vector<double> LATSDBaselineVec;
std::deque<LaneDetector::InfoCar> lateralOffsetDeque;
std::deque<LaneDetector::InfoCar> LANEXDeque;
std::deque<LaneDetector::InfoTLC> TLCDeque;
LaneDetector::LaneFeature laneFeatures;
double lastLateralOffset = 0;
double lateralOffset = 0; // Lateral Offset
int detectLaneFlag = -1; // init state -> normal state 0
int isChangeLane = 0; // Whether lane change happens
int changeDone = 0; // Finish lane change
int muWindowSize = 5; // Initial window size: 5 (sample)
int sigmaWindowSize = 5; // Initial window size: 5 (sample)
// Initialize Lane Kalman Filter
cv::KalmanFilter laneKalmanFilter(8, 8, 0); //(rho, theta, delta_rho, delta_theta)x2
cv::Mat laneKalmanMeasureMat(8, 1, CV_32F, cv::Scalar::all(0)); //(rho, theta, delta_rho, delta_theta)
int laneKalmanIdx = 0; //Marker of start kalmam
LaneDetector::InitlaneFeatures(laneFeatures);
if (LANE_DETECTOR) {
LaneDetector::InitlaneDetectorConf(laneMat, laneDetectorConf, 1); // KIT 1, ESIEE 2
LaneDetector::InitLaneKalmanFilter(laneKalmanFilter, laneKalmanMeasureMat, laneKalmanIdx);
}
/* Inter-process communication */
key_t ipckey;
int mq_id;
struct {
long type;
char text[1024];
} laneMsg;
if (SEND_DATA)
{
/* Generate the ipc key */
ipckey = ftok(KEY_PATH, 'a');
if(ipckey == -1){
printf("Key Error: %s\n", strerror(errno));
exit(1);
}
mq_id = msgget(ipckey, 0);
if (mq_id == -1) {
//MQ doesn't exit
mq_id = msgget(ipckey, IPC_CREAT | IPC_EXCL | 0666);
printf("LaneDetector creates a new MQ %d\n", mq_id);
}
else {
//MQ does exit
mq_id = msgget(ipckey, IPC_EXCL | 0666);
printf("LaneDetector uses an existed MQ %d\n", mq_id);
}
//printf("Lane identifier is %d\n", mq_id);
if(mq_id == -1) {
throw std::logic_error("Can't build pipeline");
}
//printf("This is the LaneDetectSim process, %d\n", getpid());
}
/* Entrance of Process */
double initTime = (double)cv::getTickCount();
double intervalTime = 0;
double execTime = 0; // Execute Time for Each Frame
double pastTime = 0;
double lastStartTime = (double)cv::getTickCount();
char key;
double delay = 1;
//! Camera parameters
tCamera Camera;
tPvErr errCode;
// initialize the PvAPI
if((errCode = PvInitialize()) != ePvErrSuccess)
{
printf("PvInitialize err: %u\n", errCode);
}
else
{
//IMPORTANT: Initialize camera structure. See tPvFrame in PvApi.h for more info.
memset(&Camera,0,sizeof(tCamera));
// wait for a camera to be plugged in
WaitForCamera();
// get first camera found
if(CameraGet(&Camera))
{
// open camera
if(CameraSetup(&Camera))
{
// start camera streaming
if(CameraStart(&Camera))
{
// Start Time in the process
while(idx <= FRAME_END)
{
double startTime = (double)cv::getTickCount();
/* Lane detection starts */
if (WaitForTrigger() && CameraSnap(&Camera))
{
/* Read the saved images from the camera */
laneMat = cv::imread(Camera.Filename);
// Reduce the size of raw image
cv::resize(laneMat, laneMat, cv::Size(WIDTH*COEF, HEIGHT*COEF), CV_INTER_AREA);
/* Record the resized raw image */
if (LANE_IMG_RECORD) {
std::vector<int> compression_params;
compression_params.push_back(CV_IMWRITE_JPEG_QUALITY);
compression_params.push_back(COMPRESSION_RATE);
char * rawLaneName = new char[50];
char * tempName = new char[100];
sprintf(rawLaneName, LANE_IMG_NAME, idx);
strcpy(tempName, laneRawImgPath);
strcat(tempName, rawLaneName);
cv::imwrite(tempName, laneMat, compression_params);
delete tempName;
delete rawLaneName;
}
if (LANE_DETECTOR) {
ProcessLaneImage(laneMat, laneDetectorConf,
laneKalmanFilter, laneKalmanMeasureMat, laneKalmanIdx,
hfLanes, lastHfLanes, lastLateralOffset, lateralOffset,
isChangeLane, detectLaneFlag, idx, execTime, preHfLanes, changeDone,
YAW_ANGLE, PITCH_ANGLE);
}
}
/* Calculate the running time for every sampling */
pastTime = ((double)cv::getTickCount() - initTime)/cv::getTickFrequency();
