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00059 #ifndef __IPA_ABSTRACTCOLORCAMERA_H__
00060 #define __IPA_ABSTRACTCOLORCAMERA_H__
00061
00062 #ifdef __LINUX__
00063 #include "cob_vision_utils/CameraSensorDefines.h"
00064
00065 #include "tinyxml/tinyxml.h"
00066
00067 #include "cob_vision_utils/CameraSensorTypes.h"
00068 #include "cob_vision_utils/VisionUtils.h"
00069 #else
00070 #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorDefines.h"
00071
00072 #include "cob_vision/windows/src/extern/TinyXml/tinyxml.h"
00073
00074 #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorTypes.h"
00075 #include "cob_common/cob_vision_utils/common/include/cob_vision_utils/VisionUtils.h"
00076 #endif
00077
00078 namespace ipa_CameraSensors {
00079
00081 class AbstractColorCamera;
00082 typedef boost::shared_ptr<AbstractColorCamera> AbstractColorCameraPtr;
00083
00088 class __DLL_LIBCAMERASENSORS__ AbstractColorCamera
00089 {
00090 public:
00091
00094 struct t_ColorCameraParameters
00095 {
00096 ipa_CameraSensors::t_cameraRole m_CameraRole;
00097 std::stringstream m_VideoFormat;
00098 std::stringstream m_VideoMode;
00099 std::stringstream m_ColorMode;
00100 std::stringstream m_IsoSpeed;
00101 std::stringstream m_FrameRate;
00102 std::stringstream m_Shutter;
00103 std::stringstream m_WhiteBalanceU;
00104 std::stringstream m_WhiteBalanceV;
00105 std::stringstream m_Hue;
00106 std::stringstream m_Saturation;
00107 std::stringstream m_Gamma;
00108 std::stringstream m_ExposureTime;
00109 std::stringstream m_Gain;
00110 std::stringstream m_Brightness;
00111 std::stringstream m_ImageWidth;
00112 std::stringstream m_ImageHeight;
00113 std::stringstream m_Interface;
00114 std::stringstream m_IP;
00115 };
00116
00124 virtual unsigned long Init(std::string directory, int cameraIndex = 0) =0;
00125
00128 virtual bool isInitialized() {return m_initialized;}
00129
00132 virtual bool isOpen() {return m_open;}
00133
00138 virtual unsigned long Open() =0;
00139
00142 virtual unsigned long Close() =0;
00143
00149 unsigned long GetColorImage(char* colorImageData, bool getLatestFrame=true) {return RET_FAILED;}
00150
00158 virtual unsigned long GetColorImage(cv::Mat* colorImage, bool getLatestFrame=true)=0;
00159
00162 virtual t_cameraType GetCameraType();
00163
00168 virtual unsigned long SetProperty(t_cameraProperty* cameraProperty) =0;
00169
00172 virtual unsigned long SetPropertyDefaults() =0;
00173
00178 virtual unsigned long GetProperty(t_cameraProperty* cameraProperty) =0;
00179
00183 virtual unsigned long PrintCameraInformation() =0;
00184
00188 virtual unsigned long SaveParameters(const char* filename)=0;
00189
00195 virtual unsigned long TestCamera(const char* filename);
00196
00199 virtual int GetNumberOfImages() {return std::numeric_limits<int>::max();};
00200
00205 virtual unsigned long SetPathToImages(std::string path) {return RET_OK;};
00206
00208 virtual ~AbstractColorCamera();
00209
00210 protected:
00211
00212 bool m_initialized;
00213 bool m_open;
00214
00215 t_ColorCameraParameters m_ColorCameraParameters;
00216
00217 t_cameraType m_CameraType;
00218
00219 unsigned int m_BufferSize;
00220 private:
00221
00226 virtual unsigned long LoadParameters(const char* filename, int cameraIndex)=0;
00227
00230 virtual unsigned long SetParameters()=0;
00231
00232 };
00233
00236 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_VirtualCam();
00237 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_ICCam();
00238 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_AxisCam();
00239 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_AVTPikeCam();
00240 __DLL_LIBCAMERASENSORS__ AbstractColorCameraPtr CreateColorCamera_OpenCVCamera();
00241
00242
00243 }
00244 #endif // __IPA_ABSTRACTCOLORCAMERA_H__