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devicewrapper.cpp
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devicewrapper.cpp
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#include "devicewrapper.h"
DeviceWrapper::DeviceWrapper(int sizex, int sizey)
{
device = new GVDevice("WRAPPER_DEVICE","WRAPPER_DEVICE","DEVICE_VERSION");
device->createStreamChannel();
device->createStreamChannel();
device->createStreamChannel();
connect(this,SIGNAL(initialization()),this,SLOT(setupTimer()));
depthMap = new PixelMap(GVSP_PIX_MONO16, sizex,sizey,0,0,0,0);
RGBMap = new PixelMap(GVSP_PIX_RGB8, sizex,sizey,0,0,0,0);
DepthRGBMap = new PixelMap(GVSP_PIX_MONO16_RGB8, sizex,sizey,0,0,0,0);
for (int var = 0; var < sizex*sizey*2; var+=2) {
depthMap->data[var] = 0x0;
depthMap->data[var] = 0xF;
}
for (int var = 0; var < sizex*sizey*3; var+=2) {
RGBMap->data[var] = 0x0;
RGBMap->data[var] = 0xF;
}
for (int var = 0; var < sizex*sizey*5; var+=2) {
DepthRGBMap->data[var] = 0x0;
DepthRGBMap->data[var] = 0xF;
}
}
void DeviceWrapper::setupTimer()
{
QTimer* readFromCamTimer = new QTimer(this);
connect(readFromCamTimer,SIGNAL(timeout()),this,SLOT(readDataFromCam()));
readFromCamTimer->start(30);
/*
QTimer* sendDepthDataTimer = new QTimer(this);
connect(sendDepthDataTimer,SIGNAL(timeout()),this,SLOT(sendDepthDataStream()));
sendDepthDataTimer->start(30);
QTimer* sendRgbDataTimer = new QTimer(this);
connect(sendRgbDataTimer,SIGNAL(timeout()),this,SLOT(sendRgbDataStream()));
sendRgbDataTimer->start(30);
QTimer* sendDepthRgbDataTimer = new QTimer(this);
connect(sendDepthRgbDataTimer,SIGNAL(timeout()),this,SLOT(sendDepthRgbDataStream()));
sendDepthRgbDataTimer->start(30);
*/
}
void DeviceWrapper::readDataFromCam()
{
if(iteration<100)
iteration++;
else {
sumTotal/=iteration;
sumAcquireFrame/=iteration;
sumSendData/=iteration;
iteration=1;
}
std::chrono::steady_clock::time_point start = std::chrono::steady_clock::now();
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
long acquireFrame = std::chrono::duration_cast<std::chrono::microseconds>(end- start).count();
start = std::chrono::steady_clock::now();
sendDepthDataStream();
sendRgbDataStream();
sendDepthRgbDataStream();
end = std::chrono::steady_clock::now();
long sendData = std::chrono::duration_cast<std::chrono::microseconds>(end- start).count();
long value = acquireFrame+sendData;
sumTotal+=value;
sumAcquireFrame+=acquireFrame;
sumSendData+=sendData;
std::cout << "Send value time "
<< value
<< "us. (average: "<<sumTotal/iteration<<" us"
<<" - Acquire frame: "<<sumAcquireFrame/iteration<<" us"
<<" - Send data: "<<sumSendData/iteration<<" us"
<<" )\n";
}
void DeviceWrapper::sendDepthDataStream()
{
if(!device->getStreamChannel(0)->isChannelOpen())
return;
device->getStreamChannel(0)->writeIncomingData(*depthMap);
}
void DeviceWrapper::sendRgbDataStream()
{
if(!device->getStreamChannel(1)->isChannelOpen())
return;
device->getStreamChannel(1)->writeIncomingData(*RGBMap);
}
void DeviceWrapper::sendDepthRgbDataStream()
{
if(!device->getStreamChannel(2)->isChannelOpen())
return;
device->getStreamChannel(2)->writeIncomingData(*DepthRGBMap);
}
void DeviceWrapper::run()
{
emit initialization();
exec();
}