disparity.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Tom Burdick, Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
#ifndef HYDRO_INTERFACES_DISPARITY_H
#define HYDRO_INTERFACES_DISPARITY_H

#include <string>
#include <vector>
#include <hydroutil/context.h>
#include <hydroimage/structures.h>

namespace hydrointerfaces 
{








class SOEXPORT Disparity 
{

public:

    class Config
    {   
    public:
        Config();
        bool validate() const;
        std::string toString() const;
        bool operator==( const Config & other );
        bool operator!=( const Config & other );

        size_t width;
        size_t height;
        size_t size;
        size_t shifts;
        size_t offset;
        std::string format;
    };

    typedef hydroimage::Data Data;

    virtual ~Disparity() {};

    virtual void process( const Data& leftImage, const Data& rightImage, Data& outputImage )=0;

    virtual bool hasEventLoop() = 0;

    virtual int executeEventLoop() = 0;

private:

};

class SOEXPORT DisparityFactory {
public:
    virtual ~DisparityFactory() {};
    virtual Disparity *createDriver( const Disparity::Config &config
                                   , const hydroutil::Context &context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::DisparityFactory *createDisparityDriverFactory();
// }
typedef hydrointerfaces::DisparityFactory *DisparityDriverFactoryMakerFunc();

#endif