Line-Following-Robot/Input/Externals/raspicam-master/src/raspicam_cv.h

/**********************************************************
 Software developed by AVA ( Ava Group of the University of Cordoba, ava  at uco dot es)
 Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
 This software is released under BSD license as expressed below
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#ifndef RaspiCam_CV_H
#define RaspiCam_CV_H
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
namespace raspicam {

    namespace _private{
        class Private_Impl;
    }
    /**Class for using Raspberry camera as in opencv
    */
    class RaspiCam_Cv {
        _private::Private_Impl *_impl;
        public:
        /**Constructor
         */
        RaspiCam_Cv();
        /**Destructor
         */
        ~RaspiCam_Cv();
        /** Open  capturing device for video capturing
         */
        bool open ( void );
        /**
         * Returns true if video capturing has been initialized already.
         */
        bool isOpened() const;
        /**
        *Closes video file or capturing device.
        */
        void release();

        /*
         * the function 'userCallback' will be called every time new data arrived from camera,
         * with 'data' as argument.
         */
        void setUserCallback(void (*userCallback)(void*) , void* data=0);

        /**
         * Grabs the next frame from video file or capturing device.
         */
        bool grab();

        /**
        *Decodes and returns the grabbed video frame.
         */
        void retrieve ( cv::Mat& image );

        /**Returns the specified VideoCapture property
         */

        double get ( int propId );

        /**Sets a property in the VideoCapture. 
	 * 
	 * 
	 * Implemented properties:
	 * cv::CAP_PROP_FRAME_WIDTH,cv::CAP_PROP_FRAME_HEIGHT,
	 * cv::CAP_PROP_FORMAT: CV_8UC1 or CV_8UC3
	 * cv::CAP_PROP_BRIGHTNESS: [0,100]
	 * cv::CAP_PROP_CONTRAST: [0,100]
	 * cv::CAP_PROP_SATURATION: [0,100]
	 * cv::CAP_PROP_GAIN: (iso): [0,100]
	 * cv::CAP_PROP_EXPOSURE: -1 auto. [1,100] shutter speed from 0 to 33ms
     * cv::CAP_PROP_WHITE_BALANCE_RED_V : [1,100] -1 auto whitebalance
     * cv::CAP_PROP_WHITE_BALANCE_BLUE_U : [1,100] -1 auto whitebalance
     * cv::CAP_PROP_MODE : [1,7] 0 auto mode
     *
         */

        bool set ( int propId, double value );
		
		/** Sets the rotation
		0: none
		1: 90 degrees clockwise
		2: 180 degrees
		3: 270 degrees clockwise		
		*/
        void setRotation ( int nRotation );
		
		/** Sets the image effect. See RASPICAM_IMAGE_EFFECT enum. 19 values as of current implementation.
		*/
        void setImageEffect ( int nEffect );
		
		/** Enable or disable video stabilization
		*/
        void setVideoStabilization ( bool enable );
		
		/** Enable or disable horizontal flip
		*/
		void setHorizontalFlip ( bool enable );
		
		/** Enable or disable vertical flip
		*/
		void setVerticalFlip ( bool enable );
		
		/** Set exposure compensation. -10,10
		*/
		void setExposureCompensation( int value );
		
		/** Sets auto white balance. See RASPICAM_AWB enum. 9 values as of current implementation.
		*/
        void setAWB ( int nEnumValue );
		
		/** Sets metering type. See RASPICAM_METERING enum. 4 values as of current implementation.
		*/
		void setMetering ( int nEnumValue );

        /** Returns the camera identifier. We assume the camera id is the one of the raspberry obtained using raspberry serial number obtained in /proc/cpuinfo
         */
        std::string getId()const;

        private:
        cv::Mat image;
        int imgFormat;//required image format //
     };

}
#endif