Voxel::DepthCamera Class Reference

This is primary class which provides API for a depth camera. More...

#include <DepthCamera.h>

Inheritance diagram for Voxel::DepthCamera:

Collaboration diagram for Voxel::DepthCamera:

Public Types
enum	FrameType {   FRAME_RAW_FRAME_UNPROCESSED = 0, FRAME_RAW_FRAME_PROCESSED = 1, FRAME_DEPTH_FRAME = 2, FRAME_XYZI_POINT_CLOUD_FRAME = 3,   FRAME_TYPE_COUNT = 4 }
typedef Function< void(DepthCamera &camera, const Frame &frame, FrameType callBackType)>	CallbackType

Public Member Functions
	DepthCamera (const String &name, const String &chipset, DevicePtr device)
virtual bool	isInitialized () const
const String &	name () const
const String &	id () const
const String &	chipset () const
virtual bool	getSerialNumber (String &serialNumber) const
virtual bool	setSerialNumber (const String &serialNumber)
const DevicePtr &	getDevice () const
bool	isRunning () const
bool	isPaused () const
bool	pause ()
bool	resume ()
template<typename T >
bool	getStreamParam (const String &name, T &value) const
bool	refreshParams ()
template<typename T >
bool	get (const String &name, T &value, bool refresh=false) const
template<typename T >
bool	set (const String &name, const T &value)
const ParameterPtr	getParam (const String &name) const
const Map< String, ParameterPtr > &	getParameters () const
bool	setFrameRate (const FrameRate &r)
bool	getFrameRate (FrameRate &r) const
bool	setFrameSize (const FrameSize &s)
bool	getFrameSize (FrameSize &s) const
bool	getMaximumFrameSize (FrameSize &s) const
bool	getMaximumFrameRate (FrameRate &frameRate, const FrameSize &forFrameSize) const
bool	getSupportedVideoModes (Vector< SupportedVideoMode > &supportedVideoModes) const
bool	getMaximumVideoMode (VideoMode &videoMode) const
bool	getBytesPerPixel (uint &bpp) const
bool	setBytesPerPixel (const uint &bpp)
bool	getROI (RegionOfInterest &roi)
bool	setROI (const RegionOfInterest &roi)
bool	allowedROI (String &message)
bool	getFieldOfView (float &fovHalfAngle) const
virtual bool	saveFrameStream (const String &fileName)
virtual bool	isSavingFrameStream ()
virtual bool	closeFrameStream ()
virtual bool	registerCallback (FrameType type, CallbackType f)
virtual bool	clearAllCallbacks ()
virtual bool	clearCallback (FrameType type)
virtual int	addFilter (FilterPtr p, FrameType frameType, int beforeFilterID=-1)
virtual FilterPtr	getFilter (int filterID, FrameType frameType) const
virtual bool	removeFilter (int filterID, FrameType frameType)
virtual bool	removeAllFilters (FrameType frameType)
virtual void	resetFilters ()
const FilterSet< RawFrame > &	getUnprocessedRawFilterSet ()
const FilterSet< RawFrame > &	getProcessedRawFilterSet ()
const FilterSet< DepthFrame > &	getDepthFilterSet ()
bool	start ()
bool	stop ()
void	wait ()
bool	reset ()
Ptr< RegisterProgrammer >	getProgrammer ()
Ptr< Streamer >	getStreamer ()
bool	reloadConfiguration ()
const Map< int, String > &	getCameraProfileNames ()
int	getCurrentCameraProfileID ()
int	addCameraProfile (const String &profileName, const int parentID)
bool	setCameraProfile (const int id, bool softApply=false)
bool	removeCameraProfile (const int id)
bool	saveCameraProfileToHardware (int &id)
bool	close ()
virtual	~DepthCamera ()

Public Attributes
MainConfigurationFile	configFile

Protected Member Functions
bool	_addParameters (const Vector< ParameterPtr > &params)
virtual bool	_callbackAndContinue (uint32_t &callBackTypesToBeCalled, FrameType type, const Frame &frame)
virtual bool	_start ()=0
virtual bool	_stop ()=0
virtual bool	_captureRawUnprocessedFrame (RawFramePtr &rawFrame)=0
virtual bool	_processRawFrame (const RawFramePtr &rawFrameInput, RawFramePtr &rawFrameOutput)=0
virtual bool	_convertToDepthFrame (const RawFramePtr &rawFrame, DepthFramePtr &depthFrame)=0
virtual bool	_convertToPointCloudFrame (const DepthFramePtr &depthFrame, PointCloudFramePtr &pointCloudFrame)
virtual void	_captureLoop ()
void	_captureThreadWrapper ()
bool	_writeToFrameStream (RawFramePtr &rawUnprocessed)
template<typename T >
bool	_get (const String &name, T &value, bool refresh=false) const
template<typename T >
bool	_set (const String &name, const T &value)
virtual bool	_setFrameRate (const FrameRate &r)=0
virtual bool	_getFrameRate (FrameRate &r) const =0
virtual bool	_setFrameSize (const FrameSize &s)=0
virtual bool	_getFrameSize (FrameSize &s) const =0
virtual bool	_getMaximumFrameSize (FrameSize &s) const =0
virtual bool	_getMaximumFrameRate (FrameRate &frameRate, const FrameSize &forFrameSize) const =0
virtual bool	_getSupportedVideoModes (Vector< SupportedVideoMode > &supportedVideoModes) const =0
virtual bool	_getMaximumVideoMode (VideoMode &videoMode) const =0
virtual bool	_getBytesPerPixel (uint &bpp) const =0
virtual bool	_setBytesPerPixel (const uint &bpp)=0
virtual bool	_getROI (RegionOfInterest &roi)=0
virtual bool	_setROI (const RegionOfInterest &roi)=0
virtual bool	_allowedROI (String &message)=0
virtual bool	_getFieldOfView (float &fovHalfAngle) const =0
void	_makeID ()
virtual bool	_reset ()=0
virtual bool	_onReset ()=0
virtual bool	_applyConfigParams (const ConfigSet *params)
virtual bool	_saveCurrentProfileID (const int id)=0
virtual bool	_getCurrentProfileID (int &id)=0
bool	_init ()
Map< String, CalibrationInformation > &	_getCalibrationInformationStructure ()

Protected Attributes
DevicePtr	_device
String	_name
String	_id
String	_chipset
Map< String, ParameterPtr >	_parameters
Ptr< RegisterProgrammer >	_programmer
Ptr< Streamer >	_streamer
FrameGeneratorPtr	_frameGenerators [3]
Ptr< PointCloudFrameGenerator >	_pointCloudFrameGenerator
bool	_parameterInit
FrameBufferManager< RawFrame >	_rawFrameBuffers
FrameBufferManager< DepthFrame >	_depthFrameBuffers
FrameBufferManager < PointCloudFrame >	_pointCloudBuffers
FilterSet< RawFrame >	_unprocessedFilters
FilterSet< RawFrame >	_processedFilters
FilterSet< DepthFrame >	_depthFilters
FrameStreamWriterPtr	_frameStreamWriter
CallbackType	_callback [FRAME_TYPE_COUNT]
uint32_t	_callBackTypesRegistered = 0
ThreadPtr	_captureThread
bool	_running
bool	_isPaused

Private Attributes
Mutex	_accessMutex
Mutex	_frameStreamWriterMutex

Detailed Description

This is primary class which provides API for a depth camera.

DepthCamera is an abstract class which needs to be derived and implemented for individual depth camera types.

Definition at line 41 of file DepthCamera.h.

Member Typedef Documentation

typedef Function<void (DepthCamera &camera, const Frame &frame, FrameType callBackType)> Voxel::DepthCamera::CallbackType

Definition at line 53 of file DepthCamera.h.

Member Enumeration Documentation

enum Voxel::DepthCamera::FrameType

Enumerator
FRAME_RAW_FRAME_UNPROCESSED
FRAME_RAW_FRAME_PROCESSED
FRAME_DEPTH_FRAME
FRAME_XYZI_POINT_CLOUD_FRAME
FRAME_TYPE_COUNT

Definition at line 44 of file DepthCamera.h.

  {
    FRAME_RAW_FRAME_UNPROCESSED = 0,
    FRAME_RAW_FRAME_PROCESSED = 1,
    FRAME_DEPTH_FRAME = 2,
    FRAME_XYZI_POINT_CLOUD_FRAME = 3,
    FRAME_TYPE_COUNT = 4 // This is just used for number of callback types
  };

Constructor & Destructor Documentation

Voxel::DepthCamera::DepthCamera	(	const String &	name,
		const String &	chipset,
		DevicePtr	device
	)

Definition at line 20 of file DepthCamera.cpp.

References _frameGenerators, _makeID(), _pointCloudFrameGenerator, configFile, and Voxel::MainConfigurationFile::read().

