Fawkes API
Fawkes Development Version
vision_master.cpp
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/***************************************************************************
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* vision_master.cpp - FireVision Vision Master
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*
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* Created: Wed May 30 10:52:08 2007
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#include <fvutils/base/vision_master.h>
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using namespace
fawkes
;
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namespace
firevision {
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/** @class VisionMaster <fvutils/base/vision_master.h>
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* Vision Master.
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* The vision master shall be the entry point for vision plugins. It shall
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* allow for requesting cameras that are opened in a central place such that
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* the very same camera can be used in multiple plugins.
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*
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* It shall also be responsible for the central timing of all vision threads.
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*
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* @author Tim Niemueller
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*
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* @fn Camera * VisionMaster::register_for_camera(const char *camera_string, Thread *thread, colorspace_t cspace=YUV422_PLANAR) = 0
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* Register thread for camera.
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* This will register a relation between the given thread and the camera identified
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* by the camera string. If the requested camera has not been opened before this
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* is done and the camera is started. If that fails for whatever reason an exception
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* is thrown. In that case the thread is not registered with the vision master.
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* If the camera is available the thread is registered with the vision master. From
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* then on it is woken up whenever new image data is available and it will wait for
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* the thread to finished computation on that very image. It is a critical error
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* that can not be recovered if the thread fails for whatever reason. If there is
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* a critical error condition in the vision thread it must not stop execution
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* but just the computation.
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* @param camera_string camera that can be used by CameraFactory to open a
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* camera.
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* @param thread thread to register for this camera
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* @param cspace the colorspace in which the images should be provided for the
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* camera. Note that using images in different formats at the same time can cause
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* a severe performance penalty. The default is to produce YUV422_PLANAR images,
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* which is used in the FireVision framework as main image format.
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* @return a pointer to the requested camera. Note that this may not be
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* of the C++ type that you may expect for the requested camera, but it may
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* have layers of indirection. For example when opening a USB camera you could
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* get a shared memory camera to share the camera (image) with multiple threads.
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* Note that using CS_UNKNOWN shall have the similar result as using
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* register_for_raw_camera().
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*
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* @fn Camera * VisionMaster::register_for_raw_camera(const char *camera_string, Thread *thread)
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* Register thread for camera.
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* This will register a relation between the given thread and the camera identified
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* by the camera string similar to register_for_camera(). However, unlike
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* register_for_camera() this method will provide access to the raw camera
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* implementation, without possibly proxies. Once you gathered the camera, you
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* can dynamically cast it to the expected camera type (or use the template method
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* instead. Raw access to a camera is only granted for a single thread.
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* Note that you may not call capture() or dispose() on the camera, this will
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* still be done by the vision master, as the camera may be used by other
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* threads that registered for the camera with register_for_camera().
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* @param camera_string camera that can be used by CameraFactory to open a
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* camera.
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* @param thread thread to register for this camera
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* @return raw camera instance, which can by dynamically casted to the expected type.
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*
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* @fn void VisionMaster::unregister_thread(Thread *thread) = 0
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* Unregister a thread.
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* The thread is unregistered and it is removed from the internal structures. The
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* thread is no longer called for new image material that can be processed.
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*
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* If the unregistered thread was the last thread accessing the camera, it shall
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* be held open for a specified time, such that if the thread is just being
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* restarted the camera does not have to be re-opened. The time to wait is
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* defined by the implementation.
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* @param thread thread to unregister
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*
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* @fn CameraControl * VisionMaster::acquire_camctrl(const char *cam_string)
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* Retrieve a CameraControl for the specified camera string.
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* This control (if available) can be used to control certain aspects of the Camera.
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* The \p cam_string argument either is the string that has been used to register
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* for a particular camera, or it is a string denoting a camera control by itself.
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* In the former case the vision master will look if the camera has been registered,
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* and then checks if the camera provides a camera control. If so the control is
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* returned. Note that it might implement multiple different camera controls. If
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* you want a specific camera control use one of the template methods to get a
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* correctly typed and verified control. If no camera that matches the \p cam_string
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* is found, the vision master will try to instantiate a new camera control using
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* the \p cam_string as argument to the CameraControlFactory.
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* @param cam_string Camera argument string, see method description for details
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* @return a pointer to the requested CameraControl.
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* @throws Exception no camera was found matching the \p cam_string and the factory
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* could not instantiate a camera control with the given string.
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*
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* @fn CameraControl * VisionMaster::acquire_camctrl(const char *cam_string, const std::type_info &typeinf)
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* Retrieve a CameraControl for the specified camera string and type info.
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* This utility method is used by the template methods to instantiate the cameras
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* with a specified intended type.
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* @param cam_string Camera argument string, see method description for details
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* @param typeinf type info for intended camera control type
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* @return a pointer to the requested CameraControl.
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* @throws Exception no camera was found matching the \p cam_string and the factory
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* could not instantiate a camera control with the given string.
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*
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* @fn void VisionMaster::release_camctrl(CameraControl *cc)
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* Release a camera control.
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* This has to be called when you are done with the camera control. This will
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* release the control and it is no longer valid. The vision master might collect
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* the memory that has been used for the control.
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* @param cc camera control instance to release
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*/
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/** Virtual empty destructor. */
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VisionMaster::~VisionMaster()
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{
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}
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}
// end namespace firevision
fawkes
src
libs
fvutils
base
vision_master.cpp
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