Fawkes API
Fawkes Development Version
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OpenCVStereoParamsInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Types | |
enum | PreFilterType { PFT_NORMALIZED_RESPONSE, PFT_XSOBEL } |
The type used for the pre-filter to come up with the features for the correspondence matching. More... | |
Public Member Functions | |
const char * | tostring_PreFilterType (PreFilterType value) const |
Convert PreFilterType constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
PreFilterType | pre_filter_type () const |
Get pre_filter_type value. More... | |
void | set_pre_filter_type (const PreFilterType new_pre_filter_type) |
Set pre_filter_type value. More... | |
size_t | maxlenof_pre_filter_type () const |
Get maximum length of pre_filter_type value. More... | |
uint32_t | pre_filter_size () const |
Get pre_filter_size value. More... | |
void | set_pre_filter_size (const uint32_t new_pre_filter_size) |
Set pre_filter_size value. More... | |
size_t | maxlenof_pre_filter_size () const |
Get maximum length of pre_filter_size value. More... | |
uint32_t | pre_filter_cap () const |
Get pre_filter_cap value. More... | |
void | set_pre_filter_cap (const uint32_t new_pre_filter_cap) |
Set pre_filter_cap value. More... | |
size_t | maxlenof_pre_filter_cap () const |
Get maximum length of pre_filter_cap value. More... | |
uint32_t | sad_window_size () const |
Get sad_window_size value. More... | |
void | set_sad_window_size (const uint32_t new_sad_window_size) |
Set sad_window_size value. More... | |
size_t | maxlenof_sad_window_size () const |
Get maximum length of sad_window_size value. More... | |
int32_t | min_disparity () const |
Get min_disparity value. More... | |
void | set_min_disparity (const int32_t new_min_disparity) |
Set min_disparity value. More... | |
size_t | maxlenof_min_disparity () const |
Get maximum length of min_disparity value. More... | |
uint32_t | num_disparities () const |
Get num_disparities value. More... | |
void | set_num_disparities (const uint32_t new_num_disparities) |
Set num_disparities value. More... | |
size_t | maxlenof_num_disparities () const |
Get maximum length of num_disparities value. More... | |
uint32_t | texture_threshold () const |
Get texture_threshold value. More... | |
void | set_texture_threshold (const uint32_t new_texture_threshold) |
Set texture_threshold value. More... | |
size_t | maxlenof_texture_threshold () const |
Get maximum length of texture_threshold value. More... | |
uint32_t | uniqueness_ratio () const |
Get uniqueness_ratio value. More... | |
void | set_uniqueness_ratio (const uint32_t new_uniqueness_ratio) |
Set uniqueness_ratio value. More... | |
size_t | maxlenof_uniqueness_ratio () const |
Get maximum length of uniqueness_ratio value. More... | |
uint32_t | speckle_window_size () const |
Get speckle_window_size value. More... | |
void | set_speckle_window_size (const uint32_t new_speckle_window_size) |
Set speckle_window_size value. More... | |
size_t | maxlenof_speckle_window_size () const |
Get maximum length of speckle_window_size value. More... | |
uint32_t | speckle_range () const |
Get speckle_range value. More... | |
void | set_speckle_range (const uint32_t new_speckle_range) |
Set speckle_range value. More... | |
size_t | maxlenof_speckle_range () const |
Get maximum length of speckle_range value. More... | |
bool | is_try_smaller_windows () const |
Get try_smaller_windows value. More... | |
void | set_try_smaller_windows (const bool new_try_smaller_windows) |
Set try_smaller_windows value. More... | |
size_t | maxlenof_try_smaller_windows () const |
Get maximum length of try_smaller_windows value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
OpenCVStereoParamsInterface Fawkes BlackBoard Interface.
Read and set stereo processing parameters of the OpenCV stereo correspondence matching module.
Definition at line 33 of file OpenCVStereoParamsInterface.h.
The type used for the pre-filter to come up with the features for the correspondence matching.
Enumerator | |
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PFT_NORMALIZED_RESPONSE | Normalized response filter. |
PFT_XSOBEL | Sobel filters. |
Definition at line 45 of file OpenCVStereoParamsInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 523 of file OpenCVStereoParamsInterface.cpp.
References fawkes::Interface::type().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 488 of file OpenCVStereoParamsInterface.cpp.
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 534 of file OpenCVStereoParamsInterface.cpp.
bool fawkes::OpenCVStereoParamsInterface::is_try_smaller_windows | ( | ) | const |
Get try_smaller_windows value.
If enabled, the results may be more accurate, at the expense of slower processing.
Definition at line 457 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_min_disparity | ( | ) | const |
Get maximum length of min_disparity value.
Definition at line 252 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_num_disparities | ( | ) | const |
Get maximum length of num_disparities value.
Definition at line 285 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_pre_filter_cap | ( | ) | const |
Get maximum length of pre_filter_cap value.
Definition at line 184 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_pre_filter_size | ( | ) | const |
Get maximum length of pre_filter_size value.
Definition at line 149 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_pre_filter_type | ( | ) | const |
Get maximum length of pre_filter_type value.
Definition at line 116 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_sad_window_size | ( | ) | const |
Get maximum length of sad_window_size value.
Definition at line 219 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_speckle_range | ( | ) | const |
Get maximum length of speckle_range value.
Definition at line 431 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_speckle_window_size | ( | ) | const |
Get maximum length of speckle_window_size value.
Definition at line 396 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_texture_threshold | ( | ) | const |
Get maximum length of texture_threshold value.
