source: flair-src/trunk/lib/FlairSensorActuator/src/Camera.cpp@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/03/06
//  filename:   Camera.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Virtual class for Camera
//
//
/*********************************************************************/

#include "Camera.h"
#include <FrameworkManager.h>
#include <Tab.h>
#include <TabWidget.h>
#include <GroupBox.h>
#include <GridLayout.h>
#include <DataPlot1D.h>
#include <Picture.h>
#include <highgui.h>
#include <fstream>

using std::string;
using namespace flair::core;
using namespace flair::gui;

namespace flair { namespace sensor {

Camera::Camera(const FrameworkManager* parent,string name,uint16_t width,uint16_t height,cvimage::Type::Format format) : IODevice(parent,name) {
    plot_tab=NULL;

    //do not allocate imagedata, allocation is done by the camera
    output=new cvimage((IODevice*)this,width,height,format,"out",false);

    //station sol
    main_tab=new Tab(parent->GetTabWidget(),name);
    tab=new TabWidget(main_tab->NewRow(),name);
        sensor_tab=new Tab(tab,"Setup");
        setup_groupbox=new GroupBox(sensor_tab->NewRow(),name);
        setup_layout=new GridLayout(sensor_tab->NewRow(),"setup");
}

Camera::Camera(const IODevice* parent,std::string name) : IODevice(parent,name) {
    plot_tab=NULL;
    main_tab=NULL;
    tab=NULL;
        sensor_tab=NULL;
        setup_groupbox=NULL;

    output=NULL;
}

Camera::~Camera() {
    if(main_tab!=NULL) delete main_tab;
}

DataType const &Camera::GetOutputDataType() const {
    return output->GetDataType();
}

GroupBox* Camera::GetGroupBox(void) const {
    return setup_groupbox;
}

GridLayout* Camera::GetLayout(void) const {
    return setup_layout;
}

void Camera::UseDefaultPlot(const core::cvimage *image) {
    if(tab==NULL) {
        Err("not applicable for simulation part.\n");
        return;
    }

    plot_tab=new Tab(tab,"Picture");
        Picture* plot=new Picture(plot_tab->NewRow(),ObjectName(),image);
}

Tab* Camera::GetPlotTab(void) const {
    return plot_tab;
}

uint16_t Camera::Width(void) const {
    return output->GetDataType().GetWidth();
}

uint16_t Camera::Height(void) const {
    return output->GetDataType().GetHeight();
}

core::cvimage* Camera::Output(void) {
    return output;
}

void Camera::SaveToFile(string filename) const {
    Printf("saving %s, size %i\n",filename.c_str(),output->img->imageSize);
    std::ofstream pFile;
        pFile.open (filename);
        output->GetMutex();
        pFile.write(output->img->imageData, output->img->imageSize);
    output->ReleaseMutex();

        pFile.close();
}

} // end namespace sensor
} // end namespace flair