VirtualColorCam.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */



#ifndef __IPA_VIRTUALCOLORCAM_H__
#define __IPA_VIRTUALCOLORCAM_H__

#include "StdAfx.h"
#ifdef __LINUX__
        #include "cob_camera_sensors/AbstractColorCamera.h"
#else
        #include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractColorCamera.h"
#endif

#include <cstdlib>
#include <boost/filesystem.hpp>

namespace ipa_CameraSensors {
class __DLL_LIBCAMERASENSORS__ VirtualColorCam : public AbstractColorCamera
{
        private:
                int m_ImageWidth;
                int m_ImageHeight;

                std::string m_CameraDataDirectory; 
                int m_CameraIndex; 

                std::vector<std::string> m_ColorImageFileNames;

                unsigned int m_ImageCounter; 

                unsigned long LoadParameters(const char* filename, int cameraIndex);

                unsigned long SetParameters(){return RET_OK;};

        public:

                VirtualColorCam ();
                ~VirtualColorCam ();

                //*******************************************************************************
                // AbstractColorCamera interface implementation
                //*******************************************************************************

                unsigned long Init(std::string directory, int cameraIndex = 0);

                unsigned long Open();
                unsigned long Close();

                unsigned long GetColorImage(char* colorImageData, bool getLatestFrame);
                unsigned long GetColorImage(cv::Mat* image, bool getLatestFrame);

                unsigned long SaveParameters(const char* filename);             //speichert die Parameter in das File
                unsigned long SetProperty(t_cameraProperty* cameraProperty);
                unsigned long SetPropertyDefaults();
                unsigned long GetProperty(t_cameraProperty* cameraProperty);
                unsigned long PrintCameraInformation();
                unsigned long TestCamera(const char* filename);

                //*******************************************************************************
                // Camera specific functions
                //*******************************************************************************

                int GetNumberOfImages();

                unsigned long SetPathToImages(std::string path);

};

__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_VirtualCam();

} // end namespace ipa_CameraSensors

#endif //__IPA_VIRTUALCOLORCAM_H__