CaptureCamera.hpp

// Copyright (C) 2006 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#ifndef __CAPTURECAMERA_HPP__
#define __CAPTURECAMERA_HPP__

#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Command.hpp>

#include <rtt/TimeService.hpp>
#include <rtt/Time.hpp>

#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <ocl/OCL.hpp>

namespace OCL
{

    class CaptureCamera : public RTT::TaskContext
    {

    public:
        CaptureCamera(std::string name);
        virtual ~CaptureCamera();
        virtual bool configureHook();
        virtual bool startHook();
        virtual void updateHook();
        virtual void cleanupHook();

    protected:
        RTT::WriteDataPort<IplImage>        _image;
        RTT::WriteDataPort<RTT::TimeService::ticks> _capture_time;
        RTT::Command<bool(void)>            _newImage;
        RTT::Command<bool(void)>            _setProperties;

        RTT::Property<int>                  _camera_index;
        RTT::Property<std::string>          _video_driver;
        RTT::Property<int>                  _capture_mode;
        RTT::Property<int>                  _capture_shutter;
        RTT::Property<int>                  _capture_gain;
        RTT::Property<int>                  _capture_convert;
        RTT::Property<double>               _capture_fps;
        RTT::Property<int>                  _capture_width;
        RTT::Property<int>                  _capture_height;
        RTT::Property<bool>                 _show_time;
        RTT::Property<bool>                 _show_image;

    private:
        virtual bool updateImage();
        virtual bool updateImageFinished()const;
        virtual bool setProperties();
        virtual bool setPropertiesFinished()const;

        CvCapture                            *_capture;
        RTT::TimeService::ticks             _timestamp;
        RTT::Seconds                        _elapsed;

        IplImage*                           _frame;
        bool _update;
        bool                                _update_properties;
    };
}//namespace

#endif // CAPTURECAMERA_HPP

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