CImageGrabber_OpenCV.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CImageGrabber_OpenCV_H
#define CImageGrabber_OpenCV_H

#include <mrpt/config.h>
#include <mrpt/hwdrivers/link_pragmas.h>

#include <mrpt/obs/CObservationImage.h>
#include <mrpt/utils/safe_pointers.h>


namespace mrpt
{
        namespace hwdrivers
        {
                /** These capture types are like their OpenCV equivalents. */
                enum TCameraType
                {
                        CAMERA_CV_AUTODETECT = 0,
                        CAMERA_CV_DC1394,
                        CAMERA_CV_VFL,
                        CAMERA_CV_VFW,
                        CAMERA_CV_MIL,
                        CAMERA_CV_DSHOW //!< Valid only with OpenCV >= 1.1.0
                };

                /** Options used when creating an OpenCV capture object
                  *  Some options apply to IEEE1394 cameras only.
                  * \sa CImageGrabber_OpenCV
                  * \ingroup mrpt_hwdrivers_grp
                  */
                struct TCaptureCVOptions
                {
                        TCaptureCVOptions() :
                                frame_width(0), frame_height(0),
                                gain(0),
                                ieee1394_fps(0),
                                ieee1394_grayscale(false)
                        {}

                        int             frame_width,frame_height;       //!< (All cameras) Capture resolution (0: Leave the default)
                        double  gain;                   //!< (All cameras) Camera gain (0: Leave the default)
                        double  ieee1394_fps;   //!< (IEEE1394 cameras) Frame rate for the capture (0: Leave the default).
                        bool    ieee1394_grayscale;     //!< (IEEE1394 cameras) Whether to grab grayscale images (Default=false).
                };

                /** A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file.
                  *   See the constructor for the options when opening the camera.
                  *
                  *  Unless input from AVI files is required, it is recommended to use the more generic class
                  *   mrpt::hwdrivers::CCameraSensor.
                  *
                  * \note This class is only available when compiling MRPT with the flag "MRPT_HAS_OPENCV" defined.
                  * \note Some code is based on the class CaptureCamera from the Orocos project.
                  * \sa mrpt::hwdrivers::CCameraSensor, CImageGrabber_dc1394
                  * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CImageGrabber_OpenCV
                {
                protected:
                        /** Set to false if we could not initialize the camera.
                          */
                        bool    m_bInitialized;

                        /** Internal use:
                          */
                        mrpt::utils::void_ptr_noncopy /*CvCapture*/ m_capture;

                public:
                        /** Constructor for cameras:
                         * \param cameraIndex Set the camera index, or -1 if it does not matter and you select AUTODETECT as cameraType.
                         * \param cameraType Can be any value of TCameraType, or CAMERA_CV_AUTODETECT if there is only one camera.
                         * \param options Capture options, defined in mrpt::hwdrivers::TCaptureCVOptions. If not provided, all the default options will be used.
                         */
                        CImageGrabber_OpenCV(
                                int cameraIndex = -1,
                                TCameraType cameraType = CAMERA_CV_AUTODETECT,
                                const TCaptureCVOptions &options = TCaptureCVOptions()
                                 );

                        /** Constructor for AVI files:
                        */
                        CImageGrabber_OpenCV( const std::string &AVI_fileName );

                        /** Destructor
                        */
                        virtual ~CImageGrabber_OpenCV( );

                        /** Check whether the camera has been open successfully. */
                        bool isOpen() const
                        {
                                return m_bInitialized;
                        }

                        /** Grab an image from the opened camera.
                         * \param out_observation The object to be filled with sensed data.
                         *
                         * \return false on any error, true if all go fine.
                        */
                        bool  getObservation( mrpt::obs::CObservationImage &out_observation);


                };      // End of class

        } // End of NS
} // End of NS


#endif