source: flair-src/trunk/lib/FlairSensorActuator/src/Camera.cpp @ 121

Last change on this file since 121 was 121, checked in by Sanahuja Guillaume, 5 years ago

modifs camera

File size: 3.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
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 <Buffer.h>
27#include <highgui.h>
28#include <fstream>
29
30using std::string;
31using namespace flair::core;
32using namespace flair::gui;
33
34namespace flair {
35namespace sensor {
36
37Camera::Camera(const FrameworkManager *parent, string name, uint16_t width,
38               uint16_t height, cvimage::Type::Format format)
39    : IODevice(parent, name) {
40  plot_tab = NULL;
41        jpgBuffer=NULL;
42        logFormat=LogFormat::NONE;
43
44  // do not allocate imagedata, allocation is done by the camera
45  output = new cvimage((IODevice *)this, width, height, format, "out", false);
46       
47  // station sol
48  main_tab = new Tab(parent->GetTabWidget(), name);
49  tab = new TabWidget(main_tab->NewRow(), name);
50  sensor_tab = new Tab(tab, "Setup");
51  setup_groupbox = new GroupBox(sensor_tab->NewRow(), name);
52  setup_layout = new GridLayout(sensor_tab->NewRow(), "setup");
53}
54
55//This contructor must only be called for a simulated device.
56Camera::Camera(const IODevice *parent, std::string name)
57    : IODevice(parent, name) {
58  plot_tab = NULL;
59  main_tab = NULL;
60  tab = NULL;
61  sensor_tab = NULL;
62  setup_groupbox = NULL;
63
64  output = NULL;
65        jpgBuffer=NULL;
66        logFormat=LogFormat::NONE;
67}
68
69Camera::~Camera() {
70  if (main_tab != NULL)
71    delete main_tab;
72}
73
74void Camera::SetLogFormat(LogFormat logFormat) {
75        this->logFormat=logFormat;
76        switch(logFormat) {
77                case LogFormat::RAW:
78                        AddDataToLog(output);
79                        Warn("raw log of cvimage is not yet implemented\n");
80                        break;
81                case LogFormat::JPG:
82                        if(jpgBuffer==NULL) {
83                                jpgBuffer=new Buffer(this,"jpg_bufer");
84                                AddDataToLog(jpgBuffer);
85                        }else{
86                                Warn("log format already defined\n");
87                        }
88                        break;
89        }
90}
91
92DataType const &Camera::GetOutputDataType() const {
93  return output->GetDataType();
94}
95
96GroupBox *Camera::GetGroupBox(void) const { return setup_groupbox; }
97
98GridLayout *Camera::GetLayout(void) const { return setup_layout; }
99
100void Camera::UseDefaultPlot(const core::cvimage *image) {
101  if (tab == NULL) {
102    Err("not applicable for simulation part.\n");
103    return;
104  }
105
106  plot_tab = new Tab(tab, "Picture");
107  Picture *plot = new Picture(plot_tab->NewRow(), ObjectName(), image);
108}
109
110Tab *Camera::GetPlotTab(void) const { return plot_tab; }
111
112uint16_t Camera::Width(void) const { return output->GetDataType().GetWidth(); }
113
114uint16_t Camera::Height(void) const {
115  return output->GetDataType().GetHeight();
116}
117
118core::cvimage *Camera::Output(void) { return output; }
119
120void Camera::ProcessUpdate(core::io_data* data) {
121        switch(logFormat) {
122                case LogFormat::JPG:
123                                ajouter compression jpg
124                        break;
125        }
126        IODevice::ProcessUpdate(data);
127}
128
129void Camera::SaveToFile(string filename) const {
130  Printf("saving %s, size %i\n", filename.c_str(), output->img->imageSize);
131  std::ofstream pFile;
132  pFile.open(filename);
133  output->GetMutex();
134  pFile.write(output->img->imageData, output->img->imageSize);
135  output->ReleaseMutex();
136
137  pFile.close();
138}
139
140} // end namespace sensor
141} // end namespace flair
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