void get_en_image(pcl::PointCloud<pcl::PointXYZ> &cloud)
{
char flag = 'g';
int i = 0;
while(flag != 'q')
{
ostringstream conv;
conv << i;
cout<<"Capturing new calibration image from the ensenso stereo vision camera."<<endl;
///Read the Ensenso stereo cameras:
try {
// Initialize NxLib and enumerate cameras
nxLibInitialize(true);
// Reference to the first camera in the node BySerialNo
NxLibItem root;
NxLibItem camera = root[itmCameras][itmBySerialNo][0];
// Open the Ensenso
NxLibCommand open(cmdOpen);
open.parameters()[itmCameras] = camera[itmSerialNumber].asString();
open.execute();
// Capture an image
NxLibCommand (cmdCapture).execute();
// Stereo matching task
NxLibCommand (cmdComputeDisparityMap).execute ();
// Convert disparity map into XYZ data for each pixel
NxLibCommand (cmdComputePointMap).execute ();
// Get info about the computed point map and copy it into a std::vector
double timestamp;
std::vector<float> pointMap;
int width, height;
camera[itmImages][itmRaw][itmLeft].getBinaryDataInfo (0, 0, 0, 0, 0, ×tamp); // Get raw image timestamp
camera[itmImages][itmPointMap].getBinaryDataInfo (&width, &height, 0, 0, 0, 0);
camera[itmImages][itmPointMap].getBinaryData (pointMap, 0);
// Copy point cloud and convert in meters
//cloud.header.stamp = getPCLStamp (timestamp);
cloud.resize (height * width);
cloud.width = width;
cloud.height = height;
cloud.is_dense = false;
// Copy data in point cloud (and convert milimeters in meters)
for (size_t i = 0; i < pointMap.size (); i += 3)
{
cloud.points[i / 3].x = pointMap[i] / 1000.0;
cloud.points[i / 3].y = pointMap[i + 1] / 1000.0;
cloud.points[i / 3].z = pointMap[i + 2] / 1000.0;
}
NxLibCommand (cmdRectifyImages).execute();
// Save images
NxLibCommand saveImage(cmdSaveImage);
// raw left
saveImage.parameters()[itmNode] = camera[itmImages][itmRaw][itmLeft].path;
saveImage.parameters()[itmFilename] = "calib_en/raw_left" + conv.str()+".png";
saveImage.execute();
// raw right
/*saveImage.parameters()[itmNode] = camera[itmImages][itmRaw][itmRight].path;
saveImage.parameters()[itmFilename] = "calib_en/raw_right.png";
saveImage.execute();
// rectified left
saveImage.parameters()[itmNode] = camera[itmImages][itmRectified][itmLeft].path;
saveImage.parameters()[itmFilename] = "calib_en/rectified_left.png";
saveImage.execute();
// rectified right
saveImage.parameters()[itmNode] = camera[itmImages][itmRectified][itmRight].path;
saveImage.parameters()[itmFilename] = "calib_en/rectified_right.png";
saveImage.execute();*/
} catch (NxLibException& e) { // Display NxLib API exceptions, if any
printf("An NxLib API error with code %d (%s) occurred while accessing item %s.\n", e.getErrorCode(), e.getErrorText().c_str(), e.getItemPath().c_str());
if (e.getErrorCode() == NxLibExecutionFailed) printf("/Execute:\n%s\n", NxLibItem(itmExecute).asJson(true).c_str());
}
/*catch (NxLibException &ex)
{
ensensoExceptionHandling (ex, "grabSingleCloud");
}*/
catch (...) { // Display other exceptions
printf("Something, somewhere went terribly wrong!\n");
}
/*cout<<"Plug in the RGB camera and press any key to continue."<<endl;
cin.ignore();
cin.get();*/
cout<<"Capturing new calibration image from the ensenso RGB camera."<<endl;
///Read the IDS RGB Camera attached to the Ensenso stereo camera
HIDS hCam = 0;
printf("Success-Code: %d\n",IS_SUCCESS);
//Kamera öffnen
INT nRet = is_InitCamera (&hCam, NULL);
printf("Status Init %d\n",nRet);
