Common interface class for all grabbers. More...

#include <GenericGrabber.h>

Inheritance diagram for icl::io::GenericGrabber:

Public Member Functions
	GenericGrabber (const utils::ProgArg &pa) throw (utils::ICLException)
	<< internal protection for re-initialization
	GenericGrabber (const std::string &devicePriorityList, const std::string &params, bool notifyErrors=true) throw (utils::ICLException)
	Create a generic grabber instance with given device priority list.
	GenericGrabber ()
	Empty default constructor, which creates a null-instance.
void	init (const std::string &devicePriorityList, const std::string &params, bool notifyErrors=true) throw (utils::ICLException)
	initialization function to change/initialize the grabber back-end
void	init (const utils::ProgArg &pa) throw (utils::ICLException)
	this method works just like the other init method
std::string	getType () const
	return the actual grabber type
Grabber *	getGrabber () const
	returns the wrapped grabber itself
virtual	~GenericGrabber ()
	Destructor.
const core::ImgBase *	grab (core::ImgBase **dst=0)
	grab function calls the Grabber-specific acquireImage-method and applies distortion if necessary
bool	isNull () const
	returns wheter an underlying grabber could be created
	operator bool () const
	simpler interface for isNull() (returns !isNull()
void	setDesiredFormatInternal (core::format fmt)
	internally set a desired format
void	setDesiredSizeInternal (const utils::Size &size)
	internally set a desired format
void	setDesiredDepthInternal (core::depth d)
	internally set a desired format
core::format	getDesiredFormatInternal () const
	returns the desired format
core::depth	getDesiredDepthInternal () const
	returns the desired format
utils::Size	getDesiredSizeInternal () const
	returns the desired format
void	registerCallback (Grabber::callback cb)
	passes registered callback to the internal pointer
void	removeAllCallbacks ()
	passes registered callback to the internal pointer
template<class T >
bool	desiredUsed () const
	returns whether the desired parameter for the given type is used
template<class T >
void	useDesired (const T &t)
	sets desired parameters (only available for core::depth,utils::Size and core::format)
void	useDesired (core::depth d, const utils::Size &size, core::format fmt)
	sets up the grabber to use all given desired parameters
template<class T >
void	ignoreDesired ()
	set the grabber to ignore the desired param of type T
void	ignoreDesired ()
	sets up the grabber to ignore all desired parameters
template<class T >
T	getDesired () const
	returns the desired value for the given type T
void	enableUndistortion (const std::string &filename)
	enables the undistorion
void	enableUndistortion (const ImageUndistortion &udist)
	enables the undistortion plugin for the grabber using radial and tangential distortion parameters
void	enableUndistortion (const utils::ProgArg &pa)
	enables undistortion from given programm argument.
void	enableUndistortion (const core::Img32f &warpMap)
	enables undistortion for given warp map
void	setUndistortionInterpolationMode (core::scalemode mode)
	sets how undistortion is interpolated (supported modes are interpolateNN and interpolateLIN)
void	disableUndistortion ()
	disables distortion
bool	isUndistortionEnabled () const
	returns whether distortion is currently enabled
const core::Img32f *	getUndistortionWarpMap () const
	returns the internal warp map or NULL if undistortion is not enabled
void	init (const GrabberDeviceDescription &dev)
	initializes the grabber from given FoundDevice instance
Static Public Member Functions
static void	resetBus (const std::string &deviceList="dc", bool verbose=false)
	resets resource on given devices (e.g. firewire bus)
static const std::vector < GrabberDeviceDescription > &	getDeviceList (const std::string &filter, bool rescan=true)
	returns a list of all currently available devices (according to the filter-string)
Private Attributes
Grabber *	m_poGrabber
	internally wrapped grabber instance
GrabberDeviceDescription	m_poDesc
	description of current Grabber
utils::Mutex	m_mutex

Detailed Description

Common interface class for all grabbers.

The generic grabber provides an interface for a multi-platform compatible grabber. Image processing applications should use this Grabber class. The GenericGrabber also provides camera configuration via ConfigurableProxy interface.

Constructor & Destructor Documentation

icl::io::GenericGrabber::GenericGrabber ( const utils::ProgArg & pa ) throw (utils::ICLException) [inline]

<< internal protection for re-initialization

Initialized the grabber from given prog-arg The progarg needs two sub-parameters

icl::io::GenericGrabber::GenericGrabber	(	const std::string &	devicePriorityList,
		const std::string &	params,
		bool	notifyErrors = `true`
	)		throw (utils::ICLException) `[inline]`

Create a generic grabber instance with given device priority list.

internally this function calls the init function immediately

icl::io::GenericGrabber::GenericGrabber ( ) [inline]

Empty default constructor, which creates a null-instance.

null instances of grabbers can be adapted using the init-function

virtual icl::io::GenericGrabber::~GenericGrabber ( ) [virtual]

Destructor.