                                                                                   : _device(device), _name(name), _chipset(chipset),
_rawFrameBuffers(MAX_FRAME_BUFFERS), _depthFrameBuffers(MAX_FRAME_BUFFERS), _pointCloudBuffers(MAX_FRAME_BUFFERS),
_parameterInit(true), _running(false), _isPaused(false),
_unprocessedFilters(_rawFrameBuffers), _processedFilters(_rawFrameBuffers), _depthFilters(_depthFrameBuffers),
_pointCloudFrameGenerator(new PointCloudFrameGenerator()),
configFile(name, "")
{
  _frameGenerators[2] = std::dynamic_pointer_cast<FrameGenerator>(_pointCloudFrameGenerator);
  _makeID();
  
  configFile.read(name + ".conf"); // Read and keep the configuration ready for use. The file must be in VOXEL_CONF_PATH
}

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Voxel::DepthCamera::~DepthCamera ( )

virtual

Definition at line 404 of file DepthCamera.cpp.

References close().

{
  close();
}

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Member Function Documentation

bool Voxel::DepthCamera::_addParameters ( const Vector< ParameterPtr > &  params )

protected

Definition at line 63 of file DepthCamera.cpp.

References _parameters, Voxel::LOG_ERROR, and Voxel::logger.

Referenced by Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::RTS5825Camera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::CalculusCDKCamera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::ToFCalculusCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), and Voxel::TI::ToFCamera::_init().

{
  _parameters.reserve(_parameters.size() + params.size());
  
  for(const ParameterPtr &p: params)
  {
    if(_parameters.find(p->name()) == _parameters.end())
    {
      _parameters[p->name()] = p;
    }
    else
    {
      logger(LOG_ERROR) << "DepthCamera: Found an existing parameter in the list of parameters, with name " << p->name() << ". Not overwriting it." << std::endl;
      //return _parameterInit = false;
    }
  }
  return true;
}

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virtual bool Voxel::DepthCamera::_allowedROI ( String &  message )

protectedpure virtual

Implemented in Voxel::TI::ToFTintinCamera, Voxel::TI::ToFCalculusCamera, and Voxel::TI::ToFHaddockCamera.

Referenced by allowedROI().

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bool Voxel::DepthCamera::_applyConfigParams ( const ConfigSet *  params )

protectedvirtual

Definition at line 656 of file DepthCamera.cpp.

References _programmer, Voxel::FrameRate::denominator, Voxel::gcd(), Voxel::ConfigSet::get(), Voxel::ConfigSet::getBoolean(), Voxel::ConfigSet::getFloat(), Voxel::ConfigSet::getInteger(), getParam(), Voxel::LOG_ERROR, Voxel::LOG_INFO, Voxel::logger, Voxel::FrameRate::numerator, Voxel::ConfigSet::paramNames, CameraSystemIQFrameTest::r, set(), and setFrameRate().

Referenced by setCameraProfile().

{
  for(auto i = 0; i < params->paramNames.size(); i++)
  {
    if(params->paramNames[i].compare(0, 2, "0x") == 0)
    {
      logger(LOG_INFO) << "DepthCamera: Setting register '" << params->paramNames[i] << "'" << std::endl;
      
      char *endptr;
      uint32_t reg = (uint32_t)strtol(params->paramNames[i].c_str(), &endptr, 16);
      uint32_t value = (uint32_t)strtol(params->get(params->paramNames[i]).c_str(), &endptr, 0);
      
      if(!_programmer->writeRegister(reg, value))
      {
        logger(LOG_ERROR) << "Failed to write to register @0x" << std::hex << reg << " = 0x" << value << std::dec << std::endl;
      }
      continue;
    }
    else if(params->paramNames[i] == "frame_rate")
    {
      float rate = params->getFloat(params->paramNames[i]);
      FrameRate r;
      r.numerator = rate*10000;
      r.denominator = 10000;
      
      uint g = gcd(r.numerator, r.denominator);
      
      r.numerator /= g;
      r.denominator /= g;
      
      if(!setFrameRate(r)) 
      {
        logger(LOG_ERROR) << "DepthCamera: Failed to set frame rate to " << rate << "fps" << std::endl;
        return false;
      }
      continue;
    }
    
    logger(LOG_INFO) << "DepthCamera: Setting parameter '" << params->paramNames[i] << "'" << std::endl;
    
    const Parameter *p = getParam(params->paramNames[i]).get();
    
    if(!p)
    {
      logger(LOG_ERROR) << "DepthCamera: Ignoring unknown parameter " << params->paramNames[i] << std::endl;
      return false;
    }
    
    const BoolParameter *bp = dynamic_cast<const BoolParameter *>(p);
    const EnumParameter *ep = dynamic_cast<const EnumParameter *>(p);
    const IntegerParameter *ip = dynamic_cast<const IntegerParameter *>(p);
    const UnsignedIntegerParameter *up = dynamic_cast<const UnsignedIntegerParameter *>(p);
    const FloatParameter *fp = dynamic_cast<const FloatParameter *>(p);
    
    if(bp)
    {
      if(!set(params->paramNames[i], params->getBoolean(params->paramNames[i])))
        return false;
    }
    else if(ip || ep)
    {
      if(!set(params->paramNames[i], params->getInteger(params->paramNames[i])))
        return false;
    }
    else if(up)
    {
      if(!set(params->paramNames[i], (uint)params->getInteger(params->paramNames[i])))
        return false;
    }
    else if(fp)
    {
      if(!set(params->paramNames[i], params->getFloat(params->paramNames[i])))
        return false;
    }
    else
    {
      logger(LOG_ERROR) << "DepthCamera: Parameter type unknown for " << params->paramNames[i] << std::endl;
      return false;
    }
  }
  return true;
}

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bool Voxel::DepthCamera::_callbackAndContinue ( uint32_t &  callBackTypesToBeCalled, DepthCamera::FrameType  type, const Frame &  frame  )

protectedvirtual

Definition at line 114 of file DepthCamera.cpp.

References _callback, and _isPaused.

Referenced by _captureLoop().

{
  if(!_isPaused && (callBackTypesToBeCalled | (1 << type)) && _callback[type])
  {
    _callback[type](*this, frame, type);
  }
  
  callBackTypesToBeCalled &= ~(1 << type);
  
  return callBackTypesToBeCalled != 0;
}

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void Voxel::DepthCamera::_captureLoop ( )

protectedvirtual

Definition at line 127 of file DepthCamera.cpp.

References _callback, _callbackAndContinue(), _callBackTypesRegistered, _captureRawUnprocessedFrame(), _convertToDepthFrame(), _convertToPointCloudFrame(), _depthFilters, _depthFrameBuffers, _isPaused, _pointCloudBuffers, _processedFilters, _processRawFrame(), _rawFrameBuffers, _running, _stop(), _unprocessedFilters, _writeToFrameStream(), closeFrameStream(), FRAME_DEPTH_FRAME, FRAME_RAW_FRAME_PROCESSED, FRAME_RAW_FRAME_UNPROCESSED, FRAME_XYZI_POINT_CLOUD_FRAME, id(), isSavingFrameStream(), Voxel::LOG_ERROR, Voxel::LOG_INFO, and Voxel::logger.

Referenced by _captureThreadWrapper().

{
  uint consecutiveCaptureFails = 0;
  
  while(_running)
  {
    uint32_t callBackTypesToBeCalled = _callBackTypesRegistered;
    
    if(consecutiveCaptureFails > 100)
    {
      logger(LOG_ERROR) << "DepthCamera: 100 consecutive failures in capture of frame. Stopping stream for " << id() << std::endl;
      _running = false;
      continue;
    }
    
    if((_callBackTypesRegistered == 0 || _callBackTypesRegistered == FRAME_RAW_FRAME_UNPROCESSED) && !isSavingFrameStream()) // Only unprocessed frame types requested or none requested?
    {
      auto f = _rawFrameBuffers.get();
      
      if(!_captureRawUnprocessedFrame(*f))
      {
        consecutiveCaptureFails++;
        continue;
      }
      
      if(_callback[FRAME_RAW_FRAME_UNPROCESSED])
      {
        FilterSet<RawFrame>::FrameSequence _frameBuffers;
        _frameBuffers.push_front(f);
        
        if(!_unprocessedFilters.applyFilter(_frameBuffers))
        {
          logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw unprocessed frame" << std::endl;
          consecutiveCaptureFails++;
          continue;
        }
        
        if(!_isPaused)
          _callback[FRAME_RAW_FRAME_UNPROCESSED](*this, (Frame &)(**_frameBuffers.begin()), FRAME_RAW_FRAME_UNPROCESSED);
        
        _writeToFrameStream(**_frameBuffers.begin());
      }
      else
      {
        _writeToFrameStream(*f);
      }
      
      consecutiveCaptureFails = 0;
    }
    else
    {
      auto f1 = _rawFrameBuffers.get();
      if(!_captureRawUnprocessedFrame(*f1))
      {
        consecutiveCaptureFails++;
        continue;
      }
      
