SENSiOSCamera Class Reference

#include <SENSiOSCamera.h>

Inheritance diagram for SENSiOSCamera:

Public Member Functions
	SENSiOSCamera ()
	~SENSiOSCamera ()
const SENSCameraConfig &	start (std::string deviceId, const SENSCameraStreamConfig &streamConfig, bool provideIntrinsics=true) override
	on ios we can ignore fovDegFallbackGuess as the api provides dynamic camera intrinsics More...
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 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	processNewFrame (unsigned char *data, int imgWidth, int imgHeight, matrix_float3x3 *camMat3x3)
void	updatePermission (bool granted)

Private Attributes
SENSiOSCameraDelegate *	_cameraDelegate

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 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 9 of file SENSiOSCamera.h.

Constructor & Destructor Documentation

SENSiOSCamera()

SENSiOSCamera::SENSiOSCamera

(

)

Definition at line 7 of file SENSiOSCamera.mm.

{
    _cameraDelegate = [[SENSiOSCameraDelegate alloc] init];
    [_cameraDelegate setPermissionCB:std::bind(&SENSiOSCamera::updatePermission, this, std::placeholders::_1)];
    [_cameraDelegate setUpdateCB:std::bind(&SENSiOSCamera::processNewFrame, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4)];
    //todo: fixme
    _permissionGranted = true;
}

~SENSiOSCamera()

SENSiOSCamera::~SENSiOSCamera

(

)

Definition at line 16 of file SENSiOSCamera.mm.

{
}

Member Function Documentation

captureProperties()

const SENSCaptureProps & SENSiOSCamera::captureProperties ( )

overridevirtual

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

Implements SENSCamera.

Definition at line 87 of file SENSiOSCamera.mm.

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

processNewFrame()

void SENSiOSCamera::processNewFrame ( unsigned char *  data, int  imgWidth, int  imgHeight, matrix_float3x3 *  camMat3x3  )

private

Definition at line 95 of file SENSiOSCamera.mm.

{
    //Utils::log("SENSiOSCamera", "processNewFrame: w %d w %d", imgWidth, imgHeight);
    cv::Mat bgra(imgHeight, imgWidth, CV_8UC4, (void*)data);
    cv::Mat bgrImg;
    cvtColor(bgra, bgrImg, cv::COLOR_BGRA2BGR, 3);
 
    cv::Mat intrinsics;
    bool    intrinsicsChanged = false;
    if (camMat3x3)
    {
        intrinsicsChanged = true;
        intrinsics        = cv::Mat_<double>(3, 3);
        for (int i = 0; i < 3; ++i)
        {
            simd_float3 col             = camMat3x3->columns[i];
            intrinsics.at<double>(0, i) = (double)col[0];
            intrinsics.at<double>(1, i) = (double)col[1];
            intrinsics.at<double>(2, i) = (double)col[2];
        }
    }
 
    updateFrame(bgrImg, intrinsics, intrinsicsChanged, imgWidth, imgHeight);
}

start()

const SENSCameraConfig & SENSiOSCamera::start ( std::string  deviceId, const SENSCameraStreamConfig &  streamConfig, bool  provideIntrinsics = true  )

overridevirtual

on ios we can ignore fovDegFallbackGuess as the api provides dynamic camera intrinsics

Implements SENSCamera.

Definition at line 20 of file SENSiOSCamera.mm.

{
    if (_started)
    {
        Utils::warnMsg("SENSiOSCamera", "Call to start was ignored. Camera is currently running!", __LINE__, __FILE__);
        return _config;
    }
 
    //retrieve all camera characteristics
    if (_captureProperties.size() == 0)
        _captureProperties = [_cameraDelegate 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();
 
    NSString* devId = [NSString stringWithUTF8String:deviceId.c_str()];
 
    BOOL enableVideoStabilization = YES;
    if (provideIntrinsics)
        enableVideoStabilization = NO;
 
    BOOL extractedExpr = [_cameraDelegate startCamera:devId
                                            withWidth:streamConfig.widthPix
                                            andHeight:streamConfig.heightPix
                                       autoFocusState:YES //alway on on ios because they provide dynamic intrinsics
                              videoStabilizationState:enableVideoStabilization
                                      intrinsicsState:provideIntrinsics];
    if (extractedExpr)
    {
        //init config here before processStart
        _config = SENSCameraConfig(deviceId,
                                   streamConfig,
                                   facing,
                                   SENSCameraFocusMode::CONTINIOUS_AUTO_FOCUS);
        processStart();
 
        _started = true;
    }
    else
    {
        throw SENSException(SENSType::CAM, "Could not start camera!", __LINE__, __FILE__);
    }
 
    return _config;
}

stop()

void SENSiOSCamera::stop ( )

overridevirtual

Stop a started camera device.

Implements SENSCamera.

Definition at line 76 of file SENSiOSCamera.mm.

{
    if (_started)
    {
        if ([_cameraDelegate stopCamera])
            _started = false;
    }
    else
        Utils::log("SENSiOSCamera", "Camera not started but stop called!");
}

updatePermission()

void SENSiOSCamera::updatePermission ( bool  granted )

private

Definition at line 120 of file SENSiOSCamera.mm.

{
    _permissionGranted = granted;
}

Member Data Documentation

_cameraDelegate

SENSiOSCameraDelegate* SENSiOSCamera::_cameraDelegate

private

Definition at line 27 of file SENSiOSCamera.h.

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

• SENSiOSCamera.h
• SENSiOSCamera.mm