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camera.cc

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00001 //-*-c++-*- 
00002 //---------------------------< /-/ CLARAty /-/ >------------------------------
00003 /** 
00004  * @file  camera.cc
00005  *
00006  * Implements the generic base camera class that serves as a parent
00007  * for logical and physical cameras.
00008  *
00009  * <br>@b Designer(s):  Daniel Clouse, Clay Kunz, Issa Nesnas
00010  * <br>@b Author(s):    Daniel Clouse
00011  * <br>@b Date:         June 9, 2006
00012  *
00013  * <b>Software License:</b><br>
00014  * <code>  http://claraty.jpl.nasa.gov/license/open_src/  or
00015  *         file: license/open_src.txt  </code>
00016  *
00017  * &copy; 2006, Jet Propulsion Laboratory, California Institute of Technology
00018  *
00019  * $Revision: 1.6 $
00020  */ 
00021 //-----------------------------------------------------------------------------
00022 
00023 #include "claraty/camera.h"
00024 #include "claraty/fdm_parse_tree.h"
00025 
00026 using namespace std;
00027 
00028 namespace claraty {
00029 
00030 //-----------------------------------------------------------------------------
00031 /**
00032  * Constructs a camera with an optional camera model that captures camera 
00033  * calibration information
00034  *
00035  * @param[in]  name an optional name for the camera object
00036  * @param[in]  camera_model_ptr a pointer to a camera model
00037  */
00038 Camera::
00039 Camera(const string & name,
00040        Camera_Model * camera_model_ptr)
00041   : Device(name),
00042     _camera_model_ptr(camera_model_ptr)
00043 { 
00044 }
00045 
00046 //-----------------------------------------------------------------------------
00047 /**
00048  * Serializes a camera.  Camera id, name and camera model that captures
00049  * lens parameters are all option
00050  *
00051  * @param[in]  map a map that holds the content of a serialized camera
00052  */
00053 bool Camera::
00054 io(FDM_Map map)
00055 {
00056   bool ok = Device::io(map);
00057   // Check to make sure that the the output is read back in will
00058   // operator >> construct the camera model. Check who owns it
00059   // Need to add an IO to the Camera Model object
00060   // ok &= map.field("_camera_model_ptr", _camera_model_ptr);
00061   return ok;
00062 }
00063 
00064 //-----------------------------------------------------------------------------
00065 /**
00066  * Capture comment from device function.
00067  *
00068  * @param[in]    os
00069  * @param[in]    rhs
00070  * @return       output stream
00071  */
00072 
00073 std::ostream & 
00074 operator << (std::ostream & os, const Camera & rhs)
00075 {
00076   FDM_Parse_Tree::write_object(rhs, os);
00077   return os;
00078 }
00079 
00080 //-----------------------------------------------------------------------------
00081 /**
00082  * Capture comment from device function.
00083  *
00084  * @param[in]    is
00085  * @param[in]    rhs
00086  * @return       stream
00087  */
00088 inline std::istream & 
00089 operator >> (std::istream & is, Camera & rhs)
00090 {
00091   FDM_Parse_Tree::read_object(rhs, is);
00092   return is;
00093 }
00094 
00095 //-----------------------------------------------------------------------------
00096 /**
00097  * Verify that the camera format matches the pixel size (either 8-bit or 
00098  * 16-bit/pixel (see IMAGE_FORMAT). Throw exception if mismatched
00099  *
00100  * @param[in] pixel_size  number of bytes used for image pixels
00101  *
00102  */
00103 
00104 void Camera::
00105 _verify_pixel_format(size_t pixel_size)
00106 { 
00107   IMAGE_FORMAT format = get_format();
00108 
00109   switch(pixel_size) {
00110 
00111   case 1:  // 8 Bits
00112     if (format != MONO8  &&  format != YUV411 &&
00113         format != YUV422 &&  format != YUV444 &&
00114         format != RGB8) {
00115       std::ostringstream os;
00116       os << AT_FUNCTION << " camera: " << (*this) 
00117          << " acquiring 16 bit-format images with camera set to 8 bit format"
00118          << endl;
00119       throw (os.str());
00120     }
00121     break;
00122 
00123   case 2:  // 16 bits
00124     if (format != MONO16  &&  format != RGB16) {
00125       std::ostringstream os;
00126       os << AT_FUNCTION << " camera: " << (*this) 
00127          << " acquiring 8 bit-format images with camera set to 16 bit format"
00128          << endl;
00129       throw (os.str());
00130     }    
00131     break;
00132   }
00133 }
00134 
00135 } // namespace claraty
00136 
00137 //-----------------------------------------------------------------------------
00138