Image Component Library (ICL)
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icl::io::Grabber Class Reference

Common interface class for all grabbers. More...

#include <Grabber.h>

Inheritance diagram for icl::io::Grabber:
icl::utils::Uncopyable icl::utils::Configurable icl::io::CreateGrabber icl::io::DCGrabber icl::io::DemoGrabber icl::io::FileGrabber icl::io::KinectGrabber icl::io::OpenCVCamGrabber icl::io::OpenCVVideoGrabber icl::io::OpenNIGrabber icl::io::PixelSenseGrabber icl::io::pylon::PylonGrabber icl::io::RSBGrabber icl::io::SharedMemoryGrabber icl::io::SwissRangerGrabber icl::io::V4L2Grabber icl::io::VideoGrabber icl::io::ZmqGrabber

List of all members.

Public Types

typedef utils::Function< void,
const core::ImgBase * > 
callback
 new image callback type

Public Member Functions

 Grabber ()
virtual ~Grabber ()
 Destructor.
const core::ImgBasegrab (core::ImgBase **dst=0)
 grab function calls the Grabber-specific acquireImage-method and applies distortion if necessary
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 >
getDesired () const
 returns the desired value for the given type T
virtual void registerCallback (callback cb)
 registers a callback that is called each time, a new image is available
virtual void removeAllCallbacks ()
 removes all registered image callbacks
virtual void notifyNewImageAvailable (const core::ImgBase *image)
 this function can be implemented by subclasses in order to notify, that a new image is available

Static Public Member Functions

static std::string translateSteppingRange (const utils::SteppingRange< double > &range)
 translates a SteppingRange into a string representation
static utils::SteppingRange
< double > 
translateSteppingRange (const std::string &rangeStr)
 creates a SteppingRange out of a string representation
static std::string translateDoubleVec (const std::vector< double > &doubleVec)
 translates a vector of doubles into a string representation
static std::vector< double > translateDoubleVec (const std::string &doubleVecStr)
 creates a vector of doubles out of a string representation
static std::string translateStringVec (const std::vector< std::string > &stringVec)
 translates a vector of strings into a single string representation
static std::vector< std::string > translateStringVec (const std::string &stringVecStr)
 creates a vector of strins out of a single string representation

Protected Member Functions

virtual void setDesiredFormatInternal (core::format fmt)
 internally set a desired format
virtual void setDesiredSizeInternal (const utils::Size &size)
 internally set a desired format
virtual void setDesiredDepthInternal (core::depth d)
 internally set a desired format
virtual core::format getDesiredFormatInternal () const
 returns the desired format
virtual core::depth getDesiredDepthInternal () const
 returns the desired format
virtual utils::Size getDesiredSizeInternal () const
 returns the desired format
virtual const core::ImgBaseacquireImage ()
 main interface method, that is implemented by the actual grabber instances
const core::ImgBaseadaptGrabResult (const core::ImgBase *src, core::ImgBase **dst)
 Utility function that allows for much easier implementation of grabUD.

Private Member Functions

void processPropertyChange (const utils::Configurable::Property &prop)
 callback for changed configurable properties

Private Attributes

Data * data
 hidden data

Friends

class GrabberHandle
 grant private method access to the grabber handle template
class GenericGrabber
 grant private method access to the GenericGrabber class

distortion functions

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::Img32fgetUndistortionWarpMap () const
 returns the internal warp map or NULL if undistortion is not enabled

Detailed Description

Common interface class for all grabbers.

The Grabber is ICL's common interface for image acquisition tools. A large set of Grabbers is available and wrapped by the GenericGrabber class. We strongly recommend to use the GenericGrabber class for image acquisition within applications.

The Grabber itself has a very short interface for the user: usually, a grabber is instantiated and its grab() method is called to aquire the next available image.

Desired parameters

In addition, the Grabber supports a set of so called 'desired-parameters'. These can be set to overwrite the image parameters that are used by the underlying implementation. A FileGrabber e.g. will by default return images that have the same parameter that the grabbed image file provides. However, in some situations, the user might want to adapt these parameters E.g. if the image parameters that are provided by the grabber are not suitable for an algorithm. If this is the case, the Grabber's desired parameters can be set using the Grabber::setDesired-template.
Currently, the image parameters 'core::depth', 'size' and 'core::format' can be adapted seperately by setting desired parameters. Once desired parameters are set, the can be reset to the grabber's default by calling grabber::ignoreDesired<T> where one of the types core::depth, core::format or icl::utils::Size is used as type T.

Image Undistortion

The Grabber does also provide an interface to set up image undistortion parameters. The can be estimated with ICL's distortion calibration tool. The undistortion operation is accelerated using an internal warp-table. By these means, image undistion is directly applied on the grabbed images, which lets the user then work with undistored images.

Implementing Grabbers

In order to implement a new Grabber class, some steps are necessary. First, the new Grabber needs to be implemented. This must implement the Grabber::acquireImage method, that uses an underlying image source to acquire a single new image. This can have any parameters and core::depth (usually, the image parameters are somehow related to the output of the underlying image source). If the grabber is available, one should think about adapting the grabber to inherit the icl::GrabberHandle class that adds the ability of instantiating one Grabber several times without having to handle double device accesses explicitly.

