PiCam.hpp

#include <functional>

#include "bcm_host.h"

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"

#include <semaphore.h>

class PiCam {
public:
    static const int VIDEO_OUTPUT_BUFFERS_NUM = 3;
    static const int VIDEO_FRAME_RATE_NUM = 30;
    static const int VIDEO_FRAME_RATE_DEN = 1;

    PiCam(unsigned int width, unsigned int height, std::function<void(cv::Mat)> callback);

    ~PiCam();


    void start();

    int port;
    unsigned int width;
    unsigned int height;
    cv::Mat frame;
    std::function<void(cv::Mat)> callback;
private:
    static void video_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer);
    MMAL_COMPONENT_T*   cameraComponent;
    MMAL_PORT_T*        previewPort;
    MMAL_PORT_T*        videoPort;
    MMAL_PORT_T*        stillPort;
    // ?
    MMAL_POOL_T*        videoPool;

    VCOS_SEMAPHORE_T    frame_semaphore;

    float framerate;
};