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+#ifndef video4linux_hh
+#define video4linux_hh
+// video4linux.hh
+// robert - programme du robot 2005. {{{
+//
+// Copyright (C) 2005 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 2 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, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "image/image_reader.hh"
+
+/// Classe d'accés à Video4Linux. C'est un ImageReader.
+class Video4Linux : public ImageReader
+{
+ private:
+ int fd_;
+ int width_, height_;
+ unsigned bufSize_;
+ Image::PixelFormat pixelFormat_;
+ bool rgb_;
+ int brightness_, contrast_;
+ unsigned bpp_;
+ public:
+ /// Constructeur.
+ Video4Linux (const char *dev, Image::PixelFormat pixelFormat,
+ int brightness = 58000);
+ /// Destructeur.
+ ~Video4Linux (void);
+ /// Récupère les paramètres de l'image.
+ void getParam (int &width, int &height,
+ Image::PixelFormat &pixelFormat) const
+ { width = width_; height = height_; pixelFormat = pixelFormat_; }
+ /// Lit une image, lance une exception en cas d'erreur.
+ void read (uint8_t *buf, unsigned size);
+ /// Calibre la caméra.
+ void calibrate (void);
+ /// Attend qu'une image soit disponible, retourne true si oui.
+ bool wait (int timeout = -1);
+ protected:
+ /// Ouvre le périphérique.
+ void open (const char *dev);
+ /// Ferme le périphérique.
+ void close (void);
+};
+
+#endif // video4linux_hh