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/************************************************************************
*
* Copyright (C) 2014-2024 IRCAD France
* Copyright (C) 2014-2019 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "data/camera.hpp"
#include <core/base.hpp>
#include <core/com/signal.hpp>
#include <core/com/signal.hxx>
#include <core/com/signals.hpp>
#include <data/exception.hpp>
#include <data/registry/macros.hpp>
#include <boost/assign.hpp>
#include <boost/bimap/bimap.hpp>
SIGHT_REGISTER_DATA(sight::data::camera);
namespace sight::data
{
const core::com::signals::key_t camera::INTRINSIC_CALIBRATED_SIG = "intrinsicCalibrated";
const core::com::signals::key_t camera::ID_MODIFIED_SIG = "id_modified";
//------------------------------------------------------------------------------
camera::camera()
{
m_intrinsic.fill(0.);
m_distortion_coefficient.fill(0.);
new_signal<intrinsic_calibrated_signal_t>(INTRINSIC_CALIBRATED_SIG);
new_signal<id_modified_signal_t>(ID_MODIFIED_SIG);
}
//------------------------------------------------------------------------------
using pixel_format_translator_t = boost::bimaps::bimap<enum camera::pixel_format_t, std::string>;
pixel_format_translator_t pixel_format_translator =
boost::assign::list_of<pixel_format_translator_t::relation>
(camera::pixel_format_t::invalid, std::string("invalid"))
(camera::pixel_format_t::argb32, std::string("argb32"))
(camera::pixel_format_t::argb32_premultiplied, std::string("argb32_premultiplied"))
(camera::pixel_format_t::rgb32, std::string("rgb32"))
(camera::pixel_format_t::rgb24, std::string("rgb24"))
(camera::pixel_format_t::rgb565, std::string("rgb565"))
(camera::pixel_format_t::rgb555, std::string("rgb555"))
(camera::pixel_format_t::argb8565_premultiplied, std::string("argb8565_premultiplied"))
(camera::pixel_format_t::bgra32, std::string("bgra32"))
(camera::pixel_format_t::bgra32_premultiplied, std::string("bgra32_premultiplied"))
(camera::pixel_format_t::bgr32, std::string("bgr32"))
(camera::pixel_format_t::bgr24, std::string("bgr24"))
(camera::pixel_format_t::bgr565, std::string("bgr565"))
(camera::pixel_format_t::bgr555, std::string("bgr555"))
(camera::pixel_format_t::bgra5658_premultiplied, std::string("bgra5658_premultiplied"))
(camera::pixel_format_t::ayuv444, std::string("ayuv444"))
(camera::pixel_format_t::ayuv444_premultiplied, std::string("ayuv444_premultiplied"))
(camera::pixel_format_t::yuv444, std::string("yuv444"))
(camera::pixel_format_t::yuv420_p, std::string("yuv420_p"))
(camera::pixel_format_t::yv12, std::string("yv12"))
(camera::pixel_format_t::uyvy, std::string("uyvy"))
(camera::pixel_format_t::yuyv, std::string("yuyv"))
(camera::pixel_format_t::nv12, std::string("nv12"))
(camera::pixel_format_t::nv21, std::string("nv21"))
(camera::pixel_format_t::imc1, std::string("imc1"))
(camera::pixel_format_t::imc2, std::string("imc2"))
(camera::pixel_format_t::imc3, std::string("imc3"))
(camera::pixel_format_t::imc4, std::string("imc4"))
(camera::pixel_format_t::y8, std::string("y8"))
(camera::pixel_format_t::y16, std::string("y16"))
(camera::pixel_format_t::jpeg, std::string("jpeg"))
(camera::pixel_format_t::cameraraw, std::string("cameraraw"))
(camera::pixel_format_t::adobedng, std::string("adobedng"))
(camera::pixel_format_t::rgba32, std::string("rgba32"))
(camera::pixel_format_t::user, std::string("user"));
//------------------------------------------------------------------------------
camera::pixel_format_t camera::pixel_format(const std::string& _name)
{
auto format = pixel_format_t::invalid;
pixel_format_translator_t::right_const_iterator right_iter = pixel_format_translator.right.find(_name);
if(right_iter != pixel_format_translator.right.end())
{
format = right_iter->second;
}
return format;
}
