camera.cpp

//
// C++ Implementation: camera
//
// Description: 
//
//
// Author: Valdur Kaldvee, Margus Ernits, Erik Kaju
//
//
//
#include "camera.h"
#include <iostream>
#include "config.h"
#include <QtCore>
#include <visiontime.h>


Camera::Camera()
{
  VisionTime::DO()->markBegin("init_camera_constructor");
  Config  & conf  = Config::getConfig();

  const char* opencv_libraries = 0;
  const char* addon_modules = 0;
  cvGetModuleInfo( 0, &opencv_libraries,&addon_modules );
  qDebug("OpenCV: ");
  qDebug(opencv_libraries);
  qDebug("\n");
  qDebug("Add-on Modules : ");
  qDebug(addon_modules );
  qDebug("\n");
  
#ifdef XI   	
	XI_IMG xi_image;
	xi_image.size = sizeof(XI_IMG);
	xi_image.bp = NULL;
	xi_image.bp_size = 0;
#endif

  pictureFilename=conf.getImageFileName();
  if(conf.getShowImage()==1){
    img=cvLoadImage(pictureFilename);
    if(!img){
      printf("Could not load image file: %s\n",conf.getImageFileName());
      exit(1);
    }
  }else{
#ifdef XI
xiH_front = NULL;
xiH_left = NULL;
xiH_right = NULL;
stat = XI_OK;
	
	// Get number of camera devices
	DWORD dwNumberOfDevices = 0;
	stat = xiGetNumberDevices(&dwNumberOfDevices);
	
	if (!dwNumberOfDevices)
	{
		printf("No camera found\n");
		exit(1);
	}

    qDebug() << "Found " << dwNumberOfDevices << " cameras.";

    setupXICamera(&xiH_front, &stat, CAMERA_FRONT);

    if (dwNumberOfDevices == 3) {
        setupXICamera(&xiH_left, &stat, CAMERA_LEFT);
        setupXICamera(&xiH_right, &stat, CAMERA_RIGHT);
    }


#else
	//CV_CAP_ANY
  capture = cvCaptureFromCAM( 1 );

  if( !capture ) {
    qDebug("Warning: capture is NULL \nTrying ANY camera device");
  
  capture = cvCaptureFromCAM( 2 );
  } 
 

  if( !capture ) {
    qDebug("Warning: capture is NULL \nTrying ANY camera device");
    capture = cvCaptureFromCAM( CV_CAP_ANY );
  }
 

  if( !capture ) {
    fprintf( stderr, "ERROR: capture is NULL \n" );
    exit(1);
  }
#endif
  }

  //TODO kaamera init read ini failist lugeda
  //TODO käivitada init read
/*
  system("uvcdynctrl  -s 'Exposure, Auto' 1");            // 1 - off, 3 - on
  system("uvcdynctrl  -s 'Exposure (Absolute)' 300");
  system("uvcdynctrl  -s 'Gain' 0");
  system("uvcdynctrl  -s 'White Balance Temperature, Auto' 0");
  system("uvcdynctrl  -s 'White Balance Temperature' 4000");
  system("uvcdynctrl  -s 'Saturation' 64");   // default 32
  system("uvcdynctrl  -s 'Power Line Frequency' 1");      // 0 - off, 1 - 50 Hz, 2 - 60 Hz
  */
#if !(defined XI)
          cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 640 );

          cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 480 );
        //  cvSetCaptureProperty(capture,CV_CAP_PROP_FPS,60);

          /*CV_CAP_PROP_POS_MSEC
          film current position in milliseconds or video capture timestamp
          CV_CAP_PROP_POS_FRAMES
          0-based index of the frame to be decoded/captured next
          CV_CAP_PROP_POS_AVI_RATIO
          position in relative units (0 - start of the file, 1 - end of the file)
          CV_CAP_PROP_FRAME_WIDTH
          width of frames in the video stream
          CV_CAP_PROP_FRAME_HEIGHT
          height of frames in the video stream
          CV_CAP_PROP_FPS
          frame rate
          CV_CAP_PROP_FOURCC
          4-character code of codec
          CV_CAP_PROP_FRAME_COUNT
          number of frames in video file
          CV_CAP_PROP_FORMAT
          CV_CAP_PROP_MODE
          CV_CAP_PROP_BRIGHTNESS
          Brightness
          CV_CAP_PROP_CONTRAST
          Contrast
          CV_CAP_PROP_SATURATION
          Saturation
          CV_CAP_PROP_HUE
          Hue
          CV_CAP_PROP_GAIN
          Gain
          CV_CAP_PROP_CONVERT_RGB*/
#endif
VisionTime::DO()->markEnd("init_camera_constructor");
}


