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 imageviewer{
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::ImagePrx imagePrx_;
00037     // local object to receive data
00038     orca::ImageConsumerPrx callbackPrx_;
00039     
00040     orca::ImageDescriptionPtr  descr_;
00041 
00042     IplImage* cvImage_;
00043     IplImage* cvImageTmp_;
00044     IplImage* bayerImage_;
00045     // setup opencv struct and window for display
00046     void initCvImage();
00047 
00048     orcaice::Context context_;
00049 };
00050 
00051 } // namespace
00052 
00053 #endif
components/imageviewer/mainthread.h
