source: flair-src/trunk/lib/FlairSensorActuator/src/Camera.cpp

Last change on this file was 340, checked in by Sanahuja Guillaume, 5 years ago

add servos

File size: 5.1 KB
RevLine 
[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5// created: 2014/03/06
6// filename: Camera.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Virtual class for Camera
14//
15//
16/*********************************************************************/
17
18#include "Camera.h"
19#include <FrameworkManager.h>
20#include <Tab.h>
21#include <TabWidget.h>
22#include <GroupBox.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <Picture.h>
26#include <fstream>
27
28using std::string;
29using namespace flair::core;
30using namespace flair::gui;
31
[15]32namespace flair {
33namespace sensor {
[3]34
[137]35Camera::Camera(string name, uint16_t width,
[338]36 uint16_t height, Image::Type::Format format)
[137]37 : IODevice(getFrameworkManager(), name) {
[15]38 plot_tab = NULL;
[121]39 logFormat=LogFormat::NONE;
[3]40
[15]41 // do not allocate imagedata, allocation is done by the camera
[338]42 output = new Image((IODevice *)this, width, height, format, "out", false);
[121]43
[15]44 // station sol
[137]45 main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
[15]46 tab = new TabWidget(main_tab->NewRow(), name);
47 sensor_tab = new Tab(tab, "Setup");
48 setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
49 setup_layout = new GridLayout(sensor_tab->NewRow(), "setup");
[157]50
[3]51}
52
53Camera::~Camera() {
[340]54 delete main_tab;
[3]55}
56
[121]57void Camera::SetLogFormat(LogFormat logFormat) {
58 this->logFormat=logFormat;
59 switch(logFormat) {
60 case LogFormat::RAW:
61 AddDataToLog(output);
[338]62 Warn("raw log of Image is not yet implemented\n");
[121]63 break;
64 case LogFormat::JPG:
[338]65 Warn("logging Image to jpeg\n");
[122]66 Warn("jpeg are not included in classical dbt file, as dbt does not handle variable length\n");
[121]67 break;
[122]68 default:
69 Warn("LogFormat unknown\n");
[121]70 }
71}
72
[3]73DataType const &Camera::GetOutputDataType() const {
[15]74 return output->GetDataType();
[3]75}
76
[15]77GroupBox *Camera::GetGroupBox(void) const { return setup_groupbox; }
[3]78
[15]79GridLayout *Camera::GetLayout(void) const { return setup_layout; }
[3]80
[338]81void Camera::UseDefaultPlot(const core::Image *image) {
[15]82 plot_tab = new Tab(tab, "Picture");
83 Picture *plot = new Picture(plot_tab->NewRow(), ObjectName(), image);
[3]84}
85
[15]86Tab *Camera::GetPlotTab(void) const { return plot_tab; }
[3]87
[15]88uint16_t Camera::Width(void) const { return output->GetDataType().GetWidth(); }
[3]89
90uint16_t Camera::Height(void) const {
[15]91 return output->GetDataType().GetHeight();
[3]92}
93
[338]94core::Image *Camera::Output(void) { return output; }
[3]95
[121]96void Camera::ProcessUpdate(core::io_data* data) {
[122]97 if(getFrameworkManager()->IsLogging() && getFrameworkManager()->IsDeviceLogged(this)) {
[330]98 Printf("todo logging and jpeg without opencv\n");
99 /*
[124]100 if(logFormat==LogFormat::JPG) {
101 data->GetMutex();
[338]102 //IplImage *img=((Image*)data)->img;
103 const Image* input = dynamic_cast<const Image*>(data);
[214]104 if (!input) {
[338]105 Warn("casting %s to Image failed\n",data->ObjectName().c_str());
[214]106 return;
107 }
108 IplImage *img=input->img;
109
[124]110 string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
[338]111 switch(((Image*)data)->GetDataType().GetFormat()) {
112 case Image::Type::Format::Gray:
[124]113 saveToJpeg(img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
114 break;
[338]115 case Image::Type::Format::BGR:
[124]116 saveToJpeg(img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
117 break;
[338]118 case Image::Type::Format::UYVY:
[125]119 saveToJpeg(img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
[124]120 break;
121 default:
122 Warn("cannot log to this format\n");
123 break;
124 }
125 data->ReleaseMutex();
[330]126 }*/
[121]127 }
128 IODevice::ProcessUpdate(data);
129}
130
[128]131void Camera::SavePictureToFile(string filename) const {
132 if(filename=="") filename="./"+ObjectName()+"_"+std::to_string(GetTime())+".jpg";
[169]133 string::size_type idx = filename.rfind('.');
[330]134Printf("todo SavePictureToFile without opencv\n");/*
[128]135 if(idx != string::npos) {
[124]136 Printf("saving %s\n", filename.c_str());
[128]137 string extension = filename.substr(idx+1);
[124]138
139 output->GetMutex();
140 if(extension=="jpg") {
[338]141 if(output->GetDataType().GetFormat()==Image::Type::Format::Gray) saveToJpeg(output->img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
142 if(output->GetDataType().GetFormat()==Image::Type::Format::BGR) saveToJpeg(output->img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
143 if(output->GetDataType().GetFormat()==Image::Type::Format::UYVY) saveToJpeg(output->img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
[124]144 } else {
145 cvSaveImage(filename.c_str(),output->img);
146 }
147 output->ReleaseMutex();
[169]148 Printf("saving %s ok\n", filename.c_str());
[124]149
150 } else {
151 Warn("saving %s no file extension!\n", filename.c_str());
[330]152 }*/
[124]153}
154
155void Camera::SaveRawPictureToFile(string filename) const {
[330]156 Printf("saving %s, size %i\n", filename.c_str(), output->GetDataType().GetSize());
[15]157 std::ofstream pFile;
158 pFile.open(filename);
159 output->GetMutex();
[330]160 pFile.write(output->buffer, output->GetDataType().GetSize());
[15]161 output->ReleaseMutex();
[3]162
[15]163 pFile.close();
[3]164}
165
166} // end namespace sensor
167} // end namespace flair
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