Camera::~Camera()
{
}
void Camera::reOpen()
{
    //CV_CAP_ANY
capture = cvCaptureFromCAM( 1 );
qDebug("Avan kaamera uuesti");
if( !capture ) {
qDebug("Warning: capture is NULL \nTrying ANY camera device");

capture = cvCaptureFromCAM( 2 );
}
if( !capture ) {
qDebug("Warning: capture is NULL \nTrying ANY camera device");
capture = cvCaptureFromCAM( CV_CAP_ANY );
}

if( !capture ) {
qDebug("ERROR: capture is NULL \n");
exit(1);
}

cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, 640 );

cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, 480 );
//cvSetCaptureProperty(capture,CV_CAP_PROP_FPS,60);
}


void Camera::close(){
    if(capture)
        cvReleaseCapture(&capture);
    capture=NULL;
}

#ifdef XI
HANDLE Camera::xiH_front=NULL;
HANDLE Camera::xiH_left=NULL;
HANDLE Camera::xiH_right=NULL;
XI_RETURN Camera::stat=0;

void Camera::setupXICamera(HANDLE* xiH, XI_RETURN* stat, const char* cameraSerial) {
    // Retrieving a handle to the camera device
    Config  & conf  = Config::getConfig();

    *stat = xiOpenDeviceBy(XI_OPEN_BY_SN, cameraSerial, xiH);
    HandleResult(*stat,"xiOpenDevice");

    xiSetParamInt(*xiH, XI_PRM_BUFFERS_QUEUE_SIZE, 2);
    xiSetParamInt(*xiH, XI_PRM_RECENT_FRAME, 1);

    xiSetParamInt(*xiH, XI_PRM_IMAGE_DATA_FORMAT, XI_RGB24);

    xiSetParamInt(*xiH, XI_PRM_WIDTH, conf.getImgWidth());

    int imgHeight = 1024;
    if (cameraSerial == CAMERA_FRONT) {
        imgHeight = conf.getImgHeightFrontCam();
    } else if (cameraSerial == CAMERA_LEFT || cameraSerial == CAMERA_RIGHT) {
        imgHeight = conf.getImgHeightSideCam();
    } else {
        qDebug() << "WARNING! I DO NOT KNOW THE RIGHT IMAGE HEIGHT! Device id or serial known to me is: " << cameraSerial;
    }
    xiSetParamInt(*xiH, XI_PRM_HEIGHT, imgHeight);

    xiSetParamInt(*xiH, XI_PRM_OFFSET_X, conf.getImgOffsetX());
    xiSetParamInt(*xiH, XI_PRM_OFFSET_Y, conf.getImgOffsetY());

    // Setting "exposure" parameter (10ms=10000us)
    *stat = xiSetParamInt(*xiH, XI_PRM_EXPOSURE, conf.getImgExposure());
    HandleResult(*stat,"xiSetParam (exposure set)");

    // Setting "gain" parameter
    *stat = xiSetParamInt(*xiH, XI_PRM_GAIN, conf.getImgGain());
    HandleResult(*stat,"xiSetParam (set gain)");

    // Setting auto white ballance
    //stat = xiSetParamInt(xiH, XI_PRM_AUTO_WB, 1);
    //HandleResult(stat,"xiSetParam (auto white ballance set)");

    // Setting chromaticity gamma
    *stat = xiSetParamFloat(*xiH, XI_PRM_GAMMAC, 1.0);
    HandleResult(*stat,"xiSetParam (gamma c set)");
}
#endif