CImageGrabber_OpenCV.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/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,
        /** Valid only with OpenCV >= 1.1.0 */
        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()
                : frame_width(0),
                  frame_height(0),
                  gain(0),
                  ieee1394_fps(0),
                  ieee1394_grayscale(false)
        {
        }

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

/** 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;

        /** 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