CCameraSensor.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/CConfigFileBase.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/system/COutputLogger.h>

#include <mrpt/hwdrivers/CDUO3DCamera.h>
#include <mrpt/hwdrivers/CFFMPEG_InputStream.h>
#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>
#include <mrpt/hwdrivers/CImageGrabber_OpenCV.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>
#include <mrpt/hwdrivers/CKinect.h>
#include <mrpt/hwdrivers/CMyntEyeCamera.h>
#include <mrpt/hwdrivers/COpenNI2Sensor.h>
#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>
#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>
#include <mrpt/io/CFileGZInputStream.h>

#include <mrpt/gui/CDisplayWindow.h>
#include <functional>
#include <memory>  // unique_ptr

namespace mrpt::hwdrivers
{
/** The central class for camera grabbers in MRPT, implementing the "generic
 * sensor" interface.
 *   This class provides the user with a uniform interface to a variety of
 * other classes which manage only one specific camera "driver" (opencv, ffmpeg,
 * PGR FlyCapture,...)
 *
 *   Following the "generic sensor" interface, all the parameters must be
 * passed int the form of a configuration file,
 *   which may be also formed on the fly (without being a real config file) as
 * in this example:
 *
 *  \code
 *   CCameraSensor myCam;
 *   const string str =
 *      "[CONFIG]\n"
 *      "grabber_type=opencv\n";
 *
 *   CConfigFileMemory  cfg(str);
 *   myCam.loadConfig(cfg,"CONFIG");
 *   myCam.initialize();
 *   CObservation::Ptr obs = myCam.getNextFrame();
 *  \endcode
 *
 *  Images can be retrieved through the normal "doProcess()" interface, or the
 * specific method "getNextFrame()".
 *
 * Some notes:
 *  - "grabber_type" determines the class to use internally for image capturing
 * (see below).
 *  - For the meaning of cv_camera_type and other parameters, refer to
 * mrpt::hwdrivers::CImageGrabber_OpenCV
 *  - For the parameters of dc1394 parameters, refer to generic IEEE1394
 * documentation, and to mrpt::hwdrivers::TCaptureOptions_dc1394.
 *  - If the high number of existing parameters annoy you, try the function
 * prepareVideoSourceFromUserSelection(),
 *     which displays a GUI dialog to the user so he/she can choose the desired
 * camera & its parameters.
 *
 *  Images can be saved in the "external storage" mode. Detached threads are
 * created for this task. See \a setPathForExternalImages() and \a
 * setExternalImageFormat().
 *  These methods are called automatically from the app rawlog-grabber.
 *
 *  These is the list of all accepted parameters:
 *
 *  \code
 *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 * -------------------------------------------------------
 *   [supplied_section_name]
 *    # Select one of the grabber implementations -----------------------
 *    grabber_type       = opencv | dc1394 | bumblebee_dc1394 | ffmpeg | rawlog
 * | swissranger | svs | kinect | flycap | flycap_stereo | image_dir | duo3d |
 * myntd
 *
 *    #  Options for any grabber_type ------------------------------------
 *    preview_decimation = 0     // N<=0 (or not present): No preview; N>0,
 * display 1 out of N captured frames.
 *    preview_reduction  = 0     // 0 or 1 (or not present): The preview shows
 * the actual image. For 2,3,..., reduces the size of the image by that factor,
 * only for the preview window.
 *    capture_grayscale  = 0     // 1:capture in grayscale, whenever the driver
 * allows it. Default=0
 *    #  For externaly stored images, the format of image files (default=jpg)
 *    #external_images_format  = jpg
 *
 *    #  For externaly stored images: whether to spawn independent threads to
 * save the image files.
 *    #external_images_own_thread  = 1   // 0 or 1
 *
 *    # If external_images_own_thread=1, this changes the number of threads to
 * launch
 *    #  to save image files. The default is determined from
 * mrpt::system::getNumberOfProcessors()
 *    #  and should be OK unless you want to save processor time for other
 * things.
 *    #external_images_own_thread_count = 2    // >=1
 *
 *    # (Only when external_images_format=jpg): Optional parameter to set the
 * JPEG compression quality:
 *    #external_images_jpeg_quality = 95    // [1-100]. Default: 95
 *
 *    # Pose of the sensor on the robot:
 *    pose_x=0      ; (meters)
 *    pose_y=0
 *    pose_z=0
 *    pose_yaw=0    ; (Angles in degrees)
 *    pose_pitch=0
 *    pose_roll=0
 *
 *    # Options for grabber_type= opencv  ------------------------------------
 *    cv_camera_index  = 0       // [opencv] Number of camera to open
 *    cv_camera_type   = CAMERA_CV_AUTODETECT
 *    cv_frame_width   = 640     // [opencv] Capture width (not present or set
 * to 0 for default)
 *    cv_frame_height  = 480     // [opencv] Capture height (not present or set
 * to 0 for default)
 *    cv_fps           = 15      // [opencv] IEEE1394 cams only: Capture FPS
 * (not present or 0 for default)
 *    cv_gain          = 0       // [opencv] Camera gain, if available (nor
