gige.h

// This file is part of snark, a generic and flexible library
// for robotics research.
//
// Copyright (C) 2011 The University of Sydney
//
// snark 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 3 of the License, or (at your option) any later version.
//
// snark 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 snark. If not, see <http://www.gnu.org/licenses/>.

#ifndef SNARK_SENSORS_GIGE_H_
#define SNARK_SENSORS_GIGE_H_

#include <PvApi.h>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/function.hpp>

#include <opencv2/core/core.hpp>


namespace snark{ namespace camera{

class gige
{
    public:
        typedef std::map< std::string, std::string > attributes_type;
        
        gige( unsigned int id = 0, const attributes_type& attributes = attributes_type() );

        ~gige();

        attributes_type attributes() const;

        std::pair< boost::posix_time::ptime, cv::Mat > read();

        unsigned int id() const;

        unsigned long total_bytes_per_frame() const;

        void close();

        static std::vector< tPvCameraInfo > list_cameras();

        class callback
        {
            public:
                callback( gige& gige, boost::function< void ( std::pair< boost::posix_time::ptime, cv::Mat > ) > on_frame );

                ~callback();
                
                class impl;
                
                bool good() const;
                
            private:
                friend class gige;
                impl* pimpl_;
        };
        
    private:
        friend class callback::impl;
        class impl;
        impl* pimpl_;
};

} } // namespace snark{ namespace camera{

#endif // SNARK_SENSORS_GIGE_H_