/******************************************************************** ** Image Component Library (ICL) ** ** ** ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** ** Neuroinformatics Group ** ** Website: www.iclcv.org and ** ** http://opensource.cit-ec.de/projects/icl ** ** ** ** File : ICLIO/src/ICLIO/Grabber.h ** ** Module : ICLIO ** ** Authors: Christof Elbrechter, Michael Goetting, Robert ** ** Haschke, Viktor Richter ** ** ** ** ** ** GNU LESSER GENERAL PUBLIC LICENSE ** ** This file may be used under the terms of the GNU Lesser General ** ** Public License version 3.0 as published by the ** ** ** ** Free Software Foundation and appearing in the file LICENSE.LGPL ** ** included in the packaging of this file. Please review the ** ** following information to ensure the license requirements will ** ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** ** ** ** The development of this software was supported by the ** ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** ** Forschungsgemeinschaft (DFG) in the context of the German ** ** Excellence Initiative. ** ** ** ********************************************************************/ #pragma once #include #include #include #include #include #include #include #include #include #include #include #include #include namespace icl { namespace io{ /** \cond */ namespace{ template inline T grabber_get_null(){ return 0; } template <> inline core::format grabber_get_null(){ return (core::format)-1; } template <> inline core::depth grabber_get_null(){ return (core::depth)-1; } template <> inline icl::utils::Size grabber_get_null(){ return icl::utils::Size::null; } struct grabber_get_xxx_dummy{ grabber_get_xxx_dummy(){ grabber_get_null(); grabber_get_null(); grabber_get_null(); } }; } template class GrabberHandle; class GenericGrabber; /** \endcond */ /// Common interface class for all grabbers \ingroup GRABBER_G /** 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. \section DES 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.\n 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 where one of the types core::depth, core::format or icl::utils::Size is used as type T. \section UND 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. \section IM 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. \section PROP 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. \section CB 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. */ class ICLIO_API Grabber : public utils::Uncopyable, public utils::Configurable{ /// internal data class struct Data; /// hidden data Data *data; protected: /// internally set a desired format virtual void setDesiredFormatInternal(core::format fmt); /// internally set a desired format virtual void setDesiredSizeInternal(const utils::Size &size); /// internally set a desired format virtual void setDesiredDepthInternal(core::depth d); /// returns the desired format virtual core::format getDesiredFormatInternal() const; /// returns the desired format virtual core::depth getDesiredDepthInternal() const; /// returns the desired format virtual utils::Size getDesiredSizeInternal() const; public: /// grant private method access to the grabber handle template template friend class GrabberHandle; /// grant private method access to the GenericGrabber class friend class GenericGrabber; /// Grabber(); /// Destructor virtual ~Grabber(); /// 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 **/ const core::ImgBase *grab(core::ImgBase **dst=0); /// 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*/ template bool desiredUsed() const{ return false; } /// sets desired parameters (only available for core::depth,utils::Size and core::format) template void useDesired(const T &t){ (void)t;} /// sets up the grabber to use all given desired parameters void useDesired(core::depth d, const utils::Size &size, core::format fmt); /// set the grabber to ignore the desired param of type T /** This method is only available for core::depth,utils::Size and core::format */ template void ignoreDesired() { useDesired(grabber_get_null()); } /// sets up the grabber to ignore all desired parameters void ignoreDesired(); /// returns the desired value for the given type T /** This method is only available for core::depth,utils::Size and core::format */ template T getDesired() const { return T(); } /// @} /// @{ @name static string conversion functions /// translates a SteppingRange into a string representation static std::string translateSteppingRange(const utils::SteppingRange& range); /// creates a SteppingRange out of a string representation static utils::SteppingRange translateSteppingRange(const std::string &rangeStr); /// translates a vector of doubles into a string representation static std::string translateDoubleVec(const std::vector &doubleVec); /// creates a vector of doubles out of a string representation static std::vector translateDoubleVec(const std::string &doubleVecStr); /// translates a vector of strings into a single string representation static std::string translateStringVec(const std::vector &stringVec); /// creates a vector of strins out of a single string representation static std::vector translateStringVec(const std::string &stringVecStr); /// @} /// @{ @name distortion functions /// enables the undistorion void enableUndistortion(const std::string &filename); /// enables the undistortion plugin for the grabber using radial and tangential distortion parameters void enableUndistortion(const ImageUndistortion &udist); /// enables undistortion from given programm argument. /** where first argument is the filename of the xml file and second is the size of picture*/ void enableUndistortion(const utils::ProgArg &pa); /// enables undistortion for given warp map void enableUndistortion(const core::Img32f &warpMap); /// 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 */ void setUndistortionInterpolationMode(core::scalemode mode); /// disables distortion void disableUndistortion(); /// returns whether distortion is currently enabled bool isUndistortionEnabled() const; /// returns the internal warp map or NULL if undistortion is not enabled const core::Img32f *getUndistortionWarpMap() const; /// @} /// new image callback type typedef utils::Function callback; /// 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 registerCallback(callback cb); /// removes all registered image callbacks virtual void removeAllCallbacks(); /// this function can be implemented by subclasses in order to notify, that a new image is available /** When this function is called, it will automatically call all callbacks with the given image. */ virtual void notifyNewImageAvailable(const core::ImgBase *image); protected: /// main interface method, that is implemented by the actual grabber instances /** This method is defined in the grabber implementation. It acquires a new image using the grabbers specific image acquisition back-end */ virtual const core::ImgBase *acquireImage(){ return NULL; } /// Utility function that allows for much easier implementation of grabUD /** called by the grabbers grab() method **/ const core::ImgBase *adaptGrabResult(const core::ImgBase *src, core::ImgBase **dst); private: /// callback for changed configurable properties void processPropertyChange(const utils::Configurable::Property &prop); }; /** \cond */ template<> inline void Grabber::useDesired(const core::format &t) { setDesiredFormatInternal(t); } template<> inline void Grabber::useDesired(const core::depth &t) { setDesiredDepthInternal(t); } template<> inline void Grabber::useDesired(const utils::Size &t) { setDesiredSizeInternal(t); } template<> inline core::depth Grabber::getDesired() const { return getDesiredDepthInternal(); } template<> inline utils::Size Grabber::getDesired() const { return getDesiredSizeInternal(); } template<> inline core::format Grabber::getDesired() const { return getDesiredFormatInternal(); } template<> inline bool Grabber::desiredUsed() const{ return (int)getDesired() != -1; } template<> inline bool Grabber::desiredUsed() const{ return (int)getDesired() != -1; } template<> inline bool Grabber::desiredUsed() const{ return getDesired() != utils::Size::null; } class ICLIO_API GrabberRegister : utils::Uncopyable { private: utils::Mutex mutex; struct GrabberFunctions{ utils::Function init; utils::Function &,std::string,bool> list; }; // grabber functions map typedef std::map GFM; GFM gfm; // grabber bus reset functions map typedef std::map > GBRM; GBRM gbrm; // grabber device descriptions map typedef std::set GDS; GDS gds; // private constructor GrabberRegister(){} public: static GrabberRegister* getInstance(); void registerGrabberType(const std::string &grabberid, utils::Function creator, utils::Function &,std::string,bool> device_list) throw (utils::ICLException); void registerGrabberBusReset(const std::string &grabberid, utils::Function reset_function) throw (utils::ICLException); void addGrabberDescription(const std::string &grabber_description) throw (utils::ICLException); Grabber* createGrabber(const std::string &grabberid, const std::string ¶m) throw (utils::ICLException); std::vector getRegisteredGrabbers(); std::vector getGrabberInfos(); const std::vector& getDeviceList(std::string id, std::string hint="", bool rescan=true); void resetGrabberBus(const std::string &id, bool verbose); }; /** \endcond */ /// registration macro for grabbers /** @see \ref REG */ #define REGISTER_GRABBER(NAME,CREATE_FUNC,DEVICE_LIST_FUNC,DESCRIPTION) \ struct StaticGrabberRegistrationFor_##NAME{ \ StaticGrabberRegistrationFor_##NAME(){ \ icl::io::GrabberRegister::getInstance() -> registerGrabberType(#NAME, CREATE_FUNC, DEVICE_LIST_FUNC); \ icl::io::GrabberRegister::getInstance() -> addGrabberDescription(DESCRIPTION); \ } \ } staticGrabberRegistrationFor_##NAME; #define REGISTER_GRABBER_BUS_RESET_FUNCTION(NAME,BUS_RESET_FUNC) \ struct StaticGrabberBusResetRegistrationFor_##NAME{ \ StaticGrabberBusResetRegistrationFor_##NAME(){ \ icl::io::GrabberRegister::getInstance() -> registerGrabberBusReset(#NAME, BUS_RESET_FUNC); \ } \ } staticGrabberBusResetRegistrationFor_##NAME; } // namespace io } // namespace icl