 * present or set to 0 for default).
 *
 *    # Options for grabber_type= dc1394 -------------------------------------
 *    dc1394_camera_guid   = 0 | 0x11223344    // 0 (or not present): the first
 * camera; A hexadecimal number: The GUID of the camera to open
 *    dc1394_camera_unit   = 0              // 0 (or not present): the first
 * camera; 0,1,2,...: The unit number (within the given GUID) of the camera to
 * open (Stereo cameras: 0 or 1)
 *    dc1394_frame_width    = 640
 *    dc1394_frame_height   = 480
 *    dc1394_framerate      = 15                    // eg: 7.5, 15, 30, 60,
 * etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
 *    dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to
 * MODE7_i
 *    dc1394_color_coding   = COLOR_CODING_YUV422   // For possibilities see
 * mrpt::hwdrivers::TCaptureOptions_dc1394
 *    # Options for setting feature values: dc1394_<feature> = <n>
 *    # with <feature> = brightness | exposure | sharpness | white_balance |
 * gamma | shutter | gain
 *    #      <n> a value, or -1 (or not present) for not to change this feature
 * value in the camera, possible values are shown in execution
 *    dc1394_shutter       = -1
 *    # Options for setting feature modes: dc1394_<feature>_mode = <n>
 *    # with <feature> = brightness | exposure | sharpness | white_balance |
 * gamma | shutter | gain
 *    #      <n> = -1 (or not present) [not to change] | 0 [manual] | 1 [auto]
 * | 2 [one_push_auto]
 *    dc1394_shutter_mode   = -1
 *    # Options for setting trigger options:
 *    dc1394_trigger_power  = -1    // -1 (or not present) for not to change
 * | 0 [OFF] | 1 [ON]
 *    dc1394_trigger_mode   = -1    // -1 (or not present) for not to change |
 * 0..7 corresponding to possible modes 0,1,2,3,4,5,14,15
 *    dc1394_trigger_source= -1    // -1 (or not present) for not to change |
 * 0..4 corresponding to possible sources 0,1,2,3,SOFTWARE
 *    dc1394_trigger_polarity = -1 // -1 (or not present) for not to change | 0
 * [ACTIVE_LOW] | 1 [ACTIVE_HIGH]
 *    dc1394_ring_buffer_size = 15  // Length of frames ring buffer (internal
 * to libdc1394)
 *
 *    # Options for grabber_type= bumblebee_dc1394
 * ----------------------------------
 *    bumblebee_dc1394_camera_guid   = 0 | 0x11223344  // 0 (or not present):
 * the first camera; A hexadecimal number: The GUID of the camera to open
 *    bumblebee_dc1394_camera_unit   = 0                // 0 (or not present):
 * the first camera; 0,1,2,...: The unit number (within the given GUID) of the
 * camera to open (Stereo cameras: 0 or 1)
 *    bumblebee_dc1394_framerate     = 15               // eg: 7.5, 15, 30,
 * 60, etc... For possibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
 *
 *    # Options for grabber_type= ffmpeg -------------------------------------
 *    ffmpeg_url             = rtsp://127.0.0.1      // [ffmpeg] The video file
 * or IP camera to open
 *
 *    # Options for grabber_type= rawlog -------------------------------------
 *    rawlog_file            = mylog.rawlog          // [rawlog] This can be
 * used to simulate the capture of images already grabbed in the past in the
 * form of a MRPT rawlog.
 *    rawlog_camera_sensor_label  = CAMERA1          // [rawlog] If this field
 * is not present, all images found in the rawlog will be retrieved. Otherwise,
 * only those observations with a matching sensor label.
 *
 *    # Options for grabber_type= svs -------------------------------------
 *    svs_camera_index = 0
 *    svs_frame_width = 800
 *    svs_frame_height = 600
 *    svs_framerate = 25.0
 *    svs_NDisp = ...
 *    svs_Corrsize = ...
 *    svs_LR = ...
 *    svs_Thresh = ...
 *    svs_Unique = ...
 *    svs_Horopter = ...
 *    svs_SpeckleSize = ...
 *    svs_procesOnChip = false
 *    svs_calDisparity = true
 *
 *    # Options for grabber_type= swissranger
 * -------------------------------------
 *    sr_use_usb         = true         // True: use USB, false: use
 * ethernet
 *    sr_IP              = 192.168.2.14    // If sr_use_usb=false, the camera
 * IP
 *    sr_grab_grayscale  = true            // whether to save the intensity
 * channel
 *    sr_grab_3d         = true            // whether to save the 3D points
 *    sr_grab_range      = true            // whether to save the range image
 *    sr_grab_confidence = true            // whether to save the confidence
 * image
 *
 *    # Options for grabber_type= XBox kinect
 * -------------------------------------
 *    kinect_grab_intensity  = true            // whether to save the intensity
 * (RGB) channel
 *    kinect_grab_3d         = true            // whether to save the 3D points
 *    kinect_grab_range      = true            // whether to save the depth
 * image
 *    #kinect_video_rgb       = true            // Optional. If set to "false",
 * the IR intensity channel will be grabbed instead of the color RGB channel.
 *
 *    # Options for grabber_type= flycap (Point Grey Research's FlyCapture 2
 * for Monocular and Stereo cameras, e.g. Bumblebee2) --------
