worldsim/include/wcamera.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program 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 General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifdef FARSA_USE_YARP_AND_ICUB

#ifndef WCAMERA_H
#define WCAMERA_H

#include "worldsimconfig.h"
#include "wvector.h"
#include "wmatrix.h"
#include "wquaternion.h"
#include "world.h"
#include "yarpobject.h"
#include "renderworld.h"
#include <QImage>
#include <QMutex>

class QGLPixelBuffer;

namespace farsa {

class WCamera;

class FARSA_WSIM_API RenderCamera : public QObject, public RenderWObjectContainer, public yarp::dev::DeviceDriver, public yarp::dev::IFrameGrabberImage {
    Q_OBJECT
public:
    RenderCamera( WCamera* wcamera, WObject* attachTo, unsigned int width, unsigned int height );
    ~RenderCamera();
    void moveRotatePointOfView( const wMatrix& tm );
    void initializeGL();
    void paintGL();
    virtual bool open( yarp::os::Searchable &config );
    virtual bool close( );
    virtual bool configure( yarp::os::Searchable &config );

    virtual bool getImage( yarp::sig::ImageOf<yarp::sig::PixelRgb>& image );
    virtual int height() const;
    virtual int width() const;
private slots:
    void slotRemoveObject( WObject* w );
    void slotAddObject( WObject* w );
private:
    float aspectRatio;
    wVector eyep;
    wVector atp;
    wVector upv;
    int widthv;
    int heightv;
    WCamera* wcamera;
    WObject* attachTo;
    QGLPixelBuffer* pbuffer;
    unsigned char* frameBuffer;
    yarp::sig::ImageOf<yarp::sig::PixelRgb> frameImage;
};

class FARSA_WSIM_API WCamera : public YarpObject {
    Q_OBJECT
public:
    WCamera( World* world, QString name, WObject* attachTo, unsigned int width=200, unsigned int height=200 );
    WCamera( World* world, QString name, unsigned int width=200, unsigned int height=200, const wMatrix& tm = wMatrix::identity() );
    ~WCamera();
    virtual void preUpdate();
    virtual void postUpdate();
    WObject* attachedTo() {
        return attachTo;
    };
    yarp::dev::IFrameGrabberImage* getFrameGrabber() {
        return images;
    }
private:
    RenderCamera* images;
    WObject* attachTo;
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > porty;
};

} // end namespace farsa

#endif

#endif // FARSA_USE_YARP_AND_ICUB