| 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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| 26 | #include <Buffer.h>
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| 27 | #include <highgui.h>
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| 28 | #include <fstream>
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| 29 |
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| 30 | using std::string;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 |
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| 34 | namespace flair {
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| 35 | namespace sensor {
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| 36 |
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| 37 | Camera::Camera(const FrameworkManager *parent, string name, uint16_t width,
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| 38 | uint16_t height, cvimage::Type::Format format)
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| 39 | : IODevice(parent, name) {
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| 40 | plot_tab = NULL;
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| 41 | jpgBuffer=NULL;
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| 42 | logFormat=LogFormat::NONE;
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| 43 |
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| 44 | // do not allocate imagedata, allocation is done by the camera
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| 45 | output = new cvimage((IODevice *)this, width, height, format, "out", false);
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| 46 |
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| 47 | // station sol
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| 48 | main_tab = new Tab(parent->GetTabWidget(), name);
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| 49 | tab = new TabWidget(main_tab->NewRow(), name);
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| 50 | sensor_tab = new Tab(tab, "Setup");
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| 51 | setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 52 | setup_layout = new GridLayout(sensor_tab->NewRow(), "setup");
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| 53 | }
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| 54 |
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| 55 | //This contructor must only be called for a simulated device.
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| 56 | Camera::Camera(const IODevice *parent, std::string name)
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| 57 | : IODevice(parent, name) {
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| 58 | plot_tab = NULL;
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| 59 | main_tab = NULL;
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| 60 | tab = NULL;
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| 61 | sensor_tab = NULL;
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| 62 | setup_groupbox = NULL;
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| 63 |
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| 64 | output = NULL;
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| 65 | jpgBuffer=NULL;
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| 66 | logFormat=LogFormat::NONE;
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| 67 | }
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| 68 |
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| 69 | Camera::~Camera() {
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| 70 | if (main_tab != NULL)
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| 71 | delete main_tab;
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| 72 | }
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| 73 |
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| 74 | void Camera::SetLogFormat(LogFormat logFormat) {
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| 75 | this->logFormat=logFormat;
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| 76 | switch(logFormat) {
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| 77 | case LogFormat::RAW:
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| 78 | AddDataToLog(output);
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| 79 | Warn("raw log of cvimage is not yet implemented\n");
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| 80 | break;
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| 81 | case LogFormat::JPG:
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| 82 | if(jpgBuffer==NULL) {
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| 83 | jpgBuffer=new Buffer(this,"jpg_bufer");
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| 84 | AddDataToLog(jpgBuffer);
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| 85 | }else{
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| 86 | Warn("log format already defined\n");
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| 87 | }
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| 88 | break;
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| 89 | }
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| 90 | }
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| 91 |
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| 92 | DataType const &Camera::GetOutputDataType() const {
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| 93 | return output->GetDataType();
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| 94 | }
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| 95 |
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| 96 | GroupBox *Camera::GetGroupBox(void) const { return setup_groupbox; }
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| 97 |
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| 98 | GridLayout *Camera::GetLayout(void) const { return setup_layout; }
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| 99 |
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| 100 | void Camera::UseDefaultPlot(const core::cvimage *image) {
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| 101 | if (tab == NULL) {
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| 102 | Err("not applicable for simulation part.\n");
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| 103 | return;
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| 104 | }
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| 105 |
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| 106 | plot_tab = new Tab(tab, "Picture");
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| 107 | Picture *plot = new Picture(plot_tab->NewRow(), ObjectName(), image);
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| 108 | }
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| 109 |
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| 110 | Tab *Camera::GetPlotTab(void) const { return plot_tab; }
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| 111 |
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| 112 | uint16_t Camera::Width(void) const { return output->GetDataType().GetWidth(); }
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| 113 |
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| 114 | uint16_t Camera::Height(void) const {
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| 115 | return output->GetDataType().GetHeight();
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| 116 | }
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| 117 |
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| 118 | core::cvimage *Camera::Output(void) { return output; }
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| 119 |
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| 120 | void Camera::ProcessUpdate(core::io_data* data) {
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| 121 | switch(logFormat) {
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| 122 | case LogFormat::JPG:
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| 123 | ajouter compression jpg
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| 124 | break;
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| 125 | }
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| 126 | IODevice::ProcessUpdate(data);
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| 127 | }
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| 128 |
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| 129 | void Camera::SaveToFile(string filename) const {
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| 130 | Printf("saving %s, size %i\n", filename.c_str(), output->img->imageSize);
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| 131 | std::ofstream pFile;
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| 132 | pFile.open(filename);
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| 133 | output->GetMutex();
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| 134 | pFile.write(output->img->imageData, output->img->imageSize);
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| 135 | output->ReleaseMutex();
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| 136 |
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| 137 | pFile.close();
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| 138 | }
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| 139 |
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| 140 | } // end namespace sensor
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| 141 | } // end namespace flair
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