Beispiel #1
0
bool saveImage(string filepath, unsigned char *data, raspicam::RaspiCam &Camera){
	std::ofstream outFile (filepath.c_str(), std::ios::binary);
	outFile << "P6\n";
	outFile << Camera.getWidth() << " " << Camera.getHeight() << " 255\n";
	outFile.write( (char*) data, Camera.getImageBufferSize() );

	return true;
}
Beispiel #2
0
int captureImage(raspicam::RaspiCam &Camera, unsigned char **data)
{

	*data = new unsigned char [ Camera.getImageBufferSize()];

	Camera.grab();

	Camera.retrieve(*data);
	size_t i = 0;
	while (++i < nFramesCaptured)
	{
		Camera.grab();
		Camera.retrieve(*data);
	}

	return SUCCESS;
}
Beispiel #3
0
int executeLIDAR(raspicam::RaspiCam &Camera)
{
		//Set Filename for future file output
	time_t rawtime;
	time(&rawtime);
	string imageFilename("images/image_test_");
	imageFilename += ctime(&rawtime);
	imageFilename += ".ppm";
	strReplace(&imageFilename," ","_");


	unsigned char *data;

	//Capture Image
	clock_t t = clock();
	if (captureImage(Camera, &data)) return FAILURE;
	clock_t captureTime = clock() - t;

	//Find Laser Points
	double x_avg = 0;
	t = clock();
	findPoints(Camera.getWidth(), Camera.getHeight(), data, &x_avg);
	clock_t imageProcessingTime = clock() - t;

	//Calculate Distance from points
	double dist = 0;
	t = clock();
	calculateDistance(x_avg, &dist);
	clock_t distanceCalculationTime = clock() - t;

	cout << "Distance to point -- " << dist << endl;

	cout << "Cature Time \t Image Processing Time \t Calculation Time \n" <<
					((float)captureTime)/CLOCKS_PER_SEC << "\t\t" <<
					((float)imageProcessingTime)/CLOCKS_PER_SEC << "\t\t" <<
					((float)distanceCalculationTime)/CLOCKS_PER_SEC << "\t" << endl;

	if (data)
	{
		std::free(data);
	}
}
void saveImage ( string filepath,unsigned char *data,raspicam::RaspiCam &Camera ) {
    std::ofstream outFile ( filepath.c_str(),std::ios::binary );
    if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_BGR ||  Camera.getFormat()==raspicam::RASPICAM_FORMAT_RGB ) {
        outFile<<"P6\n";
    } else if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_GRAY ) {
        outFile<<"P5\n";
    } else if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_YUV420 ) { //made up format
        outFile<<"P7\n";
    }
    outFile<<Camera.getWidth() <<" "<<Camera.getHeight() <<" 255\n";
    outFile.write ( ( char* ) data,Camera.getImageBufferSize() );
}
Beispiel #5
0
bool setCamera(raspicam::RaspiCam &Camera){


	Camera.setWidth(1280);
	Camera.setHeight(960);
	Camera.setBrightness(50);
	Camera.setSharpness(0);
	Camera.setContrast(0);
	Camera.setShutterSpeed(0);
	Camera.setISO(100);
	Camera.setExposureCompensation(5);
	Camera.setExposure(raspicam::RASPICAM_EXPOSURE_AUTO);
	Camera.setAWB(raspicam::RASPICAM_AWB_AUTO);
	Camera.setFormat(raspicam::RASPICAM_FORMAT_RGB);
	Camera.setVerticalFlip(true);
	//Camera.setAWB_RB(1,1);
	return true;
}
void processCommandLine ( int argc,char **argv,raspicam::RaspiCam &Camera ) {
    Camera.setWidth ( getParamVal ( "-w",argc,argv,1280 ) );
    Camera.setHeight ( getParamVal ( "-h",argc,argv,960 ) );
    Camera.setBrightness ( getParamVal ( "-br",argc,argv,50 ) );

    Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
    Camera.setContrast ( getParamVal ( "-co",argc,argv,0 ) );
    Camera.setSaturation ( getParamVal ( "-sa",argc,argv,0 ) );
    Camera.setShutterSpeed( getParamVal ( "-ss",argc,argv,0 ) );
    Camera.setISO ( getParamVal ( "-iso",argc,argv ,400 ) );
    if ( findParam ( "-vs",argc,argv ) !=-1 )
        Camera.setVideoStabilization ( true );
    Camera.setExposureCompensation ( getParamVal ( "-ec",argc,argv ,0 ) );

    if ( findParam ( "-gr",argc,argv ) !=-1 )
      Camera.setFormat(raspicam::RASPICAM_FORMAT_GRAY);
    if ( findParam ( "-yuv",argc,argv ) !=-1 )
      Camera.setFormat(raspicam::RASPICAM_FORMAT_YUV420);
    if ( findParam ( "-test_speed",argc,argv ) !=-1 )
        doTestSpeedOnly=true;
    int idx;
    if ( ( idx=findParam ( "-ex",argc,argv ) ) !=-1 )
        Camera.setExposure ( getExposureFromString ( argv[idx+1] ) );
    if ( ( idx=findParam ( "-awb",argc,argv ) ) !=-1 )
        Camera.setAWB( getAwbFromString ( argv[idx+1] ) );
    nFramesCaptured=getParamVal("-nframes",argc,argv,100);
    Camera.setAWB_RB(getParamVal("-awb_b",argc,argv ,1), getParamVal("-awb_g",argc,argv ,1));

}
int executeLIDAR(raspicam::RaspiCam &Camera, char *file)
{
		//Set Filename for future file output
	time_t rawtime;
	time(&rawtime);
	string imageFilename("images/image_test_");
	imageFilename += ctime(&rawtime);
	imageFilename += ".ppm";
	strReplace(&imageFilename," ","_");


	unsigned char *data;

	//Capture Image
	clock_t t = clock();
	if (captureImage(Camera, &data)) return FAILURE;
	clock_t captureTime = clock() - t;

	//Find Laser Points
	vector<pixel_point> points;
	t = clock();
	findPoints(Camera.getWidth(), Camera.getHeight(), data, points);
	clock_t imageProcessingTime = clock() - t;

	//Calculate Distance from points
	vector<xy_point> distances;

	t = clock();

	int points_size = points.size();
	for (int i = 0; i < points_size; i++)
	{
		distances.push_back( calculateDistance(points[i]) );
	}
	clock_t distanceCalculationTime = clock() - t;

	if (data)
	{
		std::free(data);
	}


	ofstream outputFile;

	outputFile.open(file);

	if(!outputFile) {return FAILURE;}

	outputFile << "x\ty\n" << endl;

	for (int i = 0; i<distances.size(); i++)
	{
		outputFile << distances[i].x << "\t" << distances[i].y << "\n" << endl;
	}

	outputFile.close();

	cout << "Cature Time \t Image Processing Time \t Calculation Time \n" <<
					((float)captureTime)/CLOCKS_PER_SEC << "\t\t" <<
					((float)imageProcessingTime)/CLOCKS_PER_SEC << "\t\t" <<
					((float)distanceCalculationTime)/CLOCKS_PER_SEC << "\t" << endl;

}