FileCaptureInterface::FramePair FileCaptureInterface::getFrame()
{
FramePair result;
string name0 = getImageFileName(mCount, 0);
string name1 = getImageFileName(mCount, 1);
if (mVerbose) {
printf("Grabbing frame from file: %s\n", name0.c_str());
}
result.bufferLeft = BufferFactory::getInstance()->loadG12Bitmap(name0);
if (result.bufferLeft)
{
if (mVerbose) {
printf("Grabbing frame from file: %s\n", name1.c_str());
}
result.bufferRight = BufferFactory::getInstance()->loadG12Bitmap(name1);
}
if (!result.bufferLeft || !result.bufferRight)
{
result.freeBuffers();
if (mVerbose) {
printf("File not found, resetting to first image in the sequence.\n");
}
resetImageFileCounter();
return getFrame();
}
increaseImageFileCounter();
return result;
}
FileCaptureInterface::FramePair FileCaptureInterface::getFrame()
{
FramePair result;
string name0 = getImageFileName(mCount, 0);
string name1 = getImageFileName(mCount, 1);
mVerbose = true;
if (mVerbose) {
printf("Grabbing frame from file: %s (%s)\n"
, name0.c_str()
, mIsRgb ? "rgb" : "gray");
}
if (mIsRgb) {
result.rgbBufferLeft = BufferFactory::getInstance()->loadRGB24Bitmap(name0);
result.bufferLeft = result.rgbBufferLeft->toG12Buffer();
result.rgbBufferRight = BufferFactory::getInstance()->loadRGB24Bitmap(name1);
result.bufferRight = result.rgbBufferRight->toG12Buffer();
} else {
result.bufferLeft = BufferFactory::getInstance()->loadG12Bitmap(name0);
result.bufferRight = BufferFactory::getInstance()->loadG12Bitmap(name1);
}
/* if (result.bufferLeft)
{
if (mVerbose) {
printf("Grabbing frame from file: %s\n", name1.c_str());
}
result.bufferRight = BufferFactory::getInstance()->loadG12Bitmap(name1);
}*/
if (result.bufferLeft == NULL && result.bufferRight == NULL)
{
result.freeBuffers();
if (mVerbose) {
printf("Files not found, resetting to first image in the sequence.\n");
}
resetImageFileCounter();
return getFrame();
}
increaseImageFileCounter();
return result;
}
V4L2CaptureInterface::FramePair V4L2CaptureInterface::getFrameRGB24()
{
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
protectFrame.lock();
FramePair result;
RGB24Buffer **results[MAX_INPUTS_NUMBER] = {
&result.buffers[LEFT_FRAME ].rgbBuffer,
&result.buffers[RIGHT_FRAME ].rgbBuffer,
&result.buffers[THIRD_FRAME ].rgbBuffer,
&result.buffers[FOURTH_FRAME].rgbBuffer
};
for (int i = 0; i < MAX_INPUTS_NUMBER; i++)
{
decodeDataRGB24(&camera[i], ¤tFrame[i], results[i]);
if ((*results[i]) == NULL) {
printf("V4L2CaptureInterface::getFrameRGB24(): Precrash condition at %d (%s)\n", i, getFrameSourceName((FrameSourceId)i));
}
}
if (result.rgbBufferLeft() != NULL) {
result.setBufferLeft ( result.rgbBufferLeft() ->toG12Buffer() ); // FIXME
}
if (result.rgbBufferRight() != NULL) {
result.setBufferRight ( result.rgbBufferRight()->toG12Buffer() );
}
if (currentFrame[LEFT_FRAME].isFilled)
result.setTimeStampLeft (currentFrame[LEFT_FRAME].usecsTimeStamp());
if (currentFrame[RIGHT_FRAME].isFilled)
result.setTimeStampRight (currentFrame[RIGHT_FRAME].usecsTimeStamp());
if (skippedCount == 0)
{
// SYNC_PRINT(("Warning: Requested same frames twice. Is this by design?\n"));
}
stats.framesSkipped = skippedCount > 0 ? skippedCount - 1 : 0;
skippedCount = 0;
protectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
stats.values[CaptureStatistics::INTERFRAME_DELAY] = frameDelay;
int64_t desync = currentFrame[LEFT_FRAME ].usecsTimeStamp() -
currentFrame[RIGHT_FRAME].usecsTimeStamp();
stats.values[CaptureStatistics::DESYNC_TIME] = CORE_ABS(desync);
stats.values[CaptureStatistics::DATA_SIZE] = currentFrame[LEFT_FRAME].bytesused;
if (imageInterfaceReceiver != NULL) {
imageInterfaceReceiver->newStatisticsReadyCallback(stats);
} else {
SYNC_PRINT(("Warning: V4L2CaptureInterface::getFrameRGB24(): imageInterfaceReceiver is NULL\n"));
}
return result;
}
V4L2CaptureInterface::FramePair V4L2CaptureInterface::getFrame()
{
// SYNC_PRINT(("V4L2CaptureInterface::getFrame(): called\n"));
CaptureStatistics stats;
PreciseTimer start = PreciseTimer::currentTime();
FramePair result;
protectFrame.lock();
G12Buffer **results[MAX_INPUTS_NUMBER] = {
&result.buffers[LEFT_FRAME ].g12Buffer,
&result.buffers[RIGHT_FRAME].g12Buffer,
&result.buffers[LEFT_FRAME ].g12Buffer,
&result.buffers[RIGHT_FRAME].g12Buffer,
};
result.setRgbBufferRight(NULL);
result.setRgbBufferLeft (NULL);
//SYNC_PRINT(("LF:%s RF:%s\n",
// currentFrame[Frames::LEFT_FRAME ].isFilled ? "filled" : "empty" ,
// currentFrame[Frames::RIGHT_FRAME].isFilled ? "filled" : "empty"));
for (int i = 0; i < MAX_INPUTS_NUMBER; i++)
{
decodeData(&camera[i], ¤tFrame[i], results[i]);
if ((*results[i]) == NULL) {
SYNC_PRINT(("V4L2CaptureInterface::getFrame(): Precrash condition\n"));
}
}
if (currentFrame[LEFT_FRAME].isFilled)
result.setTimeStampLeft (currentFrame[LEFT_FRAME].usecsTimeStamp());
if (currentFrame[RIGHT_FRAME].isFilled)
result.setTimeStampRight (currentFrame[RIGHT_FRAME].usecsTimeStamp());
if (skippedCount == 0)
{
//SYNC_PRINT(("Warning: Requested same frames twice. Is this by design?\n"));
}
stats.framesSkipped = skippedCount > 0 ? skippedCount - 1 : 0;
skippedCount = 0;
protectFrame.unlock();
stats.values[CaptureStatistics::DECODING_TIME] = start.usecsToNow();
stats.values[CaptureStatistics::INTERFRAME_DELAY] = frameDelay;
int64_t desync = currentFrame[LEFT_FRAME].usecsTimeStamp() - currentFrame[RIGHT_FRAME].usecsTimeStamp();
stats.values[CaptureStatistics::DESYNC_TIME] = desync > 0 ? desync : -desync;
stats.values[CaptureStatistics::DATA_SIZE] = currentFrame[LEFT_FRAME].bytesused;
if (imageInterfaceReceiver != NULL) {
imageInterfaceReceiver->newStatisticsReadyCallback(stats);
}
return result;
}
