void ImperxStream::Stream(unsigned char *frame, Semaphore &frame_semaphore, Flag &stream_flag)
{
// The pipeline is already "armed", we just have to tell the device
// to start sending us images
printf( "Sending StartAcquisition command to device\n" );
lDeviceParams->ExecuteCommand( "AcquisitionStart" );
char lDoodle[] = "|\\-|-/";
int lDoodleIndex = 0;
PvInt64 lImageCountVal = 0;
double lFrameRateVal = 0.0;
double lBandwidthVal = 0.0;
// Acquire images until the user instructs us to stop
printf( "\n<press a key to stop streaming>\n" );
while ( stream_flag.check() )
{
std::cout << "here\n";
// Retrieve next buffer
PvBuffer *lBuffer = NULL;
PvResult lOperationResult;
PvResult lResult = lPipeline.RetrieveNextBuffer( &lBuffer, 1000, &lOperationResult );
if ( lResult.IsOK() )
{
if ( lOperationResult.IsOK() )
{
// Process Buffer
lStreamParams->GetIntegerValue( "ImagesCount", lImageCountVal );
lStreamParams->GetFloatValue( "AcquisitionRateAverage", lFrameRateVal );
lStreamParams->GetFloatValue( "BandwidthAverage", lBandwidthVal );
// If the buffer contains an image, display width and height
PvUInt32 lWidth = 0, lHeight = 0;
if ( lBuffer->GetPayloadType() == PvPayloadTypeImage )
{
// Get image specific buffer interface
PvImage *lImage = lBuffer->GetImage();
// Read width, height
lWidth = lBuffer->GetImage()->GetWidth();
lHeight = lBuffer->GetImage()->GetHeight();
stream_flag.raise();
}
std::cout << lWidth << " " << lHeight << "\n";
}
// We have an image - do some processing (...) and VERY IMPORTANT,
// release the buffer back to the pipeline
//semaphore thing
//get all in there.
//a semaphore thing
lPipeline.ReleaseBuffer( lBuffer );
}
else
{
// Timeout
printf( "%c Timeout\r", lDoodle[ lDoodleIndex ] );
}
++lDoodleIndex %= 6;
}
}
void *ImageProcessThread(void *threadargs)
{
long tid = (long)((struct Thread_data *)threadargs)->thread_id;
printf("ImageProcess thread #%ld!\n", tid);
CoordList localLimbs, localPixelFiducials, localScreenFiducials;
IndexList localIds;
uint8_t localMin, localMax;
std::vector<float> localMapping;
cv::Point2f localPixelCenter, localScreenCenter, localError;
timespec waittime;
waittime.tv_sec = frameRate.tv_sec/10;
waittime.tv_nsec = frameRate.tv_nsec/10;
while(1)
{
if (stop_message[tid] == 1)
{
printf("ImageProcess thread #%ld exiting\n", tid);
started[tid] = false;
pthread_exit( NULL );
}
if (cameraReady)
{
while(1)
{
if(procReady.check())
{
procReady.lower();
break;
}
else
{
nanosleep(&waittime, NULL);
}
}
//printf("ImageProcessThread: trying to lock\n");
if (pthread_mutex_trylock(&mutexImage) == 0)
{
//printf("ImageProcessThread: got lock\n");
if(!frame.empty())
{
aspect.LoadFrame(frame);
pthread_mutex_unlock(&mutexImage);
runResult = aspect.Run();
switch(GeneralizeError(runResult))
{
case NO_ERROR:
aspect.GetScreenFiducials(localScreenFiducials);
aspect.GetScreenCenter(localScreenCenter);
aspect.GetMapping(localMapping);
case MAPPING_ERROR:
aspect.GetFiducialIDs(localIds);
case ID_ERROR:
aspect.GetPixelFiducials(localPixelFiducials);
case FIDUCIAL_ERROR:
aspect.GetPixelCenter(localPixelCenter);
aspect.GetPixelError(localError);
case CENTER_ERROR:
aspect.GetPixelCrossings(localLimbs);
if (REPORT_FOCUS) aspect.ReportFocus();
case LIMB_ERROR:
case RANGE_ERROR:
aspect.GetPixelMinMax(localMin, localMax);
break;
default:
std::cout << "Nothing worked\n";
}
pthread_mutex_lock(&mutexProcess);
switch(GeneralizeError(runResult))
{
case NO_ERROR:
screenFiducials = localScreenFiducials;
screenCenter = localScreenCenter;
mapping = localMapping;
case MAPPING_ERROR:
ids = localIds;
case ID_ERROR:
pixelFiducials = localPixelFiducials;
case FIDUCIAL_ERROR:
pixelCenter = localPixelCenter;
error = localError;
case CENTER_ERROR:
limbs = localLimbs;
case LIMB_ERROR:
case RANGE_ERROR:
frameMin = localMin;
frameMax = localMax;
break;
default:
break;
}
pthread_mutex_unlock(&mutexProcess);
}
else
{
//std::cout << "Frame empty!" << std::endl;
}
/*
std::cout << ids.size() << " fiducials found:";
for(uint8_t i = 0; i < ids.size() && i < 20; i++) std::cout << pixelFiducials[i];
std::cout << std::endl;
for(uint8_t i = 0; i < ids.size() && i < 20; i++) std::cout << ids[i];
std::cout << std::endl;
for(uint8_t i = 0; i < ids.size() && i < 20; i++) std::cout << screenFiducials[i];
std::cout << std::endl;
std::cout << "Sun center (pixels): " << pixelCenter << ", Sun center (screen): " << screenCenter << std::endl;
*/
}
}
}
}
