ColorSegmenterI.H

00001 #include "Component/ModelManager.H"
00002 #include "Component/OptionManager.H"
00003 
00004 #include "Component/ModelComponent.H"
00005 #include "Component/ModelParam.H"
00006 #include "Media/FrameSeries.H"
00007 #include "Transport/FrameInfo.H"
00008 #include "Raster/GenericFrame.H"
00009 #include "Image/Image.H"
00010 #include "GUI/XWinManaged.H"
00011 #include "GUI/ImageDisplayStream.H"
00012 #include "Image/Pixels.H"
00013 #include "Robots/SeaBeeIII/VisionBrainComponentI.H"
00014 
00015 #include "VFAT/segmentImage2.H"
00016 
00017 #include "Ice/RobotBrainObjects.ice.H"
00018 #include "Ice/RobotSimEvents.ice.H"
00019 #include "Ice/IceImageUtils.H"
00020 #include <IceUtil/Thread.h>
00021 
00022 #define IMG_WIDTH  320
00023 #define IMG_HEIGHT 240
00024 
00025 #ifndef COLORSEGEMENTERI_H
00026 #define COLORSEGEMENTERI_H
00027 
00028 
00029 class ColorSegmenterI : public VisionBrainComponentI
00030 {
00031 public:
00032         ColorSegmenterI(OptionManager& mgr,
00033           const std::string& descrName = "ColorSegmenter",
00034           const std::string& tagName = "ColorSegmenter");
00035 
00036         ~ColorSegmenterI();
00037 
00038   void updateFrame(Image<PixRGB<byte> > img, bool isFwdCamera);
00039 
00040                 //Get rid of this function! There should only be one update frame...
00041                 void updateFrame(Image<PixRGB<byte> > img, string cameraId);
00042 
00043   virtual void registerTopics();
00044   //virtual void updateMessage(const RobotSimEvents::EventMessagePtr&,
00045   //              const Ice::Current&);
00046 
00047 private:
00048 
00049   bool itsInit;
00050   bool itsRunning;
00051   segmentImage2 itsBuoySegmenter;
00052   segmentImage2 itsPipeSegmenter;
00053 };
00054 
00055 #endif