Image Component Library (ICL)
Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
icl::io::SwissRangerGrabber Class Reference

Grabber-Implementation for the SwissRanger time-of-flight camera using the libMesaSR library. More...

#include <SwissRangerGrabber.h>

Inheritance diagram for icl::io::SwissRangerGrabber:
icl::io::Grabber icl::utils::Uncopyable icl::utils::Configurable

Public Member Functions

ICLIO_API SwissRangerGrabber (int serialNumber=0, core::depth bufferDepth=core::depth32f, int pickChannel=-1)
 Create interface to device with given serial number: More...
 
ICLIO_API ~SwissRangerGrabber ()
 Destructor. More...
 
ICLIO_API const core::ImgBaseacquireImage ()
 grab an undistorted image More...
 
ICLIO_API void addProperties ()
 adds properties to Configurable More...
 
ICLIO_API void processPropertyChange (const utils::Configurable::Property &prop)
 callback for changed configurable properties More...
 
- Public Member Functions inherited from icl::io::Grabber
 Grabber ()
 
virtual ~Grabber ()
 Destructor. More...
 
const core::ImgBasegrab (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 >
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::Img32fgetUndistortionWarpMap () 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...
 
Configurableoperator= (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 const std::vector< GrabberDeviceDescription > & getDeviceList (std::string hint, bool rescan)
 returns a list of all found devices More...
 
static ICLIO_API float getMaxRangeMM (const std::string &modulationFreq)
 Internally used utility function, that might be interesting elsewhere. 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 Configurableget (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 Configurablecreate_configurable (const std::string &classname)
 creates a configurable by given name More...
 

Private Member Functions

float getMaxRangeVal () const
 utility function More...
 

Private Attributes

SwissRanger * m_sr
 Internal data. More...
 
utils::Mutex m_mutex
 Internally used mutex locks grabbing and setting of properties. 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::ImgBaseadaptGrabResult (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...
 
Propertyprop (const std::string &propertyName)
 this CAN be used e.g. to store a property value in internal property-list More...
 
const Propertyprop (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< Callbackcallbacks
 internally managed list of callbacks More...
 

Detailed Description

Grabber-Implementation for the SwissRanger time-of-flight camera using the libMesaSR library.

Constructor & Destructor Documentation

◆ SwissRangerGrabber()

ICLIO_API icl::io::SwissRangerGrabber::SwissRangerGrabber ( int  serialNumber = 0,
core::depth  bufferDepth = core::depth32f,
int  pickChannel = -1 
)

Create interface to device with given serial number:

Parameters
serialNumberif 0 -> automatic select
if < 0 open selection dialog (windows: gui, linux: shell input) if > 0 specify serial number of device
bufferDepth
pickChannel

◆ ~SwissRangerGrabber()

ICLIO_API icl::io::SwissRangerGrabber::~SwissRangerGrabber ( )

Destructor.

Member Function Documentation

◆ acquireImage()

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

grab an undistorted image

Reimplemented from icl::io::Grabber.

◆ addProperties()

ICLIO_API void icl::io::SwissRangerGrabber::addProperties ( )

adds properties to Configurable

◆ getDeviceList()

static ICLIO_API const std::vector<GrabberDeviceDescription>& icl::io::SwissRangerGrabber::getDeviceList ( std::string  hint,
bool  rescan 
)
static

returns a list of all found devices

◆ getMaxRangeMM()

static ICLIO_API float icl::io::SwissRangerGrabber::getMaxRangeMM ( const std::string &  modulationFreq)
static

Internally used utility function, that might be interesting elsewhere.

◆ getMaxRangeVal()

float icl::io::SwissRangerGrabber::getMaxRangeVal ( ) const
private

utility function

◆ processPropertyChange()

ICLIO_API void icl::io::SwissRangerGrabber::processPropertyChange ( const utils::Configurable::Property prop)

callback for changed configurable properties

Member Data Documentation

◆ m_mutex

utils::Mutex icl::io::SwissRangerGrabber::m_mutex
private

Internally used mutex locks grabbing and setting of properties.

◆ m_sr

SwissRanger* icl::io::SwissRangerGrabber::m_sr
private

Internal data.


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