raspicam_cv.cpp

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/**********************************************************
 Software developed by AVA ( Ava Group of the University of Cordoba, ava  at uco dot es)
 Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
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#include "raspicam/raspicam_cv.h"
#include "raspicam/private_impl.h"
#include "raspicam/scaler.h"
 
#include <iostream>
#include <opencv2/imgproc.hpp>
 
namespace raspicam {
    RaspiCam_Cv::RaspiCam_Cv() {
        _impl=new _private::Private_Impl();
    set(cv::CAP_PROP_FORMAT, CV_8UC3);
 
    }
    RaspiCam_Cv::~RaspiCam_Cv() {
        delete _impl;
    }
 
    bool RaspiCam_Cv::open ( void ) {
        return _impl->open();
    }
    bool RaspiCam_Cv::isOpened() const {return _impl->isOpened();}
    void RaspiCam_Cv::release() {
        _impl->release();
    }
 
    bool RaspiCam_Cv::grab() {
        return _impl->grab();
    }
 
    void RaspiCam_Cv::retrieve ( cv::Mat& image ) {
        //here we go!
        image.create ( _impl->getHeight(),_impl->getWidth(),imgFormat );
        _impl->retrieve ( image.ptr<uchar> ( 0 ));
  }
 
  bool RaspiCam_Cv::read(cv::Mat& image)
  {
    if (!grab())
      return true;
 
    retrieve(image);
    if (image.empty())
      return false;
 
    return true;
  }
 
    double RaspiCam_Cv::get ( int propId ) {
 
        switch ( propId ) {
 
    case cv::CAP_PROP_FRAME_WIDTH:
            return _impl->getWidth();
    case cv::CAP_PROP_FRAME_HEIGHT:
            return _impl->getHeight();
    case cv::CAP_PROP_FPS:
            return 30;
    case cv::CAP_PROP_FORMAT:
            return imgFormat;
    case cv::CAP_PROP_MODE:
            return 0;
    case cv::CAP_PROP_BRIGHTNESS:
            return _impl->getBrightness();
    case cv::CAP_PROP_CONTRAST:
            return Scaler::scale ( -100,100,0,100,  _impl->getContrast() );
    case cv::CAP_PROP_SATURATION:
            return  Scaler::scale ( -100,100,0,100, _impl->getSaturation() );;
//     case CV_CAP_PROP_HUE : return _cam_impl->getSharpness();
    case cv::CAP_PROP_GAIN:
            return  Scaler::scale ( 0,800,0,100, _impl->getISO() );
    case cv::CAP_PROP_EXPOSURE:
            if ( _impl->getShutterSpeed() ==0 )
                return -1;//auto
            else return Scaler::scale (0,330000, 0,100, _impl->getShutterSpeed() )  ;
       break;
    case cv::CAP_PROP_CONVERT_RGB:
            return ( imgFormat==CV_8UC3 );
    case cv::CAP_PROP_WHITE_BALANCE_RED_V:
            if( _impl->getAWB()== raspicam::RASPICAM_AWB_AUTO)
                return -1;//auto
            else
                return _impl->getAWBG_red() / 100.0f;
        break;
 
    case cv::CAP_PROP_WHITE_BALANCE_BLUE_U:
            if( _impl->getAWB()== raspicam::RASPICAM_AWB_AUTO)
                return -1;//auto
            else
                return _impl->getAWBG_blue() / 100.0f;
        break;
        default :
            return -1;
        };
    }
 
    bool RaspiCam_Cv::set ( int propId, double value ) {
 
        switch ( propId ) {
 
    case cv::CAP_PROP_FRAME_WIDTH:
            _impl->setWidth ( value );
            break;
    case cv::CAP_PROP_FRAME_HEIGHT:
            _impl->setHeight ( value );
            break;
    case cv::CAP_PROP_FORMAT: {
            bool res=true;
            if ( value==CV_8UC1  ){
                _impl->setFormat(RASPICAM_FORMAT_GRAY);
                imgFormat=value;
            }
            else if (value==CV_8UC3){
                _impl->setFormat(RASPICAM_FORMAT_BGR);
                imgFormat=value;
            }
            else res=false;//error int format
            return res;
        }break;
    case cv::CAP_PROP_MODE://nothing to  do yet
            return false;
            break;
    case cv::CAP_PROP_BRIGHTNESS:
            _impl->setBrightness ( value );
            break;
    case cv::CAP_PROP_CONTRAST:
            _impl->setContrast ( Scaler::scale ( 0,100,-100,100, value ) );
            break;
    case cv::CAP_PROP_SATURATION:
            _impl->setSaturation ( Scaler::scale ( 0,100,-100,100, value ) );
            break;
//     case CV_CAP_PROP_HUE : return _cam_impl->getSharpness();
    case cv::CAP_PROP_GAIN:
            _impl->setISO ( Scaler::scale ( 0,100,0,800, value ) );
            break;
    case cv::CAP_PROP_EXPOSURE:
            if ( value>0 && value<=100 ) {
                _impl->setShutterSpeed ( Scaler::scale ( 0,100,0,330000, value ) );
      }
      else {
                _impl->setExposure ( RASPICAM_EXPOSURE_AUTO );
                _impl->setShutterSpeed ( 0 );
            }
            break;
    case cv::CAP_PROP_CONVERT_RGB:
            imgFormat=CV_8UC3;
            break;
    case cv::CAP_PROP_WHITE_BALANCE_RED_V:
            if ( value>0 && value<=100 ) {
                float valblue=_impl->getAWBG_blue();
                _impl->setAWB(raspicam::RASPICAM_AWB_OFF);
                _impl->setAWB_RB(value*100, valblue );
            }
            else  {
                _impl->setAWB(raspicam::RASPICAM_AWB_AUTO);
            };
        break;
 
    case cv::CAP_PROP_WHITE_BALANCE_BLUE_U:
            if ( value>0 && value<=100 ) {
                float valred=_impl->getAWBG_red();
                _impl->setAWB(raspicam::RASPICAM_AWB_OFF);
                _impl->setAWB_RB(valred, value*100 );
            }
            else  {
                _impl->setAWB(raspicam::RASPICAM_AWB_AUTO);
            };
        break;
 
//     case CV_CAP_PROP_WHITE_BALANCE :return _cam_impl->getAWB();
        default :
            return false;
        };
        return true;
 
    }
    std::string RaspiCam_Cv::getId() const{
        return _impl->getId();
    }
 
}