#include <SENSiOSARKit.h>

Inheritance diagram for SENSiOSARKit:

Public Member Functions
	SENSiOSARKit ()

	~SENSiOSARKit ()

bool	init (unsigned int textureId=0, bool retrieveCpuImg=false, int targetWidth=-1) override

bool	isReady () override

bool	resume () override

void	reset () override

void	pause () override

bool	update (cv::Mat &pose) override

bool	isAvailable () override

bool	isInstalled () override

bool	install () override

const SENSCameraConfig &	start (std::string deviceId, const SENSCameraStreamConfig &streamConfig, bool provideIntrinsics) override

void	stop () override
	Stop a started camera device. More...

const SENSCaptureProps &	captureProperties () override
	Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities. More...

Public Member Functions inherited from SENSARBaseCamera
	SENSARBaseCamera ()

virtual	~SENSARBaseCamera ()

virtual void	lightComponentIntensity (float *components)

virtual bool	installRefused ()

virtual void	installRefused (bool b)

bool	isRunning ()

void	fetchPointCloud (bool s)

cv::Mat	pointCloud ()

cv::Size	inputFrameSize ()

cv::Size	cpuFrameSize ()

Public Member Functions inherited from SENSBaseCamera
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 ()

Private Member Functions
void	retrieveCaptureProperties ()

Private Attributes
bool	_available = false

SENSiOSARCoreDelegate *	_arcoreDelegate

Additional Inherited Members
Protected Member Functions inherited from SENSBaseCamera
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 inherited from SENSARBaseCamera
bool	_running = false

bool	_pause = true

int	_inputFrameW = 0

int	_inputFrameH = 0

bool	_retrieveCpuImg = false

int	_cpuImgTargetWidth = -1

int	_cpuImgTargetHeight = -1

bool	_fetchPointCloud = false

cv::Mat	_pointCloud

Protected Attributes inherited from SENSBaseCamera
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

Definition at line 8 of file SENSiOSARKit.h.

Constructor & Destructor Documentation

◆ SENSiOSARKit()

SENSiOSARKit::SENSiOSARKit ( )

Definition at line 3 of file SENSiOSARKit.mm.

 {
     _arcoreDelegate = [[SENSiOSARCoreDelegate alloc] init];
     _available      = [_arcoreDelegate isAvailable];
 }

◆ ~SENSiOSARKit()

SENSiOSARKit::~SENSiOSARKit ( )

inline

Definition at line 12 of file SENSiOSARKit.h.

12 {}

Member Function Documentation

◆ captureProperties()

const SENSCaptureProps & SENSiOSARKit::captureProperties ( )

overridevirtual

Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities.

Implements SENSCamera.

Definition at line 108 of file SENSiOSARKit.mm.

 {
     if (_captureProperties.size() == 0)
         retrieveCaptureProperties();
  
     return _captureProperties;
 }

◆ init()

bool SENSiOSARKit::init	(	unsigned int	textureId = `0`,
		bool	retrieveCpuImg = `false`,
		int	targetWidth = `-1`
	)

overridevirtual

Implements SENSARBaseCamera.

Definition at line 9 of file SENSiOSARKit.mm.

 {
     if (!_available)
         return false;
  
     [_arcoreDelegate initARKit];
  
     return true;
 }

◆ install()

bool SENSiOSARKit::install ( )

inlineoverridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 22 of file SENSiOSARKit.h.

22 { return _available; };

◆ isAvailable()

bool SENSiOSARKit::isAvailable ( )

inlineoverridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 20 of file SENSiOSARKit.h.

20 { return _available; };

◆ isInstalled()

bool SENSiOSARKit::isInstalled ( )

inlineoverridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 21 of file SENSiOSARKit.h.

21 { return _available; };

◆ isReady()

bool SENSiOSARKit::isReady ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 19 of file SENSiOSARKit.mm.

 {
     return _arcoreDelegate != nullptr;
 }

◆ pause()

void SENSiOSARKit::pause ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 45 of file SENSiOSARKit.mm.

 {
     if (_arcoreDelegate)
         [_arcoreDelegate pause];
  
     _pause   = true;
     _started = false; //for SENSBaseCamera
 }

◆ reset()

void SENSiOSARKit::reset ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 39 of file SENSiOSARKit.mm.

 {
     if (_arcoreDelegate)
         [_arcoreDelegate reset];
 }

◆ resume()

bool SENSiOSARKit::resume ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 24 of file SENSiOSARKit.mm.

 {
     bool success = false;
     if (_arcoreDelegate)
         success = [_arcoreDelegate run];
  
     if (success)
     {
         _pause   = false;
         _started = true; //for SENSBaseCamera
     }
  
     return success;
 }

◆ retrieveCaptureProperties()

void SENSiOSARKit::retrieveCaptureProperties ( )

private

Definition at line 75 of file SENSiOSARKit.mm.

