From 33f4a79407cfb950e121d01dc5011458837523ed Mon Sep 17 00:00:00 2001
From: MPIBR-kretschmerf <friedrich.kretschmer@brain.mpg.de>
Date: Thu, 1 Jun 2017 12:21:09 +0200
Subject: [PATCH] Added exposure, colormodes and fixed destructor

---
 SpinnakerCapture.cpp | 52 ++++++++++++++++++++------------------------
 SpinnakerCapture.h   |  2 ++
 2 files changed, 25 insertions(+), 29 deletions(-)

diff --git a/SpinnakerCapture.cpp b/SpinnakerCapture.cpp
index 12b0af7..ae9b492 100644
--- a/SpinnakerCapture.cpp
+++ b/SpinnakerCapture.cpp
@@ -45,6 +45,8 @@ SpinnakerCapture::SpinnakerCapture(QObject *parent)
         width = ptrWidth->GetValue();
         CIntegerPtr ptrHeight = nodeMap->GetNode("Height");
         height = ptrHeight->GetValue();
+        CFloatPtr ptrExposureTime = nodeMap->GetNode("ExposureTime");
+        exposureTime = ptrExposureTime->GetValue();
 
         qDebug()<< "Initialized Spinnaker compatible camera (" << width << "x" << height << ")";
         isInitialized = true;
@@ -127,7 +129,7 @@ int SpinnakerCapture::configureExposure(double exposureTimeToSet)
     return result;
 }
 
-// This function acquires and saves 10 images from a device.
+// This function acquires images from a device.
 int SpinnakerCapture::acquireImages(unsigned int nImagesToCapture)
 {
     int result = 0;
@@ -135,28 +137,8 @@ int SpinnakerCapture::acquireImages(unsigned int nImagesToCapture)
     qDebug() << "*** IMAGE ACQUISITION ***";
 
     try{
-        //
         // Set acquisition mode to continuous
-        //
-        // *** NOTES ***
-        // Because the example acquires and saves 10 images, setting acquisition
-        // mode to continuous lets the example finish. ifset to single frame
-        // or multiframe (at a lower number of images), the example would just
-        // hang. This would happen because the example has been written to
-        // acquire 10 images while the camera would have been programmed to
-        // retrieve less than that.
-        //
-        // Setting the value of an enumeration node is slightly more complicated
-        // than other node types. Two nodes must be retrieved: first, the
-        // enumeration node is retrieved from the nodemap; and second, the entry
-        // node is retrieved from the enumeration node. The integer value of the
-        // entry node is then set as the new value of the enumeration node.
-        //
-        // Notice that both the enumeration and the entry nodes are checked for
-        // availability and readability/writability. Enumeration nodes are
-        // generally readable and writable whereas their entry nodes are only
-        // ever readable.
-        //
+
         // Retrieve enumeration node from nodemap
         CEnumerationPtr ptrAcquisitionMode = nodeMap->GetNode("AcquisitionMode");
         if(!IsAvailable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode)){
@@ -197,7 +179,7 @@ int SpinnakerCapture::acquireImages(unsigned int nImagesToCapture)
                     // name a few.
                     //
 
-                    ImagePtr convertedImage = pResultImage->Convert(PixelFormat_BGR8, NEAREST_NEIGHBOR);
+                    ImagePtr convertedImage = pResultImage->Convert(pixelFormat, NEAREST_NEIGHBOR);
 
                     unsigned int XPadding = convertedImage->GetXPadding();
                     unsigned int YPadding = convertedImage->GetYPadding();
@@ -205,10 +187,22 @@ int SpinnakerCapture::acquireImages(unsigned int nImagesToCapture)
                     unsigned int colsize = convertedImage->GetHeight();
 
                     //image data contains padding. When allocating Mat container size, you need to account for the X,Y image data padding.
-                    cv::Mat cvMat = cv::Mat(colsize + YPadding, rowsize + XPadding, CV_8UC3, convertedImage->GetData(), convertedImage->GetStride());
 
-                    emit(sendFrame(cvMat.clone()));
+                    int cvFormat;
+                    switch(pixelFormat){
+                        case PixelFormat_BGR8:
+                            cvFormat = CV_8UC3;
+                            break;
+                        case PixelFormat_Mono16:
+                            cvFormat = CV_16U;
+                            break;
+                        default:
+                            cvFormat = CV_8UC3;
+                    }
+
+                    cv::Mat cvMat = cv::Mat(colsize + YPadding, rowsize + XPadding, cvFormat, convertedImage->GetData(), convertedImage->GetStride());
 
+                    emit(sendFrame(cvMat.clone()));
                 }
 
                 // Images retrieved directly from the camera (i.e. non-converted
@@ -278,11 +272,11 @@ SpinnakerCapture::~SpinnakerCapture()
 {
     // Deinitialize camera
     pCam->DeInit();
-    delete nodeMapTLDevice;
-    delete nodeMap;
+    pCam = NULL;
+    nodeMapTLDevice = NULL;
+    nodeMap = NULL;
     // Clear camera list before releasing system
     camList.Clear();
-    //	// Release system
+    // Release system
     system->ReleaseInstance();
 }
-
diff --git a/SpinnakerCapture.h b/SpinnakerCapture.h
index 87ef6da..5452e59 100644
--- a/SpinnakerCapture.h
+++ b/SpinnakerCapture.h
@@ -20,6 +20,8 @@ class SpinnakerCapture : public QObject
     bool isInitialized = false;
     unsigned int width = 0;
     unsigned int height = 0;
+    float exposureTime = 0;
+    PixelFormatEnums pixelFormat = PixelFormat_Mono16; //PixelFormat_BGR8
     ~SpinnakerCapture();
 private:
     CameraPtr pCam;