//Pixel-Clock setzen
UINT nPixelClockDefault = 9;
nRet = is_PixelClock(hCam, IS_PIXELCLOCK_CMD_SET,
(void*)&nPixelClockDefault,
sizeof(nPixelClockDefault));
printf("Status is_PixelClock %d\n",nRet);
//Farbmodus der Kamera setzen
//INT colorMode = IS_CM_CBYCRY_PACKED;
INT colorMode = IS_CM_BGR8_PACKED;
nRet = is_SetColorMode(hCam,colorMode);
printf("Status SetColorMode %d\n",nRet);
UINT formatID = 4;
//Bildgröße einstellen -> 2592x1944
nRet = is_ImageFormat(hCam, IMGFRMT_CMD_SET_FORMAT, &formatID, 4);
printf("Status ImageFormat %d\n",nRet);
//Speicher für Bild alloziieren
char* pMem = NULL;
int memID = 0;
nRet = is_AllocImageMem(hCam, 1280, 1024, 24, &pMem, &memID);
printf("Status AllocImage %d\n",nRet);
//diesen Speicher aktiv setzen
nRet = is_SetImageMem(hCam, pMem, memID);
printf("Status SetImageMem %d\n",nRet);
//Bilder im Kameraspeicher belassen
INT displayMode = IS_SET_DM_DIB;
nRet = is_SetDisplayMode (hCam, displayMode);
printf("Status displayMode %d\n",nRet);
//Bild aufnehmen
nRet = is_FreezeVideo(hCam, IS_WAIT);
printf("Status is_FreezeVideo %d\n",nRet);
//Bild aus dem Speicher auslesen und als Datei speichern
String path = "./calib_en/snap_BGR"+conv.str()+".png";
std::wstring widepath;
for(int i = 0; i < path.length(); ++i)
widepath += wchar_t (path[i] );
IMAGE_FILE_PARAMS ImageFileParams;
ImageFileParams.pwchFileName = &widepath[0];
ImageFileParams.pnImageID = NULL;
ImageFileParams.ppcImageMem = NULL;
ImageFileParams.nQuality = 0;
ImageFileParams.nFileType = IS_IMG_PNG;
nRet = is_ImageFile(hCam, IS_IMAGE_FILE_CMD_SAVE, (void*) &ImageFileParams, sizeof(ImageFileParams));
printf("Status is_ImageFile %d\n",nRet);
//Kamera wieder freigeben
is_ExitCamera(hCam);
cout<<"To quit capturing calibration images, choose q. Else, choose any other letter."<<endl;
cin >> flag;
i++;
}
}
void UEyeCaptureInterface::SpinThread::run()
{
qDebug("new frame thread running");
while (capInterface->spinRunning.tryLock()) {
//usleep(20000);
if (capInterface->sync == SOFT_SYNC || capInterface->sync == FRAME_HARD_SYNC) {
// printf("Both cameras fire!!!\n");
ueyeTrace(is_FreezeVideo (capInterface->rightCamera.mCamera, IS_DONT_WAIT));
ueyeTrace(is_FreezeVideo (capInterface->leftCamera .mCamera, IS_DONT_WAIT));
}
int result = IS_SUCCESS;
while ((result = capInterface->rightCamera.waitUEyeFrameEvent(INFINITE)) != IS_SUCCESS)
{
SYNC_PRINT(("WaitFrameEvent failed for right camera\n"));
ueyeTrace(result);
}
//SYNC_PRINT(("Got right frame\n"));
while ((result = capInterface->leftCamera .waitUEyeFrameEvent(INFINITE)) != IS_SUCCESS)
{
SYNC_PRINT(("WaitFrameEvent failed for left camera\n"));
ueyeTrace(result);
}
//SYNC_PRINT(("Got left frame\n"));
/* If we are here seems like both new cameras produced frames*/
int bufIDL, bufIDR;
char *rawBufferLeft = NULL;
char *rawBufferRight = NULL;
HIDS mCameraLeft;
HIDS mCameraRight;
mCameraLeft = capInterface->leftCamera.mCamera;
is_GetActSeqBuf(mCameraLeft, &bufIDL, NULL, &rawBufferLeft);
is_LockSeqBuf (mCameraLeft, IS_IGNORE_PARAMETER, rawBufferLeft);
mCameraRight = capInterface->rightCamera.mCamera;
is_GetActSeqBuf(mCameraRight, &bufIDR, NULL, &rawBufferRight);
is_LockSeqBuf (mCameraRight, IS_IGNORE_PARAMETER, rawBufferRight);
// SYNC_PRINT(("We have locked buffers [%d and %d]\n", bufIDL, bufIDR));
/* Now exchange the buffer that is visible from */
capInterface->protectFrame.lock();
UEYEIMAGEINFO imageInfo;
