demo version
This commit is contained in:
Josip Milovac
parent
fbb282a801
commit
672d6daa8e
125 changed files with 17918 additions and 1481 deletions
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/*******************************************************************************
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* Copyright (c) 2021 Nerian Vision GmbH
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*******************************************************************************/
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#ifndef VISIONTRANSFER_IMAGESET_H
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#define VISIONTRANSFER_IMAGESET_H
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#include <cassert>
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#include <cstddef>
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#include "visiontransfer/common.h"
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namespace visiontransfer {
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/**
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* \brief A set of one to three images, but usually two (the left camera image
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* and the disparity map). One- and three-image modes can be enabled
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* in the device configuration interface.
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*
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* For backwards compatibility, for sets of at least two images the image at
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* index 0 is always the left camera image, while the one at index 1 is either the
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* disparity map if in disparity processing mode, or the right image otherwise.
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*
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* All images must be of equal width and height, but are allowed to have
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* different pixel formats. Please note that the class does not manage the
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* pixel data but only keeps pointers. You thus need to ensure that the pixel
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* data remains valid for as long as this object persists.
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*/
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class VT_EXPORT ImageSet {
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public:
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static const int MAX_SUPPORTED_IMAGES = 3;
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/**
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* \brief Image formats that can be transferred.
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*/
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enum ImageFormat {
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/// 8-bit greyscale format
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FORMAT_8_BIT_MONO,
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/// 8-bit RGB format
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FORMAT_8_BIT_RGB,
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/// 12-bit greyscale format plus 4 bits of padding
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/// (hence a total of 16 bits).
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FORMAT_12_BIT_MONO
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};
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/**
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* \deprecated Please use the new format constants in \c ImageFormat.
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*/
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enum ImageFormat_Deprecated {
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FORMAT_8_BIT = FORMAT_8_BIT_MONO,
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FORMAT_12_BIT = FORMAT_12_BIT_MONO
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};
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/**
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* \brief Supported image types
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*/
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enum ImageType {
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IMAGE_UNDEFINED,
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IMAGE_LEFT,
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IMAGE_DISPARITY,
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IMAGE_RIGHT,
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};
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/**
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* \brief Default constructor creating an image set with no pixel data.
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*/
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ImageSet();
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/**
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* \brief Copy constructor creating a shallow copy of the image set.
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*/
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ImageSet(const ImageSet& other);
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~ImageSet();
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ImageSet& operator= (ImageSet const& other);
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/**
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* \brief Sets a new width for both images.
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*/
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void setWidth(int w) {width = w;}
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/**
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* \brief Sets a new width for both images.
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*/
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void setHeight(int h) {height = h;}
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/**
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* \brief Sets a new row stride for the pixel data of one image.
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*
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* \param imageNumber Number of the image for which to set the
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* row stride (0 ... getNumberOfImages()-1).
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* \param stride The row stride that shall be set.
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*/
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void setRowStride(int imageNumber, int stride) {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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rowStride[imageNumber] = stride;
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}
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/**
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* \brief Sets the pixel format for the given image.
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*
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* \param imageNumber Number of the image for which to set the
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* pixel format (0 ... getNumberOfImages()-1).
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* \param format The pixel format that shall be set.
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*/
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void setPixelFormat(int imageNumber, ImageFormat format) {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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formats[imageNumber] = format;
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}
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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DEPRECATED("Use setPixelFormat(int, ImageFormat) instead") void setPixelFormat(int imageNumber, ImageFormat_Deprecated format) {
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setPixelFormat(imageNumber, static_cast<ImageFormat>(format));
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}
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#endif
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/**
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* \brief Sets the pixel data for the given image.
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*
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* \param imageNumber Number of the image for which to set the
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* pixel data (0 ... getNumberOfImages()-1).
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* \param pixelData The pixel data that shall be set.
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*/
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void setPixelData(int imageNumber, unsigned char* pixelData) {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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data[imageNumber] = pixelData;
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}
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/**
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* \brief Sets the pointer to the disparity-to-depth mapping matrix q.
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*
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* No data is copied. The data which q is pointing to has to remain valid
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* for as long as this object exists.
