cleanup

CMakeLists.txt

@@ -42,10 +42,11 @@ find_package (NIX REQUIRED)
 include_directories (AFTER ${NIX_INCLUDE_DIR})
 
 # #######################################
-# # OPENCV
-# find_package(OpenCV REQUIRED opencv_highgui opencv_core)
-# include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
-# set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
+# OPENCV
+message ("=> finding opencv ...")
+find_package(OpenCV REQUIRED opencv_highgui opencv_core)
+include_directories(AFTER ${OpenCV_INCLUDE_DIRS} )
+set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBRARIES})
 
 #######################################
 # Pylon
@@ -57,5 +58,5 @@ file (GLOB RECORDER_SOURCES *.cpp)
 file (GLOB RECORDER_INCLUDES *.hpp) 
 add_executable ( recorder ${RECORDER_SOURCES} ${RECORDER_INCLUDES} ${RECORDER_RES_SOURCES} )
 target_include_directories ( recorder PUBLIC "${PROJECT_BINARY_DIR}" )  
-target_link_libraries ( recorder Qt5::PrintSupport Qt5::Core Qt5::Widgets Qt5::Gui ${NIX_LIBRARIES} pylon::pylon)
+target_link_libraries ( recorder Qt5::PrintSupport Qt5::Core Qt5::Widgets Qt5::Gui ${NIX_LIBRARIES} pylon::pylon ${OpenCV_LIBRARIES})
 # ${PYLON_LIBRARIES} ${OpenCV_LIBRARIES})

dualcamgrabber.cpp

@@ -1,10 +1,12 @@
 #include "dualcamgrabber.h"
 #include <iostream>
 #include <pylon/PylonIncludes.h>
+#include <stitchimage.h>
 
 void DualcamGrabber::run() {
   stop_request = false;
-  size_t framecount = 0;
+  size_t counter = 0;
+
   if (wrapper->isOpen()) {
       Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
       wrapper->frameRate(static_cast<uint>(framerate));
@@ -12,17 +14,29 @@ void DualcamGrabber::run() {
       wrapper->gain(gain);
       cameras.StartGrabbing();
       Pylon::CGrabResultPtr frame0, frame1;
+      Pylon::CPylonImage leftImage;
+      Pylon::CPylonImage rightImage;
+      Pylon::CPylonImage stitchedImage;
+      std::string errorMessage = "";
 
       while (cameras.IsGrabbing() && !stop_request) {
           MyImage *img = new MyImage();
-          cameras.RetrieveResult( 5000, framecount % 2 == 0 ? frame0 : frame1, Pylon::TimeoutHandling_ThrowException );
-          img->setFrame(framecount % 2 == 0 ? frame0 : frame1);
-          if (framecount % 2 == 0) {
-            buffer0->push(img);
-          } else {
-            buffer1->push(img);
+          cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+          cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
+
+          leftImage.AttachGrabResultBuffer( frame0 );
+          rightImage.AttachGrabResultBuffer( frame1 );
+
+          if (leftImage.IsValid() && rightImage.IsValid()) {
+            try {
+              StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
+              img->setFrame(stitchedImage);
+              buffer->push(img);
+            } catch(const std::exception& e) {
+              std::cerr << e.what() << '\n';
+            }
           }
-          framecount += 1;
+          counter += 1;
       }
       cameras.StopGrabbing();
     }

dualcamgrabber.h

@@ -10,8 +10,8 @@ class DualcamGrabber : public QThread
 {
   Q_OBJECT
 public:
-  DualcamGrabber(DualcamWrapper *wrapper, ImageBuffer *buffer0, ImageBuffer * buffer1, int framerate, QObject *parent = nullptr) :
-    QThread(parent), wrapper(wrapper), buffer0(buffer0), buffer1(buffer1), framerate(framerate) {}
+  DualcamGrabber(DualcamWrapper *wrapper, ImageBuffer *buffer, int framerate, QObject *parent = nullptr) :
+    QThread(parent), wrapper(wrapper), buffer(buffer), framerate(framerate) {}
 
   void run() override;
   void stop();
@@ -30,7 +30,7 @@ public:
 private:
   bool stop_request = false;
   DualcamWrapper *wrapper;
-  ImageBuffer *buffer0, *buffer1;
+  ImageBuffer *buffer;
   int framerate;
   double exposure, gain;
 

dualcamwrapper.cpp

@@ -31,7 +31,7 @@ void DualcamWrapper::terminate() {
 
 
 bool DualcamWrapper::isOpen() {
-  return valid;
+  return cameras.IsOpen();
 }
 
 
@@ -213,7 +213,6 @@ void DualcamWrapper::resetCamera(int camindex) {
 
 bool DualcamWrapper::openCameras(std::string &message) {
     qDebug() << "opening cameras";
-    bool valid = true;
     Pylon::CTlFactory& tlFactory = Pylon::CTlFactory::GetInstance();
     cameras.Initialize(2);
     try {

dualcamwrapper.h

@@ -30,7 +30,6 @@ public:
     double gain(int camindex);
     bool gain(double gain_db, int camindex=-1);
     Pylon::CInstantCameraArray &getCameraArray();
-    // Pylon::CInstantCamera getCamera(int camindex);
 
 private:
     void resetCamera(int camindex);

imagebuffer.cpp

@@ -72,7 +72,6 @@ void ImageBuffer::push(MyImage *img) {
   buffer[head_idx] = img;
   framecounts[head_idx] = framecount;
   load = load < buffer_size ? load +=1 : buffer_size;
-
   mutex.unlock();
 }
 
@@ -111,6 +110,6 @@ MyImage* ImageBuffer::readLast(size_t &framecount) {
 }
 
 ImageBuffer::~ImageBuffer(){
-  std::cerr << "Image buffer destructor" << std::endl;
+  qDebug() << "Image buffer destructor";
   clear();
 }

myimage.cpp

@@ -21,6 +21,16 @@ bool MyImage::setFrame(Pylon::CGrabResultPtr ptr) {
   return valid;
 }
 