      FilterSet<RawFrame>::FrameSequence _unprocessedFrameBuffers;
      _unprocessedFrameBuffers.push_front(f1);
      
      if(!_unprocessedFilters.applyFilter(_unprocessedFrameBuffers))
      {
        logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw unprocessed frame" << std::endl;
        consecutiveCaptureFails++;
        continue;
      }
      
      if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_RAW_FRAME_UNPROCESSED, ***_unprocessedFrameBuffers.begin()) && !isSavingFrameStream())
      {
        consecutiveCaptureFails = 0;
        continue;
      }
      
      auto f = _rawFrameBuffers.get();
      
      if(!_processRawFrame(**_unprocessedFrameBuffers.begin(), *f))
      {
        consecutiveCaptureFails++;
        continue;
      }
      
      FilterSet<RawFrame>::FrameSequence _processedFrameBuffers;
      _processedFrameBuffers.push_front(f);
      
      if(!_processedFilters.applyFilter(_processedFrameBuffers))
      {
        logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw processed frame" << std::endl;
        consecutiveCaptureFails++;
        continue;
      }
      
      if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_RAW_FRAME_PROCESSED, ***_processedFrameBuffers.begin())  && !isSavingFrameStream())
      {
        consecutiveCaptureFails = 0;
        continue;
      }
      
      auto d = _depthFrameBuffers.get();
      
      if(!_convertToDepthFrame(**_processedFrameBuffers.begin(), *d))
      {
        consecutiveCaptureFails++;
        continue;
      }
      
      FilterSet<DepthFrame>::FrameSequence _depthFrameBuffers;
      _depthFrameBuffers.push_front(d);
      
      if(!_depthFilters.applyFilter(_depthFrameBuffers))
      {
        logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on depth frame" << std::endl;
        consecutiveCaptureFails++;
        continue;
      }
      
      if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_DEPTH_FRAME, ***_depthFrameBuffers.begin()) && !isSavingFrameStream())
      {
        consecutiveCaptureFails = 0;
        continue;
      }
      
      auto p = _pointCloudBuffers.get();
      
      if(!_convertToPointCloudFrame(**_depthFrameBuffers.begin(), *p))
      {
        consecutiveCaptureFails++;
        continue;
      }
      
      _callbackAndContinue(callBackTypesToBeCalled, FRAME_XYZI_POINT_CLOUD_FRAME, **p);
      consecutiveCaptureFails = 0;
      
      _writeToFrameStream(**_unprocessedFrameBuffers.begin());
    }
  }
  
  if(!_running)
  {
    closeFrameStream();
    _stop();
  }
  
  logger(LOG_INFO) << "DepthCamera: Streaming stopped." << std::endl;
}

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virtual bool Voxel::DepthCamera::_captureRawUnprocessedFrame ( RawFramePtr &  rawFrame )

protectedpure virtual

Implemented in Voxel::TI::ToFCameraBase.

Referenced by _captureLoop().

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void Voxel::DepthCamera::_captureThreadWrapper ( )

protected

Definition at line 296 of file DepthCamera.cpp.

References _captureLoop().

Referenced by start().

{
  _captureLoop();
}

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virtual bool Voxel::DepthCamera::_convertToDepthFrame ( const RawFramePtr &  rawFrame, DepthFramePtr &  depthFrame  )

protectedpure virtual

Implemented in Voxel::TI::ToFCameraBase.

Referenced by _captureLoop().

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bool Voxel::DepthCamera::_convertToPointCloudFrame ( const DepthFramePtr &  depthFrame, PointCloudFramePtr &  pointCloudFrame  )

protectedvirtual

Definition at line 273 of file DepthCamera.cpp.

References _pointCloudFrameGenerator, Voxel::LOG_ERROR, Voxel::logger, LensCalibrationTest::p1, and LensCalibrationTest::p2.

Referenced by _captureLoop().

{
  if(!depthFrame)
  {
    logger(LOG_ERROR) << "DepthCamera: Blank depth frame." << std::endl;
    return false;
  }
  
  FramePtr p1 = std::dynamic_pointer_cast<Frame>(depthFrame);
  FramePtr p2 = std::dynamic_pointer_cast<Frame>(pointCloudFrame);
  
  bool ret = _pointCloudFrameGenerator->generate(p1, p2);
  
  if(ret)
  {
    pointCloudFrame = std::dynamic_pointer_cast<PointCloudFrame>(p2);
    return true;
  }
  else
    return false;
}

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template<typename T >

bool Voxel::DepthCamera::_get ( const String &  name, T &  value, bool  refresh = false  ) const

protected

Definition at line 364 of file DepthCamera.h.

References _id, _parameters, Voxel::ParameterTemplate< T >::get(), Voxel::LOG_ERROR, Voxel::logger, and name().

Referenced by Voxel::TI::ToFCamera::_getBytesPerPixel(), Voxel::TI::ToFCamera::_getCurrentProfileID(), Voxel::TI::ToFCamera::_getFrameRate(), Voxel::TI::ToFCamera::_getFrameSize(), Voxel::TI::HaddockCDKCamera::_getMaximumFrameRate(), Voxel::TI::TintinCDKCamera::_getMaximumFrameRate(), Voxel::TI::RTS5825Camera::_getMaximumVideoMode(), Voxel::TI::Voxel14Camera::_getMaximumVideoMode(), Voxel::TI::VoxelDCamera::_getMaximumVideoMode(), Voxel::TI::TintinCDKCamera::_getMaximumVideoMode(), Voxel::TI::ToFHaddockCamera::_getROI(), Voxel::TI::ToFCalculusCamera::_getROI(), Voxel::TI::ToFTintinCamera::_getROI(), Voxel::TI::ToFCamera::_getToFFrameType(), Voxel::TI::ToFHaddockCamera::_isHistogramEnabled(), Voxel::TI::ToFCamera::_setFrameRate(), Voxel::TI::Voxel14Camera::_setStreamerFrameSize(), Voxel::TI::HaddockCDKCamera::_setStreamerFrameSize(), Voxel::TI::VoxelDCamera::_setStreamerFrameSize(), Voxel::TI::TintinCDKCamera::_setStreamerFrameSize(), Voxel::TI::ToFCalculusCamera::_updateEasyConf(), Voxel::TI::HaddockVCOFrequency::get(), Voxel::TI::IntegrationTimeParameter::get(), Voxel::TI::TintinVCOFrequency::get(), Voxel::TI::HaddockCDKIlluminationPowerPercentageParameter::get(), Voxel::TI::HaddockModulationFrequencyParameter::get(), Voxel::TI::CalculusVCOFrequency::get(), Voxel::TI::TintinModulationFrequencyParameter::get(), Voxel::TI::CalculusModulationFrequencyParameter::get(), get(), Voxel::TI::TintinUnambiguousRangeParameter::get(), Voxel::TI::HaddockSensorTemperatureParameter::get(), Voxel::TI::TintinModulationFrequencyParameter::lowerLimit(), Voxel::TI::IntegrationTimeParameter::set(), Voxel::TI::TintinModulationFrequencyParameter::set(), and Voxel::TI::TintinModulationFrequencyParameter::upperLimit().

{
  auto p = _parameters.find(name);
  
  if(p != _parameters.end())
  {
    ParameterTemplate<T> *param = dynamic_cast<ParameterTemplate<T> *>(p->second.get());
    
    if(param == 0)
    {
      logger(LOG_ERROR) << "DepthCamera: Invalid value type '" << typeid(value).name() << "' used to get parameter " << _id << "." << name << std::endl;
      return false;
    }
    
    if(!param->get(value, refresh))
    {
      logger(LOG_ERROR) << "DepthCamera:Could not get value for parameter " << _id << "." << name << std::endl;
      return false;
    }
    
    return true;
  }
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Unknown parameter " << _id << "." << name << std::endl;
    return false;
  }
}

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virtual bool Voxel::DepthCamera::_getBytesPerPixel ( uint &  bpp ) const

protectedpure virtual

Implemented in Voxel::TI::ToFCamera, and Voxel::TI::ToFCalculusCamera.

Referenced by getBytesPerPixel().

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Map<String, CalibrationInformation>& Voxel::DepthCamera::_getCalibrationInformationStructure ( )

inlineprotected

Definition at line 153 of file DepthCamera.h.

Referenced by Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::RTS5825Camera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), Voxel::TI::ToFCamera::_init(), and _init().

{ return configFile._calibrationInformation; }

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virtual bool Voxel::DepthCamera::_getCurrentProfileID ( int &  id )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by _init().

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virtual bool Voxel::DepthCamera::_getFieldOfView ( float &  fovHalfAngle ) const

protectedpure virtual

Implemented in Voxel::TI::TintinCDKCamera, Voxel::TI::VoxelDCamera, Voxel::TI::HaddockCDKCamera, Voxel::TI::CalculusCDKCamera, Voxel::TI::Voxel14Camera, and Voxel::TI::RTS5825Camera.

Referenced by getFieldOfView().

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virtual bool Voxel::DepthCamera::_getFrameRate ( FrameRate &  r ) const

protectedpure virtual

Implemented in Voxel::TI::ToFCamera, and Voxel::TI::ToFCalculusCamera.

Referenced by getFrameRate().

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virtual bool Voxel::DepthCamera::_getFrameSize ( FrameSize &  s ) const

protectedpure virtual

Implemented in Voxel::TI::ToFCamera, and Voxel::TI::ToFCalculusCamera.

