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 #ifndef ORCA_DIGICLOPS_GRABBER_H
00011 #define ORCA_DIGICLOPS_GRABBER_H
00012 
00013 #include "imagegrabber.h"
00014 #include "digiclops/digiclops.h"
00015 #include "triclops/triclops.h"
00016 
00017 #include <vector>
00018 
00019 namespace orcaimage {
00020 
00021 /*
00022 @brief Wrapper for grabbing images using the the digiclops library. 
00023 
00024 @author Ben Upcroft b.upcroft at cas.edu.au
00025 */
00026 
00027     class DigiclopsGrabber : public ImageGrabber
00028     {
00029         
00030     public:
00031         DigiclopsGrabber( const orcaice::Context& context );
00032         virtual ~DigiclopsGrabber();
00033 
00034         // grabs frame from camera 
00035         virtual int grabFrame();
00036         // load the image grabbed from grabFrame() into a byte array 
00037         virtual char* retrieveFrame();
00038         // grabFrame() and retrieveFrame() in one.
00039         virtual char* queryFrame();
00040 
00041         // get and set properties
00042         virtual int format() const;
00043         virtual void setFormat( int format );
00044         virtual int mode() const;
00045         virtual void setMode( int mode );
00046         virtual double fps() const; // frames per second
00047         virtual void setFps( double fps );
00048 
00049         virtual double brightness() const;
00050         virtual void setBrightness( double brightness );
00051         virtual double contrast() const;
00052         virtual void setContrast( double contrast );
00053         virtual double saturation() const;
00054         virtual void setSaturation( double saturation );
00055         virtual double hue() const;
00056         virtual void setHue( double hue );
00057         virtual double gain() const;
00058         virtual void setGain( double gain );
00059 
00060         virtual int width() const;
00061         // this set function automatically also sets the height since there are
00062         // only 2 enumerated types which set the resolution
00063         virtual void setWidth( int width );
00064         virtual int height() const;
00065         // this set function automatically also sets the height since there are
00066         // only 2 enumerated types which set the the resolution
00067         virtual void setHeight( int height );
00068         // image size in bytes
00069         virtual int size() const;
00070 
00071         // Not implemented yet. 
00072         virtual double zoom() const { return -1.0; };
00073         virtual void setZoom( double zoom ) {};
00074         virtual double minZoom() const { return -1.0; };
00075         virtual double maxZoom() const { return -1.0; };
00076 
00077         virtual double focus() const { return -1.0; };
00078         virtual void setFocus( double zoom ) {};
00079         virtual double minFocus() const { return -1.0; };
00080         virtual double maxFocus() const { return -1.0; };
00081 
00082         virtual double shutter() const { return -1.0; };
00083         virtual void setShutter( double zoom ) {};
00084         virtual double minShutter() const { return -1.0; };
00085         virtual double maxShutter() { return -1.0; };
00086 
00087     private:
00088         // Video capturing structure
00089         DigiclopsContext digiclopsContext_;
00090 
00091         // Triclops image structure to access raw data
00092         TriclopsInput triclopsInput_;
00093         // raw data
00094         std::vector<unsigned char> data_; 
00095         // raw image data size
00096         int imageSize_;
00097 
00098         // digiclops errors
00099         DigiclopsError error_;
00100 
00101     };
00102 
00103 }
00104 
00105 #endif
digiclopsgrabber.h