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*/
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void setQMatrix(const float* q) {
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qMatrix = q;
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}
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/**
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* \brief Sets the sequence number for this image set.
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*/
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void setSequenceNumber(unsigned int num) {
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seqNum = num;
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}
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/**
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* \brief Sets the time at which this image set has been captured.
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*
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* \param seconds The time stamp with a resolution of one second.
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* \param microsec The fractional seconds part of the time stamp with
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* a resolution of 1 microsecond.
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*/
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void setTimestamp(int seconds, int microsec) {
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timeSec = seconds;
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timeMicrosec = microsec;
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}
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/**
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* \brief Sets the value range for the disparity map contained in this
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* image set.
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*
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* \param minimum Minimum disparity value.
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* \param maximum Maximum disparity value.
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*/
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void setDisparityRange(int minimum, int maximum) {
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minDisparity = minimum;
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maxDisparity = maximum;
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}
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/**
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* \brief Sets the subpixel factor for this image set.
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*/
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void setSubpixelFactor(int subpixFact) {
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subpixelFactor = subpixFact;
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}
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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/**
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* \brief Sets whether this is a left camera image and disparity
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* map set, or two raw camera images.
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*
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* DEPRECATION NOTICE: Please use setNumberOfImages() and setIndexOf()
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* for more comprehensive control of the images in the image set.
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*/
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DEPRECATED("Only compatible with two-image sets: use setNumberOfImages() and setIndexOf() instead")
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void setImageDisparityPair(bool dispPair);
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#endif
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/**
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* \brief Returns the width of each image.
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*/
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int getWidth() const {return width;}
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/**
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* \brief Returns the height of each image.
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*/
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int getHeight() const {return height;}
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/**
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* \brief Returns the row stride for the pixel data of one image.
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*
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* \param imageNumber Number of the image for which to obtain the
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* row stride (0 ... getNumberOfImages()-1).
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*
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* Please use getRowStride(ImageSet::ImageType) to access the
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* data by their abstract role in lieu of their index in the set.
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*/
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int getRowStride(int imageNumber) const {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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return rowStride[imageNumber];
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}
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/**
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* \brief Returns the row stride for the pixel data of one image.
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*
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* \param what ImageType of the desired channel.
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*
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* This function will throw an exception when the ImageType
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* is not present in this set (use hasImageType(what) to check).
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*/
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int getRowStride(ImageType what) const {
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int idx = getIndexOf(what, true);
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return getRowStride(idx);
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}
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/**
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* \brief Returns the pixel format for the given image.
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*
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* \param imageNumber Number of the image for which to receive the
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* pixel format (0 ... getNumberOfImages()-1).
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*
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* Please use getPixelFormat(ImageSet::ImageType) to access the
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* data by their abstract role in lieu of their index in the set.
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*/
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ImageFormat getPixelFormat(int imageNumber) const {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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return formats[imageNumber];
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}
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/**
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* \brief Returns the pixel format for the given image.
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*
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* \param what ImageType of the desired channel.
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*
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* This function will throw an exception when the ImageType
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* is not present in this set (use hasImageType(what) to check).
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*/
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ImageFormat getPixelFormat(ImageType what) const {
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int idx = getIndexOf(what, true);
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return getPixelFormat(idx);
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}
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/**
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* \brief Returns the pixel data for the given image.
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*
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* \param imageNumber Number of the image for which to receive the
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* pixel data (0 ... getNumberOfImages()-1).
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*
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* Please use getPixelData(ImageSet::ImageType) to access the
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* data by their abstract role in lieu of their index in the set.
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*/
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unsigned char* getPixelData(int imageNumber) const {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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return data[imageNumber];
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}
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/**
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* \brief Returns the pixel data for the given image.
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*
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* \param what ImageType of the desired channel.
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*
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* This function will throw an exception when the ImageType
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* is not present in this set (use hasImageType(what) to check).
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*/
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unsigned char* getPixelData(ImageType what) const {
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int idx = getIndexOf(what, true);
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return getPixelData(idx);
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}
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/**
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* \brief Returns a pointer to the disparity-to-depth mapping matrix q.
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*/
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const float* getQMatrix() const {
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return qMatrix;
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}
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/**
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* \brief Returns the sequence number for this image set.
