[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 | /*!
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| 6 | * \file Image.h
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| 7 | * \brief Class defining an image
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2012/03/20
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef IMAGE_H
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| 14 | #define IMAGE_H
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| 15 |
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| 16 | #include <io_data.h>
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| 17 | #include <stdint.h>
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| 18 |
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace sensor {
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| 22 | class V4LCamera;
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| 23 | }
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| 24 | }
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| 25 |
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| 26 |
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| 27 | namespace flair {
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| 28 | namespace core {
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| 29 | /*! \class Image
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| 30 | *
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| 31 | * \brief Class defining an image
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| 32 | *
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| 33 | *
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| 34 | */
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| 35 | class Image : public io_data {
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| 36 | public:
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| 37 | friend class flair::sensor::V4LCamera;
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| 38 | class Type : public DataType {
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| 39 | public:
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| 40 | /*!
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| 41 | \enum Format_t
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| 42 | \brief Picture formats
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| 43 | */
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| 44 | enum class Format {
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| 45 | YUYV, /*!< YUYV 16 bits */
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| 46 | UYVY, /*!< UYVY 16 bits */
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| 47 | BGR, /*!< BGR 24 bits */
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| 48 | Gray, /*!< gray 8 bits */
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| 49 | };
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| 50 | Type(uint16_t _width, uint16_t _height, Format _format)
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| 51 | : width(_width), height(_height), format(_format) {}
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| 52 |
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| 53 | size_t GetSize() const {
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| 54 | size_t pixelSize;
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| 55 | switch (format) {
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| 56 | case Format::Gray:
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| 57 | pixelSize = 1;
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| 58 | break;
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| 59 | case Format::YUYV:
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| 60 | case Format::UYVY:
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| 61 | pixelSize = 2;
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| 62 | break;
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| 63 | case Format::BGR:
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| 64 | pixelSize = 3;
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| 65 | break;
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| 66 | default:
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| 67 | pixelSize = 0; // TODO should throw an exception instead
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| 68 | }
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| 69 | return pixelSize * width * height;
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| 70 | }
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[353] | 71 | std::string GetDescription() const { return "image"; };
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[324] | 72 |
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| 73 | Format GetFormat() const { return format; };
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| 74 | uint16_t GetWidth() const { return width; };
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| 75 | uint16_t GetHeight() const { return height; };
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| 76 |
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| 77 | private:
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| 78 | uint16_t width;
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| 79 | uint16_t height;
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| 80 | Format format;
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| 81 | };
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| 82 |
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| 83 | /*!
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| 84 | * \brief Constructor
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| 85 | *
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| 86 | * Construct an io_data representing an image.
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| 87 | *
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| 88 | * \param parent parent
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| 89 | * \param width image width
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| 90 | * \param height image height
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| 91 | * \param name name
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| 92 | * \param allocate_data if true, image data is allocated; otherwise
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| 93 | *img->imagedata must be changed
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| 94 | * \param n number of samples
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| 95 | */
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| 96 | Image(const Object *parent, uint16_t width, uint16_t height,
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| 97 | Type::Format format, std::string name = "", bool allocate_data = true,
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| 98 | int n = 1);
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| 99 |
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| 100 | /*!
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| 101 | * \brief Destructor
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| 102 | *
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| 103 | */
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| 104 | ~Image();
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| 105 |
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| 106 |
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| 107 | char *buffer;
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| 108 |
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| 109 | Type const &GetDataType() const { return dataType; };
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| 110 |
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| 111 | static void RegisterAllocFunction(char*(*func)(ssize_t size));
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| 112 | static void RegisterFreeFunction(void(*func)(char* buffer));
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[403] | 113 | static bool IsUsingDefaultAllocAndFree(void);
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[401] | 114 | static char* AllocFunction(ssize_t size);
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| 115 | static void FreeFunction(char* buffer);
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[324] | 116 |
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| 117 | private:
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| 118 | /*!
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| 119 | * \brief Raw read datas
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| 120 | *
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| 121 | * Reimplemented from io_data. \n
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| 122 | * See io_data::RawRead.
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| 123 | *
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| 124 | * \param dst destination buffer
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| 125 | */
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| 126 | void RawRead(char *dst) const;
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| 127 |
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| 128 | bool allocate_data;
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| 129 | Type dataType;
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| 130 | static char* (*allocFunction)(ssize_t);
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| 131 | static void (*freeFunction)(char*);
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| 132 | static char* DefaultAllocFunction(ssize_t size);
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| 133 | static void DefaultFreeFunction(char* buffer);
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| 134 |
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| 135 | };
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| 136 |
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| 137 | } // end namespace core
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| 138 | } // end namespace flair
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| 139 |
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| 140 | #endif // IMAGE_H
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