YarpOpenraveGrabber.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_OPENRAVE_GRABBER_HPP__
#define __YARP_OPENRAVE_GRABBER_HPP__
 
#include <yarp/dev/DeviceDriver.h>
 
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IFrameGrabberControls.h>
 
#include <yarp/dev/IVisualParams.h>
 
#include <openrave/openrave.h>
 
#include <boost/smart_ptr/shared_ptr.hpp>
 
#include "YarpOpenraveBase.hpp"
 
namespace roboticslab
{
 
class YarpOpenraveGrabber : YarpOpenraveBase,
                            public yarp::dev::DeviceDriver,
                            public yarp::dev::IFrameGrabberControls,
                            public yarp::dev::IFrameGrabberImage,
                            public yarp::dev::IRgbVisualParams
{
public:
    // ------- DeviceDriver declarations. Implementation in DeviceDriverImageImpl.cpp -------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // ------- IFrameGrabberControls declarations. Implementation in IFrameGrabberControlsImpl.cpp -------
    bool getCameraDescription(CameraDescriptor *camera) override;
    bool hasFeature(int feature, bool *hasFeature) override;
    bool setFeature(int feature, double value) override;
    bool getFeature(int feature, double *value) override;
    bool setFeature(int feature, double  value1, double  value2) override;
    bool getFeature(int feature, double *value1, double *value2) override;
    bool hasOnOff(int feature, bool *HasOnOff) override;
    bool setActive(int feature, bool onoff) override;
    bool getActive(int feature, bool *isActive) override;
    bool hasAuto(int feature, bool *hasAuto) override;
    bool hasManual(int feature, bool *hasManual) override;
    bool hasOnePush(int feature, bool *hasOnePush) override;
    bool setMode(int feature, FeatureMode mode) override;
    bool getMode(int feature, FeatureMode *mode) override;
    bool setOnePush(int feature) override;
 
    // ------- IFrameGrabberImage declarations. Implementation in IFrameGrabberImageImpl.cpp -------
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image) override;
    int height() const override;
    int width() const override;
 
    // ------- IRgbVisualParams declarations. Look at IVisualParams.h for documentation. Implementation in IFrameGrabberImageImpl.cpp -------
    int getRgbHeight() override;
    int getRgbWidth() override;
    bool getRgbSupportedConfigurations(yarp::sig::VectorOf<yarp::dev::CameraConfig> &configurations) override { return true; }
    bool getRgbResolution(int &width, int &height) override { return true; }
    bool setRgbResolution(int width, int height) override { return true; }
    bool getRgbFOV(double &horizontalFov, double &verticalFov) override { return true; }
    bool setRgbFOV(double horizontalFov, double verticalFov) override { return true; }
    bool getRgbIntrinsicParam(yarp::os::Property &intrinsic) override { return true; }
    bool getRgbMirroring(bool &mirror) override { return true; }
    bool setRgbMirroring(bool mirror) override { return true; }
 
private:
    // General Grabber parameters
    int _height, _width;
 
    // OpenRAVE
    OpenRAVE::SensorBasePtr sensorBasePtr;
    boost::shared_ptr<OpenRAVE::SensorBase::CameraSensorData> sensorDataPtr;
    boost::shared_ptr<OpenRAVE::SensorBase::CameraGeomData> modGeomDataPtr;
 
    // YARP
    CameraDescriptor cameraDescriptor;
};
 
} // namespace roboticslab
 
#endif // __YARP_OPENRAVE_GRABBER_HPP__