 *    flycap_camera_index           = 0
 *    #... (all the parameters enumerated in
 * mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "flycap_")
 *
 *    # Options for grabber_type= flycap_stereo (Point Grey Research's
 * FlyCapture 2, two cameras setup as a stereo pair) ------
 *    # fcs_start_synch_capture   = false  // *Important*: Only set to true if
 * using Firewire cameras: the "startSyncCapture()" command is unsupported in
 * USB3 and GigaE cameras.
 *
 *    fcs_LEFT_camera_index           = 0
 *    #... (all the parameters enumerated in
 * mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_LEFT_")
 *    fcs_RIGHT_camera_index          = 0
 *    #... (all the parameters enumerated in
 * mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_RIGHT_")
 *
 *    # Options for grabber_type= image_dir
 *    image_dir_url                 =               // [string] URL of the
 * directory
 *    left_filename_format              = imL_%05d.jpg  // [string] Format
 * including prefix, number of trailing zeros, digits and image format
 * (extension)
 *    right_filename_format         = imR_%05d.jpg  // [string] Format
 * including prefix, number of trailing zeros, digits and image format
 * (extension). Leave blank if only images from one camera will be used.
 *    start_index                       = 0             // [int]
 * Starting index for images
 *    end_index                     = 100           // [int]    End index
 * for the images
 *
 *    # Options for grabber_type= myntd  ------------------------------------
 *    myntd_xxx  =
 *
 *    # Options for grabber_type= duo3d
 *    Create a section like this:
 *    [DUO3DOptions]
 *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore
 * this section (it is not a separate device!)
 *
 *    image_width               = 640           // [int]    x Resolution
 *    image_height              = 480           // [int]    y Resolution
 *    fps                       = 30            // [int]    Frames per second
 * (<= 30)
 *    exposure              = 50            // [int]    Exposure value (1..100)
 *    led                       = 0             // [int]    Led intensity
 * (only for some device models) (1..100).
 *    gain                  = 50            // [int]    Camera gain (1..100)
 *    capture_rectified         = false         // [bool]   Rectify
 * captured images
 *    capture_imu           = true          // [bool]   Capture IMU data
 * from DUO3D device (if available)
 *    calibration_from_file = true          // [bool]   Use YML
 * calibration files provided by calibration application supplied with DUO3D
 * device
 *    intrinsic_filename        = ""            // [string] Intrinsic
 * parameters file. This filename should contain a substring _RWWWxHHH_ with WWW
 * being the image width and HHH the image height, as provided by the
 * calibration application.
 *    extrinsic_filename        = ""            // [string] Extrinsic
 * parameters file. This filename should contain a substring _RWWWxHHH_ with WWW
 * being the image width and HHH the image height, as provided by the
 * calibration application.
 *    rectify_map_filename  = ""            // [string] Rectification map
 * file. This filename should contain a substring _RWWWxHHH_ with WWW being the
 * image width and HHH the image height, as provided by the calibration
 * application.
 *
 *    // if 'calibration_from_file' = false, three more sections containing the
 * calibration must be provided:
 *    [DUO3D_LEFT]
 *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore
 * this section (it is not a separate device!)
 *    resolution        = [640 480]
 *    cx                = 320
 *    cy                = 240
 *    fx                = 700
 *    fy                = 700
 *    dist          = [0 0 0 0 0]
 *
 *    [DUO3D_RIGHT]
 *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore
 * this section (it is not a separate device!)
 *    resolution        = [640 480]
 *    cx                = 320
 *    cy                = 240
 *    fx                = 700
 *    fy                = 700
 *    dist          = [0 0 0 0 0]
 *
 *    [DUO3D_LEFT2RIGHT_POSE]
 *    rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore
 * this section (it is not a separate device!)
 *    pose_quaternion = [0.12 0 0 1 0 0 0]
 *
 *  \endcode
 *
 *  \note The execution rate, in rawlog-grabber or the user code calling
 * doProcess(), should be greater than the required capture FPS.
 *  \note In Linux you may need to execute "chmod 666 /dev/video1394/ * " and
 * "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire
 * cameras.
 * \note [New in MRPT 1.4.0] The `bumblebee` driver has been deleted, use the
 * `flycap` driver in stereo mode.
 *  \sa mrpt::hwdrivers::CImageGrabber_OpenCV,
 * mrpt::hwdrivers::CImageGrabber_dc1394, CGenericSensor,
 * prepareVideoSourceFromUserSelection()
 * \ingroup mrpt_hwdrivers_grp
 */
class CCameraSensor : public mrpt::system::COutputLogger, public CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CCameraSensor)

