rename grabber to singlecamgrabber

camerapreview.cpp

@@ -65,7 +65,7 @@ void CameraPreview::setCamera(QString &device){
         delete camera;
         camera = nullptr;
     }
-    camera = new PylonWrapper(cameraname.toStdString());
+    camera = new SingleCamWrapper(cameraname.toStdString());
     std::string message;
     bool success = camera->openCamera(message);
     if (!success) {

camerapreview.h

@@ -12,7 +12,7 @@
 #include <QPainter>
 #include <pylon/PylonIncludes.h>
 
-#include "pylonwrapper.h"
+#include "singlecamwrapper.h"
 #include "util.h"
 namespace Ui {
     class CameraPreview;
@@ -53,7 +53,7 @@ private:
     void setImage(const QPixmap &img);
     void validate(QSpinBox *origin, QSpinBox *dest, int limit);
     
-    PylonWrapper *camera;
+    SingleCamWrapper *camera;
 
 };
     

dualcamgrabber.cpp

@@ -2,6 +2,11 @@
 #include <iostream>
 #include <pylon/PylonIncludes.h>
 #include <stitchimage.h>
+#include <chrono>
+using namespace std::chrono;
+typedef high_resolution_clock Time;
+typedef milliseconds ms;
+typedef duration<float> fsec;
 
 void DualcamGrabber::run() {
   stop_request = false;
@@ -9,9 +14,10 @@ void DualcamGrabber::run() {
 
   if (wrapper->isOpen()) {
       Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
-      wrapper->frameRate(static_cast<uint>(framerate));
+      wrapper->frameRate(static_cast<uint>(framerate), -1);
       wrapper->exposureTime(exposure);
       wrapper->gain(gain);
+
       cameras.StartGrabbing();
       Pylon::CGrabResultPtr frame0, frame1;
       Pylon::CPylonImage leftImage;
@@ -19,14 +25,27 @@ void DualcamGrabber::run() {
       Pylon::CPylonImage stitchedImage;
       std::string errorMessage = "";
 
+      // int ifi = 0;
+      // int deviation = 0;
+      // std::cerr << wrapper->frameRate(0) << "\t" << wrapper->frameRate(1) << "\t" << framerate << std::endl;
+      // int desired_ifi = (1./wrapper->frameRate(0) * 1000000);
+      // auto framestart = high_resolution_clock::now();
       while (cameras.IsGrabbing() && !stop_request) {
+        // if (counter > 0) {
+        //   deviation = desired_ifi - ifi;
+        //   if (deviation > 0)
+        //     // usleep(deviation);
+        //     std::cerr << desired_ifi << "\t" << deviation << std::endl;
+        // }
+          // auto start = high_resolution_clock::now();
           MyImage *img = new MyImage();
+          // auto stop1 = high_resolution_clock::now();
           cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+          // auto stop2 = high_resolution_clock::now();
           cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
-
+          // auto stop3 = high_resolution_clock::now();
           leftImage.AttachGrabResultBuffer( frame0 );
           rightImage.AttachGrabResultBuffer( frame1 );
-
           if (leftImage.IsValid() && rightImage.IsValid()) {
             try {
               StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
@@ -36,6 +55,17 @@ void DualcamGrabber::run() {
               std::cerr << e.what() << '\n';
             }
           }
+          // auto stop4 = high_resolution_clock::now();
+          // auto duration1 = duration_cast<microseconds>(stop1 - start);
+          // auto duration2 = duration_cast<microseconds>(stop2 - stop1);
+          // auto duration3 = duration_cast<microseconds>(stop3 - stop2);
+          // auto duration4 = duration_cast<microseconds>(stop4 - stop3);
+          // std::cerr << "framecount: " << counter << " image constr: " << duration1.count() << "\t" << " retrieve1: " << duration2.count() << "\t" << " retrieve2: " << duration3.count() << "\t" << "conversion: " << duration4.count() << std::endl;
+          // ifi = duration_cast<microseconds>(stop4 - framestart).count();
+          // framestart = stop4;
+          // if (counter > 0) {
+          //   std::cerr << "frame " << counter << " inter frame interval: " << ifi << "microseconds" << std::endl;
+          // } 
           counter += 1;
       }
       cameras.StopGrabbing();

