Camera::Camera(dwSensorHandle_t &sensor, dwSensorParams salParams, dwSALHandle_t sal, dwContextHandle_t sdk, ProgramArguments arguments, bool record)
{
// Init dwHandles
this->sensor = DW_NULL_HANDLE;
streamer = DW_NULL_HANDLE;
serializer = DW_NULL_HANDLE;
// Are we recording the camera?
this->record = false || record;
//Initialize sensors
dwStatus result = dwSAL_createSensor(&sensor, salParams, sal);
// Initialize camera and image properties
if (result == DW_SUCCESS) {
this->sensor = sensor;
dwImageProperties cameraImageProperties;
dwSensorCamera_getImageProperties(&cameraImageProperties,
DW_CAMERA_PROCESSED_IMAGE,
this->sensor);
dwCameraProperties cameraProperties;
dwSensorCamera_getSensorProperties(&cameraProperties, this->sensor);
width = cameraImageProperties.width;
height = cameraImageProperties.height;
imageType = cameraImageProperties.type;
numSiblings = cameraProperties.siblings;
std::cout << "Camera siblings: " << numSiblings << std::endl;
}
else {
std::cerr << "Cannot create driver: " << salParams.protocol
<< " with params: " << salParams.parameters << std::endl
<< "Error: " << dwGetStatusName(result) << std::endl;
if (result == DW_INVALID_ARGUMENT) {
std::cerr << "It is possible the given camera is not supported. " << std::endl;
}
}
initImagePool(sdk);
initFormatter(sdk);
if (record) initSerializer(arguments);
}
int SuccessManager::restoreState(const uint8_t* in, int size) {
Serializer s;
initSerializer(s);
return s.deserializeObject(in, size, this);
}
int SuccessManager::saveState(uint8_t** out) {
Serializer s;
initSerializer(s);
return s.serializeObject(out, this);
}