   public:
    using Ptr = std::shared_ptr<CCameraSensor>;
    /** Constructor. The camera is not open until "initialize" is called. */
    CCameraSensor();

    /** Destructor */
    ~CCameraSensor() override;

    // See docs in parent class
    void doProcess() override;

    /** Retrieves the next frame from the video source, raising an exception on
     *any error.
     * Note: The returned observations can be of one of these classes (you can
     *use IS_CLASS(obs,CObservationXXX) to determine it):
     *      - mrpt::obs::CObservationImage (For normal cameras or video sources)
     *      - mrpt::obs::CObservationStereoImages (For stereo cameras)
     *      - mrpt::obs::CObservation3DRangeScan (For 3D cameras)
     */
    mrpt::obs::CObservation::Ptr getNextFrame();
    void getNextFrame(
        std::vector<mrpt::serialization::CSerializable::Ptr>& out_obs);

    /** Tries to open the camera, after setting all the parameters with a call
     * to loadConfig.
     *  \exception This method must throw an exception with a descriptive
     * message if some critical error is found.
     */
    void initialize() override;

    /** Close the camera (if open).
     *   This method is called automatically on destruction.
     */
    void close();

    /** Set Software trigger level value (ON or OFF) for cameras with this
     * function available.
     */
    void setSoftwareTriggerLevel(bool level);

    /**  Set the path where to save off-rawlog image files (this class DOES take
     * into account this path).
     *  An  empty string (the default value at construction) means to save
     * images embedded in the rawlog, instead of on separate files.
     * \exception std::exception If the directory doesn't exists and cannot be
     * created.
     */
    void setPathForExternalImages(const std::string& directory) override;

    /** This must be called before initialize() */
    void enableLaunchOwnThreadForSavingImages(bool enable = true)
    {
        m_external_images_own_thread = enable;
    };

    /** Functor type */
    using TPreSaveUserHook = std::function<void(
        const mrpt::obs::CObservation::Ptr& obs, void* user_ptr)>;

