CImageGrabber_OpenCV.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/core/safe_pointers.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,
    /** 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::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

}
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()

#endif