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*/
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unsigned int getSequenceNumber() const {return seqNum;}
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/**
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* \brief Returns the time at which this image set has been captured.
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*
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* \param seconds The time stamp with a resolution of one second.
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* \param microsec The fractional seconds part of the time stamp with
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* a resolution of 1 microsecond.
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*/
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void getTimestamp(int& seconds, int& microsec) const {
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seconds = timeSec;
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microsec = timeMicrosec;
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}
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/**
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* \brief Gets the value range for the disparity map contained in this
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* image set. If the image set does not contain any disparity data
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* then the disparity range is undefined.
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*
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* \param minimum Minimum disparity value.
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* \param maximum Maximum disparity value.
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*/
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void getDisparityRange(int& minimum, int& maximum) const {
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minimum = minDisparity;
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maximum = maxDisparity;
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}
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/**
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* \brief Gets the subpixel factor for this image set.
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*/
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int getSubpixelFactor() const {
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return subpixelFactor;
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}
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/**
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* \brief Writes one image of the set to a PGM or PPM file.
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*
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* \param imageNumber The number of the image that shall be written.
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* \param File name of the PGM or PPM file that shall be created.
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*/
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void writePgmFile(int imageNumber, const char* fileName) const;
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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/**
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* \brief Returns true if this is a left camera image and disparity
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* map pair.
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*
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* DEPRECATION NOTICE: this is a legacy function; in case of image sets
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* with one or three images, the result may not be as expected
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* (this functions returns true only for the case of exactly two images:
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* left image plus disparity image).
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*
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* The new function hasImageType(ImageSet::ImageType) provides better
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* granularity of what data are enabled and present.
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*/
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DEPRECATED("Only compatible with two-image sets: use hasImageType(ImageSet::IMAGE_DISPARITY) instead")
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bool isImageDisparityPair() const {
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return (getNumberOfImages()==2) && hasImageType(IMAGE_DISPARITY);
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}
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#endif
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/**
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* \brief Makes a deep copy of this image set.
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*/
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void copyTo(ImageSet& dest);
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/**
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* \brief Returns the number of bytes that are required to store one
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* image pixel.
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*
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* \param imageNumber The number of the image (0 ... getNumberOfImages()-1).
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*/
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int getBytesPerPixel(int imageNumber) const {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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return getBytesPerPixel(formats[imageNumber]);
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}
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/**
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* \brief Returns the number of bits that are required to store one
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* image pixel.
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*
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* \param imageNumber The number of the image (0 ... getNumberOfImages()-1).
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*/
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int getBitsPerPixel(int imageNumber) const {
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assert(imageNumber >= 0 && imageNumber < getNumberOfImages());
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return getBitsPerPixel(formats[imageNumber]);
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}
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int getBitsPerPixel(ImageType what) const {
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int idx = getIndexOf(what, true);
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return getBitsPerPixel(idx);
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}
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static int getBitsPerPixel(ImageFormat format);
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/**
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* \brief Returns the number of bytes that are required to store one
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* image pixel with the given pixel format.
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*/
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static int getBytesPerPixel(ImageFormat format);
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/**
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* \brief Returns the number of images in this set
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*/
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int getNumberOfImages() const {
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return numberOfImages;
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}
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/**
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* \brief Sets the number of valid images in this set
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*/
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void setNumberOfImages(int number) {
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assert(number >= 1 && number <= MAX_SUPPORTED_IMAGES);
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numberOfImages = number;
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}
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/**
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* \brief Returns the ImageType of the specified channel
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*/
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ImageType getImageType(int imageNumber) const;
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/**
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* \brief Returns the index of a specific image type
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*
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* \param what ImageType of the desired channel.
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* \param throwIfNotFound Throw a runtime error instead of returning -1.
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*
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* \return Returns the index of the specified type, or -1 if not found.
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*/
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int getIndexOf(ImageType what, bool throwIfNotFound=false) const;
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/**
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* \brief Returns whether a left camera image is included in the enabled data
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*/
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bool hasImageType(ImageType what) const {
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return getIndexOf(what) >= 0;
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}
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/**
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* \brief Assign an image index to a specified ImageType, -1 to disable
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*
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* \param what The ImageType to assign a new image index to.