Definition at line 321 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_try_smaller_windows | ( | ) | const |
Get maximum length of try_smaller_windows value.
Definition at line 467 of file OpenCVStereoParamsInterface.cpp.
size_t fawkes::OpenCVStereoParamsInterface::maxlenof_uniqueness_ratio | ( | ) | const |
Get maximum length of uniqueness_ratio value.
Definition at line 359 of file OpenCVStereoParamsInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 1626 of file OpenCVStereoParamsInterface.cpp.
int32_t fawkes::OpenCVStereoParamsInterface::min_disparity | ( | ) | const |
Get min_disparity value.
Minimum disparity (can be negative).
Definition at line 242 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::num_disparities | ( | ) | const |
Get num_disparities value.
Number of disparities (maximum disparity - minimum disparity (> 0)).
Definition at line 275 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::pre_filter_cap | ( | ) | const |
Get pre_filter_cap value.
The output of pre-filtering is clipped by [-pre_filter_cap,pre_filter_cap].
Definition at line 174 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::pre_filter_size | ( | ) | const |
Get pre_filter_size value.
Averaging window size: ~5x5..21x21.
Definition at line 139 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
OpenCVStereoParamsInterface::PreFilterType fawkes::OpenCVStereoParamsInterface::pre_filter_type | ( | ) | const |
Get pre_filter_type value.
Pre-filtering method.
Definition at line 106 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::sad_window_size | ( | ) | const |
Get sad_window_size value.
Correspondence using Sum of Absolute Difference (SAD) window size (5x5..21x21).
Definition at line 209 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
void fawkes::OpenCVStereoParamsInterface::set_min_disparity | ( | const int32_t | new_min_disparity | ) |
Set min_disparity value.
Minimum disparity (can be negative).
new_min_disparity | new min_disparity value |
Definition at line 262 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_num_disparities | ( | const uint32_t | new_num_disparities | ) |
Set num_disparities value.
Number of disparities (maximum disparity - minimum disparity (> 0)).
new_num_disparities | new num_disparities value |
Definition at line 297 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_pre_filter_cap | ( | const uint32_t | new_pre_filter_cap | ) |
Set pre_filter_cap value.
The output of pre-filtering is clipped by [-pre_filter_cap,pre_filter_cap].
new_pre_filter_cap | new pre_filter_cap value |
Definition at line 196 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_pre_filter_size | ( | const uint32_t | new_pre_filter_size | ) |
Set pre_filter_size value.
Averaging window size: ~5x5..21x21.
new_pre_filter_size | new pre_filter_size value |
Definition at line 161 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_pre_filter_type | ( | const PreFilterType | new_pre_filter_type | ) |
Set pre_filter_type value.
Pre-filtering method.
new_pre_filter_type | new pre_filter_type value |
Definition at line 126 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_sad_window_size | ( | const uint32_t | new_sad_window_size | ) |
Set sad_window_size value.
Correspondence using Sum of Absolute Difference (SAD) window size (5x5..21x21).
new_sad_window_size | new sad_window_size value |
Definition at line 231 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_speckle_range | ( | const uint32_t | new_speckle_range | ) |
Set speckle_range value.
Acceptable range of variation in window.
new_speckle_range | new speckle_range value |
Definition at line 443 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_speckle_window_size | ( | const uint32_t | new_speckle_window_size | ) |
Set speckle_window_size value.
Disparity variation window size.
new_speckle_window_size | new speckle_window_size value |
Definition at line 408 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_texture_threshold | ( | const uint32_t | new_texture_threshold | ) |
Set texture_threshold value.
The disparity is only computed for pixels with textured enough neighborhood.
new_texture_threshold | new texture_threshold value |
Definition at line 334 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_try_smaller_windows | ( | const bool | new_try_smaller_windows | ) |
Set try_smaller_windows value.
If enabled, the results may be more accurate, at the expense of slower processing.
new_try_smaller_windows | new try_smaller_windows value |
Definition at line 480 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
void fawkes::OpenCVStereoParamsInterface::set_uniqueness_ratio | ( | const uint32_t | new_uniqueness_ratio | ) |
Set uniqueness_ratio value.
Accept the computed disparity d* only if SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.) for any d != d*+/-1 within the search range.
new_uniqueness_ratio | new uniqueness_ratio value |
Definition at line 373 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2Thread::init(), and Bumblebee2Thread::loop().
uint32_t fawkes::OpenCVStereoParamsInterface::speckle_range | ( | ) | const |
Get speckle_range value.
Acceptable range of variation in window.
Definition at line 421 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::speckle_window_size | ( | ) | const |
Get speckle_window_size value.
Disparity variation window size.
Definition at line 386 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::texture_threshold | ( | ) | const |
Get texture_threshold value.
The disparity is only computed for pixels with textured enough neighborhood.
Definition at line 311 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
const char * fawkes::OpenCVStereoParamsInterface::tostring_PreFilterType | ( | PreFilterType | value | ) | const |
Convert PreFilterType constant to string.
value | value to convert to string |
Definition at line 92 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().
uint32_t fawkes::OpenCVStereoParamsInterface::uniqueness_ratio | ( | ) | const |
Get uniqueness_ratio value.
Accept the computed disparity d* only if SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.) for any d != d*+/-1 within the search range.
Definition at line 349 of file OpenCVStereoParamsInterface.cpp.
Referenced by Bumblebee2CalibGtkWindow::~Bumblebee2CalibGtkWindow().