Member Function Documentation

template<class T >

bool icl::io::GenericGrabber::desiredUsed ( ) const [inline]

returns whether the desired parameter for the given type is used

This method is only available for the type core::depth,icl::utils::Size and core::format

void icl::io::GenericGrabber::disableUndistortion ( ) [inline]

disables distortion

void icl::io::GenericGrabber::enableUndistortion ( const std::string & filename ) [inline]

enables the undistorion

void icl::io::GenericGrabber::enableUndistortion ( const ImageUndistortion & udist ) [inline]

enables the undistortion plugin for the grabber using radial and tangential distortion parameters

void icl::io::GenericGrabber::enableUndistortion ( const utils::ProgArg & pa ) [inline]

enables undistortion from given programm argument.

where first argument is the filename of the xml file and second is the size of picture

void icl::io::GenericGrabber::enableUndistortion ( const core::Img32f & warpMap ) [inline]

enables undistortion for given warp map

template<class T >

T icl::io::GenericGrabber::getDesired ( ) const [inline]

returns the desired value for the given type T

This method is only available for core::depth,utils::Size and core::format

core::depth icl::io::GenericGrabber::getDesiredDepthInternal ( ) const [inline]

returns the desired format

core::format icl::io::GenericGrabber::getDesiredFormatInternal ( ) const [inline]

returns the desired format

utils::Size icl::io::GenericGrabber::getDesiredSizeInternal ( ) const [inline]

returns the desired format

static const std::vector<GrabberDeviceDescription>& icl::io::GenericGrabber::getDeviceList	(	const std::string &	filter,
		bool	rescan = `true`
	)		`[static]`

returns a list of all currently available devices (according to the filter-string)

The filter-string is a comma separated list of single filters like

 dc=0,unicap

If a single token has the core::format deviceType=deviceID, then only not only the device type but also a specific ID is used for the filtering operation. If, otherwise, a token has the core::format deviceType, then all possible devices for this device type are listed.

Grabber* icl::io::GenericGrabber::getGrabber ( ) const [inline]

returns the wrapped grabber itself

std::string icl::io::GenericGrabber::getType ( ) const [inline]

return the actual grabber type

const core::Img32f* icl::io::GenericGrabber::getUndistortionWarpMap ( ) const [inline]

returns the internal warp map or NULL if undistortion is not enabled

const core::ImgBase* icl::io::GenericGrabber::grab ( core::ImgBase ** dst = 0 ) [inline]

grab function calls the Grabber-specific acquireImage-method and applies distortion if necessary

If dst is not NULL, it is exploited and filled with image data

template<class T >

void icl::io::GenericGrabber::ignoreDesired ( ) [inline]

set the grabber to ignore the desired param of type T

This method is only available for core::depth,utils::Size and core::format

void icl::io::GenericGrabber::ignoreDesired ( ) [inline]

sets up the grabber to ignore all desired parameters

void icl::io::GenericGrabber::init	(	const std::string &	devicePriorityList,
		const std::string &	params,
		bool	notifyErrors = `true`
	)		throw (utils::ICLException)

initialization function to change/initialize the grabber back-end

Parameters:

devicePriorityList

Comma separated list of device tokens (no white spaces). something like "dc,pwc,file,unicap" with arbitrary order undesired devices can be left out. In particular you can also give only a single desired device type e.g. "pwc". The following device types are supported:

v4l Video for Linux 2 based grabber
dc dc grabber
dc800 dc grabber but with 800MBit iso-speed
file file grabber
demo demo grabber (moving red spot)
create create grabber (create an image using ICL's create function)
sr SwissRanger camera (mesa-imaging)
video Xine based video grabber (grabbing videos frame by frame)
cvcam OpenCV based camera grabber (supporting video 4 linux devices)
cvvideo OpenCV based video grabber
sm Qt-based Shared-Memory grabber (using QSharedMemoryInstance)
myr Uses Myrmex tactile input device as image source
kinectd Uses libfreenect to grab Microsoft-Kinect's core::depth images
kinectc Uses libfreenect to grab Microsoft-Kinect's rgb color images
kinecti Uses libfreenect to grab Microsoft-Kinect's IR images
rsb Robotics Service Bus Source

