VirtualColorCam.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: Virtual color camera representation.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: Jan 2009
* 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.
*
* You should have received a copy of the GNU Lesser General Public
* License LGPL along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/
 


#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__