- Aldebaran documentation |
- C++ Libraries |
- index

libalvision 2.8.7.4

- Main Page
- Related Pages
- Namespaces
- Classes
- Files

- File List
- File Members

All Classes Namespaces Files Functions Variables Friends Macros Pages
alvisiondefinitions.h
Go to the documentation of this file.
1
6 #pragma once
7 #ifndef _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_
8 #define _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_
9
14 namespace AL
15 {
16 #define TORAD 3.14f/180.0f
17
21 const int kOV7670 = 1;
22 const int kMT9M114 = 2;
23 const int kOV5640 = 3;
24 const int kXTION = 4;
25 const int kSimulator2D = 5;
26 const int kSimulator3D = 6;
27 const int kStereo = 7;
28 const int kOV4689 = 8;
29
33 const int kTopCamera = 0;
34 const int kBottomCamera = 1;
35 const int kDepthCamera = 2;
36 const int kStereoCamera = 3;
37
42 const float kApertureH_OV7670 = 47.8f;
43 const float kApertureV_OV7670 = 36.8f;
44 const float kApertureH_MT9M114 = 60.9f;
45 const float kApertureV_MT9M114 = 47.6f;
46
50 const int k16VGA = 4; // 2560*1920
51 const int k4VGA = 3; // 1280* 960
52 const int kVGA = 2; // 640* 480
53 const int kQVGA = 1; // 320* 240
54 const int kQQVGA = 0; // 160* 120
55 const int kQQQVGA = 7; // 80* 60
56 const int kQQQQVGA = 8; // 40* 30
57
58 const int k1080p = 6; // 1920*1080
59 const int k720p = 5; // 1280* 720
60 const int kQ720p = 9; // 640* 360
61 const int kQQ720p = 10; // 320* 180
62 const int kQQQ720p = 11;// 160* 90
63 const int kQQQQ720p = 12;// 80* 45
64
65 const int k720px2 = 13; // 2560*720
66 const int kQ720px2 = 14; // 1280*360
67 const int kQQ720px2 = 15; // 640*180
68 const int kQQQ720px2 = 16; // 320* 90
69 const int kQQQQ720px2 = 17;// 160* 45
70
71 const int k960p = k4VGA;
72 const int k1920p = k16VGA;
73
77 const int kYuvColorSpace = 0;
78 const int kyUvColorSpace = 1;
79 const int kyuVColorSpace = 2;
80 const int kRgbColorSpace = 3;
81 const int krGbColorSpace = 4;
82 const int krgBColorSpace = 5;
83 const int kHsyColorSpace = 6;
84 const int khSyColorSpace = 7;
85 const int khsYColorSpace = 8;
86 const int kYUV422ColorSpace = 9;
87 const int kYUV422InterlacedColorSpace = kYUV422ColorSpace; // deprecated
88 const int kYUVColorSpace = 10;
89 const int kRGBColorSpace = 11;
90 const int kHSYColorSpace = 12;
91 const int kBGRColorSpace = 13; // for opencv ease of use
92 const int kYYCbCrColorSpace = 14; // for tiff io implementation
93 const int kH2RGBColorSpace = 15; // H from HSY to RGB in fake colors
94 const int kHSMixedColorSpace = 16; // HS and (H +S)/2
95 const int kDepthColorSpace = 17;
96 const int kARGBColorSpace = 18;
97 const int kXYZColorSpace = 19;
98 const int kInfraredColorSpace = 20;
99 const int kDistanceColorSpace = 21;
100 const int kLabColorSpace = 22;
101 const int kRawDepthColorSpace = 23;
102 const int kLuvColorSpace = 24;
103 const int kLChabColorSpace = 25;
104 const int kLChuvColorSpace = 26;
105
109 const int kCameraBrightnessID = 0;
110 const int kCameraContrastID = 1;
111 const int kCameraSaturationID = 2;
112 const int kCameraHueID = 3;
113 const int kCameraRedChromaID = 4;
114 const int kCameraBlueChromaID = 5;
115 const int kCameraGainID = 6;
116 const int kCameraHFlipID = 7;
117 const int kCameraVFlipID = 8;
118 const int kCameraLensXID = 9;
119 const int kCameraLensYID = 10;
120 const int kCameraAutoExpositionID = 11;
