Robot Simulator of the Robotics Group for Self-Organization of Control: grabframe.h Source File

# grabframe.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __GRABFRAME_H
    00025 #define __GRABFRAME_H
    00026
    00027 #include <stdio.h>
    00028 #include <osg/Image>
    00029 #include <osg/Camera>
    00030
    00031 namespace lpzrobots{
    00032
    00033   class VideoStream : public osg::Camera::DrawCallback {
    00034   public:
    00035     VideoStream(){ filename=0; opened=false; pause = false;}
    00036
    00037     void open(const char* filename);
    00038     void close();
    00039     bool grabAndWriteFrame(const osg::Camera& camera);
    00040
    00041     bool isOpen() const { return opened; }
    00042
    00043     // DrawCallback interface
    00044     virtual void operator() (const osg::Camera &) const ;
    00045
    00046     bool pause;
    00047   private:
    00048     bool opened;
    00049     char* filename;
    00050     unsigned int w;
    00051     unsigned int h;
    00052     long int counter;
    00053   };
    00054
    00055 }
    00056
    00057 #endif