capture.h

/* -- 2007-05-07 -- 
 *  ardev - an augmented reality library for robot developers
 *  Copyright 2005-2007 - Toby Collett (ardev _at_ plan9.net.nz)
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library 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 for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 
 *
 */
#ifndef ARDEV_CAPTURE_H
#define ARDEV_CAPTURE_H

/***************************************************************************
 *            capture.h
 *
 *  Wed Apr 21 15:34:26 2004
 *  Copyright  2004  Toby Collett
 *  Email
 ****************************************************************************/

#include <ardev/ardevconfig.h>
#include <ardev/ardev.h>

#include <sys/time.h>
#include <linux/videodev.h>
#include <libthjc/misc.h>

#ifdef HAVE_DC1394
#include <libraw1394/raw1394.h>
#include <dc1394/control.h>
#endif



class CaptureFile : public CaptureObject
{
        public:
                CaptureFile(const char * FileName, int Delay=0);
                const ARImage & GetFrame();
                int GetMaxWidth();
                int GetMaxHeight();
        private:
                char * FileName; 
                int Delay; 
                ARImage  Frame; 
};


class CaptureV4L : public CaptureObject
{
        public:
                CaptureV4L(const char * _VideoDev ="/dev/video0", int _width=768, int _height=480, int _channel=1, int _format=1, int _tuner=-1);
                virtual ~CaptureV4L() {free(VideoDev);};
                const ARImage & GetFrame();
                bool Fresh() {return !Blocking;};
                int GetMaxWidth();
                int GetMaxHeight();
        private:
                char * VideoDev; 
                int width; 
                int height; 
                int channel; 
                int format; 
                //int tuner; ///< The v4l tuner to use (-1 for none)
                
                int NumFrames;
                int CurrentFrame;
        
                bool Open; 
                int vid_fd; 
                unsigned char * uservmem; 
                struct video_mmap m_vmem; 
                bool Blocking;
                
                ARImage Frame; 
};

#ifdef HAVE_DC1394

class CaptureDC1394 : public CaptureObject
{
        public:
                CaptureDC1394();
                virtual ~CaptureDC1394();

                virtual int Initialise(bool Active = true);
                virtual void Terminate();


                const ARImage & GetFrame();
                bool Fresh() {return !Blocking;};
                int GetMaxWidth();
                int GetMaxHeight();
        private:
                bool Open; 
                bool Blocking;
                
                dc1394camera_t * camera;
                dc1394featureset_t features;
                dc1394format7modeset_t modeset;
                //unsigned int channel;
                dc1394speed_t speed;
                
                StopWatch Timer;
                
                ARImage Frame; 
};
#endif

#endif

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