Grabber implementation for handling DC-Devices using libdc1394 (Version >= 2.0.rc9) . More...

#include <DCGrabber.h>

Inheritance diagram for icl::io::DCGrabber:

Public Member Functions
ICLIO_API	DCGrabber (const DCDevice &dev=DCDevice::null, int isoMBits=0)
	Constructor creates a new DCGrabber instance from a given DCDevice. More...

ICLIO_API	~DCGrabber ()
	Destructor. More...

virtual ICLIO_API const core::ImgBase *	acquireImage ()
	grab function grabs an image (destination image is adapted on demand) More...

virtual ICLIO_API std::vector< std::string >	get_io_property_list ()
	filters out the size property, as it is set by the core::format property More...

Public Member Functions inherited from icl::io::Grabber
	Grabber ()

virtual	~Grabber ()
	Destructor. More...

const core::ImgBase *	grab (core::ImgBase **dst=0)
	grab function calls the Grabber-specific acquireImage-method and applies distortion if necessary More...

template<class T >
bool	desiredUsed () const
	returns whether the desired parameter for the given type is used More...

template<class T >
void	useDesired (const T &t)
	sets desired parameters (only available for core::depth,utils::Size and core::format) More...

void	useDesired (core::depth d, const utils::Size &size, core::format fmt)
	sets up the grabber to use all given desired parameters More...

template<class T >
void	ignoreDesired ()
	set the grabber to ignore the desired param of type T More...

void	ignoreDesired ()
	sets up the grabber to ignore all desired parameters More...

template<class T >
T	getDesired () const
	returns the desired value for the given type T More...

virtual void	registerCallback (callback cb)
	registers a callback that is called each time, a new image is available More...

virtual void	removeAllCallbacks ()
	removes all registered image callbacks More...

virtual void	notifyNewImageAvailable (const core::ImgBase *image)
	this function can be implemented by subclasses in order to notify, that a new image is available More...

void	enableUndistortion (const std::string &filename)
	enables the undistorion More...

void	enableUndistortion (const ImageUndistortion &udist)
	enables the undistortion plugin for the grabber using radial and tangential distortion parameters More...

void	enableUndistortion (const utils::ProgArg &pa)
	enables undistortion from given programm argument. More...

void	enableUndistortion (const core::Img32f &warpMap)
	enables undistortion for given warp map More...

void	setUndistortionInterpolationMode (core::scalemode mode)
	sets how undistortion is interpolated (supported modes are interpolateNN and interpolateLIN) More...

void	disableUndistortion ()
	disables distortion More...

bool	isUndistortionEnabled () const
	returns whether distortion is currently enabled More...

const core::Img32f *	getUndistortionWarpMap () const
	returns the internal warp map or NULL if undistortion is not enabled More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Static Public Member Functions
static ICLIO_API std::vector< DCDevice >	getDCDeviceList (bool resetBusFirst=false)
	Returns a list of all connected DCDevices. More...

static void	dc1394_reset_bus (bool verbose=false)
	calls dc1394_reset_bus functions (see DCDevice) More...

Static Public Member Functions inherited from icl::io::Grabber
static std::string	translateSteppingRange (const utils::SteppingRange< double > &range)
	translates a SteppingRange into a string representation More...

static utils::SteppingRange< double >	translateSteppingRange (const std::string &rangeStr)
	creates a SteppingRange out of a string representation More...

static std::string	translateDoubleVec (const std::vector< double > &doubleVec)
	translates a vector of doubles into a string representation More...

static std::vector< double >	translateDoubleVec (const std::string &doubleVecStr)
	creates a vector of doubles out of a string representation More...

static std::string	translateStringVec (const std::vector< std::string > &stringVec)
	translates a vector of strings into a single string representation More...

static std::vector< std::string >	translateStringVec (const std::string &stringVecStr)
	creates a vector of strins out of a single string representation More...

Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Private Member Functions
void	restartGrabberThread ()
	internally used function to restart the DCGrabberThread More...

void	addProperties ()
	adds DCGrabbers properties to Configurable. More...

void	processPropertyChange (const utils::Configurable::Property &p)
	callback function for property changes. More...

Private Attributes
DCDevice	m_oDev
	Wrapped DCDevice struct. More...

DCDeviceFeatures	m_oDeviceFeatures
	Features corrsponding to m_oDev. More...

dc::DCGrabberThread *	m_poGT
	Wrapped DCGrabberThread struct. More...

utils::Mutex	m_GrabberThreadMutex
	Mutex for clean restarting of GrabberThread. More...

core::ImgBase *	m_poImage
	Internally used buffer images. More...

core::ImgBase *	m_poImageTmp

core::Converter	m_oConverter
	Internally used image converter. More...

DCDeviceOptions	m_oOptions
	Internal DCDeviceOptions struct. More...

std::string	m_sUserDefinedBayerPattern
	only for unknown device types More...

Additional Inherited Members
Public Types inherited from icl::io::Grabber
typedef utils::Function< void, const core::ImgBase * >	callback
	new image callback type More...

Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Protected Member Functions inherited from icl::io::Grabber
virtual void	setDesiredFormatInternal (core::format fmt)
	internally set a desired format More...

virtual void	setDesiredSizeInternal (const utils::Size &size)
	internally set a desired format More...

virtual void	setDesiredDepthInternal (core::depth d)
	internally set a desired format More...

virtual core::format	getDesiredFormatInternal () const
	returns the desired format More...

virtual core::depth	getDesiredDepthInternal () const
	returns the desired format More...

virtual utils::Size	getDesiredSizeInternal () const
	returns the desired format More...

const core::ImgBase *	adaptGrabResult (const core::ImgBase src, core::ImgBase *dst)
	Utility function that allows for much easier implementation of grabUD. More...

Protected Member Functions inherited from icl::utils::Uncopyable
	Uncopyable ()
	Empty base constructor. More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Detailed Description

Grabber implementation for handling DC-Devices using libdc1394 (Version >= 2.0.rc9) .

The DCGrabber class implements the ICL's Grabber interface for providing libdc1395.so.2 based camera device access. Internally it wraps some additional classes with name prefix "DC".
The first time the "grab(..)"-function of the DCGrabber is invoked, it internally creates a so called DCGrabberThread. This thread then will create a so called DCFrameQueue internally. This queue is used to handle dma-image-frames, owned by the libdc which have been temporarily de-queued from the dma ring buffer queue into the user space. Here, the user has read-only access to these frames. The DCGrabberThread runs as fast as the current camera-settings allow and de-queues dma-frames from the system space into the user space DCFrameQueue and it en-queues old user space frames from this DCFrameQueue back into the dma ring buffer. At each time, the newest frame is available at the back of the DCFrameQueue whereas the oldest frame is located at the front of this queue. When the DCGrabbers grab-function is called, it will internally lock the current DCFrameQueue and convert the current frame into another buffer before the DCFrameQueue is unlocked again.
Internally the DCGrabber wraps an instance of type DCDeviceOptions, which is a container for all currently implemented options. The wrapped classes DCGrabberThread and DCFrameQueue get a pointer to this option-struct at construction time, so these objects are able to work with the options currently set inside the parent DCGrabber instance.
In addition, another class called DCDevice is used internally as a high-level wrapper for the libdc1394's camera struct. This DCDevice class provides some additional information to the low level information of the dc1394camera_t struct, e.g. some very camera-model specific information about the bayer-filter layout and so on. Note: New cameras, which should be supported must be included here!.
As in other Grabber implementations, a static function "getDeviceList()" can be used to detect currently supported cameras.

See also: DCDevice, DCDeviceOptions, DCGrabberThread, DCFrameQueue

Constructor & Destructor Documentation

◆ DCGrabber()

ICLIO_API icl::io::DCGrabber::DCGrabber	(	const DCDevice &	dev = `DCDevice::null`,
		int	isoMBits = `0`
	)

Constructor creates a new DCGrabber instance from a given DCDevice.

