1 files changed, 139 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h
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+++ b/FTNoIR_Tracker_PT/camera.h
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+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <opencv2/opencv.hpp>
+#include "videoInput/videoInput.h"
+#include <boost/shared_ptr.hpp>
+#include <string>
+
+// ----------------------------------------------------------------------------
+void get_camera_device_names(std::vector<std::string>& device_names);
+
+
+// ----------------------------------------------------------------------------
+struct CamInfo
+{
+	CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
+
+	int res_x;
+	int res_y;
+	int fps;
+	float f;	// (focal length) / (sensor width)
+};
+
+// ----------------------------------------------------------------------------
+// Base class for cameras, calculates the frame rate
+class Camera
+{
+public:
+	Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
+	virtual ~Camera() {}
+
+	// start/stop capturing
+	virtual void start() = 0;
+	virtual void stop() = 0;
+	void restart() { stop(); start(); }
+
+	// calls corresponding template methods and reinitializes frame rate calculation
+	void set_device_index(int index);
+	void set_f(float f);
+	void set_fps(int fps);
+	void set_res(int x_res, int y_res);
+
+	// gets a frame from the camera, dt: time since last call in seconds
+	bool get_frame(float dt, cv::Mat* frame);
+
+	// WARNING: returned references are valid as long as object
+	const CamInfo& get_info() const    { return cam_info; }
+	const CamInfo& get_desired() const { return cam_desired; }
+
+protected:
+	// get a frame from the camera
+	virtual bool _get_frame(cv::Mat* frame) = 0;
+
+	// update the camera using cam_desired, write res and f to cam_info if successful
+	virtual void _set_device_index() = 0;
+	virtual void _set_f() = 0;
+	virtual void _set_fps() = 0;
+	virtual void _set_res() = 0;
+
+	bool active;
+	int desired_index;
+	int active_index;
+	CamInfo cam_info;
+	CamInfo cam_desired;
+	float dt_valid;
+	float dt_mean;
+};
+
+
+// ----------------------------------------------------------------------------
+// camera based on OpenCV's videoCapture
+/*
+class CVCamera : public Camera
+{
+public:
+	CVCamera() : cap(NULL) {}
+	~CVCamera() { stop(); }
+
+	virtual void start();
+	virtual void stop();
+
+protected:
+	virtual bool _get_frame(cv::Mat* frame);
+	virtual void _set_index();
+	virtual void _set_f();
+	virtual void _set_fps();
+	virtual void _set_res();
+
+	CvCapture* cap;
+};
+*/
+
+// ----------------------------------------------------------------------------
+// Camera based on the videoInput library
+class VICamera : public Camera
+{
+public:
+	VICamera();
+	~VICamera() { stop(); }
+
+	virtual void start();
+	virtual void stop();
+
+protected:
+	virtual bool _get_frame(cv::Mat* frame);
+	virtual void _set_device_index();
+	virtual void _set_f();
+	virtual void _set_fps();
+	virtual void _set_res();
+
+	videoInput VI;
+	cv::Mat new_frame;
+	unsigned char* frame_buffer;
+};
+
+
+// ----------------------------------------------------------------------------
+class FrameRotation 
+{
+public:
+	typedef enum Rotation
+	{
+		CLOCKWISE = -1,
+		ZERO = 0,
+		COUNTER_CLOCKWISE = 1
+	};
+	Rotation rotation;
+
+	cv::Mat rotate_frame(cv::Mat frame);
+};
+
+#endif //CAMERA_H