Referenced by getFrameSize().

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virtual bool Voxel::DepthCamera::_getMaximumFrameRate ( FrameRate &  frameRate, const FrameSize &  forFrameSize  ) const

protectedpure virtual

Implemented in Voxel::TI::ToFCamera, Voxel::TI::TintinCDKCamera, Voxel::TI::HaddockCDKCamera, and Voxel::TI::CalculusCDKCamera.

Referenced by getMaximumFrameRate().

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virtual bool Voxel::DepthCamera::_getMaximumFrameSize ( FrameSize &  s ) const

protectedpure virtual

Implemented in Voxel::TI::ToFTintinCamera, Voxel::TI::ToFCalculusCamera, and Voxel::TI::ToFHaddockCamera.

Referenced by Voxel::TI::ToFCamera::_setFrameSize(), and getMaximumFrameSize().

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virtual bool Voxel::DepthCamera::_getMaximumVideoMode ( VideoMode &  videoMode ) const

protectedpure virtual

Implemented in Voxel::TI::TintinCDKCamera, Voxel::TI::VoxelDCamera, Voxel::TI::HaddockCDKCamera, Voxel::TI::CalculusCDKCamera, Voxel::TI::Voxel14Camera, and Voxel::TI::RTS5825Camera.

Referenced by getMaximumVideoMode().

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virtual bool Voxel::DepthCamera::_getROI ( RegionOfInterest &  roi )

protectedpure virtual

Implemented in Voxel::TI::ToFTintinCamera, Voxel::TI::ToFCalculusCamera, and Voxel::TI::ToFHaddockCamera.

Referenced by Voxel::TI::ToFCamera::_setFrameSize(), and getROI().

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virtual bool Voxel::DepthCamera::_getSupportedVideoModes ( Vector< SupportedVideoMode > &  supportedVideoModes ) const

protectedpure virtual

Implemented in Voxel::TI::TintinCDKCamera, Voxel::TI::VoxelDCamera, Voxel::TI::HaddockCDKCamera, Voxel::TI::CalculusCDKCamera, Voxel::TI::Voxel14Camera, and Voxel::TI::RTS5825Camera.

Referenced by Voxel::TI::ToFCamera::_getMaximumFrameRate(), Voxel::TI::ToFCamera::_setFrameSize(), and getSupportedVideoModes().

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bool Voxel::DepthCamera::_init ( )

protected

Definition at line 33 of file DepthCamera.cpp.

References _getCalibrationInformationStructure(), _getCurrentProfileID(), CALIB_SECT_LENS, CALIB_SECT_LENS_ID, Voxel::CalibrationInformation::calibrationParameters, configFile, Voxel::CalibrationInformation::definingParameters, Voxel::MainConfigurationFile::getDefaultCameraProfileID(), getSerialNumber(), Voxel::CalibrationInformation::id, Voxel::CalibrationInformation::name, Voxel::MainConfigurationFile::readFromHardware(), setCameraProfile(), and Voxel::MainConfigurationFile::setHardwareID().

Referenced by Voxel::TI::ToFCameraBase::_init().

{
  {
    CalibrationInformation &calibInfo = _getCalibrationInformationStructure()[CALIB_SECT_LENS];
    calibInfo.name = CALIB_SECT_LENS;
    calibInfo.id = CALIB_SECT_LENS_ID;
    calibInfo.definingParameters = {};
    calibInfo.calibrationParameters = {"fx", "fy", "cx", "cy", "k1", "k2", "k3", "p1", "p2"};
  }
  
  String serialNumber; 
  
  if(getSerialNumber(serialNumber))
  {
    configFile.setHardwareID(serialNumber);
    configFile.readFromHardware();
  }
  
  int currentID = -1;
  if(_getCurrentProfileID(currentID) && currentID >= 0)
  {
    if(!setCameraProfile(currentID, true))
      return setCameraProfile(configFile.getDefaultCameraProfileID());
    else
      return true;
  }
  else
    return setCameraProfile(configFile.getDefaultCameraProfileID());
}

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void Voxel::DepthCamera::_makeID ( )

inlineprotected

Definition at line 141 of file DepthCamera.h.

Referenced by Voxel::TI::Voxel14Camera::_init(), Voxel::TI::VoxelDCamera::_init(), and DepthCamera().

{ _id = _name + "(" + _device->id() + ")"; }

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virtual bool Voxel::DepthCamera::_onReset ( )

protectedpure virtual

Implemented in Voxel::TI::ToFCameraBase.

Referenced by setCameraProfile().

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virtual bool Voxel::DepthCamera::_processRawFrame ( const RawFramePtr &  rawFrameInput, RawFramePtr &  rawFrameOutput  )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by _captureLoop().

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virtual bool Voxel::DepthCamera::_reset ( )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by reset().

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virtual bool Voxel::DepthCamera::_saveCurrentProfileID ( const int  id )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by setCameraProfile().

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template<typename T >

bool Voxel::DepthCamera::_set ( const String &  name, const T &  value  )

protected

Definition at line 394 of file DepthCamera.h.

References _device, _id, _parameters, Voxel::LOG_DEBUG, Voxel::LOG_ERROR, Voxel::logger, name(), and Voxel::ParameterTemplate< T >::set().

Referenced by Voxel::TI::ToFCamera::_saveCurrentProfileID(), Voxel::TI::ToFCamera::_setBinning(), Voxel::TI::ToFCamera::_setBytesPerPixel(), Voxel::TI::ToFCamera::_setFrameRate(), Voxel::TI::ToFHaddockCamera::_setROI(), Voxel::TI::ToFCalculusCamera::_setROI(), Voxel::TI::ToFTintinCamera::_setROI(), Voxel::TI::ToFCalculusCamera::_updateEasyConf(), Voxel::TI::HaddockVCOFrequency::set(), Voxel::TI::IntegrationTimeParameter::set(), Voxel::TI::TintinVCOFrequency::set(), Voxel::TI::HaddockCDKIlluminationPowerPercentageParameter::set(), Voxel::TI::HaddockModulationFrequencyParameter::set(), Voxel::TI::CalculusVCOFrequency::set(), Voxel::TI::TintinModulationFrequencyParameter::set(), Voxel::TI::HaddockUnambiguousRangeParameter::set(), set(), Voxel::TI::CalculusModulationFrequencyParameter::set(), Voxel::TI::TintinUnambiguousRangeParameter::set(), and Voxel::TI::HaddockSensorTemperatureParameter::set().

{
  auto p = _parameters.find(name);
  
  if(p != _parameters.end())
  {
    logger(LOG_DEBUG) << "DepthCamera: Setting parameter '" << name << "' = " << value << std::endl;
    ParameterTemplate<T> *param = dynamic_cast<ParameterTemplate<T> *>(p->second.get());
    
    if(param == 0)
    {
      logger(LOG_ERROR) << "DepthCamera: Invalid value type '" << typeid(value).name() << "' used to set parameter " << this->name() << "(" << _device->id() << ")." << name << std::endl;
      return false;
    }
    
    if(!param->set(value))
    {
      logger(LOG_ERROR) << "DepthCamera: Could not set value " << value << " for parameter " << this->name() << "(" << _device->id() << ")." << name << std::endl;
      return false;
    }
    
    return true;
  }
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Unknown parameter " << _id << "." << name << std::endl;
    return false;
  }
}

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virtual bool Voxel::DepthCamera::_setBytesPerPixel ( const uint &  bpp )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by setBytesPerPixel().

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virtual bool Voxel::DepthCamera::_setFrameRate ( const FrameRate &  r )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera, and Voxel::TI::ToFCalculusCamera.

Referenced by setFrameRate().

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virtual bool Voxel::DepthCamera::_setFrameSize ( const FrameSize &  s )

protectedpure virtual

Implemented in Voxel::TI::ToFCamera.

Referenced by setFrameSize().

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virtual bool Voxel::DepthCamera::_setROI ( const RegionOfInterest &  roi )

protectedpure virtual

Implemented in Voxel::TI::ToFTintinCamera, Voxel::TI::ToFCalculusCamera, and Voxel::TI::ToFHaddockCamera.

Referenced by Voxel::TI::ToFCamera::_setFrameSize(), and setROI().

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virtual bool Voxel::DepthCamera::_start ( )

protectedpure virtual

Implemented in Voxel::TI::ToFCameraBase.

Referenced by start().

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virtual bool Voxel::DepthCamera::_stop ( )

protectedpure virtual

Implemented in Voxel::TI::ToFCameraBase.

Referenced by _captureLoop().

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bool Voxel::DepthCamera::_writeToFrameStream ( RawFramePtr &  rawUnprocessed )

protected

Definition at line 511 of file DepthCamera.cpp.

References _frameStreamWriter, _frameStreamWriterMutex, Voxel::LOG_ERROR, and Voxel::logger.

Referenced by _captureLoop().