Parameters

dev	DCDevice to use (this device can only be created by the static function getDeviceList()
isoMBits	give the initializer a hint to set instantiated grabber to a specific iso mode by default allowed values are 400 -> IEEE-1394-A (400MBit) 800 -> IEEE-1394-B (800MBit) 0 (default) value is not chaged!

(please note, that this parameter can also be set by the property iso-speed)

◆ ~DCGrabber()

ICLIO_API icl::io::DCGrabber::~DCGrabber ( )

Destructor.

Member Function Documentation

◆ acquireImage()

virtual ICLIO_API const core::ImgBase* icl::io::DCGrabber::acquireImage ( )

virtual

grab function grabs an image (destination image is adapted on demand)

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

Reimplemented from icl::io::Grabber.

◆ addProperties()

void icl::io::DCGrabber::addProperties ( )

private

adds DCGrabbers properties to Configurable.

◆ dc1394_reset_bus()

static void icl::io::DCGrabber::dc1394_reset_bus ( bool verbose = false )

inlinestatic

calls dc1394_reset_bus functions (see DCDevice)

◆ get_io_property_list()

virtual ICLIO_API std::vector<std::string> icl::io::DCGrabber::get_io_property_list ( )

virtual

filters out the size property, as it is set by the core::format property

◆ getDCDeviceList()

static ICLIO_API std::vector<DCDevice> icl::io::DCGrabber::getDCDeviceList ( bool resetBusFirst = false )

static

Returns a list of all connected DCDevices.

◆ processPropertyChange()

void icl::io::DCGrabber::processPropertyChange ( const utils::Configurable::Property & p )

private

callback function for property changes.

◆ restartGrabberThread()

void icl::io::DCGrabber::restartGrabberThread ( )

private

internally used function to restart the DCGrabberThread

useful if the grabber thread must have been deleted to update some internal properties

Member Data Documentation

◆ m_GrabberThreadMutex

utils::Mutex icl::io::DCGrabber::m_GrabberThreadMutex

private

Mutex for clean restarting of GrabberThread.

◆ m_oConverter

core::Converter icl::io::DCGrabber::m_oConverter

private

Internally used image converter.

This converter is used, if the wrapped DCGrabberThread was not able to satisfy all desired parameter claims.

◆ m_oDev

DCDevice icl::io::DCGrabber::m_oDev

private

Wrapped DCDevice struct.

◆ m_oDeviceFeatures

DCDeviceFeatures icl::io::DCGrabber::m_oDeviceFeatures

private

Features corrsponding to m_oDev.

◆ m_oOptions

DCDeviceOptions icl::io::DCGrabber::m_oOptions

private

Internal DCDeviceOptions struct.

◆ m_poGT

dc::DCGrabberThread* icl::io::DCGrabber::m_poGT

private

Wrapped DCGrabberThread struct.

◆ m_poImage

core::ImgBase* icl::io::DCGrabber::m_poImage

private

Internally used buffer images.

◆ m_poImageTmp

core::ImgBase * icl::io::DCGrabber::m_poImageTmp

private

◆ m_sUserDefinedBayerPattern

std::string icl::io::DCGrabber::m_sUserDefinedBayerPattern

private

only for unknown device types

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

/Users/alneuman/vm/icl/ICLIO/src/ICLIO/DCGrabber.h

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DCGrabber()

◆ ~DCGrabber()

Member Function Documentation

◆ acquireImage()

◆ addProperties()

◆ dc1394_reset_bus()

◆ get_io_property_list()

◆ getDCDeviceList()

◆ processPropertyChange()

◆ restartGrabberThread()

Member Data Documentation

◆ m_GrabberThreadMutex

◆ m_oConverter

◆ m_oDev

◆ m_oDeviceFeatures

◆ m_oOptions

◆ m_poGT

◆ m_poImage

◆ m_poImageTmp

◆ m_sUserDefinedBayerPattern