Camera.h

#pragma once
 
#include "../world_interface/data.h"
#include "CameraParams.h"
 
#include <memory>
#include <mutex>
#include <string>
#include <thread>
 
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>


namespace cam {


class Camera {
private:
    std::shared_ptr<cv::Mat> _frame;
    std::shared_ptr<uint32_t> _frame_num;
    std::shared_ptr<robot::types::datatime_t> _frame_time;
    std::shared_ptr<cv::VideoCapture> _capture;
    std::string _name;
    std::string _description;
    std::shared_ptr<std::mutex> _frame_lock;
    std::shared_ptr<std::mutex> _capture_lock;
    std::shared_ptr<std::thread> _thread;
    CameraParams _intrinsic_params;
    cv::Mat _extrinsic_params;
    std::shared_ptr<bool> _running;
    void captureLoop();
    void init(const cv::Mat& extrinsic_params);
 
public:
    Camera();
    bool open(robot::types::CameraID camera_id, CameraParams intrinsic_params = CameraParams(),
              cv::Mat extrinsic_params = cv::Mat());
    Camera(robot::types::CameraID camera_id, std::string name, std::string description = "",
           CameraParams intrinsic_params = CameraParams(),
           cv::Mat extrinsic_params = cv::Mat());
    Camera(const Camera& other);
    std::string getGSTPipe(robot::types::CameraID camera_id);
    bool isOpen() const;
    bool hasNext(uint32_t last_frame_num) const;
    bool next(cv::Mat& frame, uint32_t& frame_num) const;
    bool next(cv::Mat& frame, uint32_t& frame_num, robot::types::datatime_t& frame_time) const;
    bool hasIntrinsicParams() const;
    bool hasExtrinsicParams() const;
    CameraParams getIntrinsicParams() const;
    cv::Mat getExtrinsicParams() const;
    std::string getDescription() const;
    std::string getName() const;
    void setName(std::string new_name);
    void setDescription(std::string new_description);
};

} // namespace cam