if (capInterface->currentLeft)
is_UnlockSeqBuf (mCameraLeft, IS_IGNORE_PARAMETER, (char *)capInterface->currentLeft->buffer);
is_GetImageInfo (mCameraLeft, bufIDL, &imageInfo, sizeof(UEYEIMAGEINFO));
capInterface->currentLeft = capInterface->leftCamera.getDescriptorByAddress(rawBufferLeft);
capInterface->currentLeft->internalTimestamp = imageInfo.u64TimestampDevice;
capInterface->currentLeft->pcTimestamp = imageInfo.TimestampSystem;
if (capInterface->currentRight)
is_UnlockSeqBuf (mCameraRight, IS_IGNORE_PARAMETER, (char *)capInterface->currentRight->buffer);
is_GetImageInfo (mCameraRight, bufIDR, &imageInfo, sizeof(UEYEIMAGEINFO));
capInterface->currentRight = capInterface->rightCamera.getDescriptorByAddress(rawBufferRight);
capInterface->currentRight->internalTimestamp = imageInfo.u64TimestampDevice;
capInterface->currentRight->pcTimestamp = imageInfo.TimestampSystem;
capInterface->skippedCount++;
capInterface->triggerSkippedCount = is_CameraStatus (mCameraRight, IS_TRIGGER_MISSED, IS_GET_STATUS);
capInterface->protectFrame.unlock();
/* For statistics */
if (capInterface->lastFrameTime.usecsTo(PreciseTimer()) != 0)
{
capInterface->frameDelay = capInterface->lastFrameTime.usecsToNow();
}
capInterface->lastFrameTime = PreciseTimer::currentTime();
frame_data_t frameData;
frameData.timestamp = (capInterface->currentLeft->usecsTimeStamp() / 2) + (capInterface->currentRight->usecsTimeStamp() / 2);
capInterface->notifyAboutNewFrame(frameData);
capInterface->spinRunning.unlock();
if (capInterface->shouldStopSpinThread)
{
qDebug("Break command received");
break;
}
}
qDebug("new frame thread finished");
}
void mexFunction( int nlhs, mxArray *plhs[],int nrhs, const mxArray*prhs[] )
{
/* Check for proper number of arguments */
if (!(nrhs == 2))
{
mexErrMsgTxt("You have to give me two inputs");
}
if (!mxIsStruct(prhs[1]))
{
mexErrMsgTxt("That second input has to be an image structure, you know.");
}
int error = 0;
int BitsPerPixel = 8;
HCAM hCam = *(HCAM *)mxGetPr(prhs[0]);
//Freeze the video feed for frame grab to prevent split frames
error = is_FreezeVideo( hCam, IS_WAIT );
if (error !=IS_SUCCESS)
{
mexErrMsgTxt("Error freezing video");
}
int image_field = mxGetFieldNumber(prhs[1],"image");
int pointer_field = mxGetFieldNumber(prhs[1],"pointer");
int ID_field = mxGetFieldNumber(prhs[1],"id");
mxArray *p_output_image = mxGetFieldByNumber(prhs[1],0,image_field);
char *p_output = (char *)mxGetPr(p_output_image);
mxArray *ppointer_field = mxGetFieldByNumber(prhs[1],0,pointer_field);
char *p_image = (char *)*(int *)mxGetPr(ppointer_field);
mxArray *pID_field = mxGetFieldByNumber(prhs[1],0,ID_field);
int *ID = (int *)mxGetPr(pID_field);
error = is_CopyImageMem (hCam, p_image, *ID, p_output);
if (error !=IS_SUCCESS)
{
mexErrMsgTxt("Error copying image data to output");
}
//If a variable is supplied on the LHS, use it to output image frame data
if (nlhs == 1)
{
IS_RECT rectAOI;
INT nX, nY;
error = is_AOI(hCam, IS_AOI_IMAGE_GET_AOI, (void*)&rectAOI, sizeof(rectAOI));
if (error == IS_SUCCESS)
{
nX = rectAOI.s32Width;
nY = rectAOI.s32Height;
}
mxArray *p_output_image_new = mxCreateNumericMatrix(nX, nY, mxUINT8_CLASS, mxREAL);
p_output = (char *)mxGetPr(p_output_image_new);
error = is_CopyImageMem (hCam, p_image, *ID, p_output);
if (error !=IS_SUCCESS)
{
mexErrMsgTxt("Error copying image data to output");
}
//Set mex function output
plhs[0] = p_output_image_new;
}
return;
}
