Visual Servoing Platform version 3.6.0
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vpDirectShowGrabberImpl.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * DirectShow framegrabber Implementation.
33 *
34*****************************************************************************/
35
36#ifndef vpDirectShowGrabberImpl_hh
37#define vpDirectShowGrabberImpl_hh
38
39#ifndef DOXYGEN_SHOULD_SKIP_THIS
40
41#include <visp3/core/vpConfig.h>
42#if (defined(VISP_HAVE_DIRECTSHOW))
43
44#include <atlbase.h>
45#include <dshow.h>
46#include <qedit.h>
47
48#include <visp3/core/vpFrameGrabber.h>
49#include <visp3/core/vpFrameGrabberException.h>
50
51#include <visp3/core/vpDebug.h>
52#include <visp3/sensor/vpDirectShowDevice.h>
53#include <visp3/sensor/vpDirectShowSampleGrabberI.h>
62class VISP_EXPORT vpDirectShowGrabberImpl : public vpFrameGrabber
63{
64 static const int MAX_DELAY = 10000;
65 static const int MAX_DEVICES = 10;
66
67public:
71 /*
72 typedef enum {
73 //Known RGB formats
74 vpMEDIASUBTYPE_ARGB32 = MEDIASUBTYPE_ARGB32,
75 vpMEDIASUBTYPE_RGB32 = MEDIASUBTYPE_RGB32,
76 vpMEDIASUBTYPE_RGB24 = MEDIASUBTYPE_RGB24,
77 vpMEDIASUBTYPE_RGB555 = MEDIASUBTYPE_RGB555,
78 vpMEDIASUBTYPE_RGB565 = MEDIASUBTYPE_RGB565,
79 vpMEDIASUBTYPE_RGB8 = MEDIASUBTYPE_RGB8,
80 vpMEDIASUBTYPE_RGB4 = MEDIASUBTYPE_RGB4,
81 vpMEDIASUBTYPE_RGB1 = MEDIASUBTYPE_RGB1,
82 //Known YUV formats
83 vpMEDIASUBTYPE_AYUV = MEDIASUBTYPE_AYUV,
84 vpMEDIASUBTYPE_UYVY = MEDIASUBTYPE_UYVY,
85 vpMEDIASUBTYPE_Y411 = MEDIASUBTYPE_Y411,
86 vpMEDIASUBTYPE_Y41P = MEDIASUBTYPE_Y41P,
87 vpMEDIASUBTYPE_Y211 = MEDIASUBTYPE_Y211,
88 vpMEDIASUBTYPE_YUY2 = MEDIASUBTYPE_YUY2,
89 vpMEDIASUBTYPE_YVYU = MEDIASUBTYPE_YVYU,
90 vpMEDIASUBTYPE_YUYV = MEDIASUBTYPE_YUYV,
91 vpMEDIASUBTYPE_IF09 = MEDIASUBTYPE_IF09,
92 vpMEDIASUBTYPE_IYUV = MEDIASUBTYPE_IYUV,
93 vpMEDIASUBTYPE_YV12 = MEDIASUBTYPE_YV12,
94 vpMEDIASUBTYPE_YVU9 = MEDIASUBTYPE_YVU9
95 } vpDirectShowMediaSubtype;
96 */
97
98 vpDirectShowGrabberImpl();
99 virtual ~vpDirectShowGrabberImpl();
100
101 void open();
103 void open(vpImage<vpRGBa> &I);
104
106 void acquire(vpImage<vpRGBa> &I);
107
108 void close();
109
113 unsigned int getDeviceNumber() { return nbDevices; }
114
115 // change the capture device
116 bool setDevice(unsigned int id);
117
118 // displays a list of available devices
119 void displayDevices();
120
121 // set image size
122 bool setImageSize(unsigned int width, unsigned int height);
123
124 // set capture framerate
125 bool setFramerate(double framerate);
126
127 // set capture format
128 bool setFormat(unsigned int width, unsigned int height, double framerate);
129
130 // get capture format
131 void getFormat(unsigned int &width, unsigned int &height, double &framerate);
132
133 // set capture MediaType
134 bool setMediaType(int mediaTypeID);
135
136 // get current capture MediaType
137 int getMediaType();
138
139 // Get the available capture formats
140 bool getStreamCapabilities();
141
142private:
143 CComPtr<IGraphBuilder> pGraph; // our DS filter graph
144
145 CComPtr<ICaptureGraphBuilder2> pBuild; // the interface to the capture graph builder
146 // used to build the filter graph
147
148 CComPtr<IBaseFilter> pCapSource; // the capture source filter
149
150 CComPtr<ISampleGrabber> pGrabberI; // the sample grabber's interface and filter
151 CComPtr<IBaseFilter> pGrabberFilter;
152
153 CComPtr<IMediaControl> pControl; // The DS filter graph control interface
154 CComPtr<IMediaEvent> pEvent; // The DS filter graph event interface
155
156 vpDirectShowSampleGrabberI sgCB; // Interface used to implement the frame grabber callback
157
158 HRESULT hr; // contains the result of the last operation
159
160 static vpDirectShowDevice *deviceList; // This contains the list of the available capture devices
161 // it is shared by all the DirectShow Grabbers
162
163 static unsigned int nbDevices; // the number of available devices
164 int currentDevice; // the number of the current device
165
166 // flag to manage CoInitialize() and CoUnInitialze()
167 bool initCo;
168 // setup the directshow filtergraph with the first available device
169 bool initDirectShow();
170
171 // enumerates the different video inputs
172 bool enumerate(CComPtr<IEnumMoniker> &ppVideoInputEnum);
173
174 // selects a random video input from the enumeration and returns the
175 // associated filter
176 bool selectRandomSource(CComPtr<IEnumMoniker> &ppVideoInputEnum, CComPtr<IBaseFilter> &pCapSource);
177
178 // creates the filter graph
179 bool createGraph();
180
181 // creates the sample grabber
182 bool createSampleGrabber(CComPtr<IBaseFilter> &ppGrabberFilter);
183
184 // checks the capture filter's media type and sets flags as needed
185 bool checkSourceType(CComPtr<IPin> &pCapSourcePin);
186
187 // connects the filters as needed
188 bool connectSourceToGrabber(CComPtr<IBaseFilter> &pCapSource, CComPtr<IBaseFilter> &pGrabberFilter);
189
190 // used to convert HRESULT-associated error message to a string
191 void HRtoStr(std::string &str);
192
193 // create the list of the available devices
194 bool createDeviceList(CComPtr<IEnumMoniker> &ppVideoInputEnum);
195
196 // get the n-th device if it is available
197 bool getDevice(unsigned int n, CComPtr<IBaseFilter> &ppCapSource);
198
199 // get the first available device if any
200 unsigned int getFirstUnusedDevice(CComPtr<IBaseFilter> &ppDevice);
201
202 // removes all the filters in the graph
203 bool removeAll();
204
205 // Deletes an allocated AM_MEDIA_TYPE structure, including the format block
206 void MyDeleteMediaType(AM_MEDIA_TYPE *pmt);
207
208 // Frees the format block in an AM_MEDIA_TYPE structure
209 void MyFreeMediaType(AM_MEDIA_TYPE &mt);
210};
211
212#endif
213#endif
214#endif
Base class for all video devices. It is designed to provide a front end to video sources.
virtual void open(vpImage< unsigned char > &I)=0
virtual void acquire(vpImage< unsigned char > &I)=0
virtual void close()=0
Definition of the vpImage class member functions.
Definition vpImage.h:135