Changeset 124 in flair-src for trunk/lib

Timestamp:

Jan 12, 2017, 10:39:23 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs jpeg

Location:

trunk/lib

Files:

• FlairCore/src/cvimage.cpp (modified) (2 diffs)
• FlairCore/src/cvimage.h (modified) (2 diffs)
• FlairSensorActuator/src/Camera.cpp (modified) (2 diffs)
• FlairSensorActuator/src/Camera.h (modified) (1 diff)
• FlairSensorActuator/src/V4LCamera.cpp (modified) (1 diff)
• FlairVisionFilter/src/CvtColor.cpp (modified) (2 diffs)
• FlairVisionFilter/src/CvtColor.h (modified) (1 diff)
• FlairVisionFilter/src/HoughLines.cpp (modified) (1 diff)
• FlairVisionFilter/src/ImgThreshold.cpp (modified) (1 diff)
• FlairVisionFilter/src/Sobel.cpp (modified) (1 diff)
• FlairVisionFilter/src/VisionFilter.cpp (modified) (1 diff)
• FlairVisionFilter/src/VisionFilter.h (modified) (1 diff)
• FlairVisionFilter/src/unexported/compile_info.h (modified) (1 diff)

trunk/lib/FlairCore/src/cvimage.cpp

@@ -36 +36 @@
       img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
       break;
-    case Type::Format::GRAY:
+    case Type::Format::Gray:
       img = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);
       break;
@@ -55 +55 @@
       img = cvCreateImageHeader(cvSize(width, height), IPL_DEPTH_8U, 3);
       break;
-    case Type::Format::GRAY:
+    case Type::Format::Gray:
       img = cvCreateImageHeader(cvSize(width, height), IPL_DEPTH_8U, 1);
       break;

trunk/lib/FlairCore/src/cvimage.h

@@ -39 +39 @@
       UYVY, /*!< UYVY 16 bits */
       BGR,  /*!< BGR 24 bits */
-      GRAY, /*!< gray 8 bits */
+      Gray, /*!< gray 8 bits */
     };
     Type(uint16_t _width, uint16_t _height, Format _format)
@@ -47 +47 @@
       size_t pixelSize;
       switch (format) {
-      case Format::GRAY:
+      case Format::Gray:
         pixelSize = 1;
         break;

trunk/lib/FlairSensorActuator/src/Camera.cpp

@@ -116 +116 @@
 void Camera::ProcessUpdate(core::io_data* data) {
         if(getFrameworkManager()->IsLogging() && getFrameworkManager()->IsDeviceLogged(this)) {
-                switch(logFormat) {
-                        case LogFormat::JPG:
-                                        IplImage *img=((cvimage*)data)->img;
-                                        string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
-                                        saveToJpeg(img,filename);
-                                break;
+                if(logFormat==LogFormat::JPG) {
+                        data->GetMutex();
+                        IplImage *img=((cvimage*)data)->img;
+                        string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
+                        switch(((cvimage*)data)->GetDataType().GetFormat()) {
+                                case cvimage::Type::Format::Gray:
+                                        saveToJpeg(img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
+                                        break;
+                                case cvimage::Type::Format::BGR:
+                                        saveToJpeg(img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
+                                        break;
+                                case cvimage::Type::Format::UYVY:
+                                        saveToJpeg(img,filename,PictureFormat_t::UYVY,PictureFormat_t::UYVY);
+                                        break;
+                                default:
+                                        Warn("cannot log to this format\n");
+                                        break;
+                        }
+                        data->ReleaseMutex();
                 }
         }
@@ -127 +140 @@
 }
 
-void Camera::SaveToFile(string filename) const {
+void Camera::SavePictureToFile(std::string filename) const {
+        string::size_type idx = filename.rfind('.');
+
+        if(idx != std::string::npos) {
+                Printf("saving %s\n", filename.c_str());
+                std::string extension = filename.substr(idx+1);
+                
+                output->GetMutex();
+                if(extension=="jpg") {
+                        if(output->GetDataType().GetFormat()==cvimage::Type::Format::Gray) saveToJpeg(output->img,filename,PictureFormat_t::Gray,PictureFormat_t::Gray);
+                        if(output->GetDataType().GetFormat()==cvimage::Type::Format::BGR) saveToJpeg(output->img,filename,PictureFormat_t::RGB,PictureFormat_t::RGB);
+                        if(output->GetDataType().GetFormat()==cvimage::Type::Format::UYVY) saveToJpeg(output->img,filename,PictureFormat_t::UYVY,PictureFormat_t::UYVY);
+                } else {
+                        cvSaveImage(filename.c_str(),output->img);
+                }
+                output->ReleaseMutex();
+                        
+        } else {
+                Warn("saving %s no file extension!\n", filename.c_str());
+        }
+}
+
+void Camera::SaveRawPictureToFile(string filename) const {
   Printf("saving %s, size %i\n", filename.c_str(), output->img->imageSize);
   std::ofstream pFile;

trunk/lib/FlairSensorActuator/src/Camera.h

@@ -92 +92 @@
 
   /*!
+  * \brief Save raw picture to file
+  *
+  * \param filename filename
+  */
+  void SaveRawPictureToFile(std::string filename) const;
+        
+        /*!
   * \brief Save picture to file
   *
   * \param filename filename
   */
-  void SaveToFile(std::string filename) const;
+  void SavePictureToFile(std::string filename) const;
 