+bool MyImage::setFrame( Pylon::CPylonImage &img) {
+  bool valid = img.IsValid() && img.GetWidth() <= max_width && img.GetHeight() <= max_height;
+  if (valid) {
+      img_width = img.GetWidth();
+      img_height = img.GetHeight();
+      memcpy(&buffer, img.GetBuffer(), img.GetImageSize());
+    }
+  return valid;
+}
+
 int MyImage::width() {
   return static_cast<int>(img_width);
 }

myimage.h

@@ -16,13 +16,14 @@ public:
   void* data();
   time_t timestamp();
   bool setFrame(Pylon::CGrabResultPtr ptr);
+  bool setFrame(Pylon::CPylonImage &img);
 
 private:
   uint32_t img_width = 0;
   uint32_t img_height = 0;
   int64_t img_index = 0;
   time_t img_timestamp;
-  static const int max_width = 2048;
+  static const int max_width = 4096;
   static const int max_height = 1536;
   char buffer[max_width * max_height];
 };

pylonrecorder.cpp

@@ -34,8 +34,7 @@
 PylonRecorder::PylonRecorder(QWidget *parent)
   : QMainWindow(parent), imageLabel(new QLabel), scrollArea(new QScrollArea),
     singlecamgrabber(nullptr), dualcamgrabber(nullptr), 
-    writer0(nullptr), writer1(nullptr),
-    buffer0(nullptr), buffer1(nullptr), 
+    writer(nullptr), buffer(nullptr), 
     singlecam(nullptr), dualcam(nullptr),
     dryRun(false), cameraOpened(false), camsconfigured(false)
 {
@@ -119,9 +118,9 @@ PylonRecorder::~PylonRecorder(){
       singlecamgrabber->requestStop();
       singlecamgrabber->wait(1000);
   }
-  if (writer0 != nullptr && writer0->isRunning()) {
-      writer0->forceStop();
-      writer0->wait(1000);
+  if (writer != nullptr && writer->isRunning()) {
+      writer->forceStop();
+      writer->wait(1000);
   }
   storeSettings();
   if (singlecam != nullptr) {
@@ -135,16 +134,12 @@ PylonRecorder::~PylonRecorder(){
     dualcam = nullptr;
   }
 
-  if (buffer0 != nullptr) {
+  if (buffer != nullptr) {
     qDebug() << "Deleting buffer";
-    delete buffer0;
-    buffer0 = nullptr;
-  }
-  if (buffer1 != nullptr) {
-    qDebug() << "Deleting buffer";
-    delete buffer1;
-    buffer1 = nullptr;
+    delete buffer;
+    buffer = nullptr;
   }
+
   if (singlecamgrabber != nullptr) {
     qDebug() << "Deleting grabber";
     delete singlecamgrabber;
@@ -155,15 +150,10 @@ PylonRecorder::~PylonRecorder(){
     delete dualcamgrabber;
     dualcamgrabber = nullptr;
   }
-  if (writer0 != nullptr) {
+  if (writer != nullptr) {
     qDebug() << "Deleting writer";
-    delete writer0;
-    writer0 = nullptr;
-  }
-  if (writer1 != nullptr) {
-    qDebug() << "Deleting writer";
-    delete writer1;
-    writer1 = nullptr;
+    delete writer;
+    writer = nullptr;
   }
   qDebug() << "Deleting setting";
   delete settings;
@@ -206,11 +196,8 @@ bool PylonRecorder::loadFile(const QString &fileName) {
                                .arg(QDir::toNativeSeparators(fileName), reader.errorString()));
       return false;
     }
-
   setImage(newImage);
-
   setWindowFilePath(fileName);
-
   const QString message = tr("Opened \"%1\", %2x%3, Depth: %4")
       .arg(QDir::toNativeSeparators(fileName)).arg(image.width()).arg(image.height()).arg(image.depth());
   statusBar()->showMessage(message);
@@ -619,7 +606,6 @@ void PylonRecorder::cameraConfigurationAborted() {
 
 void PylonRecorder::connectCamera() {
   this->layout = CameraLayout();
-  std::cerr << this->layout.rois.size() << " " << this->layout.devices.size() << std::endl;
   qDebug() << "connecting camera(s)";
   if (deviceList.size() == 0) {
     detectCameras();
@@ -657,10 +643,8 @@ void PylonRecorder::connectCamera() {
     updateActions();
   }
   if (layout.mode == CameraMode::dual && layout.devices.size() == 2) {
-    std::cerr << "Dual MODE" << std::endl;
     qDebug() << "dual camera mode";
     std::string message;
-    qDebug() << "creating dual cam wrapper";
     dualcam = new DualcamWrapper(layout);
     bool success = dualcam->openCameras(message);
     if (success) {
@@ -700,20 +684,22 @@ void PylonRecorder::disconnectCamera() {
 
 VideoSpecs PylonRecorder::getVideoSpecs(const ImageSettings &settings) {
   VideoSpecs s = VideoSpecs();
-  if (this->layout.mode == CameraMode::single && this->layout.devices.size() > 0) {
+  if (!this->layout.devices.size() > 0) {
+    return s;
+  }
   s.fps = framerateSpinner->value();
   s.exposureTime = static_cast<double>(exposureSpinner->value());
   s.detectorGain = static_cast<double>(gainSpinner->value());
-    s.width = static_cast<uint32_t>(this->layout.rois[0].width);
-    s.height = static_cast<uint32_t>(this->layout.rois[0].height);
-    s.xoffset = static_cast<uint32_t>(this->layout.rois[0].x);
-    s.yoffset = static_cast<uint32_t>(this->layout.rois[0].y);
-
   s.pixelType = settings.pixelType;
   s.orientation = settings.orientation;
   s.quality = 95;
-  } else {
-    qWarning() << "Dual camera mode not supported yet!";
+
+  if (layout.mode == CameraMode::single) {
+    s.width = static_cast<uint32_t>(this->layout.rois[0].width);
+    s.height = static_cast<uint32_t>(this->layout.rois[0].height);
+  } else if (layout.mode == CameraMode::dual) {
+    s.width = static_cast<uint32_t>(this->layout.rois[0].width * 2);
+    s.height = static_cast<uint32_t>(this->layout.rois[0].height);
   }
   return s;
 }
@@ -721,7 +707,7 @@ VideoSpecs PylonRecorder::getVideoSpecs(const ImageSettings &settings) {
 
