From 928e639d18577bb51d5f577867f338ae416e7042 Mon Sep 17 00:00:00 2001
From: Angel Santamaria-Navarro <asantamaria@iri.upc.edu>
Date: Thu, 15 Dec 2016 11:22:56 +0100
Subject: [PATCH] prepared to work with external device manager to have several
cameras
---
src/examples/mvbluefox3_test.cpp | 125 ++++++++++++++++++++++++-------
src/mvbluefox3.cpp | 70 +++--------------
src/mvbluefox3.h | 13 +---
3 files changed, 110 insertions(+), 98 deletions(-)
diff --git a/src/examples/mvbluefox3_test.cpp b/src/examples/mvbluefox3_test.cpp
index 19db022..6bf7122 100644
--- a/src/examples/mvbluefox3_test.cpp
+++ b/src/examples/mvbluefox3_test.cpp
@@ -1,7 +1,8 @@
#include "mvbluefox3.h"
-#include <boost/timer.hpp>
#include <unistd.h>
+#include <sstream>
+
#ifdef HAVE_OPENCV_H
#include <opencv2/core/version.hpp>
#if CV_MAJOR_VERSION == 3
@@ -9,7 +10,7 @@
#endif
#endif
-#define WINDOW_NAME "mvBlueFOX3 TEST"
+typedef bool( *SUPPORTED_DEVICE_CHECK )( const mvIMPACT::acquire::Device* const );
mvIMPACT::acquire::DeviceManager devMgr_; // Device Manager.
@@ -20,52 +21,122 @@ std::string GetSerialFromUser(void)
return getDeviceFromUserInput(devMgr)->serial.read();
}
+std::string AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDeviceCheckFn)
+{
+ mvIMPACT::acquire::DeviceManager devMgr; // Device Manager.
+ std::ostringstream devices;
+ devices << "Available device(s): ";
+ const unsigned int devCnt = devMgr.deviceCount();
+ if (devCnt == 0)
+ {
+ devices << "0.";
+ }
+ else
+ {
+ for( unsigned int i = 0; i < devCnt; i++ )
+ {
+ Device* pDev = devMgr_[i];
+ if( pDev )
+ {
+ if( !pSupportedDeviceCheckFn || pSupportedDeviceCheckFn( pDev ) )
+ {
+ devices << " \n - " << pDev->product.read() << ": " << pDev->serial.read();
+ }
+ }
+ }
+ }
+ return devices.str();
+}
+
int main(int argc, char *argv[])
{
- CMvbluefox3::CMvbluefox3* cam_ptr = NULL;
+ int num_cams = 2;
+
+ std::vector<std::string> serial;
+ serial.resize(num_cams);
+ serial[0] = "F0300141";
+ serial[1] = "F0300123";
+#if defined(HAVE_OPENCV_H) && CV_MAJOR_VERSION == 3
+ std::vector<std::string> window_name;
+ window_name.resize(num_cams);
+ window_name[0] = serial[0];
+ window_name[1] = serial[1];
+#endif
+
+ std::vector<CMvbluefox3::CMvbluefox3*> cam_ptr;
+ cam_ptr.resize(num_cams);
+ for (int ii = 0; ii < num_cams; ++ii)
+ {
+ cam_ptr[ii] = NULL;
+
+ if( !serial[ii].empty() )
+ {
+ std::cout << "[mvBlueFOX3]: Trying to open device with serial: " << serial[ii] << std::endl;
+
+ if (devMgr_.getDeviceBySerial(serial[ii]) == 0)
+ {
+ std::cout << "No device found! Unable to continue. " << std::endl;
+ }
+ else
+ {
+ // create an interface to the found device
+ cam_ptr[ii] = new CMvbluefox3::CMvbluefox3(devMgr_.getDeviceBySerial(serial[ii]));
+ }
+ }
+ else
+ std::cout << "Device cannot be found because serial number is not specified." << std::endl;
+ }
+
try {
- // cam_ptr = new CMvbluefox3::CMvbluefox3(GetSerialFromUser());
- cam_ptr = new CMvbluefox3::CMvbluefox3("F0300141",devMgr_);
- CMvbluefox3::CParams params; //default parameters.
- cam_ptr->SetConfig(params);
+ for (int ii = 0; ii < num_cams; ++ii)
+ {
+ CMvbluefox3::CParams params; //default parameters.
+ cam_ptr[ii]->SetConfig(params);
+ }
#if defined(HAVE_OPENCV_H) && CV_MAJOR_VERSION == 3
std::cout << "[Camera test]: Acquiring images." << std::endl;
- cv::namedWindow( WINDOW_NAME, cv::WINDOW_NORMAL );
-
- boost::timer t;
- double duration;
+ for (int ii = 0; ii < num_cams; ++ii)
+ cv::namedWindow( window_name[ii], cv::WINDOW_NORMAL );
while (true)
{
- t.restart();
- cv::Mat image;
- cam_ptr->GetImageCV(image);
- cv::imshow( WINDOW_NAME, image );
+ for (int ii = 0; ii < num_cams; ++ii)
+ {
+ cv::Mat image;
+ cam_ptr[ii]->GetImageCV(image);
+ cv::imshow( window_name[ii], image );
+ }
if(cv::waitKey(30) >= 0) break;
- std::cout << '\r' << "fps:" << 1.0/t.elapsed() << std::flush;
}
- std::cout << std::endl;
- cv::destroyAllWindows();
+ cv::destroyAllWindows();
#else
- char *image=NULL;
- cam_ptr->GetImage(&image);
- std::cout << "[Camera test]: Frame acquired successfully."
