Viewer::Viewer( const orca::MultiCameraDataPtr& multiCameraData,
const orcaice::Context& context ) :
context_(context)
{
isPadded_ = false;
// Assume each camera is identical and the image formats are identical
std::string format = multiCameraData->cameraDataVector.at(0)->description->format;
int width = multiCameraData->cameraDataVector.at(0)->description->width;
int height = multiCameraData->cameraDataVector.at(0)->description->height;
// class to search for image format properties
ImageFormat imageFormat = ImageFormat::find( format );
int numChannels = imageFormat.getNumberOfChannels();
int depth = imageFormat.getBitsPerPixel()/numChannels;
// set up opencv storage for the source image
cvSrcImage_ = cvCreateImage( cvSize( width, height ), depth, numChannels );
// check if opencv has padded the byte array so that the width is a multiple of 4 or 8 bytes
orcaByteWidth_ = width*numChannels;
if ( orcaByteWidth_ != cvSrcImage_->widthStep )
{
isPadded_ = true;
}
// set up opencv storage for the display image
std::string displayFormat = "BGR8";
ImageFormat imageDisplayFormat = ImageFormat::find( displayFormat );
numChannels = imageDisplayFormat.getNumberOfChannels();
depth = imageDisplayFormat.getBitsPerPixel()/numChannels;
// The width of all the camera frames side-by-side
int totalWidth = cvSrcImage_->width * multiCameraData->cameraDataVector.size();
cvMultiDisplayImage_ = cvCreateImage( cvSize( totalWidth, height ),
depth,
numChannels );
// dodgy opencv needs this so it has time to resize
cvWaitKey(100);
name_ = "MultiCameraViewer";
cvNamedWindow( name_ );
// context_.tracer()->debug("opencv window created",5);
// start the timer for calculating the number of frames per second
// the images are being displayed at
orcaice::setToNow( oldFrameTime_ );
// initialise font for displaying fps
cvInitFont(&font_, CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5, 0.0, 1, CV_AA);
}
void
MultiCameraWriter::initMultiImageLogWriter(const orca::MultiCameraDescriptionPtr &descr)
{
#ifdef OPENCV_FOUND
for( unsigned int i=0; i<descr->descriptions.size(); ++i ) {
isPadded_[i] = false;
// Get the properties of each camera
std::string format = descr->descriptions[i]->format;
int width = descr->descriptions[i]->width;
int height = descr->descriptions[i]->height;
// class to search for image format properties
ImageFormat imageFormat = ImageFormat::find(format);
int numChannels = imageFormat.getNumberOfChannels();
int depth = imageFormat.getBitsPerPixel() / numChannels;
// check if opencv has padded the byte array so that the width is a multiple of 4 or 8 bytes
orcaByteWidth_[i] = width*numChannels;
// Don't allocate image space yet
cvImage_[i] = cvCreateImageHeader(cvSize(width, height), depth, numChannels);
if (orcaByteWidth_[i] != cvImage_[i]->widthStep)
{
isPadded_[i] = true;
}
if (isPadded_[i])
// Allocate space, we will need to copy image data properly
cvCreateData(&cvImage_[i]);
// Allocate memory for bayer image conversion
if (format == "BayerBG8" ||
format == "BayerGB8"||
format == "BayerRG8" ||
format == "BayerGR8")
cvBayer_[i] = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
}
#endif
}
void
MultiCameraReader::initDataStorage()
{
// Create new MultiCameraData object
data_ = new orca::MultiCameraData();
#ifdef OPENCV_FOUND
// Resize variables appropriately
cvImage_.resize(descr_->descriptions.size(), NULL);
for( unsigned int i = 0; i < descr_->descriptions.size(); ++i)
{
data_->cameraDataVector.push_back( new orca::ImageData() );
data_->cameraDataVector[i]->description = descr_->descriptions[i];
// class to search for image format properties
ImageFormat imageFormat = ImageFormat::find(descr_->descriptions[i]->format);
int nChannels = imageFormat.getNumberOfChannels();
// resize object buffer to fit image
int imageSize = (int)ceil( nChannels * data_->cameraDataVector[i]->description->height *data_->cameraDataVector[i]->description->width );
data_->cameraDataVector[i]->pixelData.resize( imageSize );
}
#endif
}