OpenGLCapture.cpp

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  OpenGLCapture.cpp
// Author:    Pedram Azad
// Date:      27.07.2008
// ****************************************************************************


// ****************************************************************************
// Includes
// ****************************************************************************

#include "OpenGLCapture.h"
#include "Image/ImageProcessor.h"
#include "Image/ByteImage.h"
#include "Calibration/Calibration.h"
#include "Calibration/StereoCalibration.h"
#include "Visualizer/OpenGLVisualizer.h"



// *****************************************************************
// Constructors / Destructor
// *****************************************************************

COpenGLCapture::COpenGLCapture()
{
        m_nCameras = 0;

        width = height = 0;
        type = CByteImage::eRGB24;

        m_pOpenGLVisualizer = 0;
        m_pCalibration = 0;
        m_pStereoCalibration = 0;
}

COpenGLCapture::COpenGLCapture(const CCalibration &calibration)
{
        m_nCameras = 1;

        width = calibration.GetCameraParameters().width;
        height = calibration.GetCameraParameters().height;
        type = CByteImage::eRGB24;
        
        m_pOpenGLVisualizer = new COpenGLVisualizer();
        m_pCalibration = new CCalibration();
        m_pStereoCalibration = 0;
        
        m_pCalibration->Set(calibration);
}

COpenGLCapture::COpenGLCapture(const CStereoCalibration &stereoCalibration)
{
        m_nCameras = 2;

        width = stereoCalibration.width;
        height = stereoCalibration.height;
        type = CByteImage::eRGB24;
        
        m_pOpenGLVisualizer = new COpenGLVisualizer();
        m_pStereoCalibration = new CStereoCalibration();
        m_pCalibration = 0;

        m_pStereoCalibration->Set(stereoCalibration);
}

COpenGLCapture::~COpenGLCapture()
{
        if (m_pCalibration)
                delete m_pCalibration;

        if (m_pStereoCalibration)
                delete m_pStereoCalibration;

        if (m_pOpenGLVisualizer)
                delete m_pOpenGLVisualizer;
}


// ****************************************************************************
// Methods
// ****************************************************************************

void COpenGLCapture::Set(const CCalibration &calibration)
{
        m_nCameras = 1;

        width = calibration.GetCameraParameters().width;
        height = calibration.GetCameraParameters().height;
        type = CByteImage::eRGB24;

        if (m_pStereoCalibration)
        {
                delete m_pStereoCalibration;
                m_pStereoCalibration = 0;
        }

        if (!m_pCalibration)
                m_pCalibration = new CCalibration();
        
        if (!m_pOpenGLVisualizer)
                m_pOpenGLVisualizer = new COpenGLVisualizer();

        m_pCalibration->Set(calibration);
}


void COpenGLCapture::Set(const CStereoCalibration &stereoCalibration)
{
        m_nCameras = 2;

        width = stereoCalibration.width;
        height = stereoCalibration.height;
        type = CByteImage::eRGB24;

        if (m_pCalibration)
        {
                delete m_pCalibration;
                m_pCalibration = 0;
        }

        if (!m_pStereoCalibration)
                m_pStereoCalibration = new CStereoCalibration();
        
        if (!m_pOpenGLVisualizer)
                m_pOpenGLVisualizer = new COpenGLVisualizer();

        m_pStereoCalibration->Set(stereoCalibration);
}

bool COpenGLCapture::OpenCamera()
{
        if (m_pStereoCalibration)
                return m_pOpenGLVisualizer->InitByCalibration(m_pStereoCalibration->GetLeftCalibration());
        else if (m_pCalibration)
                return m_pOpenGLVisualizer->InitByCalibration(m_pCalibration);
        else
                printf("error: no calibration object has been instantiated\n");

        return false;
}

void COpenGLCapture::CloseCamera()
{
}

bool COpenGLCapture::CaptureImage(CByteImage **ppImages)
{
        if (ppImages[0]->width != width || ppImages[0]->height != height || ppImages[0]->type != type)
                printf("error: image does not match COpenGLCapture::CaptureImage\n");
        
        if (m_nCameras == 1)
        {
                m_pOpenGLVisualizer->InitByCalibration(m_pCalibration);
                DrawScene(); // virtual method call
                m_pOpenGLVisualizer->GetImage(ppImages[0]);
                ImageProcessor::FlipY(ppImages[0], ppImages[0]);
        }
        else if (m_nCameras == 2)
        {
                if (ppImages[1]->width != width || ppImages[1]->height != height || ppImages[1]->type != type)
                        printf("error: image does not match COpenGLCapture::CaptureImage\n");
        
                // left camera
                m_pOpenGLVisualizer->InitByCalibration(m_pStereoCalibration->GetLeftCalibration());
                DrawScene(); // virtual method call
                m_pOpenGLVisualizer->GetImage(ppImages[0]);
                ImageProcessor::FlipY(ppImages[0], ppImages[0]);
                
                // right camera
                m_pOpenGLVisualizer->InitByCalibration(m_pStereoCalibration->GetRightCalibration());
                DrawScene(); // virtual method call
                m_pOpenGLVisualizer->GetImage(ppImages[1]);
                ImageProcessor::FlipY(ppImages[1], ppImages[1]);
        }
        
        return true;
}