- << "OpenCV 3 is required and not installed, thus visualization is avoided." << std::endl;
- delete [] image;
+
+ for (int ii = 0; ii < num_cams; ++ii)
+ {
+ char *image=NULL;
+ cam_ptr[ii]->GetImage(&image);
+ std::cout << "[Camera test]: CAM: " << serial[ii] << ". Frame acquired successfully." << "OpenCV 3 is required and not installed, thus visualization is avoided." << std::endl;
+ delete [] image;
+ }
+
#endif
+
std::cout << "[Camera test]: Finished successfully." << std::endl;
}catch (CMvbluefox3::CmvBlueFOX3Exception& e) {
std::cout << e.what() << std::endl;
}
-
- if (cam_ptr != NULL)
+
+ for (int ii = 0; ii < num_cams; ++ii)
{
- cam_ptr = NULL;
- delete [] cam_ptr;
+ if (cam_ptr[ii] != NULL)
+ {
+ cam_ptr[ii] = NULL;
+ delete [] cam_ptr[ii];
+ }
}
}
diff --git a/src/mvbluefox3.cpp b/src/mvbluefox3.cpp
index 2fcb41e..bac72dc 100644
--- a/src/mvbluefox3.cpp
+++ b/src/mvbluefox3.cpp
@@ -17,40 +17,18 @@
namespace CMvbluefox3 {
-CMvbluefox3::CMvbluefox3(const std::string &serial, const mvIMPACT::acquire::DeviceManager &dMan): devMgr_(dMan)
+CMvbluefox3::CMvbluefox3(const mvIMPACT::acquire::Device *device)
{
- if( !serial.empty() )
- {
- std::cout << "[mvBlueFOX3]: Trying to open device with serial: " << serial << std::endl;
-
- // if (this->devMgr_.getDeviceBySerial(serial) == 0)
- if (devMgr_.getDeviceBySerial(serial) == 0)
- {
- throw CmvBlueFOX3Exception(_HERE_, "No device found! Unable to continue. " + AvailableDevices());
- }
- else
- {
- // create an interface to the found device
- // this->device_ = this->devMgr_[0];
- this->device_ = devMgr_[0];
-
- // Initialize other vars
- this->timeout_ms_ = -1;
- this->linepitch_ = 8;
- this->depth_ = 8;
- this->bytes_per_pixel_ = 1;
+ // Initialize vars
+ this->device_ = new mvIMPACT::acquire::Device(*device);
+ this->timeout_ms_ = -1;
+ this->linepitch_ = 8;
+ this->depth_ = 8;
+ this->bytes_per_pixel_ = 1;
- // displayPropertyData(this->device_->defaultRequestCount);
- // WriteProperty(this->device_->defaultRequestCount,1);
-
- // open device
- OpenDevice(serial);
- }
- }
- else
- throw CmvBlueFOX3Exception(_HERE_, "Device cannot be found because serial number is not specified.");
+ OpenDevice();
}
-
+
CMvbluefox3::~CMvbluefox3()
{
// Close device if necessary.
@@ -69,35 +47,7 @@ CMvbluefox3::~CMvbluefox3()
DelPtr(this->stats_);
}
-std::string CMvbluefox3::AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDeviceCheckFn) const
-{
- std::ostringstream devices;
- devices << "Available device(s): ";
- // const unsigned int devCnt = this->devMgr_.deviceCount();
- const unsigned int devCnt = devMgr_.deviceCount();
- if (devCnt == 0)
- {
- devices << "0.";
- }
- else
- {
- for( unsigned int i = 0; i < devCnt; i++ )
- {
- // Device* pDev = this->devMgr_[i];
- Device* pDev = devMgr_[i];
- if( pDev )
- {
- if( !pSupportedDeviceCheckFn || pSupportedDeviceCheckFn( pDev ) )
- {
- devices << " \n - " << pDev->product.read() << ": " << pDev->serial.read();
- }
- }
- }
- }
- return devices.str();
-}
-
-void CMvbluefox3::OpenDevice(const std::string &serial)
+void CMvbluefox3::OpenDevice(void)
{
// Open the device
try { this->device_->open(); }
diff --git a/src/mvbluefox3.h b/src/mvbluefox3.h
index 62daedb..a00cfe5 100644
--- a/src/mvbluefox3.h
+++ b/src/mvbluefox3.h
@@ -13,8 +13,6 @@ namespace cv { class Mat; }
namespace CMvbluefox3 {
-typedef bool( *SUPPORTED_DEVICE_CHECK )( const mvIMPACT::acquire::Device* const );
-
/**
* \brief Camera parameters
*
@@ -173,19 +171,12 @@ class CMvbluefox3
}
}
- /**
- * \brief Available Device
- *
- * Returns a string with currently available devices.
- */
- std::string AvailableDevices(SUPPORTED_DEVICE_CHECK pSupportedDeviceCheckFn = 0) const;
-
/**
* \brief Open device
*
* Open device.
*/
- void OpenDevice(const std::string &serial);
+ void OpenDevice(void);
/**
* \brief Get image request format
@@ -366,7 +357,7 @@ class CMvbluefox3
*
* Class constructor.
*/
- CMvbluefox3(const std::string &serial, const mvIMPACT::acquire::DeviceManager &dMan);
+ CMvbluefox3(const mvIMPACT::acquire::Device *device);
/**
* \brief Class destructor
--
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