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<div class="title">CImageGrabber_OpenCV.h</div> </div>
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<a href="_c_image_grabber___open_c_v_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CImageGrabber_OpenCV_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CImageGrabber_OpenCV_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_observation_image_8h.html">mrpt/slam/CObservationImage.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="safe__pointers_8h.html">mrpt/utils/safe_pointers.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>hwdrivers
<a name="l00041"></a>00041 {<span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** These capture types are like their OpenCV equivalents. */</span>
<a name="l00043"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4">00043</a> <span class="keyword">enum</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4" title="These capture types are like their OpenCV equivalents.">TCameraType</a>
<a name="l00044"></a>00044 {
<a name="l00045"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a1b51d1ab5dccdc3b1fee94958b32f355">00045</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a1b51d1ab5dccdc3b1fee94958b32f355">CAMERA_CV_AUTODETECT</a> = 0,
<a name="l00046"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a5e3717496ba7783d444094635b5f5b91">00046</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a5e3717496ba7783d444094635b5f5b91">CAMERA_CV_DC1394</a>,
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4aafe3082884e17cc7f2fb82070508b38b">00047</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4aafe3082884e17cc7f2fb82070508b38b">CAMERA_CV_VFL</a>,
<a name="l00048"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a775b3def00a344c793742fc2c029804d">00048</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a775b3def00a344c793742fc2c029804d">CAMERA_CV_VFW</a>,
<a name="l00049"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a6fabe24870409f8be474bac8ae54e97e">00049</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a6fabe24870409f8be474bac8ae54e97e">CAMERA_CV_MIL</a>,
<a name="l00050"></a><a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4ab02f6a63613979970c6c5da597724756">00050</a> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4ab02f6a63613979970c6c5da597724756" title="Valid only with OpenCV >= 1.1.0.">CAMERA_CV_DSHOW</a> <span class="comment">//!< Valid only with OpenCV >= 1.1.0</span>
<a name="l00051"></a>00051 <span class="comment"></span> };
<a name="l00052"></a>00052 <span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** Options used when creating an OpenCV capture object</span>
<a name="l00054"></a>00054 <span class="comment"> * Some options apply to IEEE1394 cameras only.</span>
<a name="l00055"></a>00055 <span class="comment"> * \sa CImageGrabber_OpenCV</span>
<a name="l00056"></a>00056 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 <span class="keyword">struct </span>TCaptureCVOptions
<a name="l00059"></a>00059 {
<a name="l00060"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#ab460e689092ea531a334f0781f830cba">00060</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#ab460e689092ea531a334f0781f830cba">TCaptureCVOptions</a>() :
<a name="l00061"></a>00061 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#a42c4ea9406816fb7144625a5d59429c1">frame_width</a>(0), <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#a55b0ca774ddffd5164f0df9eff0ba7b7" title="(All cameras) Capture resolution (0: Leave the default)">frame_height</a>(0),
<a name="l00062"></a>00062 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acfbd97812269766fe25f50ec71664b30" title="(All cameras) Camera gain (0: Leave the default)">gain</a>(0),
<a name="l00063"></a>00063 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acf89c4e70a2703fe7887668b19de39b8" title="(IEEE1394 cameras) Frame rate for the capture (0: Leave the default).">ieee1394_fps</a>(0),
<a name="l00064"></a>00064 <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#aa469eb868613e8215d1ef6b85dd7a072" title="(IEEE1394 cameras) Whether to grab grayscale images (Default=false).">ieee1394_grayscale</a>(false)
<a name="l00065"></a>00065 {}
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#a42c4ea9406816fb7144625a5d59429c1">00067</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#a42c4ea9406816fb7144625a5d59429c1">frame_width</a>,<a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#a55b0ca774ddffd5164f0df9eff0ba7b7" title="(All cameras) Capture resolution (0: Leave the default)">frame_height</a>; <span class="comment">//!< (All cameras) Capture resolution (0: Leave the default)</span>
<a name="l00068"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acfbd97812269766fe25f50ec71664b30">00068</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acfbd97812269766fe25f50ec71664b30" title="(All cameras) Camera gain (0: Leave the default)">gain</a>; <span class="comment">//!< (All cameras) Camera gain (0: Leave the default)</span>
<a name="l00069"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acf89c4e70a2703fe7887668b19de39b8">00069</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#acf89c4e70a2703fe7887668b19de39b8" title="(IEEE1394 cameras) Frame rate for the capture (0: Leave the default).">ieee1394_fps</a>; <span class="comment">//!< (IEEE1394 cameras) Frame rate for the capture (0: Leave the default).</span>
<a name="l00070"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#aa469eb868613e8215d1ef6b85dd7a072">00070</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html#aa469eb868613e8215d1ef6b85dd7a072" title="(IEEE1394 cameras) Whether to grab grayscale images (Default=false).">ieee1394_grayscale</a>; <span class="comment">//!< (IEEE1394 cameras) Whether to grab grayscale images (Default=false).</span>
