BasicCam.h

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#ifndef BASICCAM_H
#define BASICCAM_H
 
#include "../../interfaces/AutonomyThread.hpp"
#include "../../interfaces/BasicCamera.hpp"
 
#include <opencv2/opencv.hpp>
 
 
 
class BasicCam : public BasicCamera
{
    public:
        // Declare public methods and member variables.
 
        BasicCam(const std::string szCameraPath,
                 const int nPropResolutionX,
                 const int nPropResolutionY,
                 const int nPropFramesPerSecond,
                 const PIXEL_FORMATS ePropPixelFormat,
                 const double dPropHorizontalFOV,
                 const double dPropVerticalFOV,
                 const bool bEnableRecordingFlag,
                 const int nNumFrameRetrievalThreads = 10);
        BasicCam(const int nCameraIndex,
                 const int nPropResolutionX,
                 const int nPropResolutionY,
                 const int nPropFramesPerSecond,
                 const PIXEL_FORMATS ePropPixelFormat,
                 const double dPropHorizontalFOV,
                 const double dPropVerticalFOV,
                 const bool bEnableRecordingFlag,
                 const int nNumFrameRetrievalThreads = 10);
        ~BasicCam();
        std::future<bool> RequestFrameCopy(cv::Mat& cvFrame) override;
 
        // Getters.
 
        bool GetCameraIsOpen() override;
        std::string GetCameraLocation() const override;
 
    private:
        // Declare private member variables.
        // Basic Camera specific.
        cv::VideoCapture m_cvCamera;
 
        // Mats for storing frames.
        cv::Mat m_cvFrame;
 
        // Declare private methods.
        void ThreadedContinuousCode() override;
        void PooledLinearCode() override;
};
#endif