AiboCam Class Reference

#include <aibocam.h>

Collaboration diagram for AiboCam:

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Public Member Functions
	AiboCam ()
virtual	~AiboCam ()
void	OpenPrimitive ()
void	RAW2 (byte outImage, byte rawImage, const int width, const int height, const LAYER l) const
	Functions converts an raw image in the format you want to. The Raw Image data of the Aibo has a format like :.
Methods for manipulation of the CDT (ColorDetectionTable) data
void	SetCdtChannels (const int numChannels)
int	GetCdtChannels () const
void	SetCdtVectorDataOfPinkBall (const int channel=0)
void	SetCdtVectorDataOfPinkBallSpecial (const int channel=0)
void	SetCdtTable (const int channel, const CdtData table[32])
int	GetColorFrequency (OFbkImageVectorData *imageVec, const int channel=0)
int	GetColorFrequency (OFbkImageVectorData *imageVec, const OCdtChannel channel=ocdtCHANNEL0)
bool	GetCenter (OFbkImageVectorData *imageVec, int cdtChannel, int &xCenter, int &yCenter)
	Gives the center of an region tracked with a CDT.
bool	GetCenter (OFbkImageVectorData imageVec, int cdtChannel, int xCenter, int *yCenter)
	Gives the center of an region tracked with a CDT.
bool	GetCenter (const OFbkImage &cdtImage, const int cdtChannel, int xCenter, int yCenter)
	Gives the center of an region tracked with a CDT.
bool	GetCenter (const OFbkImage &cdtImage, const OCdtChannel &cdtChannel, int xCenter, int yCenter)
	Gives the center of an region tracked with a CDT.
void	saveCDT (char *fileName, CdtData cdt[32]) const
CdtData *	loadCDT (char *fileName)
Methods for camera parameters
void	SetWhiteBalance (WHITE_BALANCE balance)
void	SetShutterSpeed (SHUTTER_SPEED speed)
void	SetGain (CAM_GAIN gain)
Methods for saving images on memstick
void	SaveRawData (char path, OFbkImageVectorData imageVec, const OFbkImageLayer layer) const
void	SaveBMP (char path, OFbkImageVectorData imageVec, const OFbkImageLayer layer) const
void	SaveCdtBMP (char basepath, OFbkImageVectorData imageVec) const
Methods for accessing the image data
OFbkImage	GetYImage (OFbkImageVectorData *imageVec, const OFbkImageLayer layer)
OFbkImage	GetCbImage (OFbkImageVectorData *imageVec, const OFbkImageLayer layer)
OFbkImage	GetCrImage (OFbkImageVectorData *imageVec, const OFbkImageLayer layer)
OFbkImage	GetCdtImage (OFbkImageVectorData *imageVec)
int	GetImageWidth (OFbkImage *image) const
	Returns width of an image.
int	GetImageHeight (OFbkImage *image) const
	Returns height of Image.
byte *	GetImageData (OFbkImageVectorData *imageVec, const OFbkImageLayer layer)
	gives a pointer to the raw image data
void	GetYCrCbData (byte ycrcbImage, OFbkImageVectorData imageVec, const OFbkImageLayer layer) const
	copies the ycrcb image data from a raw into a ycrcb image
byte *	GetImageData (OFbkImage *image)
	copies the ycrcb image data from a raw into a ycrcb imageReturns a byte pointer to the raw image data
byte *	GetImageData (const OFbkImage &image)
Protected Member Functions
Functions for image conversion
void	YCrCb2RGB (byte y, byte cr, byte cb, byte r, byte g, byte *b) const
	converts a ycrcb tripel into rgb triple
void	YCrCb2RGB (byte rgbImage, byte ycrcbImage, const int width, const int height) const
	Functions converts an YCrCb (888) image in a RGB (888) image.
void	RAW2RGB (byte rgbImage, byte rawImage, const int width, const int height) const
	Functions converts an raw image in a RGB (888) image.
void	RAW2YCrCb (byte ycrcbImage, byte rawImage, const int width, const int height) const
	Functions converts an raw image in a YCrCB(888) image.
Protected Attributes
OPrimitiveID	FbkID
OCdtVectorData *	CdtVector
MemoryRegionID	CdtVectorID

Detailed Description

This class implements methods for simplified camera access, image format conversions etc.

Version:: 0.87

Examples:: cam/Makefile, and CamExample.h.

