00001 /////////////////////////////////////////////////////////////////////////////////
00002 //
00003 //  This file is part of the TLIB computer vision library.
00004 //  Copyright (C) 2003-2008 Sebastien Grange
00005 //  Copyright (C) 2003-2007 VRAI Group, EPFL
00006 //  All rights reserved.
00007 // 
00008 //  This library is free software; you can redistribute it and/or modify
00009 //  it under the terms of the GNU General Public License("GPL") version 2
00010 //  as published by the Free Software Foundation.
00011 // 
00012 //  <http://www.tuyphon.com/tlib>
00013 //
00014 /////////////////////////////////////////////////////////////////////////////////
00015 
00016 
00017 #ifndef __TLCAMERASVSBASE_H__
00018 #define __TLCAMERASVSBASE_H__
00019 
00020 
00021 #define TL_CAMERA_SVS_FILENAME  "svs.ini"
00022 
00023 
00024 #include "tlVision.h"
00025 #include "tlCameraStereo.h"
00026 #include "tlImage.h"
00027 
00028 #include <string.h>             /* svsclass.h references strcpy */
00029 #include "svsclass.h"
00030 
00031 
00032 // debug verbosity
00033 extern int tlVerbose;
00034 
00035 
00036 // interface
00037 class tlCameraSVSBase : public tlCameraStereo
00038 {
00039 protected:
00040   svsAcquireImages *sourceObject;
00041   svsStereoImage   *imageObject;
00042   svsMultiProcess  *processObject;
00043   svsSP            *sp;
00044 
00045   bool             color;
00046   bool             stoc;
00047 
00048 public:
00049   tlCameraSVSBase  ();
00050   virtual ~tlCameraSVSBase ();
00051 
00052   int  setOffX      (int offX);
00053   int  setOffY      (int offY);
00054   int  setThreshold (int threshold);
00055   int  setNdisp     (int ndisp);
00056   int  getOffX      () { return imageObject->dp.offx; };
00057   int  getOffY      () { return imageObject->dp.offy; };
00058   int  getThreshold () { return imageObject->dp.thresh; };
00059   int  getNdisp     () { return imageObject->dp.ndisp; };
00060   bool isColor      () { return color; };
00061   bool isSTOC       () { return stoc; };
00062 
00063   virtual int readConfig   (char *filename);
00064 
00065   virtual int grab         (tlImage *image) = 0;
00066   virtual int grab         (tlImage *image, tlRect *rect) = 0;
00067   virtual int grabQueued   (tlImage *image) = 0;
00068   virtual int grabQueued   (tlImage *image, tlRect *rect) = 0;
00069 
00070   virtual int grab         (tlImage *image, tlImage *disparity) = 0;
00071   virtual int grab         (tlImage *image, tlImage *disparity, tlRect *rect) = 0;
00072   virtual int grabQueued   (tlImage *image, tlImage *disparity) = 0;
00073   virtual int grabQueued   (tlImage *image, tlImage *disparity, tlRect *rect) = 0;
00074 
00075   virtual int getRight     (tlImage *image);
00076   virtual int getRight     (tlImage *image, tlRect *rect);
00077 
00078   virtual int getDisparity (tlImage *disparity);
00079   virtual int getDisparity (tlImage *disparity, tlRect *rect);
00080 
00081   virtual int getDisparity (tlImage *rightImage, tlImage *leftImage, tlImage *disparity);
00082   virtual int getDisparity (tlImage *leftImage, tlImage *rightImage, tlImage *disparity, tlRect *rect);
00083 
00084   virtual int toWorld      (tlLocation *location);
00085   virtual int toWorld      (tlLocation *location, tlLocation *dest);
00086   virtual int toImage      (tlLocation *location);
00087   virtual int toImage      (tlLocation *location, tlLocation *dest);
00088 };
00089 
00090 
00091 
00092 #endif
tlCameraSVSBase.h
