image.h

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/*
 * Copyright (C) 2018 dimercur
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef _IMAGE_H_
#define _IMAGE_H_

#ifndef __STUB__
#ifndef __FOR_PC__
#include <raspicam/raspicam_cv.h>
#else
#include <opencv2/highgui/highgui.hpp>
#endif /* __FOR_PC__ */
#else
#include <opencv2/highgui/highgui.hpp>
#endif
#include "opencv2/imgproc/imgproc.hpp"
#include <unistd.h>
#include <math.h>

#define WIDTH 480 //1280 1024 640 480
#define HEIGHT 360 // 960 768 480 360

using namespace std;
using namespace cv;
#ifndef __STUB__
#ifndef __FOR_PC__
using namespace raspicam;
#endif /* __FOR_PC__ */
#endif

typedef Mat Image;
#ifndef __STUB__
#ifndef __FOR_PC__
typedef RaspiCam_Cv Camera;
#else
typedef int Camera;
#endif /* __FOR_PC__ */
#else
typedef int Camera;
#endif

typedef Rect Arene;
typedef vector<unsigned char> Jpg;

struct Position {
    Point center;
    Point direction;
    float angle;
};

int open_camera(Camera *camera);

void close_camera(Camera *camera);

void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);

int detect_arena(Image *monImage, Arene *rectangle);

void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);

int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);

void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);

void compress_image(Image *imgInput, Jpg *imageCompress);

#endif // _IMAGE_H_