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::Kinect2Grabber icl::io::KinectGrabber icl::io::OpenCVCamGrabber icl::io::OpenCVVideoGrabber icl::io::OpenNIGrabber icl::io::OptrisGrabber icl::io::PixelSenseGrabber icl::io::pylon::PylonGrabber icl::io::RSBGrabber icl::io::SharedMemoryGrabber icl::io::SwissRangerGrabber icl::io::V4L2Grabber icl::io::VideoGrabber icl::io::XiGrabber icl::io::ZmqGrabber icl::qt::QtCameraGrabber icl::qt::QtVideoGrabber

Public Types

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...
 

Public Member Functions

 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...
 
- 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) throw (ICLException)
 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) throw (ICLException)
 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) throw (ICLException)
 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...
 

Protected Member Functions

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...
 
virtual const core::ImgBaseacquireImage ()
 main interface method, that is implemented by the actual grabber instances 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()) throw (ICLException)
 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) throw (ICLException)
 this CAN be used e.g. to store a property value in internal property-list More...
 
const Propertyprop (const std::string &propertyName) const throw (ICLException)
 this CAN be used e.g. to store a property value in internal property-list More...
 
 Configurable (const std::string &ID="", bool ordered=true) throw (ICLException)
 create this configurable with given ID More...
 
void call_callbacks (const std::string &propertyName, const Configurable *caller) const
 calls all registered callbacks More...
 

Private Member Functions

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

Private Attributes

Data * data
 hidden data More...
 

Friends

template<class X >
class GrabberHandle
 grant private method access to the grabber handle template More...
 
class GenericGrabber
 grant private method access to the GenericGrabber class More...
 

static string conversion functions

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...
 

distortion functions

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...
 

Additional Inherited Members

- 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) throw (ICLException)
 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) throw (ICLException)
 creates a configurable by given name 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 Attributes inherited from icl::utils::Configurable
std::vector< Callbackcallbacks
 internally managed list of callbacks More...
 

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.

Callback Based Image Akquisition

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

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

Destructor.

Member Function Documentation

virtual const core::ImgBase* icl::io::Grabber::acquireImage ( )
inlineprotectedvirtual
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

void icl::io::Grabber::disableUndistortion ( )

disables distortion

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

enables the undistorion

void icl::io::Grabber::enableUndistortion ( const ImageUndistortion udist)

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

void icl::io::Grabber::enableUndistortion ( const utils::ProgArg pa)

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::Grabber::enableUndistortion ( const core::Img32f warpMap)

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
protectedvirtual

returns the desired format

virtual core::format icl::io::Grabber::getDesiredFormatInternal ( ) const
protectedvirtual

returns the desired format

virtual utils::Size icl::io::Grabber::getDesiredSizeInternal ( ) const
protectedvirtual

returns the desired format

const core::Img32f* icl::io::Grabber::getUndistortionWarpMap ( ) const

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

const core::ImgBase* icl::io::Grabber::grab ( core::ImgBase **  dst = 0)

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

void icl::io::Grabber::ignoreDesired ( )

sets up the grabber to ignore all desired parameters

bool icl::io::Grabber::isUndistortionEnabled ( ) const

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.

void icl::io::Grabber::processPropertyChange ( const utils::Configurable::Property prop)
private

callback for changed configurable properties

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)
protectedvirtual

internally set a desired format

virtual void icl::io::Grabber::setDesiredFormatInternal ( core::format  fmt)
protectedvirtual

internally set a desired format

virtual void icl::io::Grabber::setDesiredSizeInternal ( const utils::Size size)
protectedvirtual

internally set a desired format

void icl::io::Grabber::setUndistortionInterpolationMode ( core::scalemode  mode)

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

template<class X >
friend class GrabberHandle
friend

grant private method access to the grabber handle template

Member Data Documentation

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

hidden data


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