/home/rex/ebltrunk/tools/libeblearntools/include/camera_mcams.hpp

/***************************************************************************
 *   Copyright (C) 2011 by Soumith Chintala   *
 *   soumith@gmail.com   *
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 *        This product includes software developed at the Courant
 *        Institute of Mathematical Sciences (http://cims.nyu.edu).
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#ifndef CAMERA_MCAMS_HPP_
#define CAMERA_MCAMS_HPP_

#ifdef __LINUX__

#include <fcntl.h>              /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <malloc.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <asm/types.h>          /* for videodev2.h */
#include <linux/videodev2.h>


#endif

namespace ebl {

  // constructors & initializations

  template <typename Tdata>
  camera_mcams<Tdata>::camera_mcams(configuration &conf,
                                    vector<string> &devs, int height_,
                                    int width_, bool grayscale_,
                                    bool mode_rgb)
    : camera<Tdata>(height_ * ((devs.size() % 2) ? ((devs.size() / 2) + 1) : 
                               (devs.size() / 2)), width_ * 2 ), 
      started(false), nbuffers(grayscale_ ? 1 : 3) {
    // reading mcam_type to initialize the appropriate constructors
    string cam_type = conf.get_string("mcam_type");
    // get devices paths
    vector<string> devices;
    for (uint i = 0; i < devs.size(); ++i)
      devices.push_back(conf.get_string(devs[i]));
    cout << "Initializing " << cam_type << " cameras with devices: " << devices
         << endl;
    
    uint ncams = devs.size();
    // this multiplier to split the display into 2x(n/2) matrix of cameras
    int height_multiplier = ncams % 2 ? ncams / 2 + 1 : ncams / 2;
    // if (ncams < 2) eblerror("mcams needs at least 2 cameras as arguments");
    // allocate buffers
    frame = idx<Tdata>(height_ * height_multiplier , width_ * 2, nbuffers);
    for (uint i = 0; i < devices.size(); ++i) {
      cam_frames.push_back(frame.narrow(0, height_ , height_ * (i/2)));
      cam_frames[i] = cam_frames[i].narrow(1, width_, width_ * (i%2));
    }
    // instantiate cameras
    for (uint i = 0; i < devices.size(); ++i) {
      if(cam_type.compare("v4l2") == 0)
        cams.push_back(new ebl::camera_v4l2<Tdata>
                       (devices[i].c_str(), height_, width_, 
                        grayscale_, mode_rgb));
      else if(cam_type.compare("opencv") == 0)
        cams.push_back(new ebl::camera_opencv<Tdata>(i, height_, width_));
      else eblerror("Camera type not supported in camera_mcams");
    }
  }
  
  template <typename Tdata>
  camera_mcams<Tdata>::~camera_mcams() {
    for (uint i = 0; i < cams.size(); ++i)
      delete cams[i];
  }

#ifdef __LINUX__
  
  // frame grabbing

  template <typename Tdata>
  void camera_mcams<Tdata>::start() {
    cout<<" Starting camera_mcams "<<endl;
    started = true;
  }
  
#endif
  
  template <typename Tdata>
  idx<Tdata> camera_mcams<Tdata>::grab() {
#ifdef __LINUX__
    if (!started)
      this->start();
    // for each camera, grab the new frame
    for( uint i=0; i < cams.size(); ++i) {
      idx_copy(cams[i]->grab(),cam_frames[i]);
    }
    cout<<"fps_grab:"<<this->fps_grab<<endl;
#endif
    frame_id_++;
    return this->postprocess();
    //return frame_;
  }

} // end namespace ebl

#endif /* CAMERA_MCAMS_HPP_ */