AL Namespace Reference

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) More...
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. More...
int	getResolutionFromSize (const int width, const int height)
	Utility function that takes width and height as inputs and returns the corresponding resolution index. More...
bool	isColorSpaceValid (const int colorspace)
	Utility function that checks that a color space index is valid. (ie, present in the definitions just above) More...
int	getNumLayersInColorSpace (const int colorSpace)
	Utility function that returns the number of layers for a given color space. More...
int	getNumChannelsInColorSpace (const int colorSpace)
	Utility function that returns the number of channels for a given color space. More...
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.

Variable Documentation

const int AL::k1080p = 6

Definition at line 53 of file alvisiondefinitions.h.

const int AL::k16VGA = 4

Definition at line 50 of file alvisiondefinitions.h.

const int AL::k1920p = k16VGA

Definition at line 51 of file alvisiondefinitions.h.

const int AL::k4VGA = 3

Definition at line 48 of file alvisiondefinitions.h.

const int AL::k720p = 5

Definition at line 52 of file alvisiondefinitions.h.

const int AL::k960p = k4VGA

Definition at line 49 of file alvisiondefinitions.h.

const float AL::kApertureH_MT9M114 = 60.9f

Deprecated:

since 1.16

Definition at line 39 of file alvisiondefinitions.h.

const float AL::kApertureH_OV7670 = 47.8f

Cameras aperture

Deprecated:

Should not be exposed.

Deprecated:

since 1.16

Definition at line 37 of file alvisiondefinitions.h.

const float AL::kApertureV_MT9M114 = 47.6f

Deprecated:

since 1.16

Definition at line 40 of file alvisiondefinitions.h.

const float AL::kApertureV_OV7670 = 36.8f

Deprecated:

since 1.16

Definition at line 38 of file alvisiondefinitions.h.

const int AL::kARGBColorSpace = 18

Definition at line 79 of file alvisiondefinitions.h.

const int AL::kBGRColorSpace = 13

Definition at line 74 of file alvisiondefinitions.h.

const int AL::kBottomCamera = 1

Definition at line 30 of file alvisiondefinitions.h.

const int AL::kCameraAblcID = 26

Definition at line 114 of file alvisiondefinitions.h.

const int AL::kCameraAblcStableRangeID = 28

Definition at line 116 of file alvisiondefinitions.h.

const int AL::kCameraAblcTargetID = 27

Definition at line 115 of file alvisiondefinitions.h.

const int AL::kCameraAecAlgorithmID = kCameraExposureAlgorithmID

Definition at line 110 of file alvisiondefinitions.h.

const int AL::kCameraAutoExpositionID = 11

Definition at line 98 of file alvisiondefinitions.h.

const int AL::kCameraAutoFocusID = 40

Since

1.22.4

Definition at line 128 of file alvisiondefinitions.h.

const int AL::kCameraAutoGainID = 13

Definition at line 100 of file alvisiondefinitions.h.

const int AL::kCameraAutoWhiteBalanceID = 12

Definition at line 99 of file alvisiondefinitions.h.

const int AL::kCameraAverageLuminanceID = 39

Since

1.22.2

Definition at line 127 of file alvisiondefinitions.h.

const int AL::kCameraAwbGreenGainID = 25

Definition at line 113 of file alvisiondefinitions.h.

const int AL::kCameraBacklightCompensationID = 34

Definition at line 122 of file alvisiondefinitions.h.

const int AL::kCameraBlcBlueID = 29

Definition at line 117 of file alvisiondefinitions.h.

const int AL::kCameraBlcGbID = 31

Definition at line 119 of file alvisiondefinitions.h.

const int AL::kCameraBlcGrID = 32

Definition at line 120 of file alvisiondefinitions.h.

const int AL::kCameraBlcRedID = 30

Definition at line 118 of file alvisiondefinitions.h.

const int AL::kCameraBlueChromaID = 5

Definition at line 92 of file alvisiondefinitions.h.

const int AL::kCameraBrightnessID = 0

Standard Id (used for camera registers configuration)

Definition at line 87 of file alvisiondefinitions.h.

const int AL::kCameraBufferSizeID = 16

Definition at line 103 of file alvisiondefinitions.h.

const int AL::kCameraColorSpaceID = 20

Definition at line 107 of file alvisiondefinitions.h.

const int AL::kCameraContrastID = 1

Definition at line 88 of file alvisiondefinitions.h.

const int AL::kCameraDepthConfidenceThresholdID = 36

Since

1.16

Definition at line 124 of file alvisiondefinitions.h.

const int AL::kCameraDepthFastFilterID = 37

Since

1.16

Definition at line 125 of file alvisiondefinitions.h.

const int AL::kCameraExposureAlgorithmID = 22

Definition at line 109 of file alvisiondefinitions.h.

const int AL::kCameraExposureCorrectionID = 21

Definition at line 108 of file alvisiondefinitions.h.

const int AL::kCameraExposureID = 17

Definition at line 104 of file alvisiondefinitions.h.

const int AL::kCameraFastSwitchID = 23

Definition at line 111 of file alvisiondefinitions.h.

