source: flair-src/trunk/lib/FlairSensorActuator/src/Camera.h@ 340

Last change on this file since 340 was 340, checked in by Sanahuja Guillaume, 2 years ago

add servos

File size: 3.0 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/*!
6 * \file Camera.h
7 * \brief Base class for Camera
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/03/06
10 * \version 4.0
11 */
12
13#ifndef CAMERA_H
14#define CAMERA_H
15
16#include <IODevice.h>
17#include <stdint.h>
18#include <Image.h>
19
20namespace flair {
21 namespace gui {
22 class GroupBox;
23 class Tab;
24 class TabWidget;
25 class Picture;
26 class GridLayout;
27 }
28}
29
30namespace flair {
31namespace sensor {
32/*! \class Camera
33*
34* \brief Base class for Camera
35*
36* Use this class to define a custom Camera.
37*
38*/
39class Camera : public core::IODevice {
40public:
41 /*!
42 * \brief Constructor
43 *
44 * Construct a Camera.
45 * It will be child of the FrameworkManager.
46 *
47 * \param name name
48 * \param width width
49 * \param height height
50 * \param format image format
51 */
52 Camera(std::string name, uint16_t width,
53 uint16_t height, core::Image::Type::Format format);
54
55 /*!
56 * \brief Destructor
57 *
58 */
59 ~Camera();
60
61 /*!
62 * \brief Use default plot
63 *
64 * \param image image to display
65 */
66 void UseDefaultPlot(const core::Image *image);
67
68 /*!
69 * \brief get Layout
70 *
71 * \return a Layout available
72 */
73 gui::GridLayout *GetLayout(void) const;
74
75 /*!
76 * \brief plot tab
77 *
78 * \return plot tab
79 */
80 gui::Tab *GetPlotTab(void) const;
81
82 /*!
83 * \brief Save raw picture to file
84 *
85 * \param filename filename
86 */
87 void SaveRawPictureToFile(std::string filename) const;
88
89 /*!
90 * \brief Save picture to file
91 *
92 * \param filename filename; if ommitted, current time is used and file is saved in current directory with jpg compression
93 */
94 void SavePictureToFile(std::string filename="") const;
95
96 /*!
97 * \brief Width
98 *
99 * \return width
100 */
101 uint16_t Width(void) const;
102
103 /*!
104 * \brief Height
105 *
106 * \return height
107 */
108 uint16_t Height(void) const;
109
110 /*!
111 * \brief Output matrix
112 *
113 * Output matrix is of the same size as declared in constructor. \n
114 *
115 * \return the output matrix
116 */
117 core::Image *Output(void);
118
119 core::DataType const &GetOutputDataType() const;
120
121 /*!
122 \enum LogFormat
123 \brief log formats
124 */
125 enum class LogFormat {
126 NONE, /*!< by default, no logging */
127 RAW, /*!< raw format */
128 JPG, /*!< jpg format */
129 };
130
131 /*!
132 * \brief Set log format
133 *
134 * Set the log format. \n
135 * Logging of the camera will be disabled if this method is not called. \n
136 * Calling this method enables logging of camera.
137 *
138 * \param LogFormat log format
139 */
140 void SetLogFormat(LogFormat logFormat);
141void ProcessUpdate(core::io_data* data);
142protected:
143 /*!
144 * \brief get GroupBox
145 *
146 * \return a GroupBox available
147 */
148 gui::GroupBox *GetGroupBox(void) const;
149
150 core::Image *output;
151
152private:
153 gui::Tab *main_tab, *sensor_tab, *plot_tab;
154 gui::TabWidget *tab;
155 gui::GroupBox *setup_groupbox;
156 gui::GridLayout *setup_layout;
157 LogFormat logFormat;
158};
159} // end namespace sensor
160} // end namespace flair
161#endif // CAMERA_H
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