vpOpenCVGrabber.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Cameras video capture using OpenCV library.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#include <visp3/sensor/vpOpenCVGrabber.h>

#if ( defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x020408))

#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpFrameGrabberException.h>

#include <iostream>
#include <math.h>

vpOpenCVGrabber::vpOpenCVGrabber()
  : capture(NULL), DeviceType(0), flip(false)
{
    // public memebers
    init = false;

    // protected members
    width = height = 0;
}


vpOpenCVGrabber::~vpOpenCVGrabber( )
{
    close();
}


void vpOpenCVGrabber::open()
{

  capture = cvCreateCameraCapture(DeviceType);
    
    if (capture != NULL)
    {
        init = true;
    }

    else
    {
        close();
        throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
            "Initialization not done : camera already used or no camera found") );
    }
}


void vpOpenCVGrabber::open(vpImage<unsigned char> &/*I*/)
{
    open();
}


void vpOpenCVGrabber::open(vpImage<vpRGBa> &/*I*/)
{
    open();
}


void vpOpenCVGrabber::acquire(vpImage<unsigned char> &I)
{
    IplImage *im;

    if (init==false)
    {
        close();
        throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
                     "Initialization not done") );
    }

    cvGrabFrame(capture);
    im = cvRetrieveFrame(capture);
    vpImageConvert::convert(im, I, flip);
}

void vpOpenCVGrabber::acquire(vpImage<vpRGBa> &I)
{
    IplImage *im;

    if (init==false)
    {
        close();
        throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
                     "Initialization not done") );
    }

    cvGrabFrame(capture);
    im = cvRetrieveFrame(capture);
    vpImageConvert::convert(im, I, flip);
}

IplImage* vpOpenCVGrabber::acquire()
{
  IplImage *im;

  if (init==false)
  {
    close();
    throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
             "Initialization not done") );
  }

  cvGrabFrame(capture);
  im = cvRetrieveFrame(capture);
  return im;
}

void vpOpenCVGrabber::close()
{
    init = false;
    cvReleaseCapture( &capture );
    capture = NULL;
}


void vpOpenCVGrabber::getFramerate(double & framerate)
{
    framerate = cvGetCaptureProperty(capture, CV_CAP_PROP_FPS);
}


void vpOpenCVGrabber::setFramerate(const double framerate)
{
    cvSetCaptureProperty(capture, CV_CAP_PROP_FPS, framerate);
}


void vpOpenCVGrabber::setWidth(const unsigned int w)
{
  if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, w))
    {
        close();
        vpERROR_TRACE("Impossible to set the size of the grabber");
        throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
                                        "Impossible to set the size of the grabber") );
    }

  this->width = w;
}

void vpOpenCVGrabber::setHeight(const unsigned int h)
{
  if ( cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, h))
    {
        close();
        vpERROR_TRACE("Impossible to set the size of the grabber");
        throw (vpFrameGrabberException(vpFrameGrabberException::initializationError,
                                        "Impossible to set the size of the grabber") );
    }

  this->height = h;
}

void vpOpenCVGrabber::setDeviceType(int type)
{
    DeviceType = type;
    
    if ( DeviceType != 0 && DeviceType != 100  &&DeviceType != 200 && DeviceType != 300)
    {
        vpTRACE("The expected type of device may be unknown.");
    }
}


void vpOpenCVGrabber::setFlip(bool flipType)
{
    flip = flipType;
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_sensor.a(vpOpenCVGrabber.cpp.o) has no symbols
void dummy_vpOpenCVGrabber() {};
#endif