// printf("@Lane Sampling passes %f sec\n", pastTime);
char *text_pastTime = new char[50];
sprintf(text_pastTime, "LaneDetector Time: %.2f sec", pastTime);
cv::putText(laneMat, text_pastTime, cv::Point(0, laneMat.rows-5), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_pastTime;
intervalTime = (startTime - lastStartTime)/ cv::getTickFrequency();//get the time between two continuous frames
lastStartTime = startTime;
/* Generate lane indicators */
if (LANE_DETECTOR && LANE_ANALYSER) {
/// First init the baseline, then get lane mass
if( pastTime < TIME_BASELINE ){
/// Get lane baseline
LaneDetector::GetLaneBaseline(sampleIdx, SAMPLING_TIME,
muWindowSize, sigmaWindowSize,
lateralOffset, LATSDBaselineVec,
lateralOffsetDeque, LANEXDeque,
TLCDeque, laneFeatures, intervalTime);
//idx_baseline = sampleIdx;
}
else {
//sampleIdx -= idx_baseline;
LaneDetector::GenerateLaneIndicators(sampleIdx, SAMPLING_TIME,
muWindowSize, sigmaWindowSize,
lateralOffset,
lateralOffsetDeque,
LANEXDeque, TLCDeque,
laneFeatures, intervalTime);
//! LATSD
char *text_LATSD = new char[30];
sprintf(text_LATSD, "L1. LATSD: %.4f", laneFeatures.LATSD);
cv::putText(laneMat, text_LATSD, cv::Point(0, 70), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_LATSD;
//! LATMEAN
char *text_LATMEAN = new char[30];
sprintf(text_LATMEAN, "L2. LATMEAN: %.4f", laneFeatures.LATMEAN);
cv::putText(laneMat, text_LATMEAN, cv::Point(0, 80), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_LATMEAN;
//! LANEDEV
char *text_LANEDEV = new char[30];
sprintf(text_LANEDEV, "L3. LANEDEV: %.4f", laneFeatures.LANEDEV);
cv::putText(laneMat, text_LANEDEV, cv::Point(0, 90), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_LANEDEV;
//! LANEX
char *text_LANEX = new char[30];
sprintf(text_LANEX, "L4. LANEX: %.4f", laneFeatures.LANEX);
cv::putText(laneMat, text_LANEX, cv::Point(0, 100), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_LANEX;
//! TLC
char *text_TLC = new char[30];
sprintf(text_TLC, "L5. TLC: %.4f", laneFeatures.TLC);
cv::putText(laneMat, text_TLC, cv::Point(0, 110), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLC;
//! TLC_2s
char *text_TLC_2s = new char[30];
sprintf(text_TLC_2s, "L6. TLC_2s: %d", laneFeatures.TLC_2s);
cv::putText(laneMat, text_TLC_2s, cv::Point(0, 120), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLC_2s;
char *text_TLCF_2s = new char[50];
sprintf(text_TLCF_2s, "L7. Fraction_TLC_2s: %f", laneFeatures.TLCF_2s);
cv::putText(laneMat, text_TLCF_2s, cv::Point(0, 130), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLCF_2s;
//! TLC_halfs
char *text_TLC_halfs = new char[30];
sprintf(text_TLC_halfs, "L8. TLC_halfs: %d", laneFeatures.TLC_halfs);
cv::putText(laneMat, text_TLC_halfs, cv::Point(0, 140), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLC_halfs;
char *text_TLCF_halfs = new char[50];
sprintf(text_TLCF_halfs, "L9. Fraction_TLC_halfs: %f", laneFeatures.TLCF_halfs);
cv::putText(laneMat, text_TLCF_halfs, cv::Point(0, 150), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLCF_halfs;
//! TLC_min
char *text_TLC_min = new char[30];
sprintf(text_TLC_min, "L10. TLC_min: %.4f", laneFeatures.TLC_min);
cv::putText(laneMat, text_TLC_min, cv::Point(0, 160), cv::FONT_HERSHEY_SIMPLEX, 0.3, CV_RGB(0,255,0));
delete text_TLC_min;
}//end if
}//end Generate Lane Indicators
/* Record lane features */
if (DATA_RECORD) {
laneFeatures.frame = idx;
RecordLaneFeatures(laneFeatureFile, laneFeatures, execTime, pastTime);
}//end if
/* Send the datas as string to fusion center */
if(LANE_DETECTOR & SEND_DATA) {
char *str = new char[1024];
memset(str, 0, 1024);
CodeMsg(laneFeatures, str);
strcpy(laneMsg.text, str);//!!! overflow
laneMsg.type = 1;
//printf("Data sends: %s\n", laneMsg.text);
//! 0 will cause a block/ IPC_NOWAIT will close the app.