Constructor & Destructor Documentation

AiboCam::AiboCam ( )

Default constructor

AiboCam::~AiboCam ( ) [virtual]

Default destructor

Member Function Documentation

void AiboCam::OpenPrimitive ( )

Method to initialize the FbkID
See also:
FbkID

void AiboCam::SetCdtChannels ( const int numChannels )

Sets the number of CDT Channels in CdtVectorData Channel data has to be set first
Parameters:

numChannels Number of channels set in the CdtVectorData. 8 is the upper limit

int AiboCam::GetCdtChannels ( ) const [inline]

Returns the number of CDT Channels in CdtVectorData
Returns:
Number of channels the CdtVectorData. 8 is the upper limit

void AiboCam::SetCdtVectorDataOfPinkBall ( const int channel = 0 )

Method sets the first channel of the segmentation unit (CDT = color detection table) to the color of the pink ball.
You have to use SetCdtChannels(const int numChannels) to enable tracking.
Parameters:

channel CDT-Channel to which th pink ball data is set

See also:
SetCdtChannels(const int numChannels)

void AiboCam::SetCdtVectorDataOfPinkBallSpecial ( const int channel = 0 )

void AiboCam::SetCdtTable ( const int channel,

const CdtData table[32]

)

Initializes and sets the Cdt for a given channel. You have to use SetCdtChannels(const int numChannels) to enable tracking.
Parameters:

channel Channel for which the table is set

table The Cdt

See also:
SetCdtChannels(const int numChannels)

int AiboCam::GetColorFrequency ( OFbkImageVectorData * imageVec,

const int channel = 0

)

Returns the color frequency (pixel number/16), which was detected with the CDT of the given channel
WARING: If you want to use more than on CDT it would be faster to use OFbkImage GetCdtImage(OFbkImageVectorData* imageVec) and get the color freq with the OPEN-R ColorFrequency() method
Parameters:

imageVec the actual image vector

channel the CDT channel

Returns:
Color Frequency

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int AiboCam::GetColorFrequency ( OFbkImageVectorData * imageVec,

const OCdtChannel channel = ocdtCHANNEL0

)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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bool AiboCam::GetCenter ( OFbkImageVectorData * imageVec,

int cdtChannel,

int & xCenter,

int & yCenter

)

Gives the center of an region tracked with a CDT.

Parameters:

imageVec The image vector

cdtChannel Channel of CDT of which the region center should be returned

xCenter The x-center of the region

yCenter The y-center of the region

Returns:
True if any pixel of CDT color found in image False otherwise

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bool AiboCam::GetCenter ( OFbkImageVectorData * imageVec,

int cdtChannel,

int * xCenter,

int * yCenter

)

Gives the center of an region tracked with a CDT.

Parameters:

imageVec The image vector

cdtChannel Channel of CDT of which the region center should be returned

xCenter The x-center of the region

yCenter The y-center of the region

Returns:
True if any pixel of CDT color found in image False otherwise

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bool AiboCam::GetCenter ( const OFbkImage & cdtImage,

const int cdtChannel,

int * xCenter,

int * yCenter

)

Gives the center of an region tracked with a CDT.

Parameters:

cdtImage The cdt-image vector

cdtChannel Channel of CDT of which the region center should be returned

xCenter The x-center of the region

yCenter The y-center of the region

Returns:
True if any pixel of CDT color found in image False otherwise

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bool AiboCam::GetCenter ( const OFbkImage & cdtImage,

const OCdtChannel & cdtChannel,

int * xCenter,

int * yCenter

)

Gives the center of an region tracked with a CDT.

Parameters:

cdtImage The cdt-image vector

cdtChannel Channel of CDT of which the region center should be returned

xCenter The x-center of the region

yCenter The y-center of the region

Returns:
True if any pixel of CDT color found in image False otherwise

void AiboCam::saveCDT ( char * fileName,

CdtData cdt[32]

) const

Writes the data of the cdt as a file on the memorystick of the aibo in fileName
Parameters:

fileName File name of cdt

cdt cdt to save

CdtData * AiboCam::loadCDT ( char * fileName )

Loads a CDT form memorystick
Parameters:

fileName File name of CDT to load

Returns:
CdtData

void AiboCam::SetWhiteBalance ( WHITE_BALANCE balance )

Sets the white balance of the camera
Parameters:

balance The desired white balance mode

See also:
WHITE_BALANCE

void AiboCam::SetShutterSpeed ( SHUTTER_SPEED speed )

Sets the shutter speed of the camera
Parameters:

speed The desired speed mode

See also:
SHUTTER_SPEED

void AiboCam::SetGain ( CAM_GAIN gain )

Sets the gain of the camera
Parameters:

gain The desired gain mode

See also:
CAM_GAIN

void AiboCam::SaveRawData ( char * path,

OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

) const

Method to save the raw image data on memorystick
Parameters:

path Path and filename where the image should be saved on memstick

imageVec Vector containing image data

layer Image layer which will be saved

void AiboCam::SaveBMP ( char * path,

OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

) const

Writes the image in the given format on memstick
Parameters:

path Path an filename for the image

imageVec Vector containing image data

layer ImageLayer that will be saved

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void AiboCam::SaveCdtBMP ( char * basepath,

OFbkImageVectorData * imageVec

) const

Writes all of the valid cdt images on memstick
Parameters:

basepath Basepath an filename for the image

imageVec Vector containing image data

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OFbkImage AiboCam::GetYImage ( OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

)