{
  Lock<Mutex> _(_frameStreamWriterMutex);
  if(_frameStreamWriter && (!_frameStreamWriter->isPaused() && 
            !_frameStreamWriter->write(std::dynamic_pointer_cast<Frame>(rawUnprocessed))))
  {
    logger(LOG_ERROR) << "DepthCamera: Failed to save frames to frame stream" << std::endl;
    return false;
  }
  return true;
}

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int Voxel::DepthCamera::addCameraProfile	(	const String &	profileName,
		const int	parentID
	)

Definition at line 644 of file DepthCamera.cpp.

References Voxel::MainConfigurationFile::addCameraProfile(), and configFile.

{
  return configFile.addCameraProfile(profileName, parentID);
}

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int Voxel::DepthCamera::addFilter ( FilterPtr  p, DepthCamera::FrameType  frameType, int  beforeFilterID = -1  )

virtual

Definition at line 427 of file DepthCamera.cpp.

References _depthFilters, _processedFilters, _unprocessedFilters, FRAME_DEPTH_FRAME, FRAME_RAW_FRAME_PROCESSED, FRAME_RAW_FRAME_UNPROCESSED, id(), Voxel::LOG_ERROR, and Voxel::logger.

{
  if(frameType == FRAME_RAW_FRAME_UNPROCESSED)
    return _unprocessedFilters.addFilter(p, beforeFilterID);
  else if(frameType == FRAME_RAW_FRAME_PROCESSED)
    return _processedFilters.addFilter(p, beforeFilterID);
  else if(frameType == FRAME_DEPTH_FRAME)
    return _depthFilters.addFilter(p, beforeFilterID);
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Filter not supported for frame type = '" << frameType << "' for camera = " << id() << std::endl;
    return -1;
  }
}

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bool Voxel::DepthCamera::allowedROI ( String &  message )

inline

Definition at line 345 of file DepthCamera.h.

References _accessMutex, and _allowedROI().

{
  Lock<Mutex> _(_accessMutex);
  return _allowedROI(message);
}

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const String& Voxel::DepthCamera::chipset ( ) const

inline

Definition at line 170 of file DepthCamera.h.

{ return _chipset; }

bool Voxel::DepthCamera::clearAllCallbacks ( )

virtual

Definition at line 82 of file DepthCamera.cpp.

References _callback, and FRAME_TYPE_COUNT.

{
  for(auto i = 0; i < FRAME_TYPE_COUNT; i++)
    _callback[i] = nullptr;
  return true;
}

bool Voxel::DepthCamera::clearCallback ( FrameType  type )

virtual

Definition at line 89 of file DepthCamera.cpp.

References _callback, and FRAME_TYPE_COUNT.

{
  if(type < FRAME_TYPE_COUNT)
  {
    _callback[type] = nullptr;
    return true;
  }
  return false;
}

bool Voxel::DepthCamera::close

(

)

Definition at line 356 of file DepthCamera.cpp.

References _depthFrameBuffers, _parameters, _pointCloudBuffers, _programmer, _rawFrameBuffers, _streamer, isRunning(), and stop().

Referenced by ~DepthCamera().

{
  if(isRunning())
    stop();
  
  _programmer.reset();
  _streamer.reset();
  
  _rawFrameBuffers.clear();
  _depthFrameBuffers.clear();
  _pointCloudBuffers.clear();
  
  _parameters.clear();
  
  return true;
}

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bool Voxel::DepthCamera::closeFrameStream ( )

virtual

Definition at line 562 of file DepthCamera.cpp.

References _frameGenerators, _frameStreamWriter, _frameStreamWriterMutex, Voxel::LOG_DEBUG, and Voxel::logger.

Referenced by _captureLoop().

{
  Lock<Mutex> _(_frameStreamWriterMutex);
  if(_frameStreamWriter)
  {
    _frameGenerators[0]->removeFrameStreamWriter();
    _frameGenerators[1]->removeFrameStreamWriter();
    _frameGenerators[2]->removeFrameStreamWriter();
    
    _frameStreamWriter->close();
    _frameStreamWriter.reset();
    return true;
  }
  else
  {
    logger(LOG_DEBUG) << "DepthCamera: Frame stream writer not present." << std::endl;
    return false;
  }
}

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template<typename T >

bool Voxel::DepthCamera::get	(	const String &	name,
		T &	value,
		bool	refresh = false
	)		const

Definition at line 264 of file DepthCamera.h.

References _accessMutex, and _get().

{
  Lock<Mutex> _(_accessMutex);
  return _get(name, value, refresh);
}

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bool Voxel::DepthCamera::getBytesPerPixel ( uint &  bpp ) const

inline

Definition at line 332 of file DepthCamera.h.

References _accessMutex, and _getBytesPerPixel().

{
  Lock<Mutex> _(_accessMutex);
  return _getBytesPerPixel(bpp);
}

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const Map<int, String>& Voxel::DepthCamera::getCameraProfileNames ( )

inline

Definition at line 251 of file DepthCamera.h.

{ return configFile.getCameraProfileNames(); }

int Voxel::DepthCamera::getCurrentCameraProfileID ( )

inline

Definition at line 252 of file DepthCamera.h.

{ return configFile.getCurrentProfileID(); }

const FilterSet<DepthFrame>& Voxel::DepthCamera::getDepthFilterSet ( )

inline

Definition at line 238 of file DepthCamera.h.

{ return _depthFilters; }

const DevicePtr& Voxel::DepthCamera::getDevice ( ) const

inline

Definition at line 175 of file DepthCamera.h.

{ return _device; }

bool Voxel::DepthCamera::getFieldOfView ( float &  fovHalfAngle ) const

inline

Definition at line 277 of file DepthCamera.h.

References _accessMutex, and _getFieldOfView().

{
  Lock<Mutex> _(_accessMutex);
  return _getFieldOfView(fovHalfAngle);
}

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FilterPtr Voxel::DepthCamera::getFilter ( int  filterID, DepthCamera::FrameType  frameType  ) const

virtual

Definition at line 457 of file DepthCamera.cpp.

References _depthFilters, _processedFilters, _unprocessedFilters, FRAME_DEPTH_FRAME, FRAME_RAW_FRAME_PROCESSED, FRAME_RAW_FRAME_UNPROCESSED, id(), Voxel::LOG_ERROR, and Voxel::logger.

{
  if(frameType == FRAME_RAW_FRAME_UNPROCESSED)
    return _unprocessedFilters.getFilter(filterID);
  else if(frameType == FRAME_RAW_FRAME_PROCESSED)
    return _processedFilters.getFilter(filterID);
  else if(frameType == FRAME_DEPTH_FRAME)
    return _depthFilters.getFilter(filterID);
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Filter not supported for frame type = '" << frameType << "' for camera = " << id() << std::endl;
    return nullptr;
  }
}

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bool Voxel::DepthCamera::getFrameRate ( FrameRate &  r ) const

inline

Definition at line 283 of file DepthCamera.h.

References _accessMutex, and _getFrameRate().

Referenced by Voxel::TI::ToFCameraBase::_onReset(), and Voxel::TI::ToFCameraBase::_start().

{
  Lock<Mutex> _(_accessMutex);
  return _getFrameRate(r);
}

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bool Voxel::DepthCamera::getFrameSize ( FrameSize &  s ) const

inline

Definition at line 295 of file DepthCamera.h.

References _accessMutex, and _getFrameSize().

Referenced by Voxel::TI::CalculusCDKCamera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::ToFCalculusCamera::_initStartParams(), Voxel::TI::ToFCamera::_initStartParams(), Voxel::TI::ToFCameraBase::_onReset(), and Voxel::TI::ToFCameraBase::_start().

{
  Lock<Mutex> _(_accessMutex);
  return _getFrameSize(s);
}

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bool Voxel::DepthCamera::getMaximumFrameRate ( FrameRate &  frameRate, const FrameSize &  forFrameSize  ) const

inline

Definition at line 313 of file DepthCamera.h.

References _accessMutex, and _getMaximumFrameRate().

{
  Lock<Mutex> _(_accessMutex);
  return _getMaximumFrameRate(frameRate, forFrameSize);
}

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bool Voxel::DepthCamera::getMaximumFrameSize ( FrameSize &  s ) const

inline

Definition at line 307 of file DepthCamera.h.

References _accessMutex, and _getMaximumFrameSize().

Referenced by Voxel::TI::ToFCamera::_initStartParams().

{
  Lock<Mutex> _(_accessMutex);
  return _getMaximumFrameSize(s);
}

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bool Voxel::DepthCamera::getMaximumVideoMode ( VideoMode &  videoMode ) const

inline

Definition at line 326 of file DepthCamera.h.

References _accessMutex, and _getMaximumVideoMode().

Referenced by Voxel::TI::ToFCameraBase::_onReset().

{
  Lock<Mutex> _(_accessMutex);
  return _getMaximumVideoMode(videoMode);
}

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const ParameterPtr Voxel::DepthCamera::getParam ( const String &  name ) const

inline

Definition at line 424 of file DepthCamera.h.

References _id, _parameters, Voxel::LOG_ERROR, and Voxel::logger.

