[3] | 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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[3] | 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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[123] | 26 | #include <VisionFilter.h>
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[3] | 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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[15] | 34 | namespace flair {
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| 35 | namespace sensor {
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[3] | 36 |
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[137] | 37 | Camera::Camera(string name, uint16_t width,
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[15] | 38 | uint16_t height, cvimage::Type::Format format)
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[137] | 39 | : IODevice(getFrameworkManager(), name) {
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[15] | 40 | plot_tab = NULL;
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[121] | 41 | logFormat=LogFormat::NONE;
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[3] | 42 |
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[15] | 43 | // do not allocate imagedata, allocation is done by the camera
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| 44 | output = new cvimage((IODevice *)this, width, height, format, "out", false);
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[121] | 45 |
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[15] | 46 | // station sol
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[137] | 47 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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[15] | 48 | tab = new TabWidget(main_tab->NewRow(), name);
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| 49 | sensor_tab = new Tab(tab, "Setup");
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| 50 | setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 51 | setup_layout = new GridLayout(sensor_tab->NewRow(), "setup");
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[157] | 52 |
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[3] | 53 | }
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| 54 |
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[121] | 55 | //This contructor must only be called for a simulated device.
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[15] | 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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[3] | 63 |
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[15] | 64 | output = NULL;
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[121] | 65 | logFormat=LogFormat::NONE;
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[3] | 66 | }
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| 67 |
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| 68 | Camera::~Camera() {
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[15] | 69 | if (main_tab != NULL)
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| 70 | delete main_tab;
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[3] | 71 | }
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| 72 |
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[121] | 73 | void Camera::SetLogFormat(LogFormat logFormat) {
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| 74 | this->logFormat=logFormat;
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| 75 | switch(logFormat) {
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| 76 | case LogFormat::RAW:
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| 77 | AddDataToLog(output);
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| 78 | Warn("raw log of cvimage is not yet implemented\n");
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| 79 | break;
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| 80 | case LogFormat::JPG:
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[122] | 81 | Warn("logging cvimage to jpeg\n");
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| 82 | Warn("jpeg are not included in classical dbt file, as dbt does not handle variable length\n");
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[121] | 83 | break;
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[122] | 84 | default:
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| 85 | Warn("LogFormat unknown\n");
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[121] | 86 | }
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| 87 | }
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| 88 |
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[3] | 89 | DataType const &Camera::GetOutputDataType() const {
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[15] | 90 | return output->GetDataType();
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[3] | 91 | }
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| 92 |
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[15] | 93 | GroupBox *Camera::GetGroupBox(void) const { return setup_groupbox; }
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[3] | 94 |
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[15] | 95 | GridLayout *Camera::GetLayout(void) const { return setup_layout; }
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[3] | 96 |
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| 97 | void Camera::UseDefaultPlot(const core::cvimage *image) {
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[15] | 98 | if (tab == NULL) {
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| 99 | Err("not applicable for simulation part.\n");
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| 100 | return;
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| 101 | }
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[3] | 102 |
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[15] | 103 | plot_tab = new Tab(tab, "Picture");
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| 104 | Picture *plot = new Picture(plot_tab->NewRow(), ObjectName(), image);
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[3] | 105 | }
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| 106 |
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[15] | 107 | Tab *Camera::GetPlotTab(void) const { return plot_tab; }
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[3] | 108 |
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[15] | 109 | uint16_t Camera::Width(void) const { return output->GetDataType().GetWidth(); }
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[3] | 110 |
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| 111 | uint16_t Camera::Height(void) const {
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[15] | 112 | return output->GetDataType().GetHeight();
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[3] | 113 | }
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| 114 |
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[15] | 115 | core::cvimage *Camera::Output(void) { return output; }
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[3] | 116 |
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[121] | 117 | void Camera::ProcessUpdate(core::io_data* data) {
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[122] | 118 | if(getFrameworkManager()->IsLogging() && getFrameworkManager()->IsDeviceLogged(this)) {
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[124] | 119 | if(logFormat==LogFormat::JPG) {
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| 120 | data->GetMutex();
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[214] | 121 | //IplImage *img=((cvimage*)data)->img;
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| 122 | const cvimage* input = dynamic_cast<const cvimage*>(data);
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| 123 | if (!input) {
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| 124 | Warn("casting %s to cvimage failed\n",data->ObjectName().c_str());
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| 125 | return;
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| 126 | }
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| 127 | IplImage *img=input->img;
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| 128 |
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[124] | 129 | string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
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| 130 | switch(((cvimage*)data)->GetDataType().GetFormat()) {
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| 131 | case cvimage::Type::Format::Gray:
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| 132 | saveToJpeg(img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
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| 133 | break;
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| 134 | case cvimage::Type::Format::BGR:
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| 135 | saveToJpeg(img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
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| 136 | break;
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| 137 | case cvimage::Type::Format::UYVY:
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[125] | 138 | saveToJpeg(img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
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[124] | 139 | break;
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| 140 | default:
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| 141 | Warn("cannot log to this format\n");
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| 142 | break;
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| 143 | }
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| 144 | data->ReleaseMutex();
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[122] | 145 | }
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[121] | 146 | }
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| 147 | IODevice::ProcessUpdate(data);
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| 148 | }
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| 149 |
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[128] | 150 | void Camera::SavePictureToFile(string filename) const {
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| 151 | if(filename=="") filename="./"+ObjectName()+"_"+std::to_string(GetTime())+".jpg";
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[169] | 152 | string::size_type idx = filename.rfind('.');
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[124] | 153 |
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[128] | 154 | if(idx != string::npos) {
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[124] | 155 | Printf("saving %s\n", filename.c_str());
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[128] | 156 | string extension = filename.substr(idx+1);
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[124] | 157 |
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| 158 | output->GetMutex();
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| 159 | if(extension=="jpg") {
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| 160 | if(output->GetDataType().GetFormat()==cvimage::Type::Format::Gray) saveToJpeg(output->img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
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| 161 | if(output->GetDataType().GetFormat()==cvimage::Type::Format::BGR) saveToJpeg(output->img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
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[125] | 162 | if(output->GetDataType().GetFormat()==cvimage::Type::Format::UYVY) saveToJpeg(output->img,filename,PictureFormat_t::YUV_422ile,PictureFormat_t::YUV_422p);
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[124] | 163 | } else {
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| 164 | cvSaveImage(filename.c_str(),output->img);
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| 165 | }
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| 166 | output->ReleaseMutex();
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[169] | 167 | Printf("saving %s ok\n", filename.c_str());
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[124] | 168 |
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| 169 | } else {
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| 170 | Warn("saving %s no file extension!\n", filename.c_str());
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| 171 | }
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| 172 | }
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| 173 |
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| 174 | void Camera::SaveRawPictureToFile(string filename) const {
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[15] | 175 | Printf("saving %s, size %i\n", filename.c_str(), output->img->imageSize);
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| 176 | std::ofstream pFile;
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| 177 | pFile.open(filename);
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| 178 | output->GetMutex();
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| 179 | pFile.write(output->img->imageData, output->img->imageSize);
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| 180 | output->ReleaseMutex();
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[3] | 181 |
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[15] | 182 | pFile.close();
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[3] | 183 | }
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| 184 |
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| 185 | } // end namespace sensor
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| 186 | } // end namespace flair
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