Returns the YImage of the give layer
Parameters:

imageVec Vector containing image data

layer Parameter for desired quality of output

Returns:
OFbkImage in quality of layer

OFbkImage AiboCam::GetCbImage ( OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

)

Returns the CbImage of the give layer
Parameters:

imageVec Vector containing image data

layer Parameter for desired quality of output

Returns:
OFbkImage in quality of layer

OFbkImage AiboCam::GetCrImage ( OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

)

Returns the CrImage of the give layer
Parameters:

imageVec Vector containing image data

layer Parameter for desired quality of output

Returns:
OFbkImage in quality of layer

OFbkImage AiboCam::GetCdtImage ( OFbkImageVectorData * imageVec )

Returns the CDTImage (all in one)
Parameters:

imageVec Vector containing image data

Returns:
OFbkImage CDT

int AiboCam::GetImageWidth ( OFbkImage * image ) const [inline]

Returns width of an image.

Parameters:

image Input image

Returns:
width of image

int AiboCam::GetImageHeight ( OFbkImage * image ) const [inline]

Returns height of Image.

Parameters:

image Input image

Returns:
Height of image

byte * AiboCam::GetImageData ( OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

)

gives a pointer to the raw image data

Parameters:

imageVec Vector containing image data

layer Parameter for desired quality of output

Returns:
Pointer to image data (all color channels in one byte array)

void AiboCam::GetYCrCbData ( byte * ycrcbImage,

OFbkImageVectorData * imageVec,

const OFbkImageLayer layer

) const

copies the ycrcb image data from a raw into a ycrcb image

Parameters:

ycrcbImage The reult ycrcb image

imageVec Vector containing image data

layer Parameter for desired quality of output

Warning:
due to the fact the the raw image does not only contain image data but additional information some pixel of the resulting ycrcb image might be disturbed !!

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byte * AiboCam::GetImageData ( OFbkImage * image ) [inline]

copies the ycrcb image data from a raw into a ycrcb imageReturns a byte pointer to the raw image data

Parameters:

image Input image

Returns:
Pointer to image data

byte * AiboCam::GetImageData ( const OFbkImage & image ) [inline]

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void AiboCam::RAW2 ( byte * outImage,

byte * rawImage,

const int width,

const int height,

const LAYER l

) const [inline]

Functions converts an raw image in the format you want to.
The Raw Image data of the Aibo has a format like :.

The rawimage layout
where the GradX and GradY is a Sobel image and mag is the magnitude.

Parameters:

outImage The output Image. It has to be big enough that the lyer fits in

rawImage the raw input image

width Image width

height Image height

l The image Layer you want to get

Warning:
if you want to get on of the y, cr, cb lyers you might want to use the ofkimage functions for this purpose. because these channels contain some additional data which is not filtered by this function.

void AiboCam::YCrCb2RGB ( byte y,

byte cr,

byte cb,

byte * r,

byte * g,

byte * b

) const [inline, protected]

converts a ycrcb tripel into rgb triple

void AiboCam::YCrCb2RGB ( byte * rgbImage,

byte * ycrcbImage,

const int width,

const int height

) const [inline, protected]

Functions converts an YCrCb (888) image in a RGB (888) image.

Parameters:

rgbImage the rgb out put image. It has to be big enough that the image fits in

ycrcbImage the ycrcb input image

width Image width

height Image height

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void AiboCam::RAW2RGB ( byte * rgbImage,

byte * rawImage,

const int width,

const int height

) const [inline, protected]

Functions converts an raw image in a RGB (888) image.

Parameters:

rgbImage the rgb output image . It has to be big enough that the image fits in

rawImage the raw input image

width Image width

height Image height

Warning:
due to the fact the the raw image does not only contain image data but additional information some pixel of the resultig rgb image might be disturbed !!
The function is only valid for raw images of type odataFBK_YCrCb_HPF (see openr doc for details) !!
Do not use on aibo if you can do the ycrcb2rgb conversion on pc!!

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void AiboCam::RAW2YCrCb ( byte * ycrcbImage,

byte * rawImage,

const int width,

const int height

) const [inline, protected]

Functions converts an raw image in a YCrCB(888) image.

Parameters:

ycrcbImage the ycrcb output image. It has to be big enough that the image fits in

rawImage the raw input image

width Image width

height Image height

Warning:
due to the fact the the raw image does not only contain image data but additional information some pixel of the resultig rgb image might be disturbed !!
The function is only valid for raw images of type odataFBK_YCrCb_HPF (see openr doc for details) !!

Field Documentation

OPrimitiveID AiboCam::FbkID [protected]

Primitive ID of the camera

OCdtVectorData* AiboCam::CdtVector [protected]

OCdtVector for the camera

MemoryRegionID AiboCam::CdtVectorID [protected]

ID for CdtVector

The documentation for this class was generated from the following files:

Tim Baier AiboLib v0.2.4

Generated Thu Jan 19 11:55:07 2006 by

1.4.3

AiboCam Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation