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 #ifndef HYDRO_INTERFACES_IMAGE_H
00011 #define HYDRO_INTERFACES_IMAGE_H
00012 
00013 #include <string>
00014 #include <vector>
00015 #include <hydroutil/context.h>
00016 
00017 namespace hydrointerfaces 
00018 {
00019 
00033 
00034 
00035 
00036 
00037 
00038 
00039 
00040 
00041 
00042 
00043 class SOEXPORT Image 
00044 {
00045 
00046 public:
00047 
00049     class Config
00050     {   
00051     public:
00052         Config();
00053         bool validate() const;
00054         std::string toString() const;
00055         bool operator==( const Config & other );
00056         bool operator!=( const Config & other );
00057 
00059         uint32_t width;
00061         uint32_t height;
00063         uint32_t size;
00065         //ImageFormat format;
00067         //ImageCompression compression;
00068     };
00069 
00071     class Data
00072     {
00073     public:
00074         Data()
00075             : haveWarnings(false)
00076             {}
00077 
00078         unsigned char * data;
00079         int            timeStampSec;
00080         int            timeStampUsec;
00081         bool           haveWarnings;
00083         std::string    warnings;
00084     };
00085 
00086     virtual ~Image() {};
00087 
00091     virtual void read( Data &data )=0;
00092 
00093 private:
00094 
00095 };
00096 
00098 class SOEXPORT ImageFactory {
00099 public:
00100     virtual ~ImageFactory() {};
00102     virtual Image *createDriver( const Image::Config &config,
00103                                   const hydroutil::Context &context ) const=0;
00104 };
00105 
00107 } // namespace
00108 
00109 // Function for dynamically instantiating drivers.
00110 // A driver must have a function like so:
00111 // extern "C" {
00112 //     hydrointerfaces::LaserScanner2dFactory *createDriverFactory();
00113 // }
00114 typedef hydrointerfaces::ImageFactory *DriverFactoryMakerFunc();
00115 
00116 #endif
image.h
