Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Ben Upcroft
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <highgui.h>
00015 #include <cv.h>
00016 
00017 #include <orca/camera.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00019 #include <orcaice/context.h>
00020 
00021 
00022 namespace cameraviewer{
00023 
00024 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00025 {
00026 public:
00027 
00028     MainThread( const orcaice::Context& context );
00029     ~MainThread();
00030 
00031     virtual void walk();
00032 
00033 private:
00034 
00035     // Camera proxy
00036     orca::CameraPrx cameraPrx_;
00037     // local object to receive data
00038     orca::CameraConsumerPrx callbackPrx_;
00039     
00040     orca::CameraDescriptionSequence  descr_;
00041 
00042     std::vector<IplImage*> images_;
00043     
00044     // setup opencv struct and window for display
00045     void initCvImage();
00046 
00047     orcaice::Context context_;
00048 };
00049 
00050 } // namespace
00051 
00052 #endif
components/cameraviewer/mainthread.h
