Пример #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;
}
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() );
}
Пример #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);
	}
}
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;

}