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* \param idx The index of the specified ImageType inside the data of
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* this ImageSet (-1 to disable).
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*/
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void setIndexOf(ImageType what, int idx);
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#ifdef CV_MAJOR_VERSION
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/**
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* \brief Converts one image of the set to an OpenCV image.
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*
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* \param imageNumber The number of the image that shall be converted
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* (0 ... getNumberOfImages()-1).
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* \param convertRgbToBgr If true, then color images will converted from
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* RGB to BGR in order to comply to OpenCV's convention.
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*
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* For this method to be available, the OpenCV headers need to be
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* included before including headers for libvisiontransfer.
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*
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* Please note that only a shallow copy is performed. The ImageSet object
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* must be kept alive for as long as the OpenCV image is in use.
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*/
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inline void toOpenCVImage(int imageNumber, cv::Mat& dest, bool convertRgbToBgr = true);
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#endif
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/**
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* \brief Sets the exposure time that was used for capturing the image set
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*
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||||
* \param timeMicrosec Exposure time measured in microseconds
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||||
*/
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void setExposureTime(int timeMicrosec) {
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exposureTime = timeMicrosec;
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||||
}
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||||
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||||
/**
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||||
* \brief Gets the exposure time in microseconds that was used for
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||||
* capturing the image set.
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||||
*
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||||
* \return Exposure time in microseconds
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||||
*/
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||||
int getExposureTime() const {
|
||||
return exposureTime;
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||||
}
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||||
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||||
/**
|
||||
* \brief Sets the timestamp of the last received sync pulse
|
||||
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||||
* \param seconds The time stamp with a resolution of one second.
|
||||
* \param microsec The fractional seconds part of the time stamp with
|
||||
* a resolution of 1 microsecond.
|
||||
*/
|
||||
void setLastSyncPulse(int seconds, int microsec) {
|
||||
lastSyncPulseSec = seconds;
|
||||
lastSyncPulseMicrosec = microsec;
|
||||
}
|
||||
|
||||
/**
|
||||
* \brief Gets the timestamp of the last received sync pulse
|
||||
*
|
||||
* \param seconds The time stamp with a resolution of one second.
|
||||
* \param microsec The fractional seconds part of the time stamp with
|
||||
* a resolution of 1 microsecond.
|
||||
*/
|
||||
void getLastSyncPulse(int& seconds, int& microsec) const {
|
||||
seconds = lastSyncPulseSec;
|
||||
microsec = lastSyncPulseMicrosec;
|
||||
}
|
||||
|
||||
private:
|
||||
// No pimpl idiom here as almost everything is inlined.
|
||||
int width;
|
||||
int height;
|
||||
int rowStride[MAX_SUPPORTED_IMAGES];
|
||||
ImageFormat formats[MAX_SUPPORTED_IMAGES];
|
||||
unsigned char* data[MAX_SUPPORTED_IMAGES];
|
||||
const float* qMatrix;
|
||||
int timeSec;
|
||||
int timeMicrosec;
|
||||
unsigned int seqNum;
|
||||
int minDisparity;
|
||||
int maxDisparity;
|
||||
int subpixelFactor;
|
||||
int* referenceCounter;
|
||||
int numberOfImages;
|
||||
|
||||
int indexLeftImage;
|
||||
int indexRightImage;
|
||||
int indexDisparityImage;
|
||||
|
||||
int exposureTime;
|
||||
int lastSyncPulseSec;
|
||||
int lastSyncPulseMicrosec;
|
||||
|
||||
void copyData(ImageSet& dest, const ImageSet& src, bool countRef);
|
||||
void decrementReference();
|
||||
};
|
||||
|
||||
#ifndef DOXYGEN_SHOULD_SKIP_THIS
|
||||
// For source compatibility
|
||||
class DEPRECATED("Use ImageSet instead.") ImagePair: public ImageSet {
|
||||
};
|
||||
#endif
|
||||
|
||||
} // namespace
|
||||
|
||||
#include "visiontransfer/imageset-opencv.h"
|
||||
#endif
|
||||
Loading…
Add table
Add a link
Reference in a new issue