    /** Provides a "hook" for user-code to be run BEFORE an image is going to be
     * saved to disk if external storage is enabled (e.g. to rectify images,
     * preprocess them, etc.)
     * Notice that this code may be called from detached threads, so it must be
     * thread safe.
     * If used, call this before initialize() */
    void addPreSaveHook(TPreSaveUserHook user_function, void* user_ptr)
    {
        m_hook_pre_save = user_function;
        m_hook_pre_save_param = user_ptr;
    };

   protected:
    // Options for any grabber_type ------------------------------------
    poses::CPose3D m_sensorPose;

    /** Can be "opencv",... */
    std::string m_grabber_type;
    bool m_capture_grayscale{false};

    // Options for grabber_type= opencv  ------------------------------------
    int m_cv_camera_index{0};
    std::string m_cv_camera_type;
    TCaptureCVOptions m_cv_options;

    // Options for grabber_type= dc1394 -------------------------------------
    uint64_t m_dc1394_camera_guid{0};
    int m_dc1394_camera_unit{0};
    TCaptureOptions_dc1394 m_dc1394_options;
    int m_preview_decimation{0};
    int m_preview_reduction{1};

    // Options for grabber_type= bumblebee_dc1394
    // ----------------------------------
    uint64_t m_bumblebee_dc1394_camera_guid{0};
    int m_bumblebee_dc1394_camera_unit{0};
    double m_bumblebee_dc1394_framerate{15};

    // Options for grabber type= svs -----------------------------------------
    int m_svs_camera_index{0};
    TCaptureOptions_SVS m_svs_options;

    // Options for grabber_type= ffmpeg -------------------------------------
    std::string m_ffmpeg_url;

    // Options for grabber_type= rawlog -------------------------------------
    std::string m_rawlog_file;
    std::string m_rawlog_camera_sensor_label;
    std::string m_rawlog_detected_images_dir;

    // Options for grabber_type= swissranger
    // -------------------------------------
    /** true: USB, false: ETH */
    bool m_sr_open_from_usb{true};
    std::string m_sr_ip_address;
    /** Save the 3D point cloud (default: true) */
    bool m_sr_save_3d{true};
    /** Save the 2D range image (default: true) */
    bool m_sr_save_range_img{true};
    /** Save the 2D intensity image (default: true) */
    bool m_sr_save_intensity_img{true};
    /** Save the estimated confidence 2D image (default: false) */
    bool m_sr_save_confidence{true};

    // Options for grabber_type= XBox kinect
    // -------------------------------------
    /** Save the 3D point cloud (default: true) */
    bool m_kinect_save_3d{true};
    /** Save the 2D range image (default: true) */
    bool m_kinect_save_range_img{true};
    /** Save the 2D intensity image (default: true) */
    bool m_kinect_save_intensity_img{true};
    /** Save RGB or IR channels (default:true) */
    bool m_kinect_video_rgb{true};

    // Options for grabber type= flycap
    // -----------------------------------------
    TCaptureOptions_FlyCapture2 m_flycap_options;

    // Options for grabber type= myntd
    // -----------------------------------------
    TMyntEyeCameraParameters m_myntd_options;

    // Options for grabber type= flycap_stereo
    // -----------------------------------------
    bool m_fcs_start_synch_capture{false};
    TCaptureOptions_FlyCapture2
        m_flycap_stereo_options[2];  // [0]:left, [1]:right

    // Options for grabber type= image_dir
    std::string m_img_dir_url;
    std::string m_img_dir_left_format;
    std::string m_img_dir_right_format;
    int m_img_dir_start_index{0};
    int m_img_dir_end_index{100};

    bool m_img_dir_is_stereo{true};
    int m_img_dir_counter{0};

    // Options for grabber type= duo3d
    TCaptureOptions_DUO3D m_duo3d_options;

    // Other options:
    /** Whether to launch independent thread */
    bool m_external_images_own_thread{false};

