/home/rex/ebltrunk/tools/libeblearntools/include/camera_opencv.hpp

/***************************************************************************
 *   Copyright (C) 2010 by Pierre Sermanet   *
 *   pierre.sermanet@gmail.com   *
 *   All rights reserved.
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 *     * Redistribution under a license not approved by the Open Source 
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 *        This product includes software developed at the Courant
 *        Institute of Mathematical Sciences (http://cims.nyu.edu).
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 *       derived from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESS OR IMPLIED 
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#ifndef CAMERA_OPENCV_HPP_
#define CAMERA_OPENCV_HPP_

namespace ebl {

  // constructors & initializations

  template <typename Tdata>
  camera_opencv<Tdata>::camera_opencv(int id, int height_, int width_)
    : camera<Tdata>(height_, width_) {
#ifndef __OPENCV__
  eblerror("opencv not found, install and recompile");
#else
    cout << "Initializing OpenCV camera..." << endl;
    capture = cvCaptureFromCAM(id);
    if (!capture) {
      fprintf( stderr, "ERROR: capture is NULL \n" );
      getchar();
      eblerror("failed to initialize camera_opencv");
    }
    cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width_);
    cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height_);
    cvSetCaptureProperty(capture, CV_CAP_PROP_FPS, 30);
#endif /* __OPENCV__ */
  }
  
  template <typename Tdata>
  camera_opencv<Tdata>::~camera_opencv() {
#ifdef __OPENCV__
    // release camera_opencv
    cvReleaseCapture(&capture);
#endif /* __OPENCV__ */
  }
  
  // frame grabbing

  template <typename Tdata>
  idx<Tdata> camera_opencv<Tdata>::grab() {
#ifdef __OPENCV__
    ipl_frame = cvQueryFrame(capture);
    if (!ipl_frame)
      eblerror("failed to grab frame");
    // convert ipl to idx image
    if (grabbed)
      ipl_to_idx(ipl_frame, frame);
    else // first time, allocate frame
      frame = ipl_to_idx<Tdata>(ipl_frame);
#endif /* __OPENCV__ */
    frame_id_++;
    return this->postprocess();
  }
    
} // end namespace ebl

#endif /* CAMERA_OPENCV_HPP_ */