if(msgsnd(mq_id, &laneMsg, sizeof(laneMsg), 0) == -1)
{
throw std::runtime_error("LaneDetectSim: msgsnd failed!");
}
delete str;
}
/* Adjust the interval time within fixed frequency */
double execFreq;
do {
//cv::waitKey(1);
execFreq = 1.0 / (((double)cv::getTickCount() - startTime)/cv::getTickFrequency());
}while ( execFreq >= SAMPLING_FREQ );
char *text = new char[30];
sprintf(text, "Process: %.2f Hz", execFreq);
cv::putText(laneMat, text, cv::Point(0, 60), cv::FONT_HERSHEY_SIMPLEX, 0.8, CV_RGB(0, 255, 0));
delete text;
cv::imshow("Lane", laneMat);
key = cv::waitKey(delay);
if (key == 'q' || key == 'Q' || 27 == (int)key) //Esc q\Q\key to stop
break;
else if(key == 's' || key == 'S' )
delay = 0;
else
delay = 1;
sampleIdx++; //update the sampling index
idx++;
}//end while loop
laneFeatureFile.close();
cv::destroyAllWindows();
}//if CameraStart
CameraStop(&Camera);
}//if CameraSetup
CameraUnsetup(&Camera);
}//if CameraGet
}
PvUnInitialize();
return 0;
}
int main(int argc, char* argv[])
{
int err = 0;
// initialise PvAPI
if(!PvInitialize())
{
int c;
unsigned long uid = 0;
bool bList = false;
bool bGet = false;
bool bSet = false;
bool bMode = false;
bool bAddr = false;
bool bMask = false;
bool bWay = false;
char* vMode = NULL;
char* vAddr = NULL;
char* vMask = NULL;
char* vWay = NULL;
while ((c = getopt (argc, argv, "lu:gsm:i:n:pw:h?")) != -1)
{
switch(c)
{
case 'l':
{
bList = true;
break;
}
case 'u':
{
if(optarg)
uid = atol(optarg);
break;
}
case 'g':
{
bGet = true;
break;
}
case 's':
{
bSet = true;
break;
}
case 'm':
{
bMode = true;
if(optarg)
vMode = optarg;
break;
}
case 'i':
{
bAddr = true;
if(optarg)
vAddr = optarg;
break;
}
case 'n':
{
bMask = true;
if(optarg)
vMask = optarg;
break;
}
case 'w':
{
bWay = true;
if(optarg)
vWay = optarg;
break;
}
case '?':
case 'h':
{
ShowUsage();
break;
}
default:
break;
}
}
if(uid || bList)
{
if(bList)
{
printf("Searching for cameras ...\n");
Sleep(2000);
ListCameras();
}
else
{
printf("Looking for the camera ...\n");
Sleep(1000);
if(bGet)
{
tPvCameraInfo camInfo;
tPvIpSettings camConf;
struct in_addr addr;
if(!PvCameraInfo(uid,&camInfo) &&
!PvCameraIpSettingsGet(uid,&camConf))
{
printf("\t\t\t%s - %s\n",camInfo.SerialString,camInfo.DisplayName);
printf("Mode supported:\t\t");
if(camConf.ConfigModeSupport & ePvIpConfigPersistent)
printf("FIXED ");
if(camConf.ConfigModeSupport & ePvIpConfigDhcp)
printf("DHCP ");
if(camConf.ConfigModeSupport & ePvIpConfigAutoIp)
printf("AutoIP");
printf("\n");
printf("Current mode:\t\t");
if(camConf.ConfigMode & ePvIpConfigPersistent)
printf("FIXED\n");
else
if(camConf.ConfigMode & ePvIpConfigDhcp)
printf("DHCP&AutoIP\n");
else
if(camConf.ConfigMode & ePvIpConfigAutoIp)
printf("AutoIP\n");
addr.s_addr = camConf.CurrentIpAddress;
printf("Current address:\t%s\n",inet_ntoa(addr));
addr.s_addr = camConf.CurrentIpSubnet;
printf("Current subnet:\t\t%s\n",inet_ntoa(addr));
addr.s_addr = camConf.CurrentIpGateway;
printf("Current gateway:\t%s\n",inet_ntoa(addr));