params comma separated device depend parameter list: e.g. "v4l=0,file=images//image*.ppm,dc=0" with self-explaining syntax
Additionally, each token a=b can be extended by device property that are directly set after device instantiation. E.g. demo=0@size=QVGA@blob-red=128, instantiates a demo-grabber, where the two additionally given properties (size and blob-red) are set immediately after grabber instantiation. By these means particularly a grabber's core::format can be set in the grabber instantiation call. Furthermore, three special @-tokens are possible: @info (e.g. dc=0@info) lists the 0th dc device's available properties. @load=filename loads a given property filename directly. @udist=filename loads a given undistortion parameter filename directly and therefore makes the grabber grab undistorted images according to the undistortion parameters and model type (either 3 or 5 parameters) that is found in the given xml-file. todo fix this sentence according to the fixed application names Please note, that valid xml-undistortion files can be created using the undistortion-calibration tools icl-opencvcamcalib-demo, icl-intrinsic-camera-calibration and icl-intrinsic-calibrator-demo. On the C++-level, this is only a minor advantage, since all these things can also be achieved via function calls, however if you use the most recommended way for ICL-Grabber instantiation using ICL's program-argument evaluation framework, The GenericGrabber is instantiated using grabber.init(pa("-i")) which then allows the application user to set grabber parameters via addiation @-options on the command line: e.g.: "icl-camviewer -input dc 0\@size=VGA"

Semantics:

v4l=device-name (e.g. "/dev/video0")
dc=device-index (int) or dc=UniqueID (string) (the unique ID can be found with 'icl-cam-cfg d -list-devices-only')
dc800=device-index (int)
file=pattern (string)
demo=anything (not regarded)
create=image name (see also icl::TestImages::create)
mv=device-name (string)
sr=device-serial-number (-1 -> menu, 0 -> auto-select) or sr=NcC where N is the device numer as above, c is the character 'c' and C is the channel index to pick (0: core::depth-map, 1: confidence map, 2: intensity image
video=video-filename (string)
cvcam=camera index (0=first device,1=2nd device, ...) here, you can also use opencv's so called 'domain offsets': current values are:
- 100 MIL-drivers (proprietary)
- 200 V4L,V4L2 and VFW,
- 300 Firewire,
- 400 TXYZ (proprietary)
- 500 QuickTime
- 600 Unicap
- 700 Direct Show Video Input (e.g. device ID 301 selects the 2nd firewire device)
cvvideo=video-filename (string)
sm=Shared-memory-segment-id (string)
myr=deviceIndex (int) (the device index is used to create the /dev/videoX device)
kinectd=device-index (int)
kinectc=device-index (int)
kinecti=device-index (int)
rsb=[comma-sep. transport-list=spread]:scope)

Parameters:

notifyErrors if set to false, no exception is thrown if no suitable device was found

void icl::io::GenericGrabber::init ( const utils::ProgArg & pa ) throw (utils::ICLException)

this method works just like the other init method

void icl::io::GenericGrabber::init ( const GrabberDeviceDescription & dev ) [inline]

initializes the grabber from given FoundDevice instance

calls 'init(dev.type,dev.type+"="+dev.id,false)'

bool icl::io::GenericGrabber::isNull ( ) const [inline]

returns wheter an underlying grabber could be created

bool icl::io::GenericGrabber::isUndistortionEnabled ( ) const [inline]

returns whether distortion is currently enabled

icl::io::GenericGrabber::operator bool ( ) const [inline]

simpler interface for isNull() (returns !isNull()

void icl::io::GenericGrabber::registerCallback ( Grabber::callback cb ) [inline]

passes registered callback to the internal pointer

void icl::io::GenericGrabber::removeAllCallbacks ( ) [inline]

passes registered callback to the internal pointer

static void icl::io::GenericGrabber::resetBus	(	const std::string &	deviceList = `"dc"`,
		bool	verbose = `false`
	)		`[static]`

resets resource on given devices (e.g. firewire bus)

void icl::io::GenericGrabber::setDesiredDepthInternal ( core::depth d ) [inline]

internally set a desired format

void icl::io::GenericGrabber::setDesiredFormatInternal ( core::format fmt ) [inline]

internally set a desired format

void icl::io::GenericGrabber::setDesiredSizeInternal ( const utils::Size & size ) [inline]

internally set a desired format

void icl::io::GenericGrabber::setUndistortionInterpolationMode ( core::scalemode mode ) [inline]

sets how undistortion is interpolated (supported modes are interpolateNN and interpolateLIN)

Please note, that this method has no effect if the undistortion was not enabled before using one of the Grabber::enableUndistortion methods. Furthermore, the setting is lost if the undistortion is deactivated using Grabber::disableUndistortion

template<class T >

void icl::io::GenericGrabber::useDesired ( const T & t ) [inline]

sets desired parameters (only available for core::depth,utils::Size and core::format)