camera.h

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#ifndef _KIPR_CAMERA_CAMERA_H_
#define _KIPR_CAMERA_CAMERA_H_
 
#include "kipr/geometry/geometry.h"
 
#ifdef __cplusplus
extern "C"
{
#endif
 
typedef struct pixel
{
  int r;  
  int g;  
  int b;  
} pixel;
 
enum Resolution
{
  LOW_RES,
  MED_RES,
  HIGH_RES,
  TELLO_RES,
  NATIVE_RES
};
 
enum Model
{
  WHITE_2016,
  BLACK_2017,
  TELLO
};
 
int camera_open();
 
int camera_open_black();
 
int camera_open_at_res(enum Resolution res);
 
int camera_open_device(int number, enum Resolution res);
 
int camera_open_device_model_at_res(int number, enum Model model, enum Resolution res);
 
int camera_load_config(const char *name);
 
int get_camera_width(void);
 
int get_camera_height(void);
 
int camera_update(void);
 
pixel get_camera_pixel(point2 p);
 
int get_channel_count(void);
 
int get_object_count(int channel);
 
const char *get_object_data(int channel, int object);
 
int get_code_num(int channel, int object);
 
int get_object_data_length(int channel, int object);
 
double get_object_confidence(int channel, int object);
 
int get_object_area(int channel, int object);
 
rectangle get_object_bbox(int channel, int object);
int get_object_bbox_ulx(int channel, int object);
int get_object_bbox_uly(int channel, int object);
int get_object_bbox_brx(int channel, int object);
int get_object_bbox_bry(int channel, int object);
int get_object_bbox_width(int channel, int object);
int get_object_bbox_height(int channel, int object);
 
point2 get_object_centroid(int channel, int object);
int get_object_centroid_column(int channel, int object);
int get_object_centroid_x(int channel, int object);
int get_object_centroid_row(int channel, int object);
int get_object_centroid_y(int channel, int object);
 
point2 get_object_center(int channel, int object);
int get_object_center_column(int channel, int object);
int get_object_center_x(int channel, int object);
int get_object_center_row(int channel, int object);
int get_object_center_y(int channel, int object);
 
void camera_close();
 
void set_camera_config_base_path(const char *const path);
 
const unsigned char *get_camera_frame_row(unsigned row);
 
const unsigned char *get_camera_frame();
 
unsigned get_camera_element_size();
 
#ifdef __cplusplus
}
#endif
 
#endif