121 const int kCameraAutoWhiteBalanceID = 12;
122 const int kCameraAutoGainID = 13;
123 const int kCameraResolutionID = 14;
124 const int kCameraFrameRateID = 15;
125 const int kCameraBufferSizeID = 16;
126 const int kCameraExposureID = 17;
127 const int kCameraSelectID = 18;
128 const int kCameraSetDefaultParamsID = 19;
129 const int kCameraColorSpaceID = 20;
130 const int kCameraExposureCorrectionID = 21;
131 const int kCameraExposureAlgorithmID = 22;
132 const int kCameraAecAlgorithmID = kCameraExposureAlgorithmID; // deprecated
133 const int kCameraFastSwitchID = 23;
134 const int kCameraSharpnessID = 24;
135 const int kCameraAwbGreenGainID = 25;
136 const int kCameraAblcID = 26;
137 const int kCameraAblcTargetID = 27;
138 const int kCameraAblcStableRangeID = 28;
139 const int kCameraBlcBlueID = 29;
140 const int kCameraBlcRedID = 30;
141 const int kCameraBlcGbID = 31;
142 const int kCameraBlcGrID = 32;
143 const int kCameraWhiteBalanceID = 33;
144 const int kCameraBacklightCompensationID = 34;
145 const int kCameraKeepAliveID = 35;
146 const int kCameraDepthConfidenceThresholdID = 36;
147 const int kCameraDepthFastFilterID = 37;
148 const int kCameraTemperatureID = 38;
149 const int kCameraAverageLuminanceID = 39;
150 const int kCameraAutoFocusID = 40;
151 const int kCameraSynchronisationID = 41;
152 const int kCameraDisparityWindowSizeID = 42;
153 const int kCameraFocusID = 43;
154 const int kCameraTestPatternID = 44;
155
158 bool isResolutionValid(const int resIndex);
159
163 void setSizeFromResolution(const int resIndex, int& outWidth, int& outHeight);
164
168 int getResolutionFromSize(const int width, const int height);
169
172 bool isColorSpaceValid(const int colorspace);
173
180 int getNumLayersInColorSpace(const int colorSpace);
181
189 int getNumChannelsInColorSpace(const int colorSpace);
190
191 inline float convertAngleValToNormalizedImgVal(const float& radValue,
192 const float& imageRadMin,
193 const float& imageRadMax)
194 { return ( radValue / (imageRadMax-imageRadMin)); }
195
196 inline float convertAnglePosToNormalizedImgPos(const float& radPosition,
197 const float& imageRadMin,
198 const float& imageRadMax)
199 { return ((radPosition-imageRadMin) / (imageRadMax-imageRadMin)); }
200 } // namespace AL
201
202
203 #endif // _LIBALVISION_ALVISION_ALVISIONDEFINITIONS_H_
AL::getNumChannelsInColorSpace
int getNumChannelsInColorSpace(const int colorSpace)
Utility function that returns the number of channels for a given color space.
AL::kARGBColorSpace
const int kARGBColorSpace
Definition: alvisiondefinitions.h:96
AL::kOV4689
const int kOV4689
Definition: alvisiondefinitions.h:28
AL::getNumLayersInColorSpace
int getNumLayersInColorSpace(const int colorSpace)
Utility function that returns the number of layers for a given color space.
AL::kyUvColorSpace
const int kyUvColorSpace
Definition: alvisiondefinitions.h:78
AL::kQQQ720px2
const int kQQQ720px2
Definition: alvisiondefinitions.h:68
AL::kCameraLensYID
const int kCameraLensYID
Definition: alvisiondefinitions.h:119
AL::kLChuvColorSpace
const int kLChuvColorSpace
Definition: alvisiondefinitions.h:104
AL::kBottomCamera
const int kBottomCamera
Definition: alvisiondefinitions.h:34
AL::kCameraGainID
const int kCameraGainID
Definition: alvisiondefinitions.h:115
AL::setSizeFromResolution
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 he...
