画像処理コンポーネントの作成(Windows XP、OpenRTM-aist-1.1、rtmtools-1.1.0-RC3、CMake、VC2010)

 void cvFlip(IplImage* src, IplImage* dst=NULL, int flipMode=0);
 #define cvMirror cvFlip
  
 src       入力配列
 dst       出力配列。もし dst=NULL であれば、src が上書きされます。
 flipMode 配列の反転方法の指定内容:
 　flipMode = 0: X軸周りでの反転(上下反転)
 　flipMode > 0: Y軸周りでの反転(左右反転)
 　flipMode < 0: 両軸周りでの反転(上下左右反転)

   struct CameraImage
     {
         /// Time stamp.
         Time tm;
         /// Image pixel width.
         unsigned short width;
         /// Image pixel height.
         unsigned short height;
         /// Bits per pixel.
         unsigned short bpp;
         /// Image format (e.g. bitmap, jpeg, etc.).
         string format;
         /// Scale factor for images, such as disparity maps,
         /// where the integer pixel value should be divided
         /// by this factor to get the real pixel value.
         double fDiv;
         /// Raw pixel data.
         sequence<octet> pixels;
     };

 $ cmake .
 $ make

 //OpenCV用インクルードファイルのインクルード
 #include<cv.h>
 #include<cxcore.h>
 #include<highgui.h>

   /***
    *
    * The activated action (Active state entry action)
    * former rtc_active_entry()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
 
   /***
    *
    * The deactivated action (Active state exit action)
    * former rtc_active_exit()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
 
   /***
    *
    * The execution action that is invoked periodically
    * former rtc_active_do()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

   IplImage* m_imageBuff;
   IplImage* m_flipImageBuff;

 RTC::ReturnCode_t Flip::onActivated(RTC::UniqueId ec_id)
 {
   // イメージ用メモリの初期化
   m_imageBuff = NULL;
   m_flipImageBuff = NULL;
 
   // OutPortの画面サイズの初期化
   m_flippedImage.width = 0;
   m_flippedImage.height = 0;
  
   return RTC::RTC_OK;
 }
 
 
 RTC::ReturnCode_t Flip::onDeactivated(RTC::UniqueId ec_id)
 {
   if(m_imageBuff != NULL)
   {
     // イメージ用メモリの解放
     cvReleaseImage(&m_imageBuff);
     cvReleaseImage(&m_flipImageBuff);
   }
 
   return RTC::RTC_OK;
 }
 
 
 RTC::ReturnCode_t Flip::onExecute(RTC::UniqueId ec_id)
 {
   // 新しいデータのチェック
   if (m_originalImageIn.isNew()) {
     // InPortデータの読み込み
     m_originalImageIn.read();
 
     // InPortとOutPortの画面サイズ処理およびイメージ用メモリの確保
     if( m_originalImage.width != m_flippedImage.width || m_originalImage.height != m_flippedImage.height)
       {
     m_flippedImage.width = m_originalImage.width;
     m_flippedImage.height = m_originalImage.height;
 
     // InPortのイメージサイズが変更された場合
     if(m_imageBuff != NULL)
       {
         cvReleaseImage(&m_imageBuff);
         cvReleaseImage(&m_flipImageBuff);
       }
 
     // イメージ用メモリの確保
     m_imageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
     m_flipImageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
       }
 
     // InPortの画像データをIplImageのimageDataにコピー
     memcpy(m_imageBuff->imageData,(void *)&(m_originalImage.pixels[0]),m_originalImage.pixels.length());
 
     // InPortからの画像データを反転する。 m_flipMode 0: X軸周り, 1: Y軸周り, -1: 両方の軸周り
     cvFlip(m_imageBuff, m_flipImageBuff, m_flipMode);
 
     // 画像データのサイズ取得
     int len = m_flipImageBuff->nChannels * m_flipImageBuff->width * m_flipImageBuff->height;
     m_flippedImage.pixels.length(len);
 
     // 反転した画像データをOutPortにコピー
     memcpy((void *)&(m_flippedImage.pixels[0]),m_flipImageBuff->imageData,len);
 
