add ask user in usb_cam functions

src/sensors/usb_cam/usb_cam.cpp

@@ -6,7 +6,33 @@ SensorCamera::SensorCamera(void)
 {}
 
 SensorCamera::~SensorCamera(void)
-{}
+{
+	release();
+}
+
+int askUserSource(const vision_utils::SensorCameraPtr& _sen, int argc, char** argv)
+{
+	// parsing input params
+	if (argc < 2)
+	{
+		std::cout << "Please use\n\t./test_opencv <arg> "
+				"\nwith "
+				"\n\targ = <path/videoname.mp4> for video input "
+				"\n\targ = 0 for camera input." << std::endl;
+		return 0;
+	}
+	else if ( isdigit( int(*argv[1]) ) )
+	{
+		_sen->open( atoi(argv[1]) );
+		std::cout << "Input stream from camera " << argv[1] << std::endl;
+	}
+	else
+	{
+		_sen->open(argv[1]);
+		std::cout << "Input video file: " << argv[1] << std::endl;
+	}
+	return 1;
+}
 
 } /* namespace vision_utils */
 

src/sensors/usb_cam/usb_cam.h

@@ -38,7 +38,15 @@ class SensorCamera : public SensorBase {
 	 	  * Returns true if the camera is correctly opened
 	 	  *
 	 	  */
-	 	 bool open(const int& _cam_num);
+	 	bool open(const int& _cam_num);
+	 	bool open(const char * _filename);
+
+	 	 /**
+	 	  * \brief Release camera
+	 	  *
+	 	  * Closes video file or capturing device.
+	 	  */
+	 	void release(void);
 
 	 	 /**
 	 	  * \brief Get image
@@ -91,6 +99,23 @@ inline bool SensorCamera::open(const int& _cam_num)
     return true;
 }
 
+inline bool SensorCamera::open(const char * _filename)
+{
+    cv::VideoCapture camera(_filename);
+    if (!camera.isOpened())  // check if we succeeded
+    {
+        std::cerr << "[" << getName() << "]: ERROR opening file " << _filename << std::endl;
+        return false;
+    }
+    vidcapture_ = camera;
+    return true;
+}
+
+inline void SensorCamera::release(void)
+{
+	vidcapture_.release();
+}
+
 inline cv::Mat SensorCamera::getImage(void)
 {
 	cv::Mat img;
@@ -125,6 +150,8 @@ inline SensorBasePtr SensorCamera::create(const std::string& _unique_name, const
     return sen_ptr;
 }
 
+int askUserSource(const vision_utils::SensorCameraPtr& _sen, int argc, char** argv);
+
 } /* namespace vision_utils */
 
 #endif /* _USB_CAM_H_ */

src/test/gtest_sensor_usb_cam.cpp

@@ -6,6 +6,7 @@ std::string sen_name = "USB_CAM";
 std::string vu_root = _VU_ROOT_DIR;
 
 int cam_num = 0;
+std::string filename = vu_root + "/src/test/data/test_usb_cam.mp4";
 
 TEST(SensorUsbCam, constructor)
 {
@@ -22,6 +23,36 @@ TEST(SensorUsbCam, constructor)
     ASSERT_TRUE(sen_name.compare(sen_ptr->getName() ) == 0);
 }
 
+TEST(SensorUsbCam, openCAM)
+{
+	vision_utils::IntrinsicsCameraPtr params = std::make_shared<vision_utils::IntrinsicsCamera>();
+	std::string sen_name = "USB_CAM";
+	vision_utils::SensorBasePtr sen_b_ptr = vision_utils::setupSensor(sen_name, sen_name, params);
+#ifdef USING_YAML
+	std::string yaml_file_params = vu_root + "/src/test/data/base_classes.yaml";
+	sen_name = vision_utils::readYamlType(yaml_file_params, "sensor");
+	sen_b_ptr = vision_utils::setupSensor(sen_name, sen_name, yaml_file_params);
+#endif
+	vision_utils::SensorCameraPtr sen_ptr = std::static_pointer_cast<vision_utils::SensorCamera>(sen_b_ptr);
+    std::cout << "             ";
+	ASSERT_TRUE(sen_ptr->open(cam_num));
+}
+
+TEST(SensorUsbCam, openFILE)
+{
+	vision_utils::IntrinsicsCameraPtr params = std::make_shared<vision_utils::IntrinsicsCamera>();
+	std::string sen_name = "USB_CAM";
+	vision_utils::SensorBasePtr sen_b_ptr = vision_utils::setupSensor(sen_name, sen_name, params);
+#ifdef USING_YAML
+	std::string yaml_file_params = vu_root + "/src/test/data/base_classes.yaml";
+	sen_name = vision_utils::readYamlType(yaml_file_params, "sensor");
+	sen_b_ptr = vision_utils::setupSensor(sen_name, sen_name, yaml_file_params);
+#endif
+	vision_utils::SensorCameraPtr sen_ptr = std::static_pointer_cast<vision_utils::SensorCamera>(sen_b_ptr);
+    std::cout << "             ";
+	ASSERT_TRUE(sen_ptr->open(filename.c_str()));
+}
+
 TEST(SensorUsbCam, getImage)
 {
 	vision_utils::IntrinsicsCameraPtr params = std::make_shared<vision_utils::IntrinsicsCamera>();
@@ -47,6 +78,7 @@ TEST(SensorUsbCam, getImage)
     }
 }
 
+
 int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);

src/vision_utils.h

@@ -13,6 +13,7 @@
 #include <iostream>
 #include <time.h>
 #include <memory> // shared_ptr and weak_ptr
+#include <ctype.h>
 
 // Boost
 //#include <boost/assign/std/vector.hpp> // for 'operator+=()'