 void PylonRecorder::startSinglecamRecording() {
   qDebug() << "start single-camera recording!";
-  std::string filename = createFilename(".mp4");
+  std::string filename = createFilename("", ".mp4");
   fileLabel->setText(QString::fromStdString(filename));
   qDebug() << "storing to file " << filename.c_str();
 
@@ -733,15 +719,15 @@ void PylonRecorder::startSinglecamRecording() {
   specs.format = VideoFormat::mp4;
   qDebug() << "got video specifications";
 
-  if (buffer0 != nullptr) {
-    buffer0->clear();
-    delete buffer0;
-    buffer0 = nullptr;
+  if (buffer != nullptr) {
+    buffer->clear();
+    delete buffer;
+    buffer = nullptr;
   }
   qDebug() << "setting image buffer to size " << buffersizeSpinner->value();
-  buffer0 = new ImageBuffer(defaultBufferSize);
-  if (buffersizeSpinner->value() != static_cast<int>(buffer0->capacity())) {
-    buffer0->resize(static_cast<size_t>(buffersizeSpinner->value()));
+  buffer = new ImageBuffer(defaultBufferSize);
+  if (buffersizeSpinner->value() != static_cast<int>(buffer->capacity())) {
+    buffer->resize(static_cast<size_t>(buffersizeSpinner->value()));
     loadBar->setRange(0, buffersizeSpinner->value());
   }
 
@@ -750,7 +736,7 @@ void PylonRecorder::startSinglecamRecording() {
     delete singlecamgrabber;
     singlecamgrabber = nullptr;
   }
-  singlecamgrabber = new Grabber(singlecam, buffer0, defaultFrameRate);
+  singlecamgrabber = new Grabber(singlecam, buffer, defaultFrameRate);
   
   if (framerateSpinner->value() != singlecamgrabber->currentFramerate())
     singlecamgrabber->setFrameRate(framerateSpinner->value());
@@ -760,22 +746,21 @@ void PylonRecorder::startSinglecamRecording() {
       singlecamgrabber->setGain(static_cast<double>(gainSpinner->value()));
 
   qDebug() << "setup writer";
-  if (writer0 != nullptr) {
-    delete writer0;
-    writer0 = nullptr;
+  if (writer != nullptr) {
+    delete writer;
+    writer = nullptr;
   }
-  writer0 = new Writer(buffer0, 0);
-  connect(writer0, SLOT(writingDone( int)), this, SLOT(writerDone( int )));
-  writer0->setVideoSpecs(specs);
+  writer = new Writer(buffer, 0);
+  connect(writer, SLOT(writingDone()), this, SLOT(writerDone()));
+  writer->setVideoSpecs(specs);
 
   QSettings s;
   this->mdata.read(s);
-  writer0->setProjectMetadata(mdata);
+  writer->setProjectMetadata(mdata);
 
-  buffer0->clear();
+  buffer->clear();
   if (!dryRunCheckBox->isChecked()) {
-    writer0->start();
-    iswriting[0] = true;
+    writer->start();
     writing = true;
   }
   dryRun = dryRunCheckBox->isChecked();
@@ -787,51 +772,35 @@ void PylonRecorder::startSinglecamRecording() {
 
 void PylonRecorder::startDualcamRecording() {
   qDebug() << "start dual-camera recording!";
-  std::string filenamea = createFilename("a", ".mp4");
-  std::string filenameb = createFilename("b", ".mp4");
-  fileLabel->setText(QString::fromStdString(filenamea + " & " + filenameb));
-  qDebug() << "storing to files " << filenamea.c_str() << ", " << filenameb.c_str();
+  std::string filename = createFilename("", ".mp4");
+  fileLabel->setText(QString::fromStdString(filename));
+  qDebug() << "storing to file " << filename.c_str();
 
-  ImageSettings settings = dualcam->getImageSettings(0);
+  ImageSettings settings = dualcam->getImageSettings(0); //FIXME!
   qDebug() << "got image settings";
-
-  VideoSpecs specsa = getVideoSpecs(settings);
-  specsa.filename = filenamea;
-  specsa.format = VideoFormat::mp4;
-  
-  VideoSpecs specsb = getVideoSpecs(settings);
-  specsb.filename = filenameb;
-  specsb.format = VideoFormat::mp4;
+  VideoSpecs specs = getVideoSpecs(settings);
+  specs.filename = filename;
+  specs.format = VideoFormat::mp4;
   qDebug() << "got video specifications";
-
-  if (buffer0 != nullptr) {
-    buffer0->clear();
-    delete buffer0;
-    buffer0 = nullptr;
-  }
-  if (buffer1 != nullptr) {
-    buffer1->clear();
-    delete buffer1;
-    buffer1 = nullptr;
+  if (buffer != nullptr) {
+    buffer->clear();
+    delete buffer;
+    buffer = nullptr;
   }
 
   qDebug() << "setting image buffer to size " << buffersizeSpinner->value();
-  buffer0 = new ImageBuffer(defaultBufferSize);
-  if (buffersizeSpinner->value() != static_cast<int>(buffer0->capacity())) {
-    buffer0->resize(static_cast<size_t>(buffersizeSpinner->value()));
+  buffer = new ImageBuffer(defaultBufferSize);
+  if (buffersizeSpinner->value() != static_cast<int>(buffer->capacity())) {
+    buffer->resize(static_cast<size_t>(buffersizeSpinner->value()));
     loadBar->setRange(0, buffersizeSpinner->value());
   }
-  buffer1 = new ImageBuffer(defaultBufferSize);
-  if (buffersizeSpinner->value() != static_cast<int>(buffer1->capacity())) {
-    buffer1->resize(static_cast<size_t>(buffersizeSpinner->value()));
-  }
 
