[324] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2014/03/06
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| 6 | // filename: Camera.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Virtual class for Camera
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Camera.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <Tab.h>
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| 21 | #include <TabWidget.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <GridLayout.h>
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| 24 | #include <DataPlot1D.h>
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| 25 | #include <Picture.h>
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[328] | 26 | //#include <VisionFilter.h>
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[324] | 27 | #include <fstream>
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| 28 |
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| 29 | using std::string;
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| 30 | using namespace flair::core;
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| 31 | using namespace flair::gui;
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| 32 |
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| 33 | namespace flair {
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| 34 | namespace sensor {
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| 35 |
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| 36 | Camera::Camera(string name, uint16_t width,
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| 37 | uint16_t height, Image::Type::Format format)
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| 38 | : IODevice(getFrameworkManager(), name) {
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| 39 | plot_tab = NULL;
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| 40 | logFormat=LogFormat::NONE;
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| 41 |
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| 42 | // do not allocate imagedata, allocation is done by the camera
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| 43 | output = new Image((IODevice *)this, width, height, format, "out", false);
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| 44 |
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| 45 | // station sol
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| 46 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 47 | tab = new TabWidget(main_tab->NewRow(), name);
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| 48 | sensor_tab = new Tab(tab, "Setup");
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| 49 | setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 50 | setup_layout = new GridLayout(sensor_tab->NewRow(), "setup");
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| 51 |
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| 52 | }
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| 53 |
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| 54 | //This contructor must only be called for a simulated device.
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| 55 | Camera::Camera(const IODevice *parent, std::string name)
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| 56 | : IODevice(parent, name) {
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| 57 | plot_tab = NULL;
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| 58 | main_tab = NULL;
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| 59 | tab = NULL;
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| 60 | sensor_tab = NULL;
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| 61 | setup_groupbox = NULL;
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| 62 |
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| 63 | output = NULL;
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| 64 | logFormat=LogFormat::NONE;
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| 65 | }
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| 66 |
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| 67 | Camera::~Camera() {
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| 68 | if (main_tab != NULL)
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| 69 | delete main_tab;
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| 70 | }
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| 71 |
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| 72 | void Camera::SetLogFormat(LogFormat logFormat) {
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| 73 | this->logFormat=logFormat;
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| 74 | switch(logFormat) {
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| 75 | case LogFormat::RAW:
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| 76 | AddDataToLog(output);
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| 77 | Warn("raw log of Image is not yet implemented\n");
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| 78 | break;
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| 79 | case LogFormat::JPG:
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| 80 | Warn("logging Image to jpeg\n");
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| 81 | Warn("jpeg are not included in classical dbt file, as dbt does not handle variable length\n");
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| 82 | break;
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| 83 | default:
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| 84 | Warn("LogFormat unknown\n");
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| 85 | }
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| 86 | }
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| 87 |
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| 88 | DataType const &Camera::GetOutputDataType() const {
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| 89 | return output->GetDataType();
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| 90 | }
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| 91 |
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| 92 | GroupBox *Camera::GetGroupBox(void) const { return setup_groupbox; }
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| 93 |
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| 94 | GridLayout *Camera::GetLayout(void) const { return setup_layout; }
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| 95 |
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| 96 | void Camera::UseDefaultPlot(const core::Image *image) {
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| 97 | if (tab == NULL) {
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| 98 | Err("not applicable for simulation part.\n");
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| 99 | return;
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| 100 | }
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| 101 |
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| 102 | plot_tab = new Tab(tab, "Picture");
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| 103 | Picture *plot = new Picture(plot_tab->NewRow(), ObjectName(), image);
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| 104 | }
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| 105 |
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| 106 | Tab *Camera::GetPlotTab(void) const { return plot_tab; }
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| 107 |
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| 108 | uint16_t Camera::Width(void) const { return output->GetDataType().GetWidth(); }
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| 109 |
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| 110 | uint16_t Camera::Height(void) const {
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| 111 | return output->GetDataType().GetHeight();
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| 112 | }
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| 113 |
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| 114 | core::Image *Camera::Output(void) { return output; }
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| 115 |
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| 116 | void Camera::ProcessUpdate(core::io_data* data) {
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| 117 | if(getFrameworkManager()->IsLogging() && getFrameworkManager()->IsDeviceLogged(this)) {
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| 118 | Printf("todo logging and jpeg without opencv\n");
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| 119 | /*
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| 120 | if(logFormat==LogFormat::JPG) {
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| 121 | data->GetMutex();
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| 122 | //IplImage *img=((Image*)data)->img;
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| 123 | const Image* input = dynamic_cast<const Image*>(data);
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| 124 | if (!input) {
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| 125 | Warn("casting %s to Image failed\n",data->ObjectName().c_str());
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| 126 | return;
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| 127 | }
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| 128 | IplImage *img=input->img;
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| 129 |
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| 130 | string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
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| 131 | switch(((Image*)data)->GetDataType().GetFormat()) {
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| 132 | case Image::Type::Format::Gray:
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| 133 | saveToJpeg(img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
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| 134 | break;
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| 135 | case Image::Type::Format::BGR:
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| 136 | saveToJpeg(img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
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| 137 | break;
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| 138 | case Image::Type::Format::UYVY:
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| 139 | saveToJpeg(img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
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| 140 | break;
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| 141 | default:
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| 142 | Warn("cannot log to this format\n");
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| 143 | break;
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| 144 | }
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| 145 | data->ReleaseMutex();
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| 146 | }*/
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| 147 | }
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| 148 | IODevice::ProcessUpdate(data);
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| 149 | }
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| 150 |
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| 151 | void Camera::SavePictureToFile(string filename) const {
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| 152 | if(filename=="") filename="./"+ObjectName()+"_"+std::to_string(GetTime())+".jpg";
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| 153 | string::size_type idx = filename.rfind('.');
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| 154 | Printf("todo SavePictureToFile without opencv\n");/*
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| 155 | if(idx != string::npos) {
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| 156 | Printf("saving %s\n", filename.c_str());
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| 157 | string extension = filename.substr(idx+1);
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| 158 |
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| 159 | output->GetMutex();
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| 160 | if(extension=="jpg") {
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| 161 | if(output->GetDataType().GetFormat()==Image::Type::Format::Gray) saveToJpeg(output->img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
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| 162 | if(output->GetDataType().GetFormat()==Image::Type::Format::BGR) saveToJpeg(output->img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
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| 163 | if(output->GetDataType().GetFormat()==Image::Type::Format::UYVY) saveToJpeg(output->img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
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| 164 | } else {
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| 165 | cvSaveImage(filename.c_str(),output->img);
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| 166 | }
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| 167 | output->ReleaseMutex();
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| 168 | Printf("saving %s ok\n", filename.c_str());
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| 169 |
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| 170 | } else {
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| 171 | Warn("saving %s no file extension!\n", filename.c_str());
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| 172 | }*/
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| 173 | }
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| 174 |
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| 175 | void Camera::SaveRawPictureToFile(string filename) const {
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| 176 | Printf("saving %s, size %i\n", filename.c_str(), output->GetDataType().GetSize());
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| 177 | std::ofstream pFile;
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| 178 | pFile.open(filename);
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| 179 | output->GetMutex();
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| 180 | pFile.write(output->buffer, output->GetDataType().GetSize());
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| 181 | output->ReleaseMutex();
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| 182 |
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| 183 | pFile.close();
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| 184 | }
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| 185 |
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| 186 | } // end namespace sensor
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| 187 | } // end namespace flair
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