CImageGrabber_OpenCV.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config.h>

#include <mrpt/core/pimpl.h>
#include <mrpt/core/safe_pointers.h>
#include <mrpt/obs/CObservationImage.h>
#include <mrpt/typemeta/TEnumType.h>

namespace mrpt::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
};

/** 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() = default;

    /** (All cameras) Capture resolution (0: Leave the default) */
    int frame_width{0}, frame_height{0};
    /** (All cameras) Camera gain (0: Leave the default) */
    double gain{0};
    /** (IEEE1394 cameras) Frame rate for the capture (0: Leave the default). */
    double ieee1394_fps{0};
    /** (IEEE1394 cameras) Whether to grab grayscale images (Default=false). */
    bool ieee1394_grayscale{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 CImageGrabber_OpenCV
{
   protected:
    /** Set to false if we could not initialize the camera.
     */
    bool m_bInitialized;

    struct Impl;
    mrpt::pimpl<Impl> 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

}  // namespace mrpt::hwdrivers
MRPT_ENUM_TYPE_BEGIN(mrpt::hwdrivers::TCameraType)
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_AUTODETECT);
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_DC1394);
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_VFL);
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_VFW);
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_MIL);
MRPT_FILL_ENUM_MEMBER(mrpt::hwdrivers, CAMERA_CV_DSHOW);
MRPT_ENUM_TYPE_END()