dualcamwrapper.cpp

@@ -54,8 +54,8 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
         frameRate(new_framerate, 0);
         frameRate(new_framerate, 1);
         return true;
-      } else if (camindex == 0 && camindex ==1) {
-        GenApi::INodeMap& nodemap = getNodemap(0);
+      } else if (camindex >= 0 && camindex < 2) {
+        GenApi::INodeMap& nodemap = getNodemap(camindex);
         GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
         Pylon::CBooleanParameter enableframerate(n);
         enableframerate.SetValue(true);
@@ -72,7 +72,7 @@ bool DualcamWrapper::frameRate(uint new_framerate, int camindex) {
 
 
 double DualcamWrapper::frameRate(int camindex) {
-  assert(camindex > 0 && camindex < 2);
+  assert(camindex >= 0 && camindex < 2);
   double rate = -1.;
   if (valid) {
       GenApi::INodeMap& nodemap = getNodemap(camindex);
@@ -173,14 +173,14 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
   qDebug() << "grabFrame from camera " << camindex;
   if (valid) {
     GenApi::INodeMap &nodemap = getNodemap(camindex);
-    qDebug() << "Setting width" << layout.rois[0].width;
-    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[0].width);
+    qDebug() << "Setting width" << layout.rois[camindex].width;
+    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
     qDebug() << "Setting height" << layout.rois[0].height;
-    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[0].height);
-    qDebug() << "Setting xoffset" << layout.rois[0].x;
-    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[0].x);
-    qDebug() << "Setting yoffset" << layout.rois[0].y;
-    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[0].y);
+    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+    qDebug() << "Setting xoffset" << layout.rois[camindex].x;
+    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+    qDebug() << "Setting yoffset" << layout.rois[camindex].y;
+    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
 
     camera->StartGrabbing();
     camera->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
@@ -191,15 +191,25 @@ bool DualcamWrapper::grabFrame(MyImage &img, int camindex) {
 }
 
 
+void DualcamWrapper::setROI() {
+  for (int camindex = 0; camindex < 2; camindex++){
+    qDebug() << "Setting ROI: w" << layout.rois[camindex].width << " h: "<< layout.rois[camindex].height << " x " << layout.rois[camindex].x << " y " << layout.rois[camindex].y;
+    GenApi::INodeMap &nodemap = getNodemap(camindex);
+    Pylon::CIntegerParameter(nodemap, "Width").SetValue(layout.rois[camindex].width);
+    Pylon::CIntegerParameter(nodemap, "Height").SetValue(layout.rois[camindex].height);
+    Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(layout.rois[camindex].x);
+    Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(layout.rois[camindex].y);
+  }
+}
+
+
 void DualcamWrapper::resetCamera(int camindex) {
     GenApi::INodeMap &nodemap = getNodemap( camindex );
     int64_t dfltWidth = 2048;
     int64_t dfltHeight = 1536;
   qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
   try {
-    // std::cerr << "MaxWidth: " << Pylon::CIntegerParameter(nodemap, "WidthMax").GetValue() << std::endl;
     Pylon::CIntegerParameter(nodemap, "Width").SetValue(dfltWidth, false);
-    // std::cerr << "MaxHeight: " << Pylon::CIntegerParameter(nodemap, "HeightMax").GetValue() << std::endl;
     Pylon::CIntegerParameter(nodemap, "Height").SetValue(dfltHeight, false);
     Pylon::CIntegerParameter(nodemap, "OffsetX").SetValue(0);
     Pylon::CIntegerParameter(nodemap, "OffsetY").SetValue(0);
@@ -229,8 +239,9 @@ bool DualcamWrapper::openCameras(std::string &message) {
         valid = false;
         return valid;
     }
-    resetCamera(0);
-    resetCamera(1);
+    // resetCamera(0);
+    // resetCamera(1);
+    setROI();
     return valid;
 }
 

dualcamwrapper.h

@@ -15,7 +15,6 @@ public:
     DualcamWrapper(const CameraLayout &layout);
     ~DualcamWrapper();
 
