Fawkes API  Fawkes Development Version
vision_master.cpp
1 
2 /***************************************************************************
3  * vision_master.cpp - FireVision Vision Master
4  *
5  * Created: Wed May 30 10:52:08 2007
6  * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <fvutils/base/vision_master.h>
25 
26 using namespace fawkes;
27 
28 namespace firevision {
29 #if 0 /* just to make Emacs auto-indent happy */
30 }
31 #endif
32 
33 /** @class VisionMaster <fvutils/base/vision_master.h>
34  * Vision Master.
35  * The vision master shall be the entry point for vision plugins. It shall
36  * allow for requesting cameras that are opened in a central place such that
37  * the very same camera can be used in multiple plugins.
38  *
39  * It shall also be responsible for the central timing of all vision threads.
40  *
41  * @author Tim Niemueller
42  *
43  * @fn Camera * VisionMaster::register_for_camera(const char *camera_string, Thread *thread, colorspace_t cspace=YUV422_PLANAR) = 0
44  * Register thread for camera.
45  * This will register a relation between the given thread and the camera identified
46  * by the camera string. If the requested camera has not been opened before this
47  * is done and the camera is started. If that fails for whatever reason an exception
48  * is thrown. In that case the thread is not registered with the vision master.
49  * If the camera is available the thread is registered with the vision master. From
50  * then on it is woken up whenever new image data is available and it will wait for
51  * the thread to finished computation on that very image. It is a critical error
52  * that can not be recovered if the thread fails for whatever reason. If there is
53  * a critical error condition in the vision thread it must not stop execution
54  * but just the computation.
55  * @param camera_string camera that can be used by CameraFactory to open a
56  * camera.
57  * @param thread thread to register for this camera
58  * @param cspace the colorspace in which the images should be provided for the
59  * camera. Note that using images in different formats at the same time can cause
60  * a severe performance penalty. The default is to produce YUV422_PLANAR images,
61  * which is used in the FireVision framework as main image format.
62  * @return a pointer to the requested camera. Note that this may not be
63  * of the C++ type that you may expect for the requested camera, but it may
64  * have layers of indirection. For example when opening a USB camera you could
65  * get a shared memory camera to share the camera (image) with multiple threads.
66  * Note that using CS_UNKNOWN shall have the similar result as using
67  * register_for_raw_camera().
68  *
69  * @fn Camera * VisionMaster::register_for_raw_camera(const char *camera_string, Thread *thread)
70  * Register thread for camera.
71  * This will register a relation between the given thread and the camera identified
72  * by the camera string similar to register_for_camera(). However, unlike
73  * register_for_camera() this method will provide access to the raw camera
74  * implementation, without possibly proxies. Once you gathered the camera, you
75  * can dynamically cast it to the expected camera type (or use the template method
76  * instead. Raw access to a camera is only granted for a single thread.
77  * Note that you may not call capture() or dispose() on the camera, this will
78  * still be done by the vision master, as the camera may be used by other
79  * threads that registered for the camera with register_for_camera().
80  * @param camera_string camera that can be used by CameraFactory to open a
81  * camera.
82  * @param thread thread to register for this camera
83  * @return raw camera instance, which can by dynamically casted to the expected type.
84  *
85  * @fn void VisionMaster::unregister_thread(Thread *thread) = 0
86  * Unregister a thread.
87  * The thread is unregistered and it is removed from the internal structures. The
88  * thread is no longer called for new image material that can be processed.
89  *
90  * If the unregistered thread was the last thread accessing the camera, it shall
91  * be held open for a specified time, such that if the thread is just being
92  * restarted the camera does not have to be re-opened. The time to wait is
93  * defined by the implementation.
94  * @param thread thread to unregister
95  *
96  * @fn CameraControl * VisionMaster::acquire_camctrl(const char *cam_string)
97  * Retrieve a CameraControl for the specified camera string.
98  * This control (if available) can be used to control certain aspects of the Camera.
99  * The \p cam_string argument either is the string that has been used to register
100  * for a particular camera, or it is a string denoting a camera control by itself.
101  * In the former case the vision master will look if the camera has been registered,
102  * and then checks if the camera provides a camera control. If so the control is
103  * returned. Note that it might implement multiple different camera controls. If
104  * you want a specific camera control use one of the template methods to get a
105  * correctly typed and verified control. If no camera that matches the \p cam_string
106  * is found, the vision master will try to instantiate a new camera control using
107  * the \p cam_string as argument to the CameraControlFactory.
108  * @param cam_string Camera argument string, see method description for details
109  * @return a pointer to the requested CameraControl.
110  * @throws Exception no camera was found matching the \p cam_string and the factory
111  * could not instantiate a camera control with the given string.
112  *
113  * @fn CameraControl * VisionMaster::acquire_camctrl(const char *cam_string, const std::type_info &typeinf)
114  * Retrieve a CameraControl for the specified camera string and type info.
115  * This utility method is used by the template methods to instantiate the cameras
116  * with a specified intended type.
117  * @param cam_string Camera argument string, see method description for details
118  * @param typeinf type info for intended camera control type
119  * @return a pointer to the requested CameraControl.
120  * @throws Exception no camera was found matching the \p cam_string and the factory
121  * could not instantiate a camera control with the given string.
122  *
123  * @fn void VisionMaster::release_camctrl(CameraControl *cc)
124  * Release a camera control.
125  * This has to be called when you are done with the camera control. This will
126  * release the control and it is no longer valid. The vision master might collect
127  * the memory that has been used for the control.
128  * @param cc camera control instance to release
129  */
130 
131 /** Virtual empty destructor. */
132 VisionMaster::~VisionMaster()
133 {
134 }
135 
136 } // end namespace firevision
Fawkes library namespace.