CCameraSensor.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 CCameraSensor_H
#define CCameraSensor_H
 
#include <mrpt/poses/CPose3D.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
 
#include <mrpt/hwdrivers/CFFMPEG_InputStream.h>
#include <mrpt/hwdrivers/CImageGrabber_OpenCV.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>
#include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>
#include <mrpt/hwdrivers/CStereoGrabber_Bumblebee_libdc1394.h>
#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>
#include <mrpt/hwdrivers/CKinect.h>
#include <mrpt/hwdrivers/COpenNI2Sensor.h>
#include <mrpt/hwdrivers/CDUO3DCamera.h>
 
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/hwdrivers/CStereoGrabber_SVS.h>
 
#include <mrpt/gui/CDisplayWindow.h>
#include <memory>  // unique_ptr
#include <functional>
 
namespace mrpt
{
namespace 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
  *
  *    #  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 posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
  *    dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to
 * MODE7_i
  *    dc1394_color_coding      = COLOR_CODING_YUV422   // For posibilities 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 posibilities 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= 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 */
        virtual ~CCameraSensor();
 
        // See docs in parent class
        void doProcess();
 
        /** 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.
          */
        virtual void initialize();
 
        /** 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.
          */
        virtual void setPathForExternalImages(const std::string& directory);
 
        /** 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;
 
        // Options for grabber_type= opencv  ------------------------------------
        int m_cv_camera_index;
        std::string m_cv_camera_type;
        TCaptureCVOptions m_cv_options;
 
        // Options for grabber_type= dc1394 -------------------------------------
        uint64_t m_dc1394_camera_guid;
        int m_dc1394_camera_unit;
        TCaptureOptions_dc1394 m_dc1394_options;
        int m_preview_decimation;
        int m_preview_reduction;
 
        // Options for grabber_type= bumblebee_dc1394
        // ----------------------------------
        uint64_t m_bumblebee_dc1394_camera_guid;
        int m_bumblebee_dc1394_camera_unit;
        double m_bumblebee_dc1394_framerate;
 
        // Options for grabber type= svs -----------------------------------------
        int m_svs_camera_index;
        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;
        std::string m_sr_ip_address;
        /** Save the 3D point cloud (default: true) */
        bool m_sr_save_3d;
        /** Save the 2D range image (default: true) */
        bool m_sr_save_range_img;
        /** Save the 2D intensity image (default: true) */
        bool m_sr_save_intensity_img;
        /** Save the estimated confidence 2D image (default: false) */
        bool m_sr_save_confidence;
 
        // Options for grabber_type= XBox kinect
        // -------------------------------------
        /** Save the 3D point cloud (default: true) */
        bool m_kinect_save_3d;
        /** Save the 2D range image (default: true) */
        bool m_kinect_save_range_img;
        /** Save the 2D intensity image (default: true) */
        bool m_kinect_save_intensity_img;
        /** Save RGB or IR channels (default:true) */
        bool m_kinect_video_rgb;
 
        // Options for grabber type= flycap
        // -----------------------------------------
        TCaptureOptions_FlyCapture2 m_flycap_options;
 
        // Options for grabber type= flycap_stereo
        // -----------------------------------------
        bool m_fcs_start_synch_capture;
        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;
        int m_img_dir_end_index;
 
        bool m_img_dir_is_stereo;
        int m_img_dir_counter;
 
        // Options for grabber type= duo3d
        TCaptureOptions_DUO3D m_duo3d_options;
 
        // Other options:
        /** Whether to launch independent thread */
        bool m_external_images_own_thread;
 
        /** See the class documentation at the top for expected parameters */
        void loadConfig_sensorSpecific(
                const mrpt::config::CConfigFileBase& configSource,
                const std::string& iniSection);
 
   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;
        // =========================
 
        int m_camera_grab_decimator;
        int m_camera_grab_decimator_counter;
 
        int m_preview_counter;
        /** 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;
        /** 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;
        /**  @} */
 
};  // 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();
 
}  // end namespace
}  // end namespace
 
#endif