Classes
class	ALExtractor
class	ALImage
struct	streamHeader
struct	videoHeader
struct	streamProperties
class	ALVideo
class	ALVisionExtractor
	ALVisionExtractor is a generic vision extractor. More...
Functions
bool	isResolutionValid (const int resIndex)
	Utility function that checks that a resolution index is valid. (ie, present in the definitions just above)
void	setSizeFromResolution (const int resIndex, int &outWidth, int &outHeight)
	Utility function that takes a resolution index as an input and returns the corresponding width and height values. If resolution index is unknown, width and height are set to -1.
int	getResolutionFromSize (const int width, const int height)
	Utility function that takes width and height as inputs and returns the corresponding resolution index.
bool	isColorSpaceValid (const int colorspace)
	Utility function that checks that a color space index is valid. (ie, present in the definitions just above)
int	getNumLayersInColorSpace (const int colorSpace)
	Utility function that returns the number of layers for a given color space.
int	getNumChannelsInColorSpace (const int colorSpace)
	Utility function that returns the number of channels for a given color space.
float	convertAngleValToNormalizedImgVal (const float &radValue, const float &imageRadMin, const float &imageRadMax)
float	convertAnglePosToNormalizedImgPos (const float &radPosition, const float &imageRadMin, const float &imageRadMax)
Variables
const int	kOV7670 = 1
const int	kMT9M114 = 2
const int	kOV5640 = 3
const int	kXTION = 4
const int	kTopCamera = 0
const int	kBottomCamera = 1
const int	kDepthCamera = 2
const float	kApertureH_OV7670 = 47.8f
const float	kApertureV_OV7670 = 36.8f
const float	kApertureH_MT9M114 = 60.9f
const float	kApertureV_MT9M114 = 47.6f
const int	kQQVGA = 0
const int	kQVGA = 1
const int	kVGA = 2
const int	k4VGA = 3
const int	k960p = k4VGA
const int	k16VGA = 4
const int	k1920p = k16VGA
const int	k720p = 5
const int	k1080p = 6
const int	kQQQVGA = 7
const int	kQQQQVGA = 8
const int	kYuvColorSpace = 0
const int	kyUvColorSpace = 1
const int	kyuVColorSpace = 2
const int	kRgbColorSpace = 3
const int	krGbColorSpace = 4
const int	krgBColorSpace = 5
const int	kHsyColorSpace = 6
const int	khSyColorSpace = 7
const int	khsYColorSpace = 8
const int	kYUV422ColorSpace = 9
const int	kYUV422InterlacedColorSpace = kYUV422ColorSpace
const int	kYUVColorSpace = 10
const int	kRGBColorSpace = 11
const int	kHSYColorSpace = 12
const int	kBGRColorSpace = 13
const int	kYYCbCrColorSpace = 14
const int	kH2RGBColorSpace = 15
const int	kHSMixedColorSpace = 16
const int	kDepthColorSpace = 17
const int	kARGBColorSpace = 18
const int	kXYZColorSpace = 19
const int	kInfraredColorSpace = 20
const int	kDistanceColorSpace = 21
const int	kCameraBrightnessID = 0
const int	kCameraContrastID = 1
const int	kCameraSaturationID = 2
const int	kCameraHueID = 3
const int	kCameraRedChromaID = 4
const int	kCameraBlueChromaID = 5
const int	kCameraGainID = 6
const int	kCameraHFlipID = 7
const int	kCameraVFlipID = 8
const int	kCameraLensXID = 9
const int	kCameraLensYID = 10
const int	kCameraAutoExpositionID = 11
const int	kCameraAutoWhiteBalanceID = 12
const int	kCameraAutoGainID = 13
const int	kCameraResolutionID = 14
const int	kCameraFrameRateID = 15
const int	kCameraBufferSizeID = 16
const int	kCameraExposureID = 17
const int	kCameraSelectID = 18
const int	kCameraSetDefaultParamsID = 19
const int	kCameraColorSpaceID = 20
const int	kCameraExposureCorrectionID = 21
const int	kCameraExposureAlgorithmID = 22
const int	kCameraAecAlgorithmID = kCameraExposureAlgorithmID
const int	kCameraFastSwitchID = 23
const int	kCameraSharpnessID = 24
const int	kCameraAwbGreenGainID = 25
const int	kCameraAblcID = 26
const int	kCameraAblcTargetID = 27
const int	kCameraAblcStableRangeID = 28
const int	kCameraBlcBlueID = 29
const int	kCameraBlcRedID = 30
const int	kCameraBlcGbID = 31
const int	kCameraBlcGrID = 32
const int	kCameraWhiteBalanceID = 33
const int	kCameraBacklightCompensationID = 34
const int	kCameraKeepAliveID = 35
const int	kCameraDepthConfidenceThresholdID = 36
const int	kCameraDepthFastFilterID = 37
const int	kCameraTemperatureID = 38
const int	kCameraAverageLuminanceID = 39
const int	kCameraAutoFocusID = 40

Detailed Description

Author:: Vincent Rabaud Aldebaran Robotics (c) 2013 All Rights Reserved Set of functions to convert between ALImage and cv::Mat This is a header only implementation to be totally independent from OpenCV If you include this header, make sure you link properly to OPENCV2_CORE; Aldebaran Robotics Copyright (c) Aldebaran Robotics 2011, 2012 All Rights Reserved

Function Documentation

float AL::convertAnglePosToNormalizedImgPos	(	const float &	radPosition,
		const float &	imageRadMin,
		const float &	imageRadMax
	)		`[inline]`

Definition at line 170 of file alvisiondefinitions.h.

float AL::convertAngleValToNormalizedImgVal	(	const float &	radValue,
		const float &	imageRadMin,
		const float &	imageRadMax
	)		`[inline]`

Definition at line 165 of file alvisiondefinitions.h.

int AL::getNumChannelsInColorSpace ( const int colorSpace )

Utility function that returns the number of channels for a given color space.

Returns:: The number of channels for this color space.

Note:: This method assumes that the data is stored with the correct type, for example it will return 1 for the AL::kDepthColorSpace because it corresponds to a 1-channel unsigned short image buffer, although it uses two layers.

int AL::getNumLayersInColorSpace ( const int colorSpace )

Utility function that returns the number of layers for a given color space.

Returns:: the number of byte the colorspace use, otherwise returns -1 for unknown colorspace.

Note:: Since this method is use by AL::ALImage to allocate memory with the assumption of 1 layer is stored in 1 byte. Thus if the color space store some channel in a 16bits container (e.g. Depth map), method will return 2 instead of 1.

int AL::getResolutionFromSize	(	const int	width,
		const int	height
	)

Utility function that takes width and height as inputs and returns the corresponding resolution index.

Returns:: The resolution index otherwise return -1.

bool AL::isColorSpaceValid ( const int colorspace )

Utility function that checks that a color space index is valid. (ie, present in the definitions just above)

bool AL::isResolutionValid ( const int resIndex )

Utility function that checks that a resolution index is valid. (ie, present in the definitions just above)

void AL::setSizeFromResolution	(	const int	resIndex,
		int &	outWidth,
		int &	outHeight
	)

Utility function that takes a resolution index as an input and returns the corresponding width and height values. If resolution index is unknown, width and height are set to -1.