AL::kCameraDisparityWindowSizeID
const int kCameraDisparityWindowSizeID
Definition: alvisiondefinitions.h:152
AL::kBGRColorSpace
const int kBGRColorSpace
Definition: alvisiondefinitions.h:91
AL::kRGBColorSpace
const int kRGBColorSpace
Definition: alvisiondefinitions.h:89
AL::kQ720p
const int kQ720p
Definition: alvisiondefinitions.h:60
AL::kRawDepthColorSpace
const int kRawDepthColorSpace
Definition: alvisiondefinitions.h:101
AL::kCameraHueID
const int kCameraHueID
Definition: alvisiondefinitions.h:112
AL::kSimulator3D
const int kSimulator3D
Definition: alvisiondefinitions.h:26
AL::kCameraAblcTargetID
const int kCameraAblcTargetID
Definition: alvisiondefinitions.h:137
AL::kCameraAutoWhiteBalanceID
const int kCameraAutoWhiteBalanceID
Definition: alvisiondefinitions.h:121
AL::kCameraContrastID
const int kCameraContrastID
Definition: alvisiondefinitions.h:110
AL::kCameraFastSwitchID
const int kCameraFastSwitchID
Definition: alvisiondefinitions.h:133
AL::kCameraExposureCorrectionID
const int kCameraExposureCorrectionID
Definition: alvisiondefinitions.h:130
AL::kCameraAblcStableRangeID
const int kCameraAblcStableRangeID
Definition: alvisiondefinitions.h:138
AL::khsYColorSpace
const int khsYColorSpace
Definition: alvisiondefinitions.h:85
AL::getResolutionFromSize
int getResolutionFromSize(const int width, const int height)
Utility function that takes width and height as inputs and returns the corresponding resolution index...
AL::kQQQQ720px2
const int kQQQQ720px2
Definition: alvisiondefinitions.h:69
AL::kCameraTemperatureID
const int kCameraTemperatureID
Definition: alvisiondefinitions.h:148
AL::kStereo
const int kStereo
Definition: alvisiondefinitions.h:27
AL::kRgbColorSpace
const int kRgbColorSpace
Definition: alvisiondefinitions.h:80
AL::kCameraDepthFastFilterID
const int kCameraDepthFastFilterID
Definition: alvisiondefinitions.h:147
AL::k720p
const int k720p
Definition: alvisiondefinitions.h:59
AL::kyuVColorSpace
const int kyuVColorSpace
Definition: alvisiondefinitions.h:79
AL::kCameraAutoGainID
const int kCameraAutoGainID
Definition: alvisiondefinitions.h:122
AL::kDepthColorSpace
const int kDepthColorSpace
Definition: alvisiondefinitions.h:95
AL::khSyColorSpace
const int khSyColorSpace
Definition: alvisiondefinitions.h:84
AL::kApertureH_OV7670
const float kApertureH_OV7670
Definition: alvisiondefinitions.h:42
AL::kCameraLensXID
const int kCameraLensXID
Definition: alvisiondefinitions.h:118
AL::kLuvColorSpace
const int kLuvColorSpace
Definition: alvisiondefinitions.h:102
AL::kCameraBlcGrID
const int kCameraBlcGrID
Definition: alvisiondefinitions.h:142
AL::kCameraBlcBlueID
const int kCameraBlcBlueID
Definition: alvisiondefinitions.h:139
AL::kQVGA
const int kQVGA
Definition: alvisiondefinitions.h:53
AL::kCameraKeepAliveID
const int kCameraKeepAliveID
Definition: alvisiondefinitions.h:145
AL::kDistanceColorSpace
const int kDistanceColorSpace
Definition: alvisiondefinitions.h:99
AL::convertAngleValToNormalizedImgVal
float convertAngleValToNormalizedImgVal(const float &radValue, const float &imageRadMin, const float &imageRadMax)
Definition: alvisiondefinitions.h:191
AL::kCameraSynchronisationID