   /*!

trunk/lib/FlairSensorActuator/src/V4LCamera.cpp

@@ -43 +43 @@
     Thread::Err("cvCaptureFromCAM error\n");
 
-  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width) < 0)
+  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width)<0)
     Thread::Err("cvSetCaptureProperty error\n");
-  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height) < 0)
+  if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height)<0)
     Thread::Err("cvSetCaptureProperty error\n");
 
   if (format == cvimage::Type::Format::UYVY) {
-    if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY) <
-        0)
+    if (cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, V4L2_PIX_FMT_UYVY)<0)
       Thread::Err("cvSetCaptureProperty error\n");
   } else if (format == cvimage::Type::Format::YUYV) {

trunk/lib/FlairVisionFilter/src/CvtColor.cpp

@@ -25 +25 @@
 
     switch(conversion) {
-    case Conversion_t::GRAY:
+    case Conversion_t::ToGray:
         try{
             cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
-            output=new cvimage(this,imageType.GetWidth(),imageType.GetHeight(),cvimage::Type::Format::GRAY,"conversion",true,2);
+            output=new cvimage(this,imageType.GetWidth(),imageType.GetHeight(),cvimage::Type::Format::Gray,"conversion",true,2);
 
         } catch(std::bad_cast& bc) {
@@ -61 +61 @@
 
     switch(conversion) {
-    case Conversion_t::GRAY:
+    case Conversion_t::ToGray:
         switch(((cvimage*)data)->GetDataType().GetFormat()) {
         case cvimage::Type::Format::YUYV:

trunk/lib/FlairVisionFilter/src/CvtColor.h

@@ -39 +39 @@
             */
             enum class Conversion_t {
-                BGR,/*!< BGR 24 bits */
-                GRAY,/*!< gray 8 bits */
+                ToBGR,/*!< BGR 24 bits */
+                ToGray,/*!< gray 8 bits */
                 } ;
 

trunk/lib/FlairVisionFilter/src/HoughLines.cpp

@@ -53 +53 @@
     try{
         cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
-        if(imageType.GetFormat()!=cvimage::Type::Format::GRAY) {
-            Err("input image is not grey\n");
+        if(imageType.GetFormat()!=cvimage::Type::Format::Gray) {
+            Err("input image is not gray\n");
         }
     } catch(std::bad_cast& bc) {

trunk/lib/FlairVisionFilter/src/ImgThreshold.cpp

@@ -32 +32 @@
     try{
         cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
-        if(imageType.GetFormat()==cvimage::Type::Format::GRAY) {
+        if(imageType.GetFormat()==cvimage::Type::Format::Gray) {
             output=new cvimage(this,imageType.GetWidth(),imageType.GetHeight(),imageType.GetFormat(),"threshold");
         } else {
-            Err("input image is not grey\n");
+            Err("input image is not gray\n");
         }
     } catch(std::bad_cast& bc) {

trunk/lib/FlairVisionFilter/src/Sobel.cpp

@@ -34 +34 @@
     try{
         cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
-        if(imageType.GetFormat()==cvimage::Type::Format::GRAY) {
+        if(imageType.GetFormat()==cvimage::Type::Format::Gray) {
             output=new cvimage(this,imageType.GetWidth(),imageType.GetHeight(),imageType.GetFormat(),"sobel");
         } else {
-            Err("input image is not grey\n");
+            Err("input image is not gray\n");
         }
 

trunk/lib/FlairVisionFilter/src/VisionFilter.cpp

@@ -9 +9 @@
 }
 
-void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level) {
+void saveToJpeg(IplImage* src_img,std::string filename,PictureFormat_t input_format,PictureFormat_t output_format,unsigned char compression_level) {
         if(!cvSaveImage(filename.c_str(),src_img)) printf("Could not save.\n");
 }

trunk/lib/FlairVisionFilter/src/VisionFilter.h

@@ -12 +12 @@
 void CloseVisionFilter(void);
 
-void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level=95);
+enum class PictureFormat_t {
+                Gray,/*!< gray 8 bits */
+                                                                RGB,/*!< rgb 24 bits */
+                                                                UYVY,/*!< YUV 4:2:2 planer */
+                } ;
+                                                                
+void saveToJpeg(IplImage* src_img,std::string filename,PictureFormat_t input_format,PictureFormat_t output_format,unsigned char compression_level=95);

trunk/lib/FlairVisionFilter/src/unexported/compile_info.h

@@ -5 +5 @@
 
 #define USER "gsanahuj@gsanahuj-Latitude-E6420"
-#define DATE "mardi 10 janvier 2017, 15:56:33 (UTC+0100)"
+#define DATE "jeudi 12 janvier 2017, 09:32:25 (UTC+0100)"
 #define GCC_REV "4.9.1"
 #define GCC_PATH "/opt/robomap3/1.7.3/armv7a-neon/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-gcc"
 #define SVN_PATH "/home/gsanahuj/HDS/igep/flair-src_svn/trunk/lib/FlairVisionFilter"
-#define SVN_REV "122M"
+#define SVN_REV "122:123M"
 
 inline void compile_info(std::string name) {