SENSBaseCamera Class Reference

Implementation of common functionality and members. More...

#include <SENSCamera.h>

Inheritance diagram for SENSBaseCamera:

Public Member Functions
SENSFrameBasePtr	latestFrame () override
	Get the latest captured frame. If no frame was captured the frame will be empty (null). More...
const SENSCameraConfig &	config () const override
	defines how the camera was configured during start More...
void	registerListener (SENSCameraListener *listener) override
void	unregisterListener (SENSCameraListener *listener) override
bool	started () const override
bool	permissionGranted () const override
void	setPermissionGranted () override
Public Member Functions inherited from SENSCamera
virtual	~SENSCamera ()
virtual const SENSCameraConfig &	start (std::string deviceId, const SENSCameraStreamConfig &streamConfig, bool provideIntrinsics=true)=0
virtual void	stop ()=0
	Stop a started camera device. More...
virtual const SENSCaptureProps &	captureProperties ()=0
	Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities. More...

Protected Member Functions
void	updateFrame (cv::Mat bgrImg, cv::Mat intrinsics, int width, int height, bool intrinsicsChanged)
void	processStart ()
	call from start function to do startup preprocessing More...

Protected Attributes
SENSCaptureProps	_captureProperties
std::atomic< bool >	_started {false}
	flags if camera was started More...
SENSCameraConfig	_config
	indicates what is currently running More...
std::atomic< bool >	_permissionGranted {false}
std::vector< SENSCameraListener * >	_listeners
std::mutex	_listenerMutex
SENSFrameBasePtr	_frame
	current frame More...
std::mutex	_frameMutex

Detailed Description

Implementation of common functionality and members.

Definition at line 196 of file SENSCamera.h.

Member Function Documentation

config()

const SENSCameraConfig& SENSBaseCamera::config ( ) const

inlineoverridevirtual

defines how the camera was configured during start

Implements SENSCamera.

Definition at line 200 of file SENSCamera.h.

{ return _config; };

latestFrame()

SENSFrameBasePtr SENSBaseCamera::latestFrame ( )

overridevirtual

Get the latest captured frame. If no frame was captured the frame will be empty (null).

Implements SENSCamera.

Definition at line 276 of file SENSCamera.cpp.

{
    SENSFrameBasePtr latestFrame;
 
    if (!_started)
    {
        SENS_WARN("SENSBaseCamera latestFrame: Camera is not started!");
        return latestFrame;
    }
 
    {
        std::lock_guard<std::mutex> lock(_frameMutex);
        latestFrame = _frame;
    }
 
    return latestFrame;
}

permissionGranted()

bool SENSBaseCamera::permissionGranted ( ) const

inlineoverridevirtual

Implements SENSCamera.

Definition at line 204 of file SENSCamera.h.

{ return _permissionGranted; }

processStart()

void SENSBaseCamera::processStart ( )

protected

call from start function to do startup preprocessing

Definition at line 294 of file SENSCamera.cpp.

{
    {
        std::lock_guard<std::mutex> lock(_listenerMutex);
        // inform listeners about camera infos
        for (SENSCameraListener* l : _listeners)
            l->onCameraConfigChanged(_config);
    }
}

registerListener()

void SENSBaseCamera::registerListener ( SENSCameraListener *  listener )

overridevirtual

Implements SENSCamera.

Definition at line 249 of file SENSCamera.cpp.

{
    std::lock_guard<std::mutex> lock(_listenerMutex);
    if (std::find(_listeners.begin(), _listeners.end(), listener) == _listeners.end())
        _listeners.push_back(listener);
 
    if (_started)
    {
        // inform listeners about camera infos
        for (SENSCameraListener* l : _listeners)
            l->onCameraConfigChanged(_config);
    }
}

setPermissionGranted()

void SENSBaseCamera::setPermissionGranted ( )

inlineoverridevirtual

Implements SENSCamera.

Definition at line 205 of file SENSCamera.h.

{ _permissionGranted = true; }

started()

bool SENSBaseCamera::started ( ) const

inlineoverridevirtual

Implements SENSCamera.

Definition at line 203 of file SENSCamera.h.

{ return _started; }

unregisterListener()

void SENSBaseCamera::unregisterListener ( SENSCameraListener *  listener )

overridevirtual

Implements SENSCamera.

Definition at line 263 of file SENSCamera.cpp.

{
    std::lock_guard<std::mutex> lock(_listenerMutex);
    for (auto it = _listeners.begin(); it != _listeners.end(); ++it)
    {
        if (*it == listener)
        {
            _listeners.erase(it);
            break;
        }
    }
}

updateFrame()

void SENSBaseCamera::updateFrame ( cv::Mat  bgrImg, cv::Mat  intrinsics, int  width, int  height, bool  intrinsicsChanged  )

protected

Definition at line 220 of file SENSCamera.cpp.

{
    // estimate time before running into lock
    SENSTimePt timePt = SENSClock::now();
 
    // inform listeners
    {
        std::lock_guard<std::mutex> lock(_listenerMutex);
        if (_listeners.size())
        {
            for (SENSCameraListener* l : _listeners)
                l->onFrame(timePt, bgrImg.clone());
        }
    }
 
    {
        std::lock_guard<std::mutex> lock(_frameMutex);
        _frame = std::make_shared<SENSFrameBase>(timePt,
                                                 bgrImg,
                                                 intrinsics,
                                                 width,
                                                 height);
    }
}

Member Data Documentation

_captureProperties

SENSCaptureProps SENSBaseCamera::_captureProperties

protected

Definition at line 216 of file SENSCamera.h.

_config

SENSCameraConfig SENSBaseCamera::_config

protected

indicates what is currently running

Definition at line 218 of file SENSCamera.h.

_frame

SENSFrameBasePtr SENSBaseCamera::_frame

protected

current frame

Definition at line 222 of file SENSCamera.h.

_frameMutex

std::mutex SENSBaseCamera::_frameMutex

protected

Definition at line 223 of file SENSCamera.h.

_listenerMutex

std::mutex SENSBaseCamera::_listenerMutex

protected

Definition at line 221 of file SENSCamera.h.

_listeners

std::vector<SENSCameraListener*> SENSBaseCamera::_listeners

protected

Definition at line 220 of file SENSCamera.h.

_permissionGranted

std::atomic<bool> SENSBaseCamera::_permissionGranted {false}

protected

Definition at line 219 of file SENSCamera.h.

_started

std::atomic<bool> SENSBaseCamera::_started {false}

protected

flags if camera was started

Definition at line 217 of file SENSCamera.h.

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

• SENSCamera.h
• SENSCamera.cpp