void SharedImageSequence::GetSharedImageSequenceManually(libCameraSensors::AbstractRangeImagingSensor* RangeCam, libCameraSensors::AbstractColorCamera* ColorCam, const CvSize& SharedImageSize)
{
cvNamedWindow(m_CoordWinName.c_str());
cvNamedWindow(m_ColorWinName.c_str());
char c=-1;
SharedImage SImg;
SImg.GetImagesFromSensors(RangeCam, ColorCam, SharedImageDefaultSize);
SImg.DisplayCoord(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
int cnt=0;
while(cvGetWindowHandle(m_ColorWinName.c_str()) && cvGetWindowHandle(m_CoordWinName.c_str()))
{
std::cout << "SharedImageSequence::GetSharedImageSequence: Press 'n' to take a training image, 's' to save the image, or 'q' to quit.\n";
c = cvWaitKey();
std::cout << "SharedImageSequence::GetSharedImageSequence: " << c << ".\n";
if(c=='q' || c=='Q')
{
break;
}
else if (c=='n' || c=='N')
{
#ifndef __USE_SHAREDIMAGE_JBK__
SImg.GetImagesFromSensors(RangeCam, ColorCam, SharedImageDefaultSize);
#endif
#ifdef __USE_SHAREDIMAGE_JBK__
SImg.GetImagesFromSensors(RangeCam, ColorCam);
#endif
SImg.DisplayCoord(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
}
else if (c=='s' || c=='S')
{
push_back(SImg);
std::cout << "SharedImageSequence::GetSharedImageSequence: ... one image sucessfully acquired." << std::endl;
cnt++;
}
}
cvDestroyAllWindows();
}
void SharedImageSequence::GetRawImageSequence(libCameraSensors::AbstractRangeImagingSensor* RangeCam, libCameraSensors::AbstractColorCamera* ColorCam)
{
cvNamedWindow(m_CoordWinName.c_str());
cvNamedWindow(m_ColorWinName.c_str());
char c=-1;
SharedImage SImg;
SImg.GetRawImagesFromSensors(RangeCam, ColorCam);
SImg.DisplayInten(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
int cnt=0;
while(cvGetWindowHandle(m_ColorWinName.c_str()) && cvGetWindowHandle(m_CoordWinName.c_str()))
{
std::cout << "SharedImageSequence::GetSharedImageSequence: Press 'n' to take a training image, 's' to save the image, or 'q' to quit.\n";
c = cvWaitKey();
SImg.GetRawImagesFromSensors(RangeCam, ColorCam);
SImg.DisplayInten(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
std::cout << "SharedImageSequence::GetSharedImageSequence: " << c << ".\n";
if(c=='q' || c=='Q')
{
break;
}
else if (c=='n' || c=='N')
{
SImg.GetRawImagesFromSensors(RangeCam, ColorCam);
SImg.DisplayInten(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
}
else if (c=='s' || c=='S')
{
push_back(SImg);
std::cout << "SharedImageSequence::GetSharedImageSequence: ... one image sucessfully acquired." << std::endl;
cnt++;
}
}
cvDestroyAllWindows();
}
void SharedImageSequence::GetSharedImageSequencePowerCube(libCameraSensors::AbstractRangeImagingSensor* RangeCam, libCameraSensors::AbstractColorCamera* ColorCam, const CvSize& SharedImageSize, int DegreeOffset)
{
#ifndef __USE_POWERCUBE__
std::cout << "Error: you have to enable the preprocessor symbol __USE_POWERCUBE__" << std::endl;
#endif
#ifdef __USE_POWERCUBE__
cvNamedWindow(m_CoordWinName.c_str());
cvNamedWindow(m_ColorWinName.c_str());
char c=-1;
ipa_utils::PowerCube powercube;
powercube.Init();
powercube.Open();
powercube.DoHoming();
// Rotate and capture
unsigned int rotationIncrement = DegreeOffset;
for(unsigned int degree = 0; degree < 360; degree += rotationIncrement)
{
if(!cvGetWindowHandle(m_CoordWinName.c_str()) || !cvGetWindowHandle(m_ColorWinName.c_str()))
{
break;
}
powercube.Rotate(rotationIncrement);
SharedImage SImg;//(m_SharedImageSize);//, m_CameraSensorsIniDirectory);
//SImg.Init(SharedImageSize);
#ifndef __USE_SHAREDIMAGE_JBK__
SImg.GetImagesFromSensors(RangeCam, ColorCam, SharedImageDefaultSize);
#endif
#ifdef __USE_SHAREDIMAGE_JBK__
SImg.GetImagesFromSensors(RangeCam, ColorCam);
#endif
SImg.DisplayCoord(m_CoordWinName);
SImg.DisplayShared(m_ColorWinName);
push_back(SImg);
c = cvWaitKey(100);
if(c=='q' || c=='Q')
{
break;
}
std::cout << "SharedImageSequence::GetSharedImageSequence: ... one image sucessfully acquired." << std::endl;
}
cvDestroyAllWindows();
powercube.Close();
#endif // __USE_POWERCUBE__
}
