alvision/alvisionextractor.h

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#pragma once
#ifndef _LIBALVISION_ALVISION_ALVISIONEXTRACTOR_H_
#define _LIBALVISION_ALVISION_ALVISIONEXTRACTOR_H_

// Upstream opencv headers need this
#include <cstddef>

#include <alextractor/alextractor.h>
#include <alcommon/alproxy.h>
#include <alvision/alimage.h>

//opencv
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <opencv/cvaux.h>

namespace AL
{

  class ALBroker;
  class ALMutex;
  class ALVideoDeviceProxy;
  class ALVisionExtractor: public ALExtractor
  {

  public :
    ALVisionExtractor(boost::shared_ptr<ALBroker> pBroker, const std::string& pName );


    virtual ~ALVisionExtractor();

    void init(void);

    void run();


    virtual void initVision(){};

    virtual void process(IplImage*) = 0;


    virtual std::vector<std::string> getOutputNames( );

    void setParam(const std::string &paramName, const ALValue &paramValue);


    void xInitGenericStuff();

    void xReleaseGenericStuff();


    void xInitSpecificStuff();

    void xReleaseSpecificStuff();



  protected:
    virtual void xStartDetection( const int pPeriod , const float pPrecision  );

    virtual void xUpdateParameters( const int pPeriod , const float pPrecision  );

    void xStopDetection(  );

  protected:
    boost::shared_ptr<AL::ALVideoDeviceProxy> xCamProxy;
    boost::shared_ptr<AL::ALProxy> xCamGenericProxy;
    std::string xGvmName;
    int xMode;
    int xResolution;
    int xColorSpace;
    int xImageWidth;
    int xImageHeight;
    int xImageNLayers;
    int xCurrentPeriod;
    int xPause;
    bool xRunOrder;
    bool xIsRunning;
    ALImage* xptr_ALImageRaw;
    IplImage* xptr_IplImageRaw;
    std::string xIplImageRawName;

  private:
    const boost::shared_ptr<ALMutex> xMyMutex;
  };


} // namespace AL



#endif  // _LIBALVISION_ALVISION_ALVISIONEXTRACTOR_H_