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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.
*/
#pragma once
#include <opencv2/core/core.hpp>
#include <memory>
#include <opencv2/highgui.hpp>
#include <string>
struct CamInfo
{
CamInfo() : res_x(0), res_y(0), fps(0) {}
int res_x;
int res_y;
int fps;
};
// ----------------------------------------------------------------------------
// Base class for cameras, calculates the frame rate
class Camera
{
public:
Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1) {}
virtual ~Camera() = 0;
// 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_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
bool get_info(CamInfo &ret);
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_fps() = 0;
virtual void _set_res() = 0;
private:
float dt_valid;
float dt_mean;
protected:
int desired_index;
int active_index;
CamInfo cam_info;
CamInfo cam_desired;
};
inline Camera::~Camera() {}
// ----------------------------------------------------------------------------
// camera based on OpenCV's videoCapture
class CVCamera : public Camera
{
public:
CVCamera() : cap(NULL) {}
~CVCamera() { stop(); }
void start() override;
void stop() override;
operator cv::VideoCapture*() { return cap; }
protected:
bool _get_frame(cv::Mat* frame) override;
void _set_fps() override;
void _set_res() override;
void _set_device_index() override;
private:
cv::VideoCapture* cap;
};
enum RotationType
{
CLOCKWISE = 0,
ZERO = 1,
COUNTER_CLOCKWISE = 2
};
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