CameraCapture.hpp

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#pragma once
 
#include <chrono>
#include <memory>
#include <opencv2/opencv.hpp>
#include <string>
 
struct FrameEvent {
    cv::Mat image_data;  
    long long timestamp_ms;  
    std::chrono::steady_clock::time_point capture_timestamp;  
};
 
class CameraCaptureBackend;
 
class CameraCapture {
public:
    enum class BackendPreference {
        Auto,  
        OpenCvVideoCapture,  
        Libcamera2OpenCv,  
    };
 
    struct Options {
        int camera_index = 0;  
        BackendPreference backend_preference = BackendPreference::Auto;  
        float focus_position = -1.0f;  
    };
 
    explicit CameraCapture(int camera_index = 0);
 
    explicit CameraCapture(Options options);
 
    ~CameraCapture();
 
    CameraCapture(const CameraCapture&) = delete;
    CameraCapture& operator=(const CameraCapture&) = delete;
    CameraCapture(CameraCapture&&) = delete;
    CameraCapture& operator=(CameraCapture&&) = delete;
 
    bool waitForNextFrame(FrameEvent& output_event);
 
    std::string backendName() const;
 
    std::string backendImplementation() const;
 
    BackendPreference backendPreference() const noexcept;
 
    bool setFocusPosition(float position);
 
    float getFocusPosition() const;
 
private:
    std::unique_ptr<CameraCaptureBackend> backend_;
    BackendPreference backend_preference_;
    float current_focus_position_ = -1.0f;
};