//------------------------------------------------------------------------------
std::string camera::get_pixel_format_name(pixel_format_t _format)
{
std::string name = "invalid";
pixel_format_translator_t::left_const_iterator left_iter = pixel_format_translator.left.find(_format);
if(left_iter != pixel_format_translator.left.end())
{
name = left_iter->second;
}
return name;
}
//------------------------------------------------------------------------------
void camera::shallow_copy(const object::csptr& _source)
{
const auto& other = std::dynamic_pointer_cast<const camera>(_source);
SIGHT_THROW_EXCEPTION_IF(
exception(
"Unable to copy " + (_source ? _source->get_classname() : std::string("<NULL>"))
+ " to " + get_classname()
),
!bool(other)
);
m_width = other->m_width;
m_height = other->m_height;
m_intrinsic = other->m_intrinsic;
m_distortion_coefficient = other->m_distortion_coefficient;
m_skew = other->m_skew;
m_is_calibrated = other->m_is_calibrated;
m_camera_id = other->m_camera_id;
m_max_frame_rate = other->m_max_frame_rate;
m_pixel_format = other->m_pixel_format;
m_video_file = other->m_video_file;
m_stream_url = other->m_stream_url;
m_camera_source = other->m_camera_source;
m_scale = other->m_scale;
m_calibration_error = other->m_calibration_error;
base_class_t::shallow_copy(other);
}
//------------------------------------------------------------------------------
void camera::deep_copy(const object::csptr& _source, const std::unique_ptr<deep_copy_cache_t>& _cache)
{
const auto& other = std::dynamic_pointer_cast<const camera>(_source);
SIGHT_THROW_EXCEPTION_IF(
exception(
"Unable to copy " + (_source ? _source->get_classname() : std::string("<NULL>"))
+ " to " + get_classname()
),
!bool(other)
);
m_width = other->m_width;
m_height = other->m_height;
m_intrinsic = other->m_intrinsic;
m_distortion_coefficient = other->m_distortion_coefficient;
m_skew = other->m_skew;
m_is_calibrated = other->m_is_calibrated;
m_camera_id = other->m_camera_id;
m_max_frame_rate = other->m_max_frame_rate;
m_pixel_format = other->m_pixel_format;
m_video_file = other->m_video_file;
m_stream_url = other->m_stream_url;
m_camera_source = other->m_camera_source;
m_scale = other->m_scale;
m_calibration_error = other->m_calibration_error;
base_class_t::deep_copy(other, _cache);
}
// -------------------------------------------------------------------------
void camera::set_distortion_coefficient(double _k1, double _k2, double _p1, double _p2, double _k3)
{
m_distortion_coefficient[0] = _k1;
m_distortion_coefficient[1] = _k2;
m_distortion_coefficient[2] = _p1;
m_distortion_coefficient[3] = _p2;
m_distortion_coefficient[4] = _k3;
}
// -------------------------------------------------------------------------
bool camera::operator==(const camera& _other) const noexcept
{
if(m_width != _other.m_width
|| m_height != _other.m_height
|| !core::is_equal(m_intrinsic, _other.m_intrinsic)
|| !core::is_equal(m_distortion_coefficient, _other.m_distortion_coefficient)
|| !core::is_equal(m_skew, _other.m_skew)
|| m_is_calibrated != _other.m_is_calibrated
|| m_camera_id != _other.m_camera_id
|| !core::is_equal(m_max_frame_rate, _other.m_max_frame_rate)
|| m_pixel_format != _other.m_pixel_format
|| m_video_file != _other.m_video_file
|| m_stream_url != _other.m_stream_url
|| m_camera_source != _other.m_camera_source
|| !core::is_equal(m_scale, _other.m_scale)
|| !core::is_equal(m_calibration_error, _other.m_calibration_error))
{
return false;
}
// Super class last
return base_class_t::operator==(_other);
}
//------------------------------------------------------------------------------
bool camera::operator!=(const camera& _other) const noexcept
{
return !(*this == _other);
}
} // namespace sight::data
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