-
     ImageSettings getImageSettings(int camindex);
     bool isOpen();
     void terminate();
@@ -35,6 +34,7 @@ private:
     void resetCamera(int camindex);
     Pylon::CInstantCameraArray cameras;
     GenApi::INodeMap& getNodemap(int camindex);
+    void setROI();
     bool valid, withLayout;
     CameraLayout layout;
 

myimage.cpp

@@ -27,6 +27,8 @@ bool MyImage::setFrame( Pylon::CPylonImage &img) {
       img_width = img.GetWidth();
       img_height = img.GetHeight();
       memcpy(&buffer, img.GetBuffer(), img.GetImageSize());
+      auto t = std::chrono::system_clock::now();
+      img_timestamp = std::chrono::system_clock::to_time_t(t);
     }
   return valid;
 }

pylonrecorder.cpp

@@ -652,7 +652,7 @@ void PylonRecorder::connectCamera() {
     std::string cname = layout.devices[0];
     std::string message;
     qDebug() << "connecting to camera " << cname.c_str();
-    singlecam = new PylonWrapper(layout);
+    singlecam = new SingleCamWrapper(layout);
     bool success = singlecam->openCamera(message);
     if (success) {
       cameraConnectedLabel->setText("connected");
@@ -762,7 +762,7 @@ void PylonRecorder::startSinglecamRecording() {
     delete singlecamgrabber;
     singlecamgrabber = nullptr;
   }
-  singlecamgrabber = new Grabber(singlecam, buffer, defaultFrameRate);
+  singlecamgrabber = new SinglecamGrabber(singlecam, buffer, defaultFrameRate);
   
   if (framerateSpinner->value() != singlecamgrabber->currentFramerate())
     singlecamgrabber->setFrameRate(framerateSpinner->value());
@@ -776,8 +776,8 @@ void PylonRecorder::startSinglecamRecording() {
     delete writer;
     writer = nullptr;
   }
-  writer = new Writer(buffer, 0);
-  connect(writer, SLOT(writingDone()), this, SLOT(writerDone()));
+  writer = new Writer(buffer);
+  connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
   writer->setVideoSpecs(specs);
 
   QSettings s;
@@ -807,7 +807,7 @@ void PylonRecorder::startDualcamRecording() {
   VideoSpecs specs = getVideoSpecs(settings);
   specs.filename = filename;
   specs.format = VideoFormat::mp4;
-  qDebug() << "got video specifications";
+  qDebug() << "got video specifications " << specs.fps;
   if (buffer != nullptr) {
     buffer->clear();
     delete buffer;
@@ -839,7 +839,7 @@ void PylonRecorder::startDualcamRecording() {
     delete writer;
     writer = nullptr;
   }
-  writer = new Writer(buffer, 0);
+  writer = new Writer(buffer);
   connect(writer, SIGNAL(writingDone()), this, SLOT(writerDone()));
   writer->setVideoSpecs(specs);
 

pylonrecorder.h

@@ -7,10 +7,10 @@
 #include <QCheckBox>
 #include <QSettings>
 #include <pylon/PylonIncludes.h>
-#include "pylonwrapper.h"
+#include "singlecamwrapper.h"
 #include "dualcamwrapper.h"
 #include "imagebuffer.h"
-#include "grabber.h"
+#include "singlecamgrabber.h"
 #include "dualcamgrabber.h"
 #include "writer.h"
 #include "projectsettings.h"
@@ -105,10 +105,10 @@ private:
     QProgressBar *loadBar;
     QScrollArea *scrollArea;
     double scaleFactor = 1;
-    PylonWrapper *singlecam;
+    SingleCamWrapper *singlecam;
     DualcamWrapper *dualcam;
     ImageBuffer *buffer;
-    Grabber *singlecamgrabber;
+    SinglecamGrabber *singlecamgrabber;
     DualcamGrabber *dualcamgrabber;
     Writer *writer;
     CameraLayout layout;

singlecamgrabber.cpp

@@ -1,8 +1,8 @@
-#include "grabber.h"
+#include "singlecamgrabber.h"
 #include <iostream>
 #include <pylon/PylonIncludes.h>
 
