vpOpenCVGrabber.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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/vpFrameGrabberException.h>
#include <visp3/core/vpImageConvert.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