AbstractColorCamera.h

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/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob_driver
* ROS package name: cob_camera_sensors
* Description: Abstract interface for color cameras.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: May 2008
* ToDo:
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fraunhofer Institute for Manufacturing
* Engineering and Automation (IPA) nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License LGPL as
* published by the Free Software Foundation, either version 3 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 Lesser General Public License LGPL for more details.
*
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****************************************************************/


#ifndef __IPA_ABSTRACTCOLORCAMERA_H__
#define __IPA_ABSTRACTCOLORCAMERA_H__

#include "StdAfx.h"

#ifdef __LINUX__
        #include "cob_vision_utils/CameraSensorDefines.h"
        #include "cob_vision_utils/CameraSensorTypes.h"
#else
        #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorDefines.h"
        #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorTypes.h"
#endif

#include <boost/shared_ptr.hpp>
#include <sstream>
#include <opencv/cv.h>

namespace ipa_CameraSensors {

class AbstractColorCamera;
typedef boost::shared_ptr<AbstractColorCamera> AbstractColorCameraPtr;

class __DLL_LIBCAMERASENSORS__ AbstractColorCamera
{
        public: 

                struct t_ColorCameraParameters
                {
                        ipa_CameraSensors::t_cameraRole m_CameraRole;   
                        std::stringstream m_VideoFormat;                                
                        std::stringstream m_VideoMode;                                  
                        std::stringstream m_ColorMode;                                  
                        std::stringstream m_IsoSpeed;                                   
                        std::stringstream m_FrameRate;
                        std::stringstream m_Shutter;
                        std::stringstream m_WhiteBalanceU;
                        std::stringstream m_WhiteBalanceV;
                        std::stringstream m_Hue;
                        std::stringstream m_Saturation;
                        std::stringstream m_Gamma;
                        std::stringstream m_ExposureTime;       
                        std::stringstream m_Gain;
                        std::stringstream m_Brightness;
                        std::stringstream m_ImageWidth;
                        std::stringstream m_ImageHeight;
                        std::stringstream m_Interface;                          
                        std::stringstream m_IP;                                         
                };

                virtual unsigned long Init(std::string directory, int cameraIndex = 0) =0;
        
                virtual bool isInitialized() {return m_initialized;}

                virtual bool isOpen() {return m_open;}

                virtual unsigned long Open() =0;

                virtual unsigned long Close() =0; //Save intrinsic params back to File
                
                unsigned long GetColorImage(char* colorImageData, bool getLatestFrame=true) {return RET_FAILED;}

                virtual unsigned long GetColorImage(cv::Mat* colorImage, bool getLatestFrame=true)=0;

                virtual t_cameraType GetCameraType();
        
                virtual unsigned long SetProperty(t_cameraProperty* cameraProperty) =0;

                virtual unsigned long SetPropertyDefaults() =0;

                virtual unsigned long GetProperty(t_cameraProperty* cameraProperty) =0;

                virtual unsigned long PrintCameraInformation() =0;

                virtual unsigned long SaveParameters(const char* filename)=0;

                virtual unsigned long TestCamera(const char* filename);

                virtual int GetNumberOfImages() {return std::numeric_limits<int>::max();};

                virtual unsigned long SetPathToImages(std::string path) {return RET_OK;};

                virtual ~AbstractColorCamera();

        protected:
                
                bool m_initialized; 
                bool m_open;            

                t_ColorCameraParameters m_ColorCameraParameters; 

                t_cameraType m_CameraType; 

                unsigned int m_BufferSize; 
        private:

                virtual unsigned long LoadParameters(const char* filename, int cameraIndex)=0;

                virtual unsigned long SetParameters()=0;

};

__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_VirtualCam();
__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_ICCam();
__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_AxisCam();
__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_AVTPikeCam();
__DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_OpenCVCamera();


} // end namespace
#endif // __IPA_ABSTRACTCOLORCAMERA_H__