/home/opennao/work/master/sdk/libnaoqi/libalvision/alvision/alvisionextractor.h

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#ifndef ALVISIONEXTRACTOR_H
#define ALVISIONEXTRACTOR_H

#include <alvision/alvisiondefinitions.h>
#include <alvision/alimage.h>
#include <alcommon/albroker.h>
#include <alextractor/alextractor.h>
#include <qi/macro.hpp>

namespace AL {

class ALValue;
class ALVideoDeviceProxy;
class ALVisionExtractorPrivate;

class ALVisionExtractor : public ALExtractor {

public:
  ALVisionExtractor(boost::shared_ptr<ALBroker> pBroker,
                    const std::string& pName,
                    int resolution=kQVGA, int colorspace=kBGRColorSpace,
                    int framerate=30, int activecamera=-1);

  virtual ~ALVisionExtractor();

  virtual bool setColorSpace(const int& colorSpace);

  virtual bool setFrameRate(const int& framerate);
  virtual bool setFrameRate(const std::string &pSubscribedName,
                            const int& framerate);

  virtual bool setResolution(const int& resolution);

  virtual bool setActiveCamera(const int& cameraId);

  boost::shared_ptr<AL::ALVideoDeviceProxy> getVideoDeviceProxy();

  int getColorSpace();

  int getFrameRate();

  int getResolution();

  int getActiveCamera();

  bool isPaused();
  bool isProcessing();


  QI_API_DEPRECATED void setParameter(const std::string& paramName,
                                      const ALValue& paramValue);

  virtual void start() = 0;

  virtual void process(ALImage* img) = 0;

  void pause(const bool& paused);

  virtual void stop() = 0;

  int getDefaultPeriod();


  int getMinimumPeriod();

  int getMaximumPeriod();


protected:
  void xUpdateParameters(const int pPeriod, const float pPrecision);
  void setSubscriptionParameters(const std::vector< std::pair<int, int> >& parameters);

private:

  //intentionnally undefined.
  ALVisionExtractor(const ALVisionExtractor& extractor);
  //intentionnally undefined.
  ALVisionExtractor& operator =(const ALVisionExtractor& extractor);

  void xStartDetection(const int pPeriod, const float pPrecision);
  void xStopDetection();

  void xRun();

  ALVisionExtractorPrivate* _pImpl;
};

} // namespace AL.

#endif // ALVISIONEXTRACTOR_H