const int kCameraSynchronisationID
Definition: alvisiondefinitions.h:151
AL::kQQQQVGA
const int kQQQQVGA
Definition: alvisiondefinitions.h:56
AL::kHSMixedColorSpace
const int kHSMixedColorSpace
Definition: alvisiondefinitions.h:94
AL::kYYCbCrColorSpace
const int kYYCbCrColorSpace
Definition: alvisiondefinitions.h:92
AL::kCameraFrameRateID
const int kCameraFrameRateID
Definition: alvisiondefinitions.h:124
AL::kVGA
const int kVGA
Definition: alvisiondefinitions.h:52
AL::kCameraAutoExpositionID
const int kCameraAutoExpositionID
Definition: alvisiondefinitions.h:120
AL::k4VGA
const int k4VGA
Definition: alvisiondefinitions.h:51
AL::kCameraResolutionID
const int kCameraResolutionID
Definition: alvisiondefinitions.h:123
AL::kStereoCamera
const int kStereoCamera
Definition: alvisiondefinitions.h:36
AL::kSimulator2D
const int kSimulator2D
Definition: alvisiondefinitions.h:25
AL::kDepthCamera
const int kDepthCamera
Definition: alvisiondefinitions.h:35
AL::kCameraTestPatternID
const int kCameraTestPatternID
Definition: alvisiondefinitions.h:154
AL::kApertureH_MT9M114
const float kApertureH_MT9M114
Definition: alvisiondefinitions.h:44
AL::kH2RGBColorSpace
const int kH2RGBColorSpace
Definition: alvisiondefinitions.h:93
AL::kYuvColorSpace
const int kYuvColorSpace
Definition: alvisiondefinitions.h:77
AL::kCameraWhiteBalanceID
const int kCameraWhiteBalanceID
Definition: alvisiondefinitions.h:143
AL::kLChabColorSpace
const int kLChabColorSpace
Definition: alvisiondefinitions.h:103
AL::kCameraBlcRedID
const int kCameraBlcRedID
Definition: alvisiondefinitions.h:140
AL::kCameraAblcID
const int kCameraAblcID
Definition: alvisiondefinitions.h:136
AL::k720px2
const int k720px2
Definition: alvisiondefinitions.h:65
AL::isColorSpaceValid
bool isColorSpaceValid(const int colorspace)
Utility function that checks that a color space index is valid. (ie, present in the definitions just ...
AL::kLabColorSpace
const int kLabColorSpace
Definition: alvisiondefinitions.h:100
AL::kYUV422ColorSpace
const int kYUV422ColorSpace
Definition: alvisiondefinitions.h:86
AL::kCameraExposureAlgorithmID
const int kCameraExposureAlgorithmID
Definition: alvisiondefinitions.h:131
AL::kCameraDepthConfidenceThresholdID
const int kCameraDepthConfidenceThresholdID
Definition: alvisiondefinitions.h:146
AL::kCameraRedChromaID
const int kCameraRedChromaID
Definition: alvisiondefinitions.h:113
AL::convertAnglePosToNormalizedImgPos
float convertAnglePosToNormalizedImgPos(const float &radPosition, const float &imageRadMin, const float &imageRadMax)
Definition: alvisiondefinitions.h:196
AL::kQ720px2
const int kQ720px2
Definition: alvisiondefinitions.h:66
AL::kQQQ720p
const int kQQQ720p
Definition: alvisiondefinitions.h:62
AL::kYUV422InterlacedColorSpace
const int kYUV422InterlacedColorSpace
Definition: alvisiondefinitions.h:87
AL::k1080p
const int k1080p
Definition: alvisiondefinitions.h:58
AL::kCameraBufferSizeID
const int kCameraBufferSizeID
Definition: alvisiondefinitions.h:125
AL::kCameraVFlipID
const int kCameraVFlipID
Definition: alvisiondefinitions.h:117
AL::kHSYColorSpace
const int kHSYColorSpace
Definition: alvisiondefinitions.h:90
AL::krgBColorSpace
const int krgBColorSpace