-void Grabber::run() {
+void SinglecamGrabber::run() {
   stop_request = false;
   int count = 0;
   if (camera->isOpen()) {

singlecamgrabber.h

@@ -1,16 +1,16 @@
-#ifndef GRABBER_H
-#define GRABBER_H
+#ifndef SINGLECAMGRABBER_H
+#define SINGLECAMGRABBER_H
 
 #include <QObject>
 #include <QThread>
-#include "pylonwrapper.h"
+#include "singlecamwrapper.h"
 #include "imagebuffer.h"
 
-class Grabber : public QThread
+class SinglecamGrabber : public QThread
 {
   Q_OBJECT
 public:
-  Grabber(PylonWrapper *camera, ImageBuffer*buffer, int framerate, QObject *parent = nullptr) :
+  SinglecamGrabber(SingleCamWrapper *camera, ImageBuffer*buffer, int framerate, QObject *parent = nullptr) :
     QThread(parent), camera(camera), buffer(buffer), framerate(framerate) {}
 
   void run() override;
@@ -29,7 +29,7 @@ public:
 
 private:
   bool stop_request = false;
-  PylonWrapper *camera;
+  SingleCamWrapper *camera;
   ImageBuffer *buffer;
   int framerate;
   double exposure, gain;
@@ -51,4 +51,4 @@ signals:
   void terminated();
 };
 
-#endif // GRABBER_H
+#endif // SINGLECAMGRABBER_H

singlecamwrapper.cpp

@@ -1,19 +1,19 @@
-#include "pylonwrapper.h"
+#include "singlecamwrapper.h"
 
-PylonWrapper::PylonWrapper(const std::string &fullName):
+SingleCamWrapper::SingleCamWrapper(const std::string &fullName):
   valid(false), fullName(fullName), camera(nullptr), withLayout(false) {
   qDebug() << "Constructor with name";
   Pylon::PylonInitialize();
 }
 
-PylonWrapper::PylonWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera(nullptr) {
+SingleCamWrapper::SingleCamWrapper(const CameraLayout &layout): valid(false), withLayout(true), camera(nullptr) {
   qDebug() << "Constructor with layout";
   this->fullName = layout.devices[0];
   this->layout = layout;
   Pylon::PylonInitialize();
 }
 
-PylonWrapper::~PylonWrapper() {
+SingleCamWrapper::~SingleCamWrapper() {
   qDebug() << "wrapper destructor";
   if (camera != nullptr){
     if (camera->IsOpen()) {
@@ -27,7 +27,7 @@ PylonWrapper::~PylonWrapper() {
   qDebug() << "Successfully deleted camera";
 }
 
-void PylonWrapper::terminate() {
+void SingleCamWrapper::terminate() {
   qDebug() << "Terminate";
   try {
     Pylon::PylonTerminate();
@@ -36,11 +36,11 @@ void PylonWrapper::terminate() {
   }
 }
 
-bool PylonWrapper::isOpen() {
+bool SingleCamWrapper::isOpen() {
   return valid;
 }
 
-double PylonWrapper::maxFrameRate() {
+double SingleCamWrapper::maxFrameRate() {
   double max_rate = -1;
   if (valid) {
      GenApi::INodeMap& nodemap = camera->GetNodeMap();
@@ -51,7 +51,7 @@ double PylonWrapper::maxFrameRate() {
   return max_rate;
 }
 
-bool PylonWrapper::frameRate(uint new_framerate) {
+bool SingleCamWrapper::frameRate(uint new_framerate) {
   if (valid) {
       GenApi::INodeMap& nodemap = camera->GetNodeMap();
       GenApi::INode* n = nodemap.GetNode( "AcquisitionFrameRateEnable" );
@@ -66,7 +66,7 @@ bool PylonWrapper::frameRate(uint new_framerate) {
   return false;
 }
 
