Camera.h

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#pragma once

#include <opencv2\opencv.hpp>
#include <QThread>
#include <QSemaphore>
#include <QTime>
#include <QQueue>
#include <QImage>
#include <QMap>
#include <QMatrix4x4>
#include <QFile>

#include <ARToolKitPlus/TrackerSingleMarker.h>

using namespace cv;

struct Frame{
    Mat content;                
    QSemaphore* accessCtrl;     
    bool mono;                  
};


class Camera : public QThread
{
    Q_OBJECT

public:
    Camera(QString name, int frameWidth, int frameHeight, int targetFps, int bufferSize, QString calibrationFile);
    virtual ~Camera(void);
    void stop();                
    void stopAndDelete();       
    QString getName(){return name;}                         
    Mat getFrameMat(bool grayscale=false);                  
    QImage getFrameQImage(bool grayscale=false);            
    bool isConnected(){return connected;}                   
    int getFrameWidth(){return frameWidth;}                 
    int getFrameHeight(){return frameHeight;}               
    int getFPS(){return avgFPS;}                            
    int getTargetFPS(){return targetFps;}                   
    QString getCalibrationFile(){return calibrationFile;}   
    QMatrix4x4 getProjMat(){return projMat;}                
    QMatrix4x4 getViewMat(){return viewMat;}                
protected:
    void run();                                             
    virtual void grabFrame() = 0;                           
    QString name;                                           
    QList<Frame> frameBuffer;                               
    int bufferSize;                                         
    int maxConcurrentReads;                                 
    int frameWidth, frameHeight;                            
    int targetFps;                                          
    int curFrameIdx;                                        
    QMutex curFrameMutex;                                   
    QMutex stopMutex;                                       
    volatile bool doStop;                                   
    bool connected;                                         
    QString calibrationFile;                                
    QMatrix4x4 projMat;                                     
    QMatrix4x4 viewMat;                                     
    void submitFrame(Mat m, bool mono);                     
    //calculate fps
    QTime t;
    int captureTime;
    static const int fpsQueueLength = 32;
    QQueue<int> fpsQueue;
    int avgFPS;
    void updateFPS(int timeElapsed);
    
    QImage matToQImage(const Mat& mat);                     
public slots:
    void setViewMatrix(QMatrix4x4 viewMat){this->viewMat = viewMat;}    
    virtual void setExposure(int exposure) = 0;                         
    virtual void setGain(int gain) = 0;                                 
signals:
    void newFrame();                
    void newFps(int fps);           
};