 {
     //the SENSBaseCamera needs to have a valid frame, otherwise we cannot estimate the fov correctly
     if (!_frame)
     {
         resume();
         HighResTimer t;
         cv::Mat      pose;
         do {
             update(pose);
         } while (!_frame && t.elapsedTimeInSec() < 5.f);
  
         pause();
     }
  
     if (_frame)
     {
         std::string      deviceId = "ARKit";
         SENSCameraFacing facing   = SENSCameraFacing::BACK;
  
         float focalLengthPix = -1.f;
         if (!_frame->intrinsics.empty())
         {
             focalLengthPix = 0.5 * (_frame->intrinsics.at<double>(0, 0) + _frame->intrinsics.at<double>(1, 1));
         }
         SENSCameraDeviceProps devProp(deviceId, facing);
         devProp.add(_frame->imgBGR.cols, _frame->imgBGR.rows, focalLengthPix);
         _captureProperties.push_back(devProp);
     }
     else
         Utils::warnMsg("SENSiOSARKit", "retrieveCaptureProperties: Could not retrieve a valid frame!", __LINE__, __FILE__);
 }

◆ start()

const SENSCameraConfig & SENSiOSARKit::start	(	std::string	deviceId,
		const SENSCameraStreamConfig &	streamConfig,
		bool	provideIntrinsics
	)

overridevirtual

Call this function to configure the camera if you exactly know, what device you want to open and with which stream configuration. You can find out these properties by using SENSCaptureProps object (see getCaptureProperties())

Parameters

deviceId	camera device id to start
streamConfig	SENSCameraStreamConfig from camera device. This defines the size of the image. The image is converted to BGR and assigned to SENSFrame::imgBGR.
provideIntrinsics	specifies if intrinsics estimation should be enabled. The estimated intrinsics are transferred with every SENSFrame as they may be different for every frame (e.g. on iOS). This value has different effects on different architectures.

Returns: the found configuration that is adjusted and used when SENSCamera::start() is called.

Implements SENSCamera.

Definition at line 118 of file SENSiOSARKit.mm.

 {
     //define capture properties
     if (_captureProperties.size() == 0)
         retrieveCaptureProperties();
  
     if (_captureProperties.size() == 0)
         throw SENSException(SENSType::CAM, "Could not retrieve camera properties!", __LINE__, __FILE__);
  
     if (!_captureProperties.containsDeviceId(deviceId))
         throw SENSException(SENSType::CAM, "DeviceId does not exist!", __LINE__, __FILE__);
  
     SENSCameraFacing             facing = SENSCameraFacing::UNKNOWN;
     const SENSCameraDeviceProps* props  = _captureProperties.camPropsForDeviceId(deviceId);
     if (props)
         facing = props->facing();
  
     //init config here before processStart
     _config = SENSCameraConfig(deviceId,
                                streamConfig,
                                facing,
                                SENSCameraFocusMode::CONTINIOUS_AUTO_FOCUS);
     //inform camera listeners
     processStart();
  
     _started = true;
     return _config;
 }

◆ stop()

void SENSiOSARKit::stop ( )

inlineoverridevirtual

Stop a started camera device.

Implements SENSCamera.

Definition at line 28 of file SENSiOSARKit.h.

28 { _started = false; };

◆ update()

bool SENSiOSARKit::update ( cv::Mat & view )

overridevirtual

Returns true if in tracking state. If correctly initialized, it will update the camera frame that may be retrieved with latestFrame()

Reimplemented from SENSARBaseCamera.

Definition at line 54 of file SENSiOSARKit.mm.

 {
     //retrieve the latest frame from arkit delegate
     cv::Mat intrinsic;
     cv::Mat imgBGR;
     bool    isTracking;
  
     if (_fetchPointCloud)
         [_arcoreDelegate latestFrame:&pose withImg:&imgBGR AndIntrinsic:&intrinsic AndImgWidth:&_inputFrameW AndImgHeight:&_inputFrameH IsTracking:&isTracking WithPointClout:&_pointCloud];
     else
         [_arcoreDelegate latestFrame:&pose withImg:&imgBGR AndIntrinsic:&intrinsic AndImgWidth:&_inputFrameW AndImgHeight:&_inputFrameH IsTracking:&isTracking WithPointClout:nullptr];
  
     if (!imgBGR.empty())
     {
         updateFrame(imgBGR, intrinsic, true, imgBGR.cols, imgBGR.rows);
     }
     else
         Utils::log("SENSiOSARKit", "frame is empty!");
     return isTracking;
 }

Member Data Documentation

◆ _arcoreDelegate

SENSiOSARCoreDelegate* SENSiOSARKit::_arcoreDelegate

private

Definition at line 35 of file SENSiOSARKit.h.

◆ _available

bool SENSiOSARKit::_available = false

private

Definition at line 34 of file SENSiOSARKit.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SENSiOSARKit()

◆ ~SENSiOSARKit()

Member Function Documentation

◆ captureProperties()

◆ init()

◆ install()

◆ isAvailable()

◆ isInstalled()

◆ isReady()

◆ pause()

◆ reset()

◆ resume()

◆ retrieveCaptureProperties()

◆ start()

◆ stop()

◆ update()

Member Data Documentation

◆ _arcoreDelegate

◆ _available