Definition: alvisiondefinitions.h:82
AL::kCameraAecAlgorithmID
const int kCameraAecAlgorithmID
Definition: alvisiondefinitions.h:132
AL::kCameraBacklightCompensationID
const int kCameraBacklightCompensationID
Definition: alvisiondefinitions.h:144
AL::kQQQVGA
const int kQQQVGA
Definition: alvisiondefinitions.h:55
AL::kApertureV_MT9M114
const float kApertureV_MT9M114
Definition: alvisiondefinitions.h:45
AL::kCameraAutoFocusID
const int kCameraAutoFocusID
Definition: alvisiondefinitions.h:150
AL::kTopCamera
const int kTopCamera
Definition: alvisiondefinitions.h:33
AL::kCameraExposureID
const int kCameraExposureID
Definition: alvisiondefinitions.h:126
AL::kCameraBrightnessID
const int kCameraBrightnessID
Definition: alvisiondefinitions.h:109
AL::kCameraHFlipID
const int kCameraHFlipID
Definition: alvisiondefinitions.h:116
AL::k960p
const int k960p
Definition: alvisiondefinitions.h:71
AL::kOV5640
const int kOV5640
Definition: alvisiondefinitions.h:23
AL::kMT9M114
const int kMT9M114
Definition: alvisiondefinitions.h:22
AL::k1920p
const int k1920p
Definition: alvisiondefinitions.h:72
AL::kQQ720px2
const int kQQ720px2
Definition: alvisiondefinitions.h:67
AL::kCameraFocusID
const int kCameraFocusID
Definition: alvisiondefinitions.h:153
AL::kOV7670
const int kOV7670
Definition: alvisiondefinitions.h:21
AL::kQQQQ720p
const int kQQQQ720p
Definition: alvisiondefinitions.h:63
AL::kCameraBlueChromaID
const int kCameraBlueChromaID
Definition: alvisiondefinitions.h:114
AL::kCameraSelectID
const int kCameraSelectID
Definition: alvisiondefinitions.h:127
AL::k16VGA
const int k16VGA
Definition: alvisiondefinitions.h:50
AL::kInfraredColorSpace
const int kInfraredColorSpace
Definition: alvisiondefinitions.h:98
AL::isResolutionValid
bool isResolutionValid(const int resIndex)
Utility function that checks that a resolution index is valid. (ie, present in the definitions just a...
AL::kCameraAwbGreenGainID
const int kCameraAwbGreenGainID
Definition: alvisiondefinitions.h:135
AL::kCameraBlcGbID
const int kCameraBlcGbID
Definition: alvisiondefinitions.h:141
AL::kCameraSetDefaultParamsID
const int kCameraSetDefaultParamsID
Definition: alvisiondefinitions.h:128
AL::kXYZColorSpace
const int kXYZColorSpace
Definition: alvisiondefinitions.h:97
AL::kCameraAverageLuminanceID
const int kCameraAverageLuminanceID
Definition: alvisiondefinitions.h:149
AL::kApertureV_OV7670
const float kApertureV_OV7670
Definition: alvisiondefinitions.h:43
AL::kQQVGA
const int kQQVGA
Definition: alvisiondefinitions.h:54
AL::kXTION
const int kXTION
Definition: alvisiondefinitions.h:24
AL::krGbColorSpace
const int krGbColorSpace
Definition: alvisiondefinitions.h:81
AL::kYUVColorSpace
const int kYUVColorSpace
Definition: alvisiondefinitions.h:88
AL::kCameraSaturationID
const int kCameraSaturationID
Definition: alvisiondefinitions.h:111
AL::kHsyColorSpace
const int kHsyColorSpace
Definition: alvisiondefinitions.h:83
AL::kCameraColorSpaceID
const int kCameraColorSpaceID
Definition: alvisiondefinitions.h:129
AL::kQQ720p
const int kQQ720p
Definition: alvisiondefinitions.h:61
AL::kCameraSharpnessID
const int kCameraSharpnessID
Definition: alvisiondefinitions.h:134