StereoVisionI.H

00001 #include "Component/ModelManager.H"
00002 #include "Component/OptionManager.H"
00003 #include "Component/ModelComponent.H"
00004 #include "Component/ModelParam.H"
00005 #include "Media/FrameSeries.H"
00006 #include "Transport/FrameInfo.H"
00007 #include "Raster/GenericFrame.H"
00008 #include "Image/Image.H"
00009 #include "GUI/XWinManaged.H"
00010 #include "GUI/ImageDisplayStream.H"
00011 #include "Image/Image.H"
00012 #include "Image/Pixels.H"
00013 #include "Robots/RobotBrain/RobotBrainComponent.H"
00014 #include "Ice/RobotBrainObjects.ice.H"
00015 #include "Ice/RobotSimEvents.ice.H"
00016 #include "Ice/IceImageUtils.H"
00017 #include <IceUtil/Thread.h>
00018 #include <vector>
00019 
00020 #ifndef STEREO_VISION_H
00021 #define STEREO_VISION_H
00022 
00023 class StereoVision: public RobotBrainComponent {
00024 
00025 public:
00026 
00027   StereoVision(int id, OptionManager& mgr,
00028                const std::string& descrName = "StereoVision",
00029                const std::string& tagName = "StereoVision");
00030   ~StereoVision();
00031 
00032   virtual void evolve();
00033   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00034                              const Ice::Current&);
00035   virtual void registerTopics();
00036 
00037 private:
00038 
00039   nub::ref<OutputFrameSeries> itsOfs;
00040   nub::ref<OutputFrameSeries> itsOfs2;
00041   nub::ref<OutputFrameSeries> itsOfs3;
00042   nub::ref<OutputFrameSeries> itsOfs4;
00043   int itsFrameCount;
00044   int lastFrameCount;
00045   Image<PixRGB<byte> > LFwdImage;
00046   Image<PixRGB<byte> > RFwdImage;
00047   Image<PixRGB<byte> > LDownImage;
00048   Image<PixRGB<byte> > RDownImage;
00049   IceUtil::Mutex itsImgMutex;
00050 };
00051 
00052 #endif
00053