   qDebug() << "setting up grabber";
   if (dualcamgrabber != nullptr) {
     delete dualcamgrabber;
     dualcamgrabber = nullptr;
   }
-  dualcamgrabber = new DualcamGrabber(dualcam, buffer0, buffer1, defaultFrameRate);
+  dualcamgrabber = new DualcamGrabber(dualcam, buffer, defaultFrameRate);
   if (framerateSpinner->value() != dualcamgrabber->currentFramerate())
     dualcamgrabber->setFrameRate(framerateSpinner->value());
   if (exposureSpinner->value() != int(dualcamgrabber->currentExposureTime()))
@@ -840,42 +809,26 @@ void PylonRecorder::startDualcamRecording() {
       dualcamgrabber->setGain(static_cast<double>(gainSpinner->value()));
 
   qDebug() << "setting up writers";
-  if (writer0 != nullptr) {
-    delete writer0;
-    writer0 = nullptr;
-  }
-  writer0 = new Writer(buffer0, 0);
-  connect(writer0, SIGNAL(writingDone(int)), this, SLOT(writerDone( int )));
-  writer0->setVideoSpecs(specsa);
-
-  if (writer1 != nullptr) {
-    delete writer1;
-    writer1 = nullptr;
+  if (writer != nullptr) {
+    delete writer;
+    writer = nullptr;
   }
-  writer1 = new Writer(buffer1, 1);
-  connect(writer1, SIGNAL(writingDone(int)), this, SLOT(writerDone( int )));
-  writer1->setVideoSpecs(specsb);
+  writer = new Writer(buffer, 0);
+  connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
+  writer->setVideoSpecs(specs);
 
   qDebug() << "push metadata to writer";
   QSettings s;
   this->mdata.read(s);
-  writer0->setProjectMetadata(mdata);
-
-  buffer0->clear();
-  if (!dryRunCheckBox->isChecked()) {
-    writer0->start();
-    writing = true;
-    iswriting[0] = true;
-  }
+  writer->setProjectMetadata(mdata);
 
-  buffer1->clear();
-  if (!dryRunCheckBox->isChecked()) {
-    writer1->start();
+  dryRun = dryRunCheckBox->isChecked();
+  buffer->clear();
+  if (!dryRun) {
+    writer->start();
     writing = true;
-    iswriting[1] = true;
   }
 
-  dryRun = dryRunCheckBox->isChecked();
   dualcamgrabber->start();
   grabbing = true;
   stopRequest = false;
@@ -906,37 +859,27 @@ void PylonRecorder::stopRecording() {
       qDebug() << "StopRecording: stop grabber!";
       if (singlecamgrabber !=nullptr)
         singlecamgrabber->requestStop();
-      qDebug() << "StopRecording: stop writer!";
-      if (writer0 != nullptr)
-        writer0->requestStop();
-      if (writer1 != nullptr)
-        writer1->requestStop();
+      if (dualcamgrabber !=nullptr)
+        dualcamgrabber->requestStop();
 
+      qDebug() << "StopRecording: stop writer!";
+      if (writer != nullptr)
+        writer->requestStop();
       grabbing = false;
       stopRequest = true;
       grab_stop_action->setEnabled(false);
       qDebug() << "StopRecording: clear buffer!";
-      if(buffer0 != nullptr) {
-          buffer0->clear();
-          // writerDone( 0 ); // Needed? or even dangerous?
-      }
-      qDebug() << "StopRecording: clear buffer!";
-      if(buffer1 != nullptr) {
-          buffer1->clear();
-          // writerDone( 1 );
+      if(buffer != nullptr) {
+          buffer->clear();
+          if (dryRun)
+            writerDone();
       }
   }
   qDebug() << "StopRecording done!";
 }
 
 
-void PylonRecorder::writerDone(int cam) {
-  std::cerr << "writer " << cam << "is Done!!!" << std::endl;
-  iswriting[cam] = false;
-  if (iswriting[0] + iswriting[1] > 0) {
-    qDebug() << "waiting for the other writer to finish";
-    return;
-  }
+void PylonRecorder::writerDone() {
   pressureTimer->stop();
   pressureBar->reset();
   loadBar->reset();
@@ -948,13 +891,9 @@ void PylonRecorder::writerDone(int cam) {
   } else {
     dualcamgrabber->wait(10000);
   }
-  if (writer0 != nullptr)
-    writer0->wait(10000);
-  if (writer1 != nullptr)
-    writer1->wait(10000);
+  if (writer != nullptr)
+    writer->wait(10000);
   writing = false;
-  iswriting[0] = false;
-  iswriting[1] = false;
   updateActions();
   qInfo() << "writer is Done!";
 }
@@ -970,9 +909,8 @@ void PylonRecorder::displayActivity() {
 void PylonRecorder::displaySingleFrame() {
   MyImage *img;
   size_t fc = 0;
-  img = buffer0->readLast(fc);
+  img = buffer->readLast(fc);
   if (img != nullptr){
-    std::cerr << "display, last frame count " << fc << std::endl;
     QImage qimg(static_cast<uchar *>(img->data()), img->width(), img->height(), QImage::Format::Format_Grayscale8);
     setImage(qimg);
   }else {
@@ -1008,13 +946,13 @@ std::string PylonRecorder::createFilename(const std::string &suffix, const std::
 
 
 void PylonRecorder::displayBufferPressure() {
-  int value = static_cast<int>(round(buffer0->bufferPressure()));
+  int value = static_cast<int>(round(buffer->bufferPressure()));
   pressureBar->setValue(value);
   QColor color = progressColor(value);
   progressPalette.setBrush(QPalette::Highlight, QBrush(color));
   pressureBar->setPalette(progressPalette);
 
-  int load = static_cast<int>(buffer0->bufferLoad());
+  int load = static_cast<int>(buffer->bufferLoad());
   loadBar->setValue(load);
 }
 

pylonrecorder.h

@@ -13,6 +13,7 @@
 #include "grabber.h"
 #include "dualcamgrabber.h"
 #include "writer.h"
+#include "opencvwriter.h"
 #include "projectsettings.h"
 #include "camconfig.h"
 #include "util.h"
@@ -66,7 +67,7 @@ private slots:
     void displaySingleFrame();
     void displayBufferPressure();
     void displayActivity();
-    void writerDone(int cam);
+    void writerDone();
     void selectStorageLocation();
     void cameraConfigurationAccepted();
     void cameraConfigurationAborted();
@@ -105,13 +106,12 @@ private:
     double scaleFactor = 1;
     PylonWrapper *singlecam;
     DualcamWrapper *dualcam;
-    ImageBuffer *buffer0, *buffer1;
+    ImageBuffer *buffer;
     Grabber *singlecamgrabber;
     DualcamGrabber *dualcamgrabber;
-    Writer *writer0, *writer1;
+    Writer *writer;
     CameraLayout layout;
     bool grabbing, stopRequest, writing, labelSwitch, dryRun, cameraOpened, camsconfigured;
-    bool iswriting[2] = {0, 0};
     QPalette progressPalette;
     QString activeLabelStyleHigh = "QLabel { font-size: 10pt;font-family: Arial; color : red; }";
     QString activeLabelStyleLow = "QLabel { font-size: 10pt;font-family: Arial; color : cmyk(0, 255, 255, 0, 50); }";

stitchimage.h

@@ -0,0 +1,605 @@
+// StitchImage.h
+// Stitches multiple CPylonImage's into a single image, either vertically or horizontally.
+// Also can make collages of images.
+// Copyright (c) 2019 Matthew Breit - matt.breit@baslerweb.com or matt.breit@gmail.com
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http ://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef STITCHIMAGE_H
+#define STITCHIMAGE_H
+
+#ifndef LINUX_BUILD
+#define WIN_BUILD
+#endif
+
+#ifdef WIN_BUILD
+#define _CRT_SECURE_NO_WARNINGS // suppress fopen_s warnings for convinience
+#endif
+
+// Include Pylon libraries (if needed)
+#include <pylon/PylonIncludes.h>
+
+namespace StitchImage
+{
+	int StitchToBottom(Pylon::CPylonImage &topImage, Pylon::CPylonImage &bottomImage, Pylon::CPylonImage *stitchedImage, std::string &errorMessage);
+	int StitchToRight(Pylon::CPylonImage &leftImage, Pylon::CPylonImage &rightImage, Pylon::CPylonImage *stitchedImage, std::string &errorMessage);
+
+	class CollageMaker
+	{
+	private:
+		Pylon::CPylonImage m_collageImage;
+		Pylon::CPylonImage m_tempImage;
+		Pylon::CPylonImage m_collageRow;
+		std::vector<Pylon::CPylonImage> m_collageRows;
+		int m_collageWidth = 0;
+		int m_collageHeight = 0;
+		int m_collageImagesCounter = 0;
+		bool m_collageComplete = false;
+
+	public:
+		CollageMaker();
+		~CollageMaker();
+
+		int StitchToCollage(Pylon::CPylonImage &image, std::string &errorMessage);
+		int GetLatestCollage(Pylon::CPylonImage *collageImage, std::string &errorMessage);
+		int ResetCollage(std::string &errorMessage);
+		int GetWidth();
+		int GetHeight();
+		void SetWidth(int numImages);
+		void SetHeight(int numImages);
+		bool IsCollageComplete();
+	};
+
+}
+
+// *********************************************************************************************************
+// DEFINITIONS
+int StitchImage::StitchToBottom(Pylon::CPylonImage &topImage, Pylon::CPylonImage &bottomImage, Pylon::CPylonImage *stitchedImage, std::string &errorMessage)
+{
+	errorMessage = "ERROR: ";
+	errorMessage.append(__FUNCTION__);
+	errorMessage.append("(): ");
+
+	try
+	{
+		Pylon::CPylonImage tempImage;
+		Pylon::EPixelType tempPixelType;
+		int tempWidth;
+
+		if (topImage.GetPixelType() == Pylon::EPixelType::PixelType_Undefined)
+		{
+			if (bottomImage.GetPixelType() == Pylon::EPixelType::PixelType_Undefined)
+			{
+				errorMessage.append("Both images have undefined pixel types!");
+				return 1;
+			}
+			else
+				tempPixelType = bottomImage.GetPixelType();
+		}
+		else
+		{
+			if (topImage.GetPixelType() != bottomImage.GetPixelType())
+			{
+				errorMessage.append("Images must be same PixelType");
+				return 1;
+			}
+			else
+				tempPixelType = topImage.GetPixelType();
+		}
+
+
+		if (topImage.GetWidth() == 0)
+		{
+			if (bottomImage.GetWidth() == 0)
+			{
+				errorMessage.append("Both Images have Width = 0!");
+				return 1;
+			}
+			else
+				tempWidth = bottomImage.GetWidth();
+		}
+		else
+		{
+			if (topImage.GetWidth() != bottomImage.GetWidth())
+			{
+				errorMessage.append("Images must be same Width!");
+				return 1;
+			}
+			else
+				tempWidth = topImage.GetWidth();
+		}
+
+		int topImageHeight = topImage.GetHeight();
+		int bottomImageHeight = bottomImage.GetHeight();
+		size_t topImageSize = topImage.GetImageSize();
+		size_t bottomImageSize = bottomImage.GetImageSize();
+		int tempHeight = topImageHeight + bottomImageHeight;
+
+		tempImage.Reset(tempPixelType, tempWidth, tempHeight);
+
+		uint8_t *pTopImage = (uint8_t*)topImage.GetBuffer();
+		uint8_t *pBottomImage = (uint8_t*)bottomImage.GetBuffer();
+		uint8_t *pTempImage = (uint8_t*)tempImage.GetBuffer();
+
+		memcpy(&pTempImage[0], &pTopImage[0], topImageSize);
+		memcpy(&pTempImage[0 + topImageSize], &pBottomImage[0], bottomImageSize);
+
+		stitchedImage->CopyImage(tempImage);
+
+		return 0;
+
+	}
+	catch (GenICam::GenericException &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.GetDescription());
+		return 1;
+	}
+	catch (std::exception &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.what());
+		return 1;
+	}
+	catch (...)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append("UNKNOWN.");
+		return 1;
+	}
+}
+
+int StitchImage::StitchToRight(Pylon::CPylonImage &leftImage, Pylon::CPylonImage &rightImage, Pylon::CPylonImage *stitchedImage, std::string &errorMessage)
+{
+	errorMessage = "ERROR: ";
+	errorMessage.append(__FUNCTION__);
+	errorMessage.append("(): ");
+
+	try
+	{
+		Pylon::CPylonImage tempImage;
+		Pylon::EPixelType tempPixelType;
+		int tempHeight;
+
+		if (Pylon::IsPacked(leftImage.GetPixelType()) == true || Pylon::IsPacked(rightImage.GetPixelType()) == true)
+		{
+			errorMessage.append("Packed pixel formats are not supported yet");
+			return 1;
+		}
+
+		if (leftImage.GetPixelType() == Pylon::EPixelType::PixelType_Undefined)
+		{
+			if (rightImage.GetPixelType() == Pylon::EPixelType::PixelType_Undefined)
+			{
+				errorMessage.append("Both images have undefined pixel types!");
+				return 1;
+			}
+			else
+				tempPixelType = rightImage.GetPixelType();
+		}
+		else
+		{
+			if (leftImage.GetPixelType() != rightImage.GetPixelType())
+			{
+				errorMessage.append("Images must be same PixelType");
+				return 1;
+			}
+			else
+				tempPixelType = leftImage.GetPixelType();
+		}
+
+
+		if (leftImage.GetHeight() == 0)
+		{
+			if (rightImage.GetHeight() == 0)
+			{
+				errorMessage.append("Both Images have Height = 0!");
+				return 1;
+			}
+			else
+				tempHeight = rightImage.GetHeight();
+		}
+		else
+		{
+			if (leftImage.GetHeight() != rightImage.GetHeight())
+			{
+				errorMessage.append("Images must be same Height!");
+				return 1;
+			}
+			else
+				tempHeight = leftImage.GetHeight();
+		}
+
+
+		int BytesPerPixel = Pylon::BitPerPixel(tempPixelType) / 8;
+		int LeftImageWidth = leftImage.GetWidth();
+		int RightImageWidth = rightImage.GetWidth();
+		int tempWidth = LeftImageWidth + RightImageWidth;
+
+		tempImage.Reset(tempPixelType, tempWidth, tempHeight);
+
+		uint8_t *pLeftImage = (uint8_t*)leftImage.GetBuffer();
+		uint8_t *pRightImage = (uint8_t*)rightImage.GetBuffer();
+		uint8_t *pTempImage = (uint8_t*)tempImage.GetBuffer();
+
+		for (int i = 0; i < tempHeight; i++)
+		{
+			memcpy(&pTempImage[(tempWidth * i * BytesPerPixel)], &pLeftImage[LeftImageWidth * i * BytesPerPixel], LeftImageWidth * BytesPerPixel);
+			memcpy(&pTempImage[(tempWidth * i * BytesPerPixel) + (LeftImageWidth * BytesPerPixel)], &pRightImage[RightImageWidth * i * BytesPerPixel], RightImageWidth * BytesPerPixel);
+		}
+
+		stitchedImage->CopyImage(tempImage);
+
+		return 0;
+
+	}
+	catch (GenICam::GenericException &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.GetDescription());
+		return 1;
+	}
+	catch (std::exception &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.what());
+		return 1;
+	}
+	catch (...)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append("UNKNOWN.");
+		return 1;
+	}
+}
+
+StitchImage::CollageMaker::CollageMaker()
+{
+	// nothing
+}
+
+StitchImage::CollageMaker::~CollageMaker()
+{
+	// nothing
+}
+
+int StitchImage::CollageMaker::StitchToCollage(Pylon::CPylonImage &image, std::string &errorMessage)
+{
+	errorMessage = "ERROR: ";
+	errorMessage.append(__FUNCTION__);
+	errorMessage.append("(): ");
+
+	try
+	{
+		if (StitchImage::StitchToRight(m_collageRow, image, &m_collageRow, errorMessage) != 0)
+			return 1;
+		
+		m_collageComplete = false;
+
+		m_collageImagesCounter++;
+
+		if (m_collageImagesCounter % m_collageWidth == 0 && m_collageImagesCounter > 0)
+		{
+			m_collageRows.push_back(m_collageRow);
+			m_collageRow.Release();
+		}
+
+		if (m_collageImagesCounter % (m_collageWidth * m_collageHeight) == 0 && m_collageImagesCounter > 0)
+		{
+			for (size_t i = 0; i < m_collageRows.size(); i++)
+			{
+				std::string errorMessage = "";
+				if (StitchImage::StitchToBottom(m_tempImage, m_collageRows[i], &m_tempImage, errorMessage) != 0)
+					return 1;
+			}
+			m_collageImage.CopyImage(m_tempImage);
+			m_tempImage.Release();
+			m_collageRow.Release();
+			m_collageRows.clear();
+			m_collageImagesCounter = 0;
+			m_collageComplete = true;
+		}
+
+		return 0;
+	}
+	catch (GenICam::GenericException &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.GetDescription());
+		return 1;
+	}
+	catch (std::exception &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.what());
+		return 1;
+	}
+	catch (...)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append("UNKNOWN.");
+		return 1;
+	}
+}
+
+int StitchImage::CollageMaker::GetLatestCollage(Pylon::CPylonImage *collageImage, std::string &errorMessage)
+{
+	errorMessage = "ERROR: ";
+	errorMessage.append(__FUNCTION__);
+	errorMessage.append("(): ");
+
+	try
+	{
+		if (m_collageImage.GetImageSize() == 0)
+		{
+			errorMessage.append("No Collage available yet");
+			return 1;
+		}
+		else
+		{
+			collageImage->CopyImage(m_collageImage);
+			return 0;
+		}
+	}
+	catch (GenICam::GenericException &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.GetDescription());
+		return 1;
+	}
+	catch (std::exception &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.what());
+		return 1;
+	}
+	catch (...)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append("UNKNOWN.");
+		return 1;
+	}
+}
+
+int StitchImage::CollageMaker::ResetCollage(std::string &errorMessage)
+{
+	errorMessage = "ERROR: ";
+	errorMessage.append(__FUNCTION__);
+	errorMessage.append("(): ");
+
+	try
+	{
+		m_tempImage.Release();
+		m_collageImage.Release();
+		m_collageRow.Release();
+		m_collageRows.clear();
+		m_collageImagesCounter = 0;
+		m_collageComplete = false;
+		return 0;
+	}
+	catch (GenICam::GenericException &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.GetDescription());
+		return 1;
+	}
+	catch (std::exception &e)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append(e.what());
+		return 1;
+	}
+	catch (...)
+	{
+		errorMessage.append("EXCEPTION: ");
+		errorMessage.append("UNKNOWN.");
+		return 1;
+	}
+}
+
+int StitchImage::CollageMaker::GetWidth()
+{
+	return m_collageWidth;
+}
+
+int StitchImage::CollageMaker::GetHeight()
+{
+	return m_collageHeight;
+}
+
+void StitchImage::CollageMaker::SetWidth(int numImages)
+{
+	m_collageWidth = numImages;
+}
+
+void StitchImage::CollageMaker::SetHeight(int numImages)
+{
+	m_collageHeight = numImages;
+}
+
+bool StitchImage::CollageMaker::IsCollageComplete()
+{
+	return m_collageComplete;
+}
+
+// *********************************************************************************************************
+
+#endif
+
+// *********************************************************************************************************
+// SAMPLE PROGRAM
+/*
+// Include files to use the PYLON API
+#include <pylon/PylonIncludes.h>
+#ifdef PYLON_WIN_BUILD
+#    include <pylon/PylonGUI.h>
+#endif
+
+#include "StitchImage.h"
+
+// Namespace for using pylon objects.
+using namespace Pylon;
+
+#define USE_USB
+
+#if defined( USE_1394 )
+// Settings for using Basler IEEE 1394 cameras.
+#include <pylon/1394/Basler1394InstantCamera.h>
+typedef Pylon::CBasler1394InstantCamera Camera_t;
+typedef Pylon::CBasler1394GrabResultPtr GrabResultPtr_t; // Or use Camera_t::GrabResultPtr_t
+using namespace Basler_IIDC1394CameraParams;
+#elif defined ( USE_GIGE )
+// Settings for using Basler GigE cameras.
+#include <pylon/gige/BaslerGigEInstantCamera.h>
+typedef Pylon::CBaslerGigEInstantCamera Camera_t;
+typedef Pylon::CBaslerGigEGrabResultPtr GrabResultPtr_t; // Or use Camera_t::GrabResultPtr_t
+using namespace Basler_GigECameraParams;
+#elif defined( USE_USB )
+// Settings for using Basler USB cameras.
+#include <pylon/usb/BaslerUsbInstantCamera.h>
+typedef Pylon::CBaslerUsbInstantCamera Camera_t;
+typedef Pylon::CBaslerUsbGrabResultPtr GrabResultPtr_t; // Or use Camera_t::GrabResultPtr_t
+using namespace Basler_UsbCameraParams;
+#else
+#error Camera type is not specified. For example, define USE_GIGE for using GigE cameras.
+#endif
+
+// Namespace for using cout.
+using namespace std;
+
+// Number of images to be grabbed.
+static const uint32_t c_countOfImagesToGrab = 27;
+
+int main(int argc, char* argv[])
+{
+// The exit code of the sample application.
+int exitCode = 0;
+
+// Before using any pylon methods, the pylon runtime must be initialized.
+PylonInitialize();
+
+try
+{
+// Only look for cameras supported by Camera_t
+CDeviceInfo info;
+info.SetDeviceClass(Camera_t::DeviceClass());
+info.SetSerialNumber("22479283");
+
+// Create an instant camera object with the first found camera device that matches the specified device class.
+Camera_t camera(CTlFactory::GetInstance().CreateFirstDevice(info));
+
+// Print the model name of the camera.
+cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
+
+// Open the camera.
+camera.Open();
+
+camera.PixelFormat.SetValue(PixelFormat_Mono8);
+camera.Width.SetValue(640);
+camera.Height.SetValue(480);
+camera.CenterX.SetValue(true);
+camera.CenterY.SetValue(true);
+camera.AcquisitionFrameRateEnable.SetValue(true);
+camera.AcquisitionFrameRate.SetValue(1);
+
+// This smart pointer will receive the grab result data.
+GrabResultPtr_t ptrGrabResult;
+
+// This pylon image will be the vertically stitched image
+CPylonImage verticalStitchedImage;
+
+// This pylon image will be the horizontally stitched image
+CPylonImage horizontalStitchedImage;
+
+// to make a collage
+StitchImage::CollageMaker myCollageMaker;
+myCollageMaker.SetWidth(3); // how many images wide do we want the collage to be
+myCollageMaker.SetHeight(3); // how many images high do we want the collage to be
+
+camera.StartGrabbing(c_countOfImagesToGrab);
+
+// Camera.StopGrabbing() is called automatically by the RetrieveResult() method
+// when c_countOfImagesToGrab images have been retrieved.
+while (camera.IsGrabbing())
+{
+// Wait for an image and then retrieve it. A timeout of 5000 ms is used.
+// RetrieveResult calls the image event handler's OnImageGrabbed method.
+camera.RetrieveResult(5000, ptrGrabResult, TimeoutHandling_ThrowException);
+
+if (ptrGrabResult->GrabSucceeded())
+{
+cout << "GrabSucceeded: " << ptrGrabResult->GrabSucceeded() << endl;
+cout << "SizeX: " << ptrGrabResult->GetWidth() << endl;
+cout << "SizeY: " << ptrGrabResult->GetHeight() << endl;
+const uint8_t *pImageBuffer = (uint8_t *)ptrGrabResult->GetBuffer();
+cout << "Gray value of first pixel: " << (uint32_t)pImageBuffer[0] << endl;
+cout << endl;
+
+CPylonImage image;
+image.AttachGrabResultBuffer(ptrGrabResult);
+
+std::string errorMessage = "";
+
+// make a tall strip of images (reusing the verticalStitchedImage as the Top image gives the effect of adding to the stitchedimage)
+if (StitchImage::StitchToBottom(verticalStitchedImage, image, &verticalStitchedImage, errorMessage) == 0)
+Pylon::DisplayImage(0, verticalStitchedImage);
+else
+cout << errorMessage << endl;
+
+// make a wide strip of images  (reusing the horizontalStitchedImage as the Left image gives the effect of adding to the stitchedimage)
+if (StitchImage::StitchToRight(horizontalStitchedImage, image, &horizontalStitchedImage, errorMessage) == 0)
+Pylon::DisplayImage(1, horizontalStitchedImage);
+else
+cout << errorMessage << endl;
+
+// stitch to a collage (the images will be added to the collage in top-left to bottom-right order)
+if (myCollageMaker.StitchToCollage(image, errorMessage) != 0)
+cout << errorMessage << endl;
+
+if (myCollageMaker.IsCollageComplete() == true)
+{
+CPylonImage myCollage;
+if (myCollageMaker.GetCollageImage(&myCollage, errorMessage) == 0)
+Pylon::DisplayImage(2, myCollage);
+else
+cout << errorMessage << endl;
+}
+}
+}
+}
+catch (const GenericException &e)
+{
+// Error handling.
+cerr << "An exception occurred." << endl
+<< e.GetDescription() << endl;
+exitCode = 1;
+}
+catch (std::exception &e)
+{
+// Error handling.
+cerr << "An exception occurred." << endl
+<< e.what() << endl;
+exitCode = 1;
+}
+
+// Comment the following two lines to disable waiting on exit.
+cerr << endl << "Press Enter to exit." << endl;
+while (cin.get() != '\n');
+
+// Releases all pylon resources.
+PylonTerminate();
+
+return exitCode;
+}
+*/
+// *********************************************************************************************************