Properties

The Grabber implements the Configurable interface that is used to implement dynamically settable properties. Each Grabber must have at least the two properties 'core::format' and 'size'. These are handled in a special way by the automatically created Grabber- property-GUIs available in the ICLQt package.

Callbacks

As a very new experimental features, ICL's Grabber interface provides methods to register callback functions to the grabber that are then called automatically whenever a new image is available. This feature needs to be implemented explicitly for each grabber backend and does sometimes not even make sense. Furthermore, it' could lead to some strange behaviour of the whole application, because the internal image akquisition process is suddenly linked to the further image processing steps directly. This feature should not be used for writing applications that are scheduled by the speed of the internal image aquisition loop. Therefore, images should never be processed in the callback functions that are registred.

So far only a few grabbers provide this feature at all. If it is not provided, the registered callbacks will never be called.


Member Typedef Documentation

new image callback type


Constructor & Destructor Documentation

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

Destructor.


Member Function Documentation

virtual const core::ImgBase* icl::io::Grabber::acquireImage ( ) [inline, protected, virtual]

main interface method, that is implemented by the actual grabber instances

This method is defined in the grabber implementation. It acquires a new image using the grabbers specific image acquisition back-end

Reimplemented in icl::io::DCGrabber, icl::io::pylon::PylonGrabber, icl::io::FileGrabber, icl::io::OpenNIGrabber, icl::io::PixelSenseGrabber, icl::io::VideoGrabber, icl::io::RSBGrabber, icl::io::SharedMemoryGrabber, icl::io::OpenCVCamGrabber, icl::io::SwissRangerGrabber, icl::io::OpenCVVideoGrabber, icl::io::ZmqGrabber, icl::io::KinectGrabber, icl::io::V4L2Grabber, icl::io::CreateGrabber, and icl::io::DemoGrabber.

const core::ImgBase* icl::io::Grabber::adaptGrabResult ( const core::ImgBase src,
core::ImgBase **  dst 
) [protected]

Utility function that allows for much easier implementation of grabUD.

called by the grabbers grab() method

template<class T >
bool icl::io::Grabber::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

disables distortion

void icl::io::Grabber::enableUndistortion ( const std::string &  filename)

enables the undistorion

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

enables undistortion from given programm argument.

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

enables undistortion for given warp map

template<class T >
T icl::io::Grabber::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

virtual core::depth icl::io::Grabber::getDesiredDepthInternal ( ) const [protected, virtual]

returns the desired format

virtual core::format icl::io::Grabber::getDesiredFormatInternal ( ) const [protected, virtual]

returns the desired format

virtual utils::Size icl::io::Grabber::getDesiredSizeInternal ( ) const [protected, virtual]

returns the desired format

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

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::Grabber::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

sets up the grabber to ignore all desired parameters

returns whether distortion is currently enabled

virtual void icl::io::Grabber::notifyNewImageAvailable ( const core::ImgBase image) [virtual]

this function can be implemented by subclasses in order to notify, that a new image is available

When this function is called, it will automatically call all callbacks with the given image.

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

registers a callback that is called each time, a new image is available

This feature must not be implemented by specific grabber implementations. And it is up to the implementation whether the image that is passed to the callback has the "desired parameters" or not. Most likely, an internal image buffer is passed, which does not have the desired paremters. The output image is also usually not undistorted.

virtual void icl::io::Grabber::removeAllCallbacks ( ) [virtual]

removes all registered image callbacks

virtual void icl::io::Grabber::setDesiredDepthInternal ( core::depth  d) [protected, virtual]

internally set a desired format

virtual void icl::io::Grabber::setDesiredFormatInternal ( core::format  fmt) [protected, virtual]

internally set a desired format

virtual void icl::io::Grabber::setDesiredSizeInternal ( const utils::Size size) [protected, virtual]

internally set a desired format

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

static std::string icl::io::Grabber::translateDoubleVec ( const std::vector< double > &  doubleVec) [static]

translates a vector of doubles into a string representation

static std::vector<double> icl::io::Grabber::translateDoubleVec ( const std::string &  doubleVecStr) [static]

creates a vector of doubles out of a string representation

static std::string icl::io::Grabber::translateSteppingRange ( const utils::SteppingRange< double > &  range) [static]

translates a SteppingRange into a string representation

static utils::SteppingRange<double> icl::io::Grabber::translateSteppingRange ( const std::string &  rangeStr) [static]

creates a SteppingRange out of a string representation

static std::string icl::io::Grabber::translateStringVec ( const std::vector< std::string > &  stringVec) [static]

translates a vector of strings into a single string representation

static std::vector<std::string> icl::io::Grabber::translateStringVec ( const std::string &  stringVecStr) [static]

creates a vector of strins out of a single string representation

template<class T >
void icl::io::Grabber::useDesired ( const T &  t) [inline]

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

void icl::io::Grabber::useDesired ( core::depth  d,
const utils::Size size,
core::format  fmt 
)

sets up the grabber to use all given desired parameters


Friends And Related Function Documentation

friend class GenericGrabber [friend]

grant private method access to the GenericGrabber class

friend class GrabberHandle [friend]

grant private method access to the grabber handle template


Member Data Documentation

Data* icl::io::Grabber::data [private]

hidden data

Reimplemented in icl::io::OpenCVVideoGrabber.


The documentation for this class was generated from the following file:
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