Referenced by _applyConfigParams(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::TintinCDKIlluminationPowerPercentParameter::get(), Voxel::TI::HaddockModulationFrequencyParameter::set(), Voxel::TI::TintinModulationFrequencyParameter::set(), Voxel::TI::TintinCDKIlluminationPowerPercentParameter::set(), Voxel::TI::HaddockUnambiguousRangeParameter::set(), Voxel::TI::CalculusModulationFrequencyParameter::set(), and Voxel::TI::TintinUnambiguousRangeParameter::set().

{
  auto p = _parameters.find(name);
  
  if(p != _parameters.end())
    return p->second;
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Unknown parameter " << _id << "." << name << std::endl;
    return 0;
  }
}

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const Map<String, ParameterPtr>& Voxel::DepthCamera::getParameters ( ) const

inline

Definition at line 197 of file DepthCamera.h.

{ return _parameters; }

const FilterSet<RawFrame>& Voxel::DepthCamera::getProcessedRawFilterSet ( )

inline

Definition at line 237 of file DepthCamera.h.

{ return _processedFilters; }

Ptr<RegisterProgrammer> Voxel::DepthCamera::getProgrammer ( )

inline

Definition at line 247 of file DepthCamera.h.

{ return _programmer; } // RegisterProgrammer is usually thread-safe to use outside directly

bool Voxel::DepthCamera::getROI ( RegionOfInterest &  roi )

inline

Definition at line 351 of file DepthCamera.h.

References _accessMutex, and _getROI().

Referenced by Voxel::TI::ToFCalculusCamera::_initStartParams(), and Voxel::TI::ToFCamera::_initStartParams().

{
  Lock<Mutex> _(_accessMutex);
  return _getROI(roi);
}

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bool Voxel::DepthCamera::getSerialNumber ( String &  serialNumber ) const

virtual

Definition at line 739 of file DepthCamera.cpp.

References _device.

Referenced by _init().

{ 
  serialNumber = _device->serialNumber(); 
  return true;
}

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Ptr<Streamer> Voxel::DepthCamera::getStreamer ( )

inline

Definition at line 248 of file DepthCamera.h.

{ return _streamer; } // Streamer may not be thread-safe

template<typename T >

bool Voxel::DepthCamera::getStreamParam	(	const String &	name,
		T &	value
	)		const

Definition at line 438 of file DepthCamera.h.

{
  if(!_frameGenerators[0]->get(name, value) && !_frameGenerators[1]->get(name, value) && !_frameGenerators[2]->get(name, value))
    return false;
  
  return true;
}

bool Voxel::DepthCamera::getSupportedVideoModes ( Vector< SupportedVideoMode > &  supportedVideoModes ) const

inline

Definition at line 320 of file DepthCamera.h.

References _accessMutex, and _getSupportedVideoModes().

{
  Lock<Mutex> _(_accessMutex);
  return _getSupportedVideoModes(supportedVideoModes);
}

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const FilterSet<RawFrame>& Voxel::DepthCamera::getUnprocessedRawFilterSet ( )

inline

Definition at line 236 of file DepthCamera.h.

{ return _unprocessedFilters; }

const String& Voxel::DepthCamera::id ( ) const

inline

Definition at line 168 of file DepthCamera.h.

Referenced by _captureLoop(), Voxel::TI::ToFCamera::_saveCurrentProfileID(), addFilter(), getFilter(), registerCallback(), removeAllFilters(), removeFilter(), and reset().

{ return _id; }

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virtual bool Voxel::DepthCamera::isInitialized ( ) const

inlinevirtual

Definition at line 160 of file DepthCamera.h.

Referenced by Voxel::TI::ToFCameraBase::_captureRawUnprocessedFrame(), Voxel::TI::ToFCameraBase::_start(), and Voxel::TI::ToFCameraBase::_stop().

  {
    return _programmer && _programmer->isInitialized() && 
           _streamer && _streamer->isInitialized() && _parameterInit;
  }

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bool Voxel::DepthCamera::isPaused ( ) const

inline

Definition at line 179 of file DepthCamera.h.

{ return _isPaused; }

bool Voxel::DepthCamera::isRunning ( ) const

inline

Definition at line 177 of file DepthCamera.h.

Referenced by Voxel::TI::ToFCamera::_setFrameSize(), Voxel::TI::ToFHaddockCamera::_setROI(), Voxel::TI::ToFCalculusCamera::_setROI(), Voxel::TI::ToFTintinCamera::_setROI(), close(), reset(), start(), and stop().

{ return _running; }

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bool Voxel::DepthCamera::isSavingFrameStream ( )

virtual

Definition at line 555 of file DepthCamera.cpp.

References _frameStreamWriter, and _frameStreamWriterMutex.

Referenced by _captureLoop().

{
  Lock<Mutex> _(_frameStreamWriterMutex);
  return _frameStreamWriter?true:false;
}

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const String& Voxel::DepthCamera::name ( ) const

inline

Definition at line 166 of file DepthCamera.h.

Referenced by _get(), Voxel::TI::ToFCamera::_getCurrentProfileID(), Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::ToFCalculusCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), Voxel::TI::ToFCamera::_saveCurrentProfileID(), and _set().

{ return _name; }

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bool Voxel::DepthCamera::pause

(

)

Definition at line 373 of file DepthCamera.cpp.

References _frameStreamWriter, _frameStreamWriterMutex, and _isPaused.

{
  if(!_isPaused)
  {
    _isPaused = true;
  
    Lock<Mutex> _(_frameStreamWriterMutex);
    if(_frameStreamWriter)
      _frameStreamWriter->pause();
    return true;
  }
  
  return false;
}

bool Voxel::DepthCamera::refreshParams

(

)

Definition at line 488 of file DepthCamera.cpp.

References _accessMutex, _parameters, Voxel::LOG_ERROR, and Voxel::logger.

Referenced by setCameraProfile().

{
  Lock<Mutex> _(_accessMutex);
  bool ret = true;
  for(auto &i: _parameters)
  {
    if(!i.second->refresh())
    {
      logger(LOG_ERROR) << "DepthCamera: Failed to update value for parameter '" << i.first << "'" << std::endl;
      ret = false;
    }
  }
  return ret;
}

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bool Voxel::DepthCamera::registerCallback ( FrameType  type, CallbackType  f  )

virtual

Definition at line 99 of file DepthCamera.cpp.

References _callback, _callBackTypesRegistered, FRAME_TYPE_COUNT, id(), Voxel::LOG_ERROR, Voxel::LOG_WARNING, and Voxel::logger.

Referenced by Voxel::PCLGrabber::PCLGrabber().

{
  if(type < FRAME_TYPE_COUNT)
  {
    if(_callback[type])
      logger(LOG_WARNING) << "DepthCamera: " << id() << " already has a callback for this type = " << type << ". Overwriting it now." << std::endl;
    
    _callBackTypesRegistered |= (1 << type);
    _callback[type] = f;
    return true;
  }
  logger(LOG_ERROR) << "DepthCamera: Invalid callback type = " << type << " attempted for depth camera " << id() << std::endl;
  return false;
}

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bool Voxel::DepthCamera::reloadConfiguration ( )

inline

Definition at line 250 of file DepthCamera.h.

{ return configFile.read(_name + ".conf"); }

bool Voxel::DepthCamera::removeAllFilters ( FrameType  frameType )

virtual

Definition at line 442 of file DepthCamera.cpp.

References _depthFilters, _processedFilters, _unprocessedFilters, FRAME_DEPTH_FRAME, FRAME_RAW_FRAME_PROCESSED, FRAME_RAW_FRAME_UNPROCESSED, id(), Voxel::LOG_ERROR, and Voxel::logger.

{
  if(frameType == FRAME_RAW_FRAME_UNPROCESSED)
    return _unprocessedFilters.removeAllFilters();
  else if(frameType == FRAME_RAW_FRAME_PROCESSED)
    return _processedFilters.removeAllFilters();
  else if(frameType == FRAME_DEPTH_FRAME)
    return _depthFilters.removeAllFilters();
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Filter not supported for frame type = '" << frameType << "' for camera = " << id() << std::endl;
    return false;
  }
}

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bool Voxel::DepthCamera::removeCameraProfile

(

const int

id

)

Definition at line 650 of file DepthCamera.cpp.

References configFile, and Voxel::MainConfigurationFile::removeCameraProfile().

{
  return configFile.removeCameraProfile(id);
}

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bool Voxel::DepthCamera::removeFilter ( int  filterID, FrameType  frameType  )

virtual

Definition at line 473 of file DepthCamera.cpp.

References _depthFilters, _processedFilters, _unprocessedFilters, FRAME_DEPTH_FRAME, FRAME_RAW_FRAME_PROCESSED, FRAME_RAW_FRAME_UNPROCESSED, id(), Voxel::LOG_ERROR, and Voxel::logger.

