Robotics Service Bus

#pragma once

//#define USE_IMAGES_INSTEAD_OF_IMAGEFIXATIONS

#include <iostream>

#include <cstdlib>

#include <rsb/Factory.h>

#include <opencv/cv.h>

#include <opencv/cvaux.h>

#include <opencv/highgui.h>

#include <rsb/Listener.h>

#include <rsb/QueuePushHandler.h>

#include <rsb/converter/Repository.h>

#include <rsb/Informer.h>

#include <rsc/threading/SynchronizedQueue.h>

#include <rst/converters/opencv/IplImageConverter.h>

#include <ChessBase\FixationConverter.h>

#include <ChessBase\ImageFixationConverter.h>

using namespace cv;

using namespace std;

class DataReader

{

public:

        DataReader(void);

        ~DataReader(void);

        int initRSB(string inScope);

        int initVidCap(string videoPath,int skipframes);

        int readImageFile(Mat* image);

#ifdef USE_IMAGES_INSTEAD_OF_IMAGEFIXATIONS

        int readImageRSB(Mat* image);

        inline boost::shared_ptr<rsc::threading::SynchronizedQueue<boost::shared_ptr<IplImage> > > getImageQueue() {

                return imageQueue;

        }

#else

        int readImageFixationRSB(Mat* image, Fixation* fixation);

        inline boost::shared_ptr<rsc::threading::SynchronizedQueue<boost::shared_ptr<ImageFixation> > > getImageFixationQueue() {

                return imageFixationQueue;

        }

#endif

private:

        cv::VideoCapture vidCap;

#ifdef USE_IMAGES_INSTEAD_OF_IMAGEFIXATIONS

        boost::shared_ptr<rsc::threading::SynchronizedQueue<boost::shared_ptr<IplImage> > > imageQueue;

        rsb::converter::Converter<string>::Ptr imageConverter;

#else

        boost::shared_ptr<rsc::threading::SynchronizedQueue<boost::shared_ptr<ImageFixation> > > imageFixationQueue;

        rsb::converter::Converter<string>::Ptr imageConverter; // Also needed!

        rsb::converter::Converter<string>::Ptr imageFixationConverter;

#endif

        rsb::ListenerPtr imageListener;

};