Customize the camera type

Author: KingRichord

example/CMakeLists.txt

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
 project(example)
 
-add_subdirectory(GigeCam)
+add_subdirectory(GigeCam)
+add_subdirectory(CustomCam)

example/CustomCam/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(custom_cam VERSION 1.0)
+
+set(CMAKE_CXX_STANDARD 17)
+
+if (NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+    set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -O3  -Wall")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3  -Wall")
+endif ()
+
+
+add_executable(${PROJECT_NAME}
+        main.cpp
+        cus_cam.cpp
+        cus_cam.h
+)
+target_link_directories(${PROJECT_NAME} PRIVATE
+        # Add the path to the your cam SDK here
+)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+        infinite_sense_core
+        # Add the name of your cam SDK library here
+)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+        # Add the path to the your cam SDK header files here
+)
+set_target_properties(${PROJECT_NAME} PROPERTIES
+        INSTALL_RPATH "$ORIGIN"
+)

example/CustomCam/cus_cam.cpp

@@ -13,38 +13,30 @@ bool CustomCam::Initialization() {
 void CustomCam::Stop() {
   Disable();
   std::this_thread::sleep_for(std::chrono::milliseconds{500});
-  for (auto &cam_thread : cam_threads_) {
+  for (auto &cam_thread : cam_threads) {
     while (cam_thread.joinable()) {
       cam_thread.join();
     }
   }
-  cam_threads_.clear();
-  cam_threads_.shrink_to_fit();
+  cam_threads.clear();
+  cam_threads.shrink_to_fit();
 }
 void CustomCam::Receive(void *handle, const std::string &name)  {
-  while (is_running_) {
+  Messenger &messenger = Messenger::GetInstance();
+  while (is_running) {
       CamData cam_data;
-      if (params_.find(name) == params_.end()) {
-        LOG(ERROR) << "cam " << name << " not found!";
-      }
-      else {
-        if (uint64_t time; GET_LAST_TRIGGER_STATUS(params_[name], time)) {
+      if (params.find(name) != params.end()) {
+        if (uint64_t time; GET_LAST_TRIGGER_STATUS(params[name], time)) {
           cam_data.time_stamp_us = time;
         }
-        else {
-          LOG(ERROR) << "cam " << name << " not found!";
-        }
       }
-
-      cam_data.image = GMat(st_out_frame.stFrameInfo.nHeight, st_out_frame.stFrameInfo.nWidth,
-                                GMatType<uint8_t, 1>::Type, st_out_frame.pBufAddr);
-
+      cam_data.image = GMat();
       messenger.PubStruct(name,&cam_data,sizeof(cam_data));
-      std::this_thread::sleep_for(std::chrono::milliseconds{2});
+      std::this_thread::sleep_for(std::chrono::milliseconds{1});
     }
 }
 void CustomCam::Start() {
   std::string name = "cus_camera";
-  cam_threads_.emplace_back(&CustomCam::Receive, this, nullptr, name);
+  cam_threads.emplace_back(&CustomCam::Receive, this, nullptr, name);
 }
 }  // namespace infinite_sense

example/CustomCam/cus_cam.h

@@ -3,12 +3,7 @@
 namespace infinite_sense {
 class CustomCam final : public Sensor {
  public:
-  explicit CustomCam(const std::map<std::string, TriggerDevice>& params) : params_(params) {}
   ~CustomCam() override;
-
-  CustomCam(const CustomCam&) = delete;
-  CustomCam& operator=(const CustomCam&) = delete;
-
   bool Initialization() override;
   void Stop() override;
   void Start() override;

example/CustomCam/main.cpp

@@ -2,21 +2,22 @@
 #include "cus_cam.h"
 using namespace infinite_sense;
 int main() {
-
   // 1.创建同步器
   Synchronizer synchronizer;
-
   synchronizer.SetUsbLink("/dev/ttyACM0", 460800);
   // 2.配置同步接口
-  std::map<std::string, TriggerDevice> params;
-  params["cus_camera"] = CAM_1;
-  const auto cus_cam = std::make_shared<CustomCam>(params);
-  synchronizer.UseCam(cus_cam);
+  std::map<std::string, TriggerDevice> params = {
+      {"camera_1", CAM_1},
+      {"camera_2", CAM_2},
+  };
+  auto mv_cam = std::make_shared<CustomCam>();
+  mv_cam->SetParams(params);
+  synchronizer.UseCam(mv_cam);
 
   // 3.开启同步
   synchronizer.Start();
 
-  // 4.订阅数据
+  // 4.接受数据
   Synchronizer::PrintSummary();
   zmq::context_t context(1);
   zmq::socket_t subscriber(context, zmq::socket_type::sub);