{
  if(frameType == FRAME_RAW_FRAME_UNPROCESSED)
    return _unprocessedFilters.removeFilter(filterID);
  else if(frameType == FRAME_RAW_FRAME_PROCESSED)
    return _processedFilters.removeFilter(filterID);
  else if(frameType == FRAME_DEPTH_FRAME)
    return _depthFilters.removeFilter(filterID);
  else
  {
    logger(LOG_ERROR) << "DepthCamera: Filter not supported for frame type = '" << frameType << "' for camera = " << id() << std::endl;
    return false;
  }
}

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bool Voxel::DepthCamera::reset

(

)

Definition at line 409 of file DepthCamera.cpp.

References _reset(), id(), isRunning(), Voxel::LOG_ERROR, Voxel::logger, and resetFilters().

{
  if(isRunning())
  {
    logger(LOG_ERROR) << "DepthCamera: Please stop the depth camera before calling reset" << std::endl;
    return false;
  }
  
  if(!_reset())
  {
    logger(LOG_ERROR) << "DepthCamera: Failed to reset device " << id() << std::endl;
    return false;
  }
  
  resetFilters();
  return true;
}

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void Voxel::DepthCamera::resetFilters ( )

virtual

Definition at line 504 of file DepthCamera.cpp.

References _depthFilters, _processedFilters, and _unprocessedFilters.

Referenced by reset(), and start().

{
  _unprocessedFilters.reset();
  _processedFilters.reset();
  _depthFilters.reset();
}

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bool Voxel::DepthCamera::resume

(

)

Definition at line 388 of file DepthCamera.cpp.

References _frameStreamWriter, _frameStreamWriterMutex, and _isPaused.

{
  if(_isPaused)
  {
    _isPaused = false;
    
    Lock<Mutex> _(_frameStreamWriterMutex);
    if(_frameStreamWriter)
      _frameStreamWriter->resume();
    return true;
  }
  
  return false;
}

bool Voxel::DepthCamera::saveCameraProfileToHardware ( int &  id )

inline

Definition at line 257 of file DepthCamera.h.

{ return configFile.saveCameraProfileToHardware(id); }

bool Voxel::DepthCamera::saveFrameStream ( const String &  fileName )

virtual

Definition at line 523 of file DepthCamera.cpp.

References _frameGenerators, _frameStreamWriter, _frameStreamWriterMutex, Voxel::LOG_ERROR, and Voxel::logger.

{
  Lock<Mutex> _(_frameStreamWriterMutex);
  if(_frameStreamWriter)
  {
    logger(LOG_ERROR) << "DepthCamera: Frame stream is already being saved." << std::endl;
    return false;
  }
  
  if(!_frameGenerators[0] || !_frameGenerators[1] || !_frameGenerators[2])
  {
    logger(LOG_ERROR) << "DepthCamera: Necessary generators are not yet created? Can't save stream." << std::endl;
    return false;
  }
  
  FrameStreamWriterPtr w = FrameStreamWriterPtr(
    new FrameStreamWriter(fileName, _frameGenerators[0]->id(), _frameGenerators[1]->id(), _frameGenerators[2]->id())
  );
  
  _frameGenerators[0]->setFrameStreamWriter(w);
  _frameGenerators[1]->setFrameStreamWriter(w);
  _frameGenerators[2]->setFrameStreamWriter(w);
  
  _frameGenerators[0]->writeConfiguration();
  _frameGenerators[1]->writeConfiguration();
  _frameGenerators[2]->writeConfiguration();
  
  _frameStreamWriter = w;
  
  return _frameStreamWriter->isStreamGood();
}

template<typename T >

bool Voxel::DepthCamera::set	(	const String &	name,
		const T &	value
	)

Definition at line 271 of file DepthCamera.h.

References _accessMutex, and _set().

Referenced by Voxel::TI::ToFHaddockCamera::_applyCalibrationParams(), Voxel::TI::ToFTintinCamera::_applyCalibrationParams(), _applyConfigParams(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), Voxel::TI::ToFHaddockCamera::_initStartParams(), Voxel::TI::HaddockCDKCamera::_initStartParams(), Voxel::TI::VoxelDCamera::_initStartParams(), Voxel::TI::ToFCalculusCamera::_initStartParams(), Voxel::TI::ToFTintinCamera::_initStartParams(), and Voxel::TI::ToFCamera::_reset().

{
  Lock<Mutex> _(_accessMutex);
  return _set(name, value);
}

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bool Voxel::DepthCamera::setBytesPerPixel ( const uint &  bpp )

inline

Definition at line 338 of file DepthCamera.h.

References _accessMutex, and _setBytesPerPixel().

{
  Lock<Mutex> _(_accessMutex);
  return _setBytesPerPixel(bpp);
}

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bool Voxel::DepthCamera::setCameraProfile	(	const int	id,
		bool	softApply = false
	)

Definition at line 582 of file DepthCamera.cpp.

References _applyConfigParams(), _onReset(), _saveCurrentProfileID(), configFile, Voxel::MainConfigurationFile::getCameraProfile(), Voxel::MainConfigurationFile::getCameraProfileName(), Voxel::ConfigurationFile::getConfigSet(), Voxel::LOG_ERROR, Voxel::LOG_WARNING, Voxel::logger, refreshParams(), and Voxel::MainConfigurationFile::setCurrentCameraProfile().

Referenced by _init().

{
  if(!configFile.setCurrentCameraProfile(id))
  {
    logger(LOG_ERROR) << "DepthCamera: Could not set the camera profile to '" << id << "'" << std::endl;
    return false;
  }
  
  if(!_saveCurrentProfileID(id))
    logger(LOG_WARNING) << "DepthCamera: Could not save the camera profile ID '" << id << "'" << std::endl;
  
  /*
  // Uncomment this perform soft-reset every time a profile is selected.
  if(!reset())
  {
    logger(LOG_ERROR) << "DepthCamera: Failed to reset camera, to set new camera profile" << std::endl;
    return false;
  }
  */
  
  if(!refreshParams())
    return false;
  
  if(!softApply)
  {
    ConfigurationFile *config;
    
    String cameraProfileName; 
    
    if(!configFile.getCameraProfileName(id, cameraProfileName))
    {
      logger(LOG_ERROR) << "DepthCamera: Failed to get new camera profile name" << std::endl;
      return false;
    }
    
    if(!(config = configFile.getCameraProfile(id)))
    {
      logger(LOG_ERROR) << "DepthCamera: Failed to get new camera profile information" << std::endl;
      return false;
    }
    
    const ConfigSet *params;
    
    if(config->getConfigSet("params", params) && !_applyConfigParams(params))
    {
      logger(LOG_ERROR) << "DepthCamera: Could not set parameters to initialize profile '" << cameraProfileName << "'" << std::endl;
      return false;
    }
    
    if(config->getConfigSet("defining_params", params) && !_applyConfigParams(params))
    {
      logger(LOG_ERROR) << "DepthCamera: Could not set parameters to initialize profile '" << cameraProfileName << "'" << std::endl;
      return false;
    }
  }
  
  if(!_onReset())
    return false;
  
  return true;
}

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bool Voxel::DepthCamera::setFrameRate ( const FrameRate &  r )

inline

Definition at line 289 of file DepthCamera.h.

References _accessMutex, and _setFrameRate().

Referenced by _applyConfigParams(), and Voxel::TI::ToFCameraBase::_onReset().

{
  Lock<Mutex> _(_accessMutex);
  return _setFrameRate(r);
}

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bool Voxel::DepthCamera::setFrameSize ( const FrameSize &  s )

inline

Definition at line 301 of file DepthCamera.h.

References _accessMutex, and _setFrameSize().

Referenced by Voxel::TI::ToFCameraBase::_onReset().

{
  Lock<Mutex> _(_accessMutex);
  return _setFrameSize(s);
}

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bool Voxel::DepthCamera::setROI ( const RegionOfInterest &  roi )

inline

Definition at line 357 of file DepthCamera.h.

References _accessMutex, and _setROI().

{
  Lock<Mutex> _(_accessMutex);
  return _setROI(roi);
}

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bool Voxel::DepthCamera::setSerialNumber ( const String &  serialNumber )

virtual

Reimplemented in Voxel::TI::ToFCamera.

Definition at line 745 of file DepthCamera.cpp.

Referenced by Voxel::TI::ToFCamera::setSerialNumber().

{ 
  return false;
}

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bool Voxel::DepthCamera::start

(

)

Definition at line 301 of file DepthCamera.cpp.

References _callBackTypesRegistered, _captureThread, _captureThreadWrapper(), _id, _isPaused, _running, _start(), isRunning(), Voxel::LOG_ERROR, Voxel::logger, resetFilters(), and wait().

{
  if (isRunning())
  {
    logger(LOG_ERROR) << "DepthCamera: Camera is already running. Please stop it before calling start() again." << std::endl;
    return false;
  }

  wait();

  if (_captureThread &&  _captureThread->joinable())
  {
    logger(LOG_ERROR) << "DepthCamera: Camera is still running. Please wait for the current capture loop to complete before calling start() again." << std::endl;
    return false;
  }

  if(!_callBackTypesRegistered)
  {
    logger(LOG_ERROR) << "DepthCamera: Please register a callback to " << _id << " before starting capture" << std::endl;
    return false;
  }
  
  resetFilters();
  
  if(!_start())
    return false;

  _running = true;
  _isPaused = false;
  //_captureThreadWrapper();
  _captureThread = ThreadPtr(new Thread(&DepthCamera::_captureThreadWrapper, this));
  
  return true;
}

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bool Voxel::DepthCamera::stop

(

)

Definition at line 336 of file DepthCamera.cpp.

