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Classes | Functions | Variables
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 kLabColorSpace = 22
 
const int kRawDepthColorSpace = 23
 
const int kLuvColorSpace = 24
 
const int kLChabColorSpace = 25
 
const int kLChuvColorSpace = 26
 
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
 
const int kCameraSynchronisationID = 41
 

Detailed Description

Author
Vincent Rabaud, Guillaume Jacob Aldebaran Robotics (c) 2013, 2014 All Rights Reserved Set of functions to

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 and OPENCV2_HIGHGUI.

Author
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 176 of file alvisiondefinitions.h.

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

Definition at line 171 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 119 of file alvisiondefinitions.h.

const int AL::kCameraAblcStableRangeID = 28

Definition at line 121 of file alvisiondefinitions.h.

const int AL::kCameraAblcTargetID = 27

Definition at line 120 of file alvisiondefinitions.h.

const int AL::kCameraAecAlgorithmID = kCameraExposureAlgorithmID

Definition at line 115 of file alvisiondefinitions.h.

const int AL::kCameraAutoExpositionID = 11

Definition at line 103 of file alvisiondefinitions.h.

const int AL::kCameraAutoFocusID = 40
Since
1.22.4

Definition at line 133 of file alvisiondefinitions.h.

const int AL::kCameraAutoGainID = 13

Definition at line 105 of file alvisiondefinitions.h.

const int AL::kCameraAutoWhiteBalanceID = 12

Definition at line 104 of file alvisiondefinitions.h.

const int AL::kCameraAverageLuminanceID = 39
Since
1.22.2

Definition at line 132 of file alvisiondefinitions.h.

const int AL::kCameraAwbGreenGainID = 25

Definition at line 118 of file alvisiondefinitions.h.

const int AL::kCameraBacklightCompensationID = 34

Definition at line 127 of file alvisiondefinitions.h.

const int AL::kCameraBlcBlueID = 29

Definition at line 122 of file alvisiondefinitions.h.

const int AL::kCameraBlcGbID = 31

Definition at line 124 of file alvisiondefinitions.h.

const int AL::kCameraBlcGrID = 32

Definition at line 125 of file alvisiondefinitions.h.

const int AL::kCameraBlcRedID = 30

Definition at line 123 of file alvisiondefinitions.h.

const int AL::kCameraBlueChromaID = 5

Definition at line 97 of file alvisiondefinitions.h.

const int AL::kCameraBrightnessID = 0

Standard Id (used for camera registers configuration)

Definition at line 92 of file alvisiondefinitions.h.

const int AL::kCameraBufferSizeID = 16

Definition at line 108 of file alvisiondefinitions.h.

const int AL::kCameraColorSpaceID = 20

Definition at line 112 of file alvisiondefinitions.h.

const int AL::kCameraContrastID = 1

Definition at line 93 of file alvisiondefinitions.h.

const int AL::kCameraDepthConfidenceThresholdID = 36
Since
1.16

Definition at line 129 of file alvisiondefinitions.h.

const int AL::kCameraDepthFastFilterID = 37
Since
1.16

Definition at line 130 of file alvisiondefinitions.h.

const int AL::kCameraExposureAlgorithmID = 22

Definition at line 114 of file alvisiondefinitions.h.

const int AL::kCameraExposureCorrectionID = 21

Definition at line 113 of file alvisiondefinitions.h.

const int AL::kCameraExposureID = 17

Definition at line 109 of file alvisiondefinitions.h.

const int AL::kCameraFastSwitchID = 23

Definition at line 116 of file alvisiondefinitions.h.

const int AL::kCameraFrameRateID = 15

Definition at line 107 of file alvisiondefinitions.h.

const int AL::kCameraGainID = 6

Definition at line 98 of file alvisiondefinitions.h.

const int AL::kCameraHFlipID = 7

Definition at line 99 of file alvisiondefinitions.h.

const int AL::kCameraHueID = 3

Definition at line 95 of file alvisiondefinitions.h.

const int AL::kCameraKeepAliveID = 35
Since
1.16

Definition at line 128 of file alvisiondefinitions.h.

const int AL::kCameraLensXID = 9

Definition at line 101 of file alvisiondefinitions.h.

const int AL::kCameraLensYID = 10

Definition at line 102 of file alvisiondefinitions.h.

const int AL::kCameraRedChromaID = 4

Definition at line 96 of file alvisiondefinitions.h.

const int AL::kCameraResolutionID = 14

Definition at line 106 of file alvisiondefinitions.h.

const int AL::kCameraSaturationID = 2

Definition at line 94 of file alvisiondefinitions.h.

const int AL::kCameraSelectID = 18

Definition at line 110 of file alvisiondefinitions.h.

const int AL::kCameraSetDefaultParamsID = 19

Definition at line 111 of file alvisiondefinitions.h.

const int AL::kCameraSharpnessID = 24

Definition at line 117 of file alvisiondefinitions.h.

const int AL::kCameraSynchronisationID = 41
Since
2.3

Definition at line 134 of file alvisiondefinitions.h.

const int AL::kCameraTemperatureID = 38
Since
1.18

Definition at line 131 of file alvisiondefinitions.h.

const int AL::kCameraVFlipID = 8

Definition at line 100 of file alvisiondefinitions.h.

const int AL::kCameraWhiteBalanceID = 33

Definition at line 126 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::kLabColorSpace = 22

Definition at line 83 of file alvisiondefinitions.h.

const int AL::kLChabColorSpace = 25

Definition at line 86 of file alvisiondefinitions.h.

const int AL::kLChuvColorSpace = 26

Definition at line 87 of file alvisiondefinitions.h.

const int AL::kLuvColorSpace = 24

Definition at line 85 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::kRawDepthColorSpace = 23
Since
2.2

Definition at line 84 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.

Copyright Aldebaran Robotics