<a name="l00071"></a>00071 <span class="comment"></span> };
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file.</span>
<a name="l00074"></a>00074 <span class="comment"> * See the constructor for the options when opening the camera.</span>
<a name="l00075"></a>00075 <span class="comment"> *</span>
<a name="l00076"></a>00076 <span class="comment"> * Unless input from AVI files is required, it is recommended to use the more generic class</span>
<a name="l00077"></a>00077 <span class="comment"> * mrpt::hwdrivers::CCameraSensor.</span>
<a name="l00078"></a>00078 <span class="comment"> *</span>
<a name="l00079"></a>00079 <span class="comment"> * \note This class is only available when compiling MRPT with the flag "MRPT_HAS_OPENCV" defined.</span>
<a name="l00080"></a>00080 <span class="comment"> * \note Some code is based on the class CaptureCamera from the Orocos project.</span>
<a name="l00081"></a>00081 <span class="comment"> * \sa mrpt::hwdrivers::CCameraSensor, CImageGrabber_dc1394</span>
<a name="l00082"></a>00082 <span class="comment"> * \sa The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor</span>
<a name="l00083"></a>00083 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html" title="A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file...">CImageGrabber_OpenCV</a>
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Set to false if we could not initialize the camera.</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html#a47dc600e0087ed1295ce0f34c76b62a4">00090</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html#a47dc600e0087ed1295ce0f34c76b62a4" title="Set to false if we could not initialize the camera.">m_bInitialized</a>;
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Internal use:</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html#ad4c5b88eeed8e1fe6f5fdc5e0f568b30">00094</a> mrpt<a class="code" href="structmrpt_1_1utils_1_1non__copiable__ptr__basic.html">::utils::void_ptr_noncopy</a> <span class="comment">/*CvCapture*/</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html#ad4c5b88eeed8e1fe6f5fdc5e0f568b30" title="Internal use:">m_capture</a>;
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Constructor for cameras:</span>
<a name="l00098"></a>00098 <span class="comment"> * \param cameraIndex Set the camera index, or -1 if it does not matter and you select AUTODETECT as cameraType.</span>
<a name="l00099"></a>00099 <span class="comment"> * \param cameraType Can be any value of TCameraType, or CAMERA_CV_AUTODETECT if there is only one camera.</span>
<a name="l00100"></a>00100 <span class="comment"> * \param options Capture options, defined in mrpt::hwdrivers::TCaptureCVOptions. If not provided, all the default options will be used.</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html" title="A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file...">CImageGrabber_OpenCV</a>(
<a name="l00103"></a>00103 <span class="keywordtype">int</span> cameraIndex = -1,
<a name="l00104"></a>00104 <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4" title="These capture types are like their OpenCV equivalents.">TCameraType</a> cameraType = <a class="code" href="namespacemrpt_1_1hwdrivers.html#a27396db9daf1bae08f5c8efa20f1d3c4a1b51d1ab5dccdc3b1fee94958b32f355">CAMERA_CV_AUTODETECT</a>,
<a name="l00105"></a>00105 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html" title="Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only...">TCaptureCVOptions</a> &options = <a class="code" href="structmrpt_1_1hwdrivers_1_1_t_capture_c_v_options.html" title="Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only...">TCaptureCVOptions</a>()
<a name="l00106"></a>00106 );
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** Constructor for AVI files:</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a>00110 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html" title="A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file...">CImageGrabber_OpenCV</a>( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &AVI_fileName );
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Destructor</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html" title="A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file...">CImageGrabber_OpenCV</a>( );
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Check whether the camera has been open successfully. */</span>
<a name="l00117"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_image_grabber___open_c_v.html#afa997c48d944d0c2445f5ae42ebab9be">00117</a> <span class="keywordtype">bool</span> isOpen()<span class="keyword"> const</span>
<a name="l00118"></a>00118 <span class="keyword"> </span>{
<a name="l00119"></a>00119 <span class="keywordflow">return</span> m_bInitialized;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** Grab an image from the opened camera.</span>
<a name="l00123"></a>00123 <span class="comment"> * \param out_observation The object to be filled with sensed data.</span>
<a name="l00124"></a>00124 <span class="comment"> *</span>
<a name="l00125"></a>00125 <span class="comment"> * \return false on any error, true if all go fine.</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a>00127 <span class="keywordtype">bool</span> getObservation( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">mrpt::slam::CObservationImage</a> &out_observation);
<a name="l00128"></a>00128
<a name="l00129"></a>00129
<a name="l00130"></a>00130 }; <span class="comment">// End of class</span>
<a name="l00131"></a>00131
<a name="l00132"></a>00132 } <span class="comment">// End of NS</span>
<a name="l00133"></a>00133 } <span class="comment">// End of NS</span>
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