     // 反転した画像データをOutPortから出力する。
     m_flippedImageOut.write();
   }
 
   return RTC::RTC_OK;
 }

 set(comp_srcs Flip.cpp )
 set(standalone_srcs FlipComp.cpp)
 
 find_package(OpenCV REQUIRED) ←この行を追加
   ：中略
 add_dependencies(${PROJECT_NAME} ALL_IDL_TGT)
 target_link_libraries(${PROJECT_NAME} ${OPENRTM_LIBRARIES} ${OpenCV_LIBS}) ←　OepnCV_LIBSを追加
   ：中略
 add_executable(${PROJECT_NAME}Comp ${standalone_srcs}
   ${comp_srcs} ${comp_headers} ${ALL_IDL_SRCS})
 target_link_libraries(${PROJECT_NAME}Comp ${OPENRTM_LIBRARIES} ${OpenCV_LIBS}) ←　OepnCV_LIBSを追加

 corba.nameservers: localhost
 naming.formats: %n.rtc

 // -*- C++ -*-
 /*!
  * @file  Flip.cpp
  * @brief Flip image component
  * @date $Date$
  *
  * $Id$
  */
 
 #include "Flip.h"
 
 // Module specification
 static const char* flip_spec[] =
   {
     "implementation_id", "Flip",
     "type_name",         "Flip",
     "description",       "Flip image component",
     "version",           "1.0.0",
     "vendor",            "AIST",
     "category",          "Category",
     "activity_type",     "PERIODIC",
     "kind",              "DataFlowComponent",
     "max_instance",      "1",
     "language",          "C++",
     "lang_type",         "compile",
     // Configuration variables
     "conf.default.flipMode", "1",
     // Widget
     "conf.__widget__.flipMode", "radio",
     // Constraints
     "conf.__constraints__.flip_mode", "(-1,0,1)",
     ""
   };
 
 /*!
  * @brief constructor
  * @param manager Maneger Object
  */
 Flip::Flip(RTC::Manager* manager)
   : RTC::DataFlowComponentBase(manager),
     m_originalImageIn("originalImage", m_originalImage),
     m_flippedImageOut("flippedImage", m_flippedImage)
 {
 }
 
 /*!
  * @brief destructor
  */
 Flip::~Flip()
 {
 }
 
 
 RTC::ReturnCode_t Flip::onInitialize()
 {
   // Registration: InPort/OutPort/Service
   // Set InPort buffers
   addInPort("originalImage", m_originalImageIn);
   
   // Set OutPort buffer
   addOutPort("flippedImage", m_flippedImageOut);
   
   // Bind variables and configuration variable
   bindParameter("flipMode", m_flipMode, "1");
 
   return RTC::RTC_OK;
 }
 
 
 RTC::ReturnCode_t Flip::onActivated(RTC::UniqueId ec_id)
 {
   // イメージ用メモリの初期化
   m_imageBuff = NULL;
   m_flipImageBuff = NULL;
 
   // OutPortの画面サイズの初期化
   m_flippedImage.width = 0;
   m_flippedImage.height = 0;
  
   return RTC::RTC_OK;
 }
 
 
 RTC::ReturnCode_t Flip::onDeactivated(RTC::UniqueId ec_id)
 {
   if(m_imageBuff != NULL)
   {
     // イメージ用メモリの解放
     cvReleaseImage(&m_imageBuff);
     cvReleaseImage(&m_flipImageBuff);
   }
 
   return RTC::RTC_OK;
 }
 
 
 RTC::ReturnCode_t Flip::onExecute(RTC::UniqueId ec_id)
 {
   // 新しいデータのチェック
   if (m_originalImageIn.isNew()) {
     // InPortデータの読み込み
     m_originalImageIn.read();
 
     // InPortとOutPortの画面サイズ処理およびイメージ用メモリの確保
     if( m_originalImage.width != m_flippedImage.width || m_originalImage.height != m_flippedImage.height)
       {
     m_flippedImage.width = m_originalImage.width;
     m_flippedImage.height = m_originalImage.height;
 
