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CvProcessor.h
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CvProcessor.h
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// -*- C++ -*-
/*!
* @file CvProcessor.h * @brief Sequence OutPort component * @date $Date$
*
* $Id$
*/
#ifndef CVPROCESSOR_H
#define CVPROCESSOR_H
#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
// Service implementation headers
// <rtc-template block="service_impl_h">
#include <opencv/cv.h>
#include "ImgSkel.h"
#include "CvProcessorService_impl.h"
// </rtc-template>
// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">
// </rtc-template>
using namespace RTC;
class CvProcessor : public RTC::DataFlowComponentBase
{
public:
CvProcessor(RTC::Manager* manager);
~CvProcessor();
// The initialize action (on CREATED->ALIVE transition)
// formaer rtc_init_entry()
virtual RTC::ReturnCode_t onInitialize();
// The finalize action (on ALIVE->END transition)
// formaer rtc_exiting_entry()
// virtual RTC::ReturnCode_t onFinalize();
// The startup action when ExecutionContext startup
// former rtc_starting_entry()
// virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
// The shutdown action when ExecutionContext stop
// former rtc_stopping_entry()
// virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
// The activated action (Active state entry action)
// former rtc_active_entry()
// virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
// The deactivated action (Active state exit action)
// former rtc_active_exit()
virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
// The execution action that is invoked periodically
// former rtc_active_do()
virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
// The aborting action when main logic error occurred.
// former rtc_aborting_entry()
// virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
// The error action in ERROR state
// former rtc_error_do()
// virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
// The reset action that is invoked resetting
// This is same but different the former rtc_init_entry()
// virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
// The state update action that is invoked after onExecute() action
// no corresponding operation exists in OpenRTm-aist-0.2.0
// virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
// The action that is invoked when execution context's rate is changed
// no corresponding operation exists in OpenRTm-aist-0.2.0
// virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
protected:
// Configuration variable declaration
// <rtc-template block="config_declare">
// </rtc-template>
// DataInPort declaration
// <rtc-template block="inport_declare">
// </rtc-template>
// DataOutPort declaration
// <rtc-template block="outport_declare">
Img::TimedMultiCameraImage m_MultiCameraImage;
InPort<Img::TimedMultiCameraImage> m_MultiCameraImageIn;
OutPort<Img::TimedMultiCameraImage> m_MultiCameraImageOut;
RTC::CorbaPort m_CvProcessorServicePort;
CvProcessorService_impl m_service0;
// </rtc-template>
// CORBA Port declaration
// <rtc-template block="corbaport_declare">
// </rtc-template>
// Service declaration
// <rtc-template block="service_declare">
// </rtc-template>
// Consumer declaration
// <rtc-template block="consumer_declare">
// </rtc-template>
private:
IplImage* m_frame;
IplImage* m_hsv_frame;
IplImage* m_thresholded;
CvMemStorage* m_storage;
int m_H_min;
int m_S_min;
int m_V_min;
int m_H_max;
int m_S_max;
int m_V_max;
// for HoughCircles
int m_CircleRadius_min;
int m_CircleRadius_max;
int m_distance_min;
int m_param1;
int m_param2;
float* m_point;
// for HoughLines
double m_lines_rho;
double m_lines_theta;
double m_lines_threshold;
double m_lines_min_length;
double m_lines_max_gap;
public:
CvSeq* m_circles;
std::vector<cv::Vec4i> m_lines;
CvSeq* m_faces;
void HoughCircles(int id);
void HoughLinesP(int id);
void detectFaces(int id, bool doSaveImage);
};
extern "C"
{
DLL_EXPORT void CvProcessorInit(RTC::Manager* manager);
};
#endif // CVPROCESSOR_H