-double PylonWrapper::frameRate() {
+double SingleCamWrapper::frameRate() {
   double rate = -1.;
   if (valid) {
       GenApi::INodeMap& nodemap = camera->GetNodeMap();
@@ -77,7 +77,7 @@ double PylonWrapper::frameRate() {
   return rate;
 }
 
-double PylonWrapper::exposureTime() {
+double SingleCamWrapper::exposureTime() {
   double time = -1.;
   if (valid) {
       GenApi::INodeMap& nodemap = camera->GetNodeMap();
@@ -88,7 +88,7 @@ double PylonWrapper::exposureTime() {
   return time;
 }
 
-bool PylonWrapper::exposureTime(double exposure_time) {
+bool SingleCamWrapper::exposureTime(double exposure_time) {
     if (valid) {
         GenApi::INodeMap& nodemap = camera->GetNodeMap();
         double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
@@ -105,7 +105,7 @@ bool PylonWrapper::exposureTime(double exposure_time) {
     return false;
 }
 
-double PylonWrapper::gain() {
+double SingleCamWrapper::gain() {
   double gain = -1.;
   if (valid) {
       GenApi::INodeMap& nodemap = camera->GetNodeMap();
@@ -116,7 +116,7 @@ double PylonWrapper::gain() {
   return gain;
 }
 
-bool PylonWrapper::gain(double gain_db) {
+bool SingleCamWrapper::gain(double gain_db) {
     if (valid) {
         GenApi::INodeMap& nodemap = camera->GetNodeMap();
         GenApi::CFloatPtr(nodemap.GetNode("Gain"))->SetValue(gain_db);
@@ -125,7 +125,7 @@ bool PylonWrapper::gain(double gain_db) {
     return false;
 }
 
-ImageSettings PylonWrapper::getImageSettings() {
+ImageSettings SingleCamWrapper::getImageSettings() {
   ImageSettings settings;
   if (valid) {
       Pylon::CEnumParameter pixelFormat( camera->GetNodeMap(), "PixelFormat" );
@@ -141,7 +141,7 @@ ImageSettings PylonWrapper::getImageSettings() {
   return settings;
 }
 
-bool PylonWrapper::grabFrame(MyImage &img) {
+bool SingleCamWrapper::grabFrame(MyImage &img) {
   Pylon::CGrabResultPtr frame;
   qDebug() << "grabFrame";
   if (valid) {
@@ -162,7 +162,7 @@ bool PylonWrapper::grabFrame(MyImage &img) {
   return frame.IsValid();
 }
 
-void PylonWrapper::resetCamera() {
+void SingleCamWrapper::resetCamera() {
   int64_t dfltWidth = 2048;
   int64_t dfltHeight = 1536;
   qDebug() << "resetting camera to default ROI (" << dfltWidth << ", " << dfltHeight << ")";
@@ -181,7 +181,7 @@ void PylonWrapper::resetCamera() {
   }
 }
 
-bool PylonWrapper::openCamera(std::string &message) { 
+bool SingleCamWrapper::openCamera(std::string &message) { 
   qDebug() << "opening camera";
   try {
     camera = new Pylon::CInstantCamera();
@@ -215,7 +215,7 @@ bool PylonWrapper::openCamera(std::string &message) {
   return valid;
 }
 
-void PylonWrapper::closeCamera() {
+void SingleCamWrapper::closeCamera() {
   qDebug() << "Close camera!";
   if (camera->IsOpen()) {
       try {
@@ -229,11 +229,11 @@ void PylonWrapper::closeCamera() {
     }
 }
 
-Pylon::CInstantCamera *PylonWrapper::getCamera() {
+Pylon::CInstantCamera *SingleCamWrapper::getCamera() {
   return camera;
 }
 
