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

Last change on this file since 121 was 121, checked in by Sanahuja Guillaume, 8 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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