CameraHandler Class Reference

The CameraHandler class is responsible for managing all of the camera feeds that Autonomy_Software uses for computer vision. Whether it be a USB webcam, a MJPEG stream, or a ZED camera, this class is responsible for initializing that camera and configuring it. More...

#include <CameraHandler.h>

Public Types
enum class	ZEDCamName { ZEDCAM_START , eHeadMainCam , eRearCam , ZEDCAM_END }
enum class	BasicCamName { BASICCAM_START , BASICCAM_END }

Public Member Functions
	CameraHandler ()