}
else
fprintf(stderr,"failed to talk to the camera!\n");
}
else
if(bSet)
{
tPvCameraInfo camInfo;
tPvIpSettings camConf;
bool bApply = false;
if(!PvCameraInfo(uid,&camInfo) &&
!PvCameraIpSettingsGet(uid,&camConf))
{
if(bMode && vMode)
{
unsigned long Mode = 0;
if(!strcasecmp(vMode,"fixed"))
Mode = ePvIpConfigPersistent;
else
if(!strcasecmp(vMode,"dhcp"))
Mode = ePvIpConfigDhcp;
else
if(!strcasecmp(vMode,"autoip"))
Mode = ePvIpConfigAutoIp;
else
{
fprintf(stderr,"%s isn't a valid mode\n",vMode);
err = 1;
}
if(Mode)
{
if(camConf.ConfigModeSupport & Mode)
{
camConf.ConfigMode = (tPvIpConfig)Mode;
bApply = true;
}
else
{
fprintf(stderr,"%s isn't supported by the camera\n",vMode);
err = 1;
}
}
}
if(bAddr && vAddr)
{
camConf.PersistentIpAddr = inet_addr(vAddr);
bApply = true;
}
if(bMask && vMask)
{
camConf.PersistentIpSubnet = inet_addr(vMask);
bApply = true;
}
if(bWay && vWay)
{
camConf.PersistentIpGateway = inet_addr(vWay);
bApply = true;
}
if(bApply)
{
if(PvCameraIpSettingsChange(uid,&camConf))
{
fprintf(stderr,"failed to set the configuration!\n");
err = 1;
}
else
printf("Settings changed for %s - %s\n",camInfo.SerialString,camInfo.DisplayName);
}
}
else
fprintf(stderr,"failed to talk to the camera!\n");
}
else
{
ShowUsage();
err = 1;
}
}
}
else
{
ShowUsage();
err = 1;
}
// uninitialise the API
PvUnInitialize();
}
else
{
err = 1;
fprintf(stderr,"failed to initialise the API\n");
}
return err;
}
int main(int argc, char* argv[])
{
tPvErr errCode;
int err = 0;
// initialize the PvAPI
if((errCode = PvInitialize()) != ePvErrSuccess)
{
printf("PvInitialize err: %u\n", errCode);
}
else
{
int c;
unsigned long uid = 0;
unsigned long addr = 0;
bool bGet = false;
bool bSet = false;
while ((c = getopt (argc, argv, "u:i:gs:h?")) != -1)
{
switch(c)
{
case 'u':
{
if(optarg)
uid = atol(optarg);
break;
}
case 'i':
{
if(optarg)
addr = inet_addr(optarg);
break;
}
case 'g':
{
bGet = true;
break;
}
case 's':
{
bSet = true;
break;
}
case '?':
case 'h':
{
ShowUsage();
break;
}
default:
break;
}
}
if(uid || ((addr != INADDR_NONE) && (addr != INADDR_ANY)))
{
tPvHandle Camera;
tPvAccessFlags Flags = (bSet ? ePvAccessMaster : ePvAccessMonitor);
if(uid)
{
// wait a bit to leave some time to the API to detect any camera
Sleep(500);
// and open the camera
errCode = PvCameraOpen(uid,Flags,&Camera);
}
else
errCode = PvCameraOpenByAddr(addr,Flags,&Camera);
if(errCode == ePvErrSuccess)
{
if(bGet) // get value
errCode = MemRead(Camera);
else if(bSet) // set value
errCode = MemWrite(Camera,argv[argc-1]);
if(errCode != ePvErrSuccess)
fprintf(stderr,"Error: %u\n",errCode);
err = 1;
// close the camera
PvCameraClose(Camera);
}
else
{
if(errCode == ePvErrNotFound || errCode == ePvErrUnplugged)
fprintf(stderr,"No camera detected.\n");
else if(errCode == ePvErrAccessDenied)
fprintf(stderr,"Camera already in use.\n");
else
fprintf(stderr,"PvCameraOpen fail: %u\n", errCode);
err = 1;
}
}
else
{
ShowUsage();
err = 1;
}
PvUnInitialize();
}
return err;
}