util.h

@@ -37,4 +37,16 @@ struct ImageSettings {
   Pylon::EImageOrientation orientation;
 };
 
+
+struct VideoSpecs {
+  std::string filename;
+  uint32_t width, height, quality = 10;
+  int fps;
+  double exposureTime;
+  double detectorGain;
+  Pylon::EPixelType pixelType;
+  Pylon::EImageOrientation orientation;
+  VideoFormat format = VideoFormat::raw;
+};
+
 #endif /*UTIL_H*/

writer.cpp

@@ -27,6 +27,7 @@ void Writer::writeMetadata(nix::Section &s){
 }
 
 void Writer::run() {
+  qDebug() << "writer running!";
   size_t count = 0;
   size_t chunksize = 256;
   // size_t framecount = 0;
@@ -39,6 +40,8 @@ void Writer::run() {
     emit writingDone(this->cam_number);
     return;
   }
+  qDebug() << "checks done!";
+
   Pylon::CVideoWriter videoWriter;
   if (specs_valid) {
       stop_request = false;
@@ -48,7 +51,8 @@ void Writer::run() {
         myFile.write((char*)&videoSpecs.width, 4);
         myFile.write((char*)&videoSpecs.height, 4);
       } else {
-        videoWriter.SetParameter(videoSpecs.width, videoSpecs.height, videoSpecs.pixelType, videoSpecs.fps, videoSpecs.quality);
+        qDebug() << "setting parameters for video";
+        videoWriter.SetParameter((uint32_t)videoSpecs.width, (uint32_t)videoSpecs.height, videoSpecs.pixelType, (double)videoSpecs.fps, videoSpecs.quality);
         videoWriter.Open(videoSpecs.filename.c_str());
       }
 
@@ -91,6 +95,8 @@ void Writer::run() {
       nix::NDSize offset(1, 0);
       nix::NDSize current_shape(initial_shape);
       nix::NDSize chunk_shape(1, chunksize);
+
+      qDebug() << "preparations done, starting loop!";
       while ((!stop_request || buffer->bufferLoad() > 0) && !stopNow) {
           if (buffer->bufferLoad() > 0 ) {
             size_t framecount = 0;

writer.h

@@ -11,18 +11,6 @@
 #include "projectsettings.h"
 #include "util.h"
 
-struct VideoSpecs {
-  std::string filename;
-  uint32_t width, height, quality = 10;
-  uint32_t xoffset, yoffset = 0;
-  int fps;
-  double exposureTime;
-  double detectorGain;
-  Pylon::EPixelType pixelType;
-  Pylon::EImageOrientation orientation;
-  VideoFormat format = VideoFormat::raw;
-};
-
 class Writer : public QThread
 {
   Q_OBJECT