Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Tom Burdick, Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDRO_CAMERA_FILE_H
00012 #define HYDRO_CAMERA_FILE_H
00013 
00014 #include <vector>
00015 #include <string>
00016 
00017 #include <hydrointerfaces/camera.h>
00018 
00019 #include <opencv/cv.h>
00020 
00021 namespace camerafile {
00022 
00023 //
00024 // Bogus image driver, useful for testing the rest of the component.
00025 //
00026 class Driver : public hydrointerfaces::Camera
00027 {
00028 
00029 public:
00030 
00031     Driver( const Config &cfg, const hydroutil::Context &context );
00032     virtual ~Driver();
00033 
00034     // Blocks till new data is available
00035     virtual void read( hydrointerfaces::Camera::Data &data );
00036     
00037     virtual uint32_t availableCameras() { return 10; }
00038     
00039     virtual std::vector<hydroimage::ImageFormat> cameraImageFormats(uint32_t id) { std::vector <hydroimage::ImageFormat> formats; formats.push_back(hydroimage::ImageFormatModeBGR8); return formats; }
00040 
00041 private:
00042 
00043     Camera::Config config_;
00044     hydroutil::Context context_;
00045     std::vector<std::string> filenames_;
00046     std::vector<IplImage*> images_;
00047 
00048 };
00049 
00050 // Used for dynamically loading driver
00051 class Factory : public hydrointerfaces::CameraFactory
00052 {
00053 public:
00054     hydrointerfaces::Camera *createDriver( 
00055                 const hydrointerfaces::Camera::Config &config,
00056                 const hydroutil::Context &context ) const
00057     {
00058         return new Driver( config, context );
00059     }
00060 };
00061 
00062 } // namespace
00063 
00064 // Used for dynamically loading driver
00065 extern "C" {
00066     hydrointerfaces::CameraFactory *createDriverFactory();
00067 }
00068 
00069 #endif
camerafile/driver.h
