[2] | 1 | // %flair:license{
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[15] | 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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[2] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file cvimage.h
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| 7 | * \brief Class defining an image of kind IplImage
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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 CVIMAGE_H
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| 14 | #define CVIMAGE_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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[330] | 19 |
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[15] | 20 | namespace flair {
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[330] | 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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[15] | 28 | namespace core {
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| 29 | /*! \class cvimage
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| 30 | *
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| 31 | * \brief Class defining an image of kind IplImage
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| 32 | *
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| 33 | * IplImage is an image struct defined in OpenCV.
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| 34 | *
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| 35 | */
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| 36 | class cvimage : public io_data {
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[330] | 37 | public:
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| 38 | friend class flair::sensor::V4LCamera;
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[15] | 39 | class Type : public DataType {
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| 40 | public:
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| 41 | /*!
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| 42 | \enum Format_t
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| 43 | \brief Picture formats
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[2] | 44 | */
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[15] | 45 | enum class Format {
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| 46 | YUYV, /*!< YUYV 16 bits */
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| 47 | UYVY, /*!< UYVY 16 bits */
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| 48 | BGR, /*!< BGR 24 bits */
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[124] | 49 | Gray, /*!< gray 8 bits */
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[15] | 50 | };
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| 51 | Type(uint16_t _width, uint16_t _height, Format _format)
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| 52 | : width(_width), height(_height), format(_format) {}
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[2] | 53 |
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[15] | 54 | size_t GetSize() const {
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| 55 | size_t pixelSize;
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| 56 | switch (format) {
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[124] | 57 | case Format::Gray:
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[15] | 58 | pixelSize = 1;
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| 59 | break;
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| 60 | case Format::YUYV:
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| 61 | case Format::UYVY:
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| 62 | pixelSize = 2;
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| 63 | break;
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| 64 | case Format::BGR:
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| 65 | pixelSize = 3;
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| 66 | break;
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| 67 | default:
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| 68 | pixelSize = 0; // TODO should throw an exception instead
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| 69 | }
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| 70 | return pixelSize * width * height;
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| 71 | }
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| 72 | std::string GetDescription() const { return "cv image"; };
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[2] | 73 |
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[15] | 74 | Format GetFormat() const { return format; };
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| 75 | uint16_t GetWidth() const { return width; };
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| 76 | uint16_t GetHeight() const { return height; };
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[2] | 77 |
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[15] | 78 | private:
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| 79 | uint16_t width;
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| 80 | uint16_t height;
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| 81 | Format format;
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| 82 | };
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[2] | 83 |
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[15] | 84 | /*!
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| 85 | * \brief Constructor
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| 86 | *
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| 87 | * Construct an io_data representing an IplImage.
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| 88 | *
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| 89 | * \param parent parent
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| 90 | * \param width image width
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| 91 | * \param height image height
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| 92 | * \param name name
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| 93 | * \param allocate_data if true, IplImage image data is allocated; otherwise
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| 94 | *img->imagedata must be changed
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| 95 | * \param n number of samples
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| 96 | */
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| 97 | cvimage(const Object *parent, uint16_t width, uint16_t height,
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| 98 | Type::Format format, std::string name = "", bool allocate_data = true,
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| 99 | int n = 1);
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[2] | 100 |
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[15] | 101 | /*!
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| 102 | * \brief Destructor
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| 103 | *
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| 104 | */
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| 105 | ~cvimage();
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[2] | 106 |
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[330] | 107 |
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| 108 | char *buffer;
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[2] | 109 |
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[15] | 110 | Type const &GetDataType() const { return dataType; };
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[330] | 111 |
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| 112 | static void RegisterAllocFunction(char*(*func)(ssize_t size));
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| 113 | static void RegisterFreeFunction(void(*func)(char* buffer));
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[2] | 114 |
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[15] | 115 | private:
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| 116 | /*!
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[252] | 117 | * \brief Raw read datas
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[15] | 118 | *
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| 119 | * Reimplemented from io_data. \n
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[252] | 120 | * See io_data::RawRead.
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[15] | 121 | *
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| 122 | * \param dst destination buffer
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| 123 | */
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[252] | 124 | void RawRead(char *dst) const;
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[2] | 125 |
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[15] | 126 | bool allocate_data;
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| 127 | Type dataType;
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[330] | 128 | static char* (*allocFunction)(ssize_t);
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| 129 | static void (*freeFunction)(char*);
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| 130 | static char* DefaultAllocFunction(ssize_t size);
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| 131 | static void DefaultFreeFunction(char* buffer);
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| 132 |
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[15] | 133 | };
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[2] | 134 |
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| 135 | } // end namespace core
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| 136 | } // end namespace flair
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| 137 |
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| 138 | #endif // CVIMAGE_H
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