Tekkotsu Homepage | Demos | Overview | Downloads | Dev. Resources | Reference | Credits |
RawCameraGenerator.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_RawCameraGenerator_h_ 00003 #define INCLUDED_RawCameraGenerator_h_ 00004 00005 #include "Vision/FilterBankGenerator.h" 00006 #include "Shared/RobotInfo.h" 00007 00008 class OFbkImageInfo; 00009 00010 //! Generates FilterBankEvents containing raw camera images directly from the system (doesn't make a copy) 00011 class RawCameraGenerator : public FilterBankGenerator { 00012 public: 00013 //! constructor, numRawLayers is the number of real layers passed from the system, numCalcLayers is the total number of layers to make available 00014 /*! The extra calculated layers are simply created by giving larger 00015 * increments, they reference the same data (no computational cost, 00016 * marginal memory costs... it's just nice to have more layers in 00017 * the image pyramid. 00018 * 00019 * However you'll have to write your code to use the getIncrement() 00020 * value properly if you want it to work. Otherwise, you could 00021 * write a de-interlace generator which will do the resampling. 00022 * 00023 * The top most layer (largest index) is a double-scale image. For 00024 * the Y-channel, it is reconstructed from the 4 Y channels. For 00025 * the other channels, it just does a fast scaling (but these 00026 * operations do cost, so use the top layer conservatively. 00027 * 00028 * @see FilterBankGenerator for information on serialization format 00029 */ 00030 RawCameraGenerator(unsigned int numRawLayers, unsigned int numCalcLayers, unsigned int mysid, EventBase::EventGeneratorID_t gid, unsigned int sid); 00031 00032 //! destructor 00033 virtual ~RawCameraGenerator() { 00034 freeCaches(); 00035 destruct(); 00036 } 00037 00038 static std::string getClassDescription() { return "Translates OFbkImageVectorData objects from the system into a slightly more accessible FilterBankEvent for further processing"; } 00039 00040 //! holds id values for specifying image channel/bands 00041 enum channel_id_t { 00042 CHAN_Y, //!< Y (intensity) channel 00043 CHAN_U, //!< Cb (approx. blue,green,yellow) channel 00044 CHAN_V, //!< Cr (approx. pink,red,yellow) channel 00045 CHAN_Y_DY, //!< vertical derivative of Y channel (aka LH) 00046 CHAN_Y_DX, //!< horizontal derivative of Y channel (aka HL) 00047 CHAN_Y_DXDY, //!< vert. & horiz. derivatives of Y channel (aka HH) 00048 NUM_CHANNELS //!< number of channels per resolution layer 00049 }; 00050 00051 //! need to override EventGeneratorBase's lazy listening -- as a root stage, need to remember each frame, just in case it might be used 00052 virtual void DoStart() { FilterBankGenerator::DoStart(); addSrcListener(); } 00053 00054 //! called with system's image info 00055 virtual void processEvent(const EventBase& event); 00056 00057 //! the memory for all layers except the double layer was allocated by system, so we just set them to NULL before calling FilterBankGenerator::freeCaches() so it won't try to delete them 00058 virtual void freeCaches(); 00059 00060 virtual unsigned int getBinSize() const; 00061 00062 virtual unsigned int loadBuffer(const char buf[], unsigned int len); 00063 00064 virtual unsigned int saveBuffer(char buf[], unsigned int len) const; 00065 00066 virtual unsigned int saveFileStream(FILE* f) const; //!< overrridden to allow saving direct to file without an extra buffer copy 00067 00068 protected: 00069 //! ohh, this is so yucky. But we need to get around heap allocation bugs with large regions in Aperios :( 00070 /*! So we store the double size images statically within the class. 00071 * What a waste of memory since we're probably not using these very 00072 * much, and they are rather large... :( 00073 * 00074 * The 2.0 release had the proper dynamic allocation 00075 * implementation, but has been replaced in 2.0.1 with this static 00076 * allocation so it won't crash.*/ 00077 unsigned char dblRes[NUM_CHANNELS][CameraResolutionX*2][CameraResolutionY*2]; 00078 00079 virtual void setNumImages(unsigned int nLayers, unsigned int nChannels); 00080 00081 virtual void setDimensions(); //!< resets the width, height, skip and stride values 00082 virtual unsigned char * createImageCache(unsigned int layer, unsigned int chan) const; 00083 virtual void calcImage(unsigned int layer, unsigned int chan); 00084 virtual void destruct(); 00085 00086 //! returns the value to pass to OPENR functions corresponding to the desired channel_id_t. 00087 inline static unsigned int mapChannelID(channel_id_t chan); 00088 00089 //! Creates a double resolution version of a channel, doesn't do any smoothing 00090 void upsampleImage(channel_id_t chan); 00091 00092 //! Creates a double resolution Y-channel from the Y and Y gradient channels 00093 void reconstructImage(); 00094 00095 //! helper functions for reconstructImage() - see documentation for that function 00096 static inline unsigned char clipRange(int val) { 00097 if (val < 0) { return 0; } 00098 else if (val > 255) { return 255; } 00099 else { return (unsigned char)val; } 00100 } 00101 00102 unsigned int numRealLayers; //!< the number of "real" layers being sent from the system 00103 00104 unsigned char ** layers; //!< points to the image data supplied by the system, one per layer (all channels are interleaved by row) 00105 const OFbkImageInfo ** imageInfos; //!< image info provided by the system 00106 00107 private: 00108 RawCameraGenerator(const RawCameraGenerator& fbk); //!< don't call 00109 const RawCameraGenerator& operator=(const RawCameraGenerator& fbk); //!< don't call 00110 }; 00111 00112 /*! @file 00113 * @brief Describes RawCameraGenerator, which generates FilterBankEvents containing raw camera images 00114 * @author ejt (Creator) 00115 * 00116 * $Author: ejt $ 00117 * $Name: tekkotsu-4_0 $ 00118 * $Revision: 1.19 $ 00119 * $State: Exp $ 00120 * $Date: 2006/09/09 04:33:04 $ 00121 */ 00122 00123 #endif |
Tekkotsu v4.0 |
Generated Thu Nov 22 00:54:55 2007 by Doxygen 1.5.4 |