     // InPortのイメージサイズが変更された場合
     if(m_imageBuff != NULL)
       {
         cvReleaseImage(&m_imageBuff);
         cvReleaseImage(&m_flipImageBuff);
       }
 
     // イメージ用メモリの確保
     m_imageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
     m_flipImageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
       }
 
     // InPortの画像データをIplImageのimageDataにコピー
     memcpy(m_imageBuff->imageData,(void *)&(m_originalImage.pixels[0]),m_originalImage.pixels.length());
 
     // InPortからの画像データを反転する。 m_flipMode 0: X軸周り, 1: Y軸周り, -1: 両方の軸周り
     cvFlip(m_imageBuff, m_flipImageBuff, m_flipMode);
 
     // 画像データのサイズ取得
     int len = m_flipImageBuff->nChannels * m_flipImageBuff->width * m_flipImageBuff->height;
     m_flippedImage.pixels.length(len);
 
     // 反転した画像データをOutPortにコピー
     memcpy((void *)&(m_flippedImage.pixels[0]),m_flipImageBuff->imageData,len);
 
     // 反転した画像データをOutPortから出力する。
     m_flippedImageOut.write();
   }
 
   return RTC::RTC_OK;
 }
 
 
 extern "C"
 {
  
   void FlipInit(RTC::Manager* manager)
   {
     coil::Properties profile(flip_spec);
     manager->registerFactory(profile,
                              RTC::Create<Flip>,
                              RTC::Delete<Flip>);
   }
   
 };

 // -*- C++ -*-
 /*!
  * @file  Flip.h
  * @brief Flip image component
  * @date  $Date$
  *
  * $Id$
  */
 
 #ifndef FLIP_H
 #define FLIP_H
 
 #include <rtm/Manager.h>
 #include <rtm/DataFlowComponentBase.h>
 #include <rtm/CorbaPort.h>
 #include <rtm/DataInPort.h>
 #include <rtm/DataOutPort.h>
 #include <rtm/idl/BasicDataTypeSkel.h>
 #include <rtm/idl/ExtendedDataTypesSkel.h>
 #include <rtm/idl/InterfaceDataTypesSkel.h>
 
 //OpenCV用インクルードファイルのインクルード
 #include<cv.h>
 #include<cxcore.h>
 #include<highgui.h>
 
 using namespace RTC;
 
 /*!
  * @class Flip
  * @brief Flip image component
  *
  */
 class Flip
   : public RTC::DataFlowComponentBase
 {
  public:
   /*!
    * @brief constructor
    * @param manager Maneger Object
    */
   Flip(RTC::Manager* manager);
 
   /*!
    * @brief destructor
    */
   ~Flip();
 
   /***
    *
    * The initialize action (on CREATED->ALIVE transition)
    * formaer rtc_init_entry() 
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
    virtual RTC::ReturnCode_t onInitialize();
 
   /***
    *
    * The activated action (Active state entry action)
    * former rtc_active_entry()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
    virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
 
   /***
    *
    * The deactivated action (Active state exit action)
    * former rtc_active_exit()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
    virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
 
   /***
    *
    * The execution action that is invoked periodically
    * former rtc_active_do()
    *
    * @param ec_id target ExecutionContext Id
    *
    * @return RTC::ReturnCode_t
    * 
    * 
    */
    virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
 
  protected:
   // Configuration variable declaration
   /*!
    * 
    * - Name:  flipMode
    * - DefaultValue: 1
    */
   int m_flipMode;
 
   // DataInPort declaration
   CameraImage m_originalImage;
 
   /*!
    */
   InPort<CameraImage> m_originalImageIn;
   
   // DataOutPort declaration
   CameraImage m_flippedImage;
 
   /*!
    */
   OutPort<CameraImage> m_flippedImageOut;
 
  private:
   // 処理画像用バッファ
   IplImage* m_imageBuff;
   IplImage* m_flipImageBuff;
 };
 
 
 extern "C"
 {
   DLL_EXPORT void FlipInit(RTC::Manager* manager);
 };
 
 #endif // FLIP_H