-QString PylonWrapper::userName() {
+QString SingleCamWrapper::userName() {
   GenApi::INodeMap& nodemap = camera->GetNodeMap();
   QString username = Pylon::CStringParameter(nodemap, "DeviceUserID").GetValue().c_str();
   return username;

singlecamwrapper.h

@@ -1,5 +1,5 @@
-#ifndef PYLONWRAPPER_H
-#define PYLONWRAPPER_H
+#ifndef SINGLECAMWRAPPER_H
+#define SINGLECAMWRAPPER_H
 
 #include <pylon/PylonIncludes.h>
 #include <pylon/BaslerUniversalInstantCamera.h>
@@ -7,12 +7,12 @@
 #include "util.h"
 #include "myimage.h"
 
-class PylonWrapper
+class SingleCamWrapper
 {
 public:
-    PylonWrapper(const std::string &name);
-    PylonWrapper(const CameraLayout &layout);
-    ~PylonWrapper();
+    SingleCamWrapper(const std::string &name);
+    SingleCamWrapper(const CameraLayout &layout);
+    ~SingleCamWrapper();
 
     ImageSettings getImageSettings();
     bool isOpen();
@@ -41,4 +41,4 @@ private:
 
 };
 
-#endif // PYLONWRAPPER_H
+#endif // SINGLECAMWRAPPER_H

writer.cpp

@@ -1,9 +1,7 @@
 #include "writer.h"
 #include <chrono>
 #include <fstream>
-
 #include <pylon/VideoWriter.h>
-using namespace std::chrono;
 
 void Writer::setVideoSpecs(VideoSpecs specs) {
   videoSpecs = specs;
@@ -37,7 +35,7 @@ void Writer::run() {
     // Releases all pylon resources.
     // PylonTerminate();
     // Return with error code 1.
-    emit writingDone(this->cam_number);
+    emit writingDone();
     return;
   }
   qDebug() << "checks done!";
@@ -114,7 +112,12 @@ void Writer::run() {
                 }
               }
               if (count < chunksize) {
-                stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
+                try {
+                  stamps_buffer[count] = nix::util::timeToStr(img->timestamp());
+                } catch (...) {
+                  std::cerr << "Bad time to string conversion " << img->timestamp() << std::endl;
+                  stamps_buffer[count] = "invalid";
+                }
                 ids_buffer[count] = img->index();
                 count ++;
               } else {
@@ -138,11 +141,11 @@ void Writer::run() {
             frametimes.setData(nix::DataType::String, stamps_buffer.data(), chunk_shape, offset);
             frameindices.setData(nix::DataType::Int64, ids_buffer.data(), chunk_shape, offset);
         }
-        // videoWriter.Close();
+        videoWriter.Close();
         myFile.close();
         nix_file.close();
     } else {
       std::cerr << "Got no video specifications, not writing!" << std::endl;
     }
-  emit writingDone(cam_number);
+  emit writingDone();
 }

writer.h

@@ -6,7 +6,7 @@
 #include <pylon/PylonIncludes.h>
 #include <nix.hpp>
 
-#include "pylonwrapper.h"
+#include "singlecamwrapper.h"
 #include "imagebuffer.h"
 #include "projectsettings.h"
 #include "util.h"
@@ -15,8 +15,8 @@ class Writer : public QThread
 {
   Q_OBJECT
 public:
-  explicit Writer(ImageBuffer*buffer, int number, QObject *parent = nullptr) :
-    QThread(parent), buffer(buffer), cam_number(number) {}
+  explicit Writer(ImageBuffer*buffer, QObject *parent = nullptr) :
+    QThread(parent), buffer(buffer) {}
 
    void setVideoSpecs(VideoSpecs specs);
    void setProjectMetadata(ProjectMetadata mdata);
@@ -25,10 +25,9 @@ public:
 
 signals:
   void terminated();
-  void writingDone(int cam);
+  void writingDone();
 
 private:
-  int cam_number;
   ImageBuffer *buffer;
   VideoSpecs videoSpecs;
   ProjectMetadata metadata;