    /** See the class documentation at the top for expected parameters */
    void loadConfig_sensorSpecific(
        const mrpt::config::CConfigFileBase& configSource,
        const std::string& iniSection) override;

   private:
    // Only one of these will be !=nullptr at a time ===========
    /** The OpenCV capture object. */
    std::unique_ptr<CImageGrabber_OpenCV> m_cap_cv;
    /** The dc1394 capture object. */
    std::unique_ptr<CImageGrabber_dc1394> m_cap_dc1394;
    /** The FlyCapture2 object */
    std::unique_ptr<CImageGrabber_FlyCapture2> m_cap_flycap;
    /** The FlyCapture2 object for stereo pairs */
    std::unique_ptr<CImageGrabber_FlyCapture2> m_cap_flycap_stereo_l,
        m_cap_flycap_stereo_r;
    std::unique_ptr<CStereoGrabber_Bumblebee_libdc1394> m_cap_bumblebee_dc1394;
    /** The svs capture object. */
    std::unique_ptr<CStereoGrabber_SVS> m_cap_svs;
    /** The FFMPEG capture object */
    std::unique_ptr<CFFMPEG_InputStream> m_cap_ffmpeg;
    /** The input file for rawlogs */
    std::unique_ptr<mrpt::io::CFileGZInputStream> m_cap_rawlog;
    /** SR 3D camera object. */
    std::unique_ptr<CSwissRanger3DCamera> m_cap_swissranger;
    /** Kinect camera object. */
    std::unique_ptr<CKinect> m_cap_kinect;
    /** OpenNI2 object. */
    std::unique_ptr<COpenNI2Sensor> m_cap_openni2;
    /** Read images from directory */
    std::unique_ptr<std::string> m_cap_image_dir;
    /** The DUO3D capture object */
    std::unique_ptr<CDUO3DCamera> m_cap_duo3d;
    /** The MYNT EYE capture object */
    std::unique_ptr<CMyntEyeCamera> m_myntd;
    // =========================

    int m_camera_grab_decimator{0};
    int m_camera_grab_decimator_counter{0};

    int m_preview_counter{0};
    /** Normally we'll use only one window, but for stereo images we'll use two
     * of them. */
    mrpt::gui::CDisplayWindow::Ptr m_preview_win1, m_preview_win2;

    /** @name Stuff related to working threads to save images to disk
        @{ */
    /** Number of working threads. Default:1, set to 2 in quad cores. */
    unsigned int m_external_image_saver_count;
    std::vector<std::thread> m_threadImagesSaver;

    bool m_threadImagesSaverShouldEnd{false};
    /** The critical section for m_toSaveList */
    std::mutex m_csToSaveList;
    /** The queues of objects to be returned by getObservations, one for each
     * working thread. */
    std::vector<TListObservations> m_toSaveList;
    /** Thread to save images to files. */
    void thread_save_images(unsigned int my_working_thread_index);

    TPreSaveUserHook m_hook_pre_save;
    void* m_hook_pre_save_param{nullptr};
    /**  @} */

};  // end class

/** Used only from MRPT apps: Use with caution since "panel" MUST be a
 * "mrpt::gui::CPanelCameraSelection *"
 */
CCameraSensor::Ptr prepareVideoSourceFromPanel(void* panel);

/** Parse the user options in the wxWidgets "panel" and write the configuration
 * into the given section of the given configuration file.
 * Use with caution since "panel" MUST be a "mrpt::gui::CPanelCameraSelection
 * *"
 * \sa prepareVideoSourceFromUserSelection, prepareVideoSourceFromPanel,
 * readConfigIntoVideoSourcePanel
 */
void writeConfigFromVideoSourcePanel(
    void* panel, const std::string& in_cfgfile_section_name,
    mrpt::config::CConfigFileBase* out_cfgfile);

/** Parse the given section of the given configuration file and set accordingly
 * the controls of the wxWidgets "panel".
 * Use with caution since "panel" MUST be a "mrpt::gui::CPanelCameraSelection
 * *"
 * \sa prepareVideoSourceFromUserSelection, prepareVideoSourceFromPanel,
 * writeConfigFromVideoSourcePanel
 */
void readConfigIntoVideoSourcePanel(
    void* panel, const std::string& in_cfgfile_section_name,
    const mrpt::config::CConfigFileBase* in_cfgfile);

/** Show to the user a list of possible camera drivers and creates and open the
 * selected camera.
 */
CCameraSensor::Ptr prepareVideoSourceFromUserSelection();

}  // namespace mrpt::hwdrivers