const int AL::kCameraFrameRateID = 15

Definition at line 102 of file alvisiondefinitions.h.

const int AL::kCameraGainID = 6

Definition at line 93 of file alvisiondefinitions.h.

const int AL::kCameraHFlipID = 7

Definition at line 94 of file alvisiondefinitions.h.

const int AL::kCameraHueID = 3

Definition at line 90 of file alvisiondefinitions.h.

const int AL::kCameraKeepAliveID = 35

Since

1.16

Definition at line 123 of file alvisiondefinitions.h.

const int AL::kCameraLensXID = 9

Definition at line 96 of file alvisiondefinitions.h.

const int AL::kCameraLensYID = 10

Definition at line 97 of file alvisiondefinitions.h.

const int AL::kCameraRedChromaID = 4

Definition at line 91 of file alvisiondefinitions.h.

const int AL::kCameraResolutionID = 14

Definition at line 101 of file alvisiondefinitions.h.

const int AL::kCameraSaturationID = 2

Definition at line 89 of file alvisiondefinitions.h.

const int AL::kCameraSelectID = 18

Definition at line 105 of file alvisiondefinitions.h.

const int AL::kCameraSetDefaultParamsID = 19

Definition at line 106 of file alvisiondefinitions.h.

const int AL::kCameraSharpnessID = 24

Definition at line 112 of file alvisiondefinitions.h.

const int AL::kCameraTemperatureID = 38

Since

1.18

Definition at line 126 of file alvisiondefinitions.h.

const int AL::kCameraVFlipID = 8

Definition at line 95 of file alvisiondefinitions.h.

const int AL::kCameraWhiteBalanceID = 33

Definition at line 121 of file alvisiondefinitions.h.

const int AL::kDepthCamera = 2

Definition at line 31 of file alvisiondefinitions.h.

const int AL::kDepthColorSpace = 17

Definition at line 78 of file alvisiondefinitions.h.

const int AL::kDistanceColorSpace = 21

Since

1.22

Definition at line 82 of file alvisiondefinitions.h.

const int AL::kH2RGBColorSpace = 15

Definition at line 76 of file alvisiondefinitions.h.

const int AL::kHSMixedColorSpace = 16

Definition at line 77 of file alvisiondefinitions.h.

const int AL::kHsyColorSpace = 6

Definition at line 66 of file alvisiondefinitions.h.

const int AL::khSyColorSpace = 7

Definition at line 67 of file alvisiondefinitions.h.

const int AL::khsYColorSpace = 8

Definition at line 68 of file alvisiondefinitions.h.

const int AL::kHSYColorSpace = 12

Definition at line 73 of file alvisiondefinitions.h.

const int AL::kInfraredColorSpace = 20

Definition at line 81 of file alvisiondefinitions.h.

const int AL::kMT9M114 = 2

Definition at line 22 of file alvisiondefinitions.h.

const int AL::kOV5640 = 3

Definition at line 23 of file alvisiondefinitions.h.

const int AL::kOV7670 = 1

Camera Model ID

Definition at line 21 of file alvisiondefinitions.h.

const int AL::kQQQQVGA = 8

Definition at line 55 of file alvisiondefinitions.h.

const int AL::kQQQVGA = 7

Definition at line 54 of file alvisiondefinitions.h.

const int AL::kQQVGA = 0

Format of the image

Definition at line 45 of file alvisiondefinitions.h.

const int AL::kQVGA = 1

Definition at line 46 of file alvisiondefinitions.h.

const int AL::kRgbColorSpace = 3

Definition at line 63 of file alvisiondefinitions.h.

const int AL::krGbColorSpace = 4

Definition at line 64 of file alvisiondefinitions.h.

const int AL::krgBColorSpace = 5

Definition at line 65 of file alvisiondefinitions.h.

const int AL::kRGBColorSpace = 11

Definition at line 72 of file alvisiondefinitions.h.

const int AL::kTopCamera = 0

Camera Index

Definition at line 29 of file alvisiondefinitions.h.

const int AL::kVGA = 2

Definition at line 47 of file alvisiondefinitions.h.

const int AL::kXTION = 4

Definition at line 24 of file alvisiondefinitions.h.

const int AL::kXYZColorSpace = 19

Definition at line 80 of file alvisiondefinitions.h.

const int AL::kYUV422ColorSpace = 9

Definition at line 69 of file alvisiondefinitions.h.

const int AL::kYUV422InterlacedColorSpace = kYUV422ColorSpace

Definition at line 70 of file alvisiondefinitions.h.

const int AL::kYuvColorSpace = 0

ColorSpace

Definition at line 60 of file alvisiondefinitions.h.

const int AL::kyUvColorSpace = 1

Definition at line 61 of file alvisiondefinitions.h.

const int AL::kyuVColorSpace = 2

Definition at line 62 of file alvisiondefinitions.h.

const int AL::kYUVColorSpace = 10

Definition at line 71 of file alvisiondefinitions.h.

const int AL::kYYCbCrColorSpace = 14

Definition at line 75 of file alvisiondefinitions.h.