References _isPaused, _running, isRunning(), Voxel::LOG_WARNING, Voxel::logger, and wait().

Referenced by close(), and main().

{
  if (!isRunning())
  {
    logger(LOG_WARNING) << "DepthCamera: Camera is not running." << std::endl;
    return true;
  }

  _running = false;
  _isPaused = false;
  wait();
  return true;
}

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void Voxel::DepthCamera::wait

(

)

Definition at line 350 of file DepthCamera.cpp.

References _captureThread.

Referenced by start(), and stop().

{
  if(_captureThread &&  _captureThread->get_id() != std::this_thread::get_id() && _captureThread->joinable())
    _captureThread->join();
}

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Member Data Documentation

Mutex Voxel::DepthCamera::_accessMutex

mutableprivate

Definition at line 56 of file DepthCamera.h.

Referenced by allowedROI(), get(), getBytesPerPixel(), getFieldOfView(), getFrameRate(), getFrameSize(), getMaximumFrameRate(), getMaximumFrameSize(), getMaximumVideoMode(), getROI(), getSupportedVideoModes(), refreshParams(), set(), setBytesPerPixel(), setFrameRate(), setFrameSize(), and setROI().

CallbackType Voxel::DepthCamera::_callback[FRAME_TYPE_COUNT]

protected

Definition at line 88 of file DepthCamera.h.

Referenced by _callbackAndContinue(), _captureLoop(), clearAllCallbacks(), clearCallback(), and registerCallback().

uint32_t Voxel::DepthCamera::_callBackTypesRegistered = 0

protected

Definition at line 90 of file DepthCamera.h.

Referenced by _captureLoop(), registerCallback(), and start().

ThreadPtr Voxel::DepthCamera::_captureThread

protected

Definition at line 92 of file DepthCamera.h.

Referenced by start(), and wait().

String Voxel::DepthCamera::_chipset

protected

Definition at line 62 of file DepthCamera.h.

FilterSet<DepthFrame> Voxel::DepthCamera::_depthFilters

protected

Definition at line 82 of file DepthCamera.h.

Referenced by _captureLoop(), addFilter(), getFilter(), removeAllFilters(), removeFilter(), and resetFilters().

FrameBufferManager<DepthFrame> Voxel::DepthCamera::_depthFrameBuffers

protected

Definition at line 77 of file DepthCamera.h.

Referenced by _captureLoop(), and close().

DevicePtr Voxel::DepthCamera::_device

protected

Definition at line 60 of file DepthCamera.h.

Referenced by Voxel::TI::TintinCDKCamera::_getMaximumVideoMode(), Voxel::TI::TintinCDKCamera::_getSupportedVideoModes(), Voxel::TI::RTS5825Camera::_init(), Voxel::TI::CalculusCDKCamera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::TintinCDKCamera::_initStartParams(), _set(), Voxel::TI::TintinCDKCamera::_setStreamerFrameSize(), getSerialNumber(), and Voxel::TI::ToFCamera::setSerialNumber().

FrameGeneratorPtr Voxel::DepthCamera::_frameGenerators[3]

protected

Definition at line 70 of file DepthCamera.h.

Referenced by closeFrameStream(), DepthCamera(), saveFrameStream(), and Voxel::TI::ToFCamera::ToFCamera().

FrameStreamWriterPtr Voxel::DepthCamera::_frameStreamWriter

protected

Definition at line 84 of file DepthCamera.h.

Referenced by _writeToFrameStream(), closeFrameStream(), isSavingFrameStream(), pause(), resume(), and saveFrameStream().

Mutex Voxel::DepthCamera::_frameStreamWriterMutex

mutableprivate

Definition at line 57 of file DepthCamera.h.

Referenced by _writeToFrameStream(), closeFrameStream(), isSavingFrameStream(), pause(), resume(), and saveFrameStream().

String Voxel::DepthCamera::_id

protected

Definition at line 62 of file DepthCamera.h.

Referenced by _get(), _set(), getParam(), and start().

bool Voxel::DepthCamera::_isPaused

protected

Definition at line 109 of file DepthCamera.h.

Referenced by _callbackAndContinue(), _captureLoop(), pause(), resume(), start(), and stop().

String Voxel::DepthCamera::_name

protected

Definition at line 62 of file DepthCamera.h.

bool Voxel::DepthCamera::_parameterInit

protected

Definition at line 74 of file DepthCamera.h.

Referenced by Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::ToFCalculusCamera::_init(), and Voxel::TI::ToFTintinCamera::_init().

Map<String, ParameterPtr> Voxel::DepthCamera::_parameters

protected

Definition at line 64 of file DepthCamera.h.

Referenced by _addParameters(), _get(), Voxel::TI::TintinCDKCamera::_init(), _set(), close(), getParam(), and refreshParams().

FrameBufferManager<PointCloudFrame> Voxel::DepthCamera::_pointCloudBuffers

protected

Definition at line 78 of file DepthCamera.h.

Referenced by _captureLoop(), and close().

Ptr<PointCloudFrameGenerator> Voxel::DepthCamera::_pointCloudFrameGenerator

protected

Definition at line 72 of file DepthCamera.h.

Referenced by _convertToPointCloudFrame(), Voxel::TI::ToFCamera::_initStartParams(), and DepthCamera().

FilterSet<RawFrame> Voxel::DepthCamera::_processedFilters

protected

Definition at line 80 of file DepthCamera.h.

Referenced by _captureLoop(), addFilter(), getFilter(), removeAllFilters(), removeFilter(), and resetFilters().

Ptr<RegisterProgrammer> Voxel::DepthCamera::_programmer

protected

Definition at line 66 of file DepthCamera.h.

Referenced by _applyConfigParams(), Voxel::TI::TintinCDKCamera::_getEEPROMSize(), Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::RTS5825Camera::_init(), Voxel::TI::CalculusCDKCamera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::ToFCalculusCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), Voxel::TI::ToFCamera::_init(), Voxel::TI::CalculusCDKCamera::_initStartParams(), Voxel::TI::ToFCalculusCamera::_initStartParams(), Voxel::TI::TintinCDKCamera::_readConfigFromHardware(), Voxel::TI::VoxelDCamera::_setIllumPolarity(), Voxel::TI::ToFCalculusCamera::_updateEasyConf(), Voxel::TI::TintinCDKCamera::_writeConfigFromHardware(), close(), and Voxel::TI::ToFCamera::setSerialNumber().

FrameBufferManager<RawFrame> Voxel::DepthCamera::_rawFrameBuffers

protected

Definition at line 76 of file DepthCamera.h.

Referenced by _captureLoop(), and close().

bool Voxel::DepthCamera::_running

protected

Definition at line 109 of file DepthCamera.h.

Referenced by _captureLoop(), start(), and stop().

Ptr<Streamer> Voxel::DepthCamera::_streamer

protected

Definition at line 67 of file DepthCamera.h.

Referenced by Voxel::TI::ToFCameraBase::_captureRawUnprocessedFrame(), Voxel::TI::RTS5825Camera::_init(), Voxel::TI::CalculusCDKCamera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::HaddockCDKCamera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::RTS5825Camera::_setStreamerFrameSize(), Voxel::TI::CalculusCDKCamera::_setStreamerFrameSize(), Voxel::TI::Voxel14Camera::_setStreamerFrameSize(), Voxel::TI::HaddockCDKCamera::_setStreamerFrameSize(), Voxel::TI::VoxelDCamera::_setStreamerFrameSize(), Voxel::TI::TintinCDKCamera::_setStreamerFrameSize(), Voxel::TI::ToFCameraBase::_start(), Voxel::TI::ToFCameraBase::_stop(), and close().

FilterSet<RawFrame> Voxel::DepthCamera::_unprocessedFilters

protected

Definition at line 80 of file DepthCamera.h.

Referenced by _captureLoop(), addFilter(), getFilter(), removeAllFilters(), removeFilter(), and resetFilters().

MainConfigurationFile Voxel::DepthCamera::configFile

Definition at line 156 of file DepthCamera.h.

Referenced by Voxel::TI::ToFHaddockCamera::_applyCalibrationParams(), Voxel::TI::ToFTintinCamera::_applyCalibrationParams(), Voxel::TI::ToFCamera::_getDepthScalingFactor(), Voxel::TI::ToFHaddockCamera::_init(), Voxel::TI::Voxel14Camera::_init(), Voxel::TI::VoxelDCamera::_init(), Voxel::TI::TintinCDKCamera::_init(), Voxel::TI::ToFCalculusCamera::_init(), Voxel::TI::ToFTintinCamera::_init(), _init(), Voxel::TI::ToFCamera::_initStartParams(), addCameraProfile(), DepthCamera(), removeCameraProfile(), and setCameraProfile().

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

• DepthCamera.h
• DepthCamera.cpp