Camera.hpp

//Camera.hpp
// Created on: Apr 19, 2015
//     Author: Hafez Farazi <farazi@ais.uni-bonn.de>

#pragma once
#include <opencv2/opencv.hpp>
#include <sys/ioctl.h>
#include <linux/videodev2.h>
#include <stdio.h>
#include <fcntl.h>
#include <ros/ros.h>
#include <vision_module/Tools/Parameters.hpp>
#include <vision_module/Tools/MatPublisher.hpp>
#include <vision_module/Inputs/ICamera.hpp>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
using namespace cv;

class Camera: public ICamera
{
private:
    bool destroyed;
    VideoCapture cap;
    char devStr[255];
    char paramDefStr[512];
    char paramStr[512];
    char paramOffStr[512];
    int devNumber;
    ros::Time futureImageTime;
    int width;
    int height;
    long int failCount;
    long int successCount;
    ros::NodeHandle nh;
    MatPublisher takenImg_pub;
    ros::WallTime lastImgPublish;
    double imgPublishTime;
    bool shouldPublishNow;
public:
    inline Camera() :destroyed(false),
            devNumber(-1),width(-1),height(-1),failCount(0),successCount(0),nh("~"),takenImg_pub("/vision/takenImg"),shouldPublishNow(false)
    {
        ros::NodeHandle nh;
        lastImgPublish=ros::WallTime::now();
        nh.param("/vision/imgPublishTime",imgPublishTime,1.0);
        rawImageTime = ros::Time::now();
        futureImageTime=ros::Time(0);
    }

    inline void DeInitCameraDevice()
    {
        if (!destroyed)
        {
            if (-1 == system(paramOffStr))
            {
                cout<<"Can't find or set v4l2-ctrl values!"<<endl;
            }
            cap.release();
            destroyed=true;
        }
    }

    inline virtual ~Camera()
    {
        DeInitCameraDevice();
    }
    inline bool IsReady()
    {
        return true;
    }
    inline bool IsDummy()
    {
        return false;
    }
    bool InitCameraDevice(bool);
    double TakeCapture();

    bool changeDevNum(bool first, bool &changed);
    bool SetCameraProp();
    bool SetCameraSetting();

    inline bool ShouldPublish()
    {
        bool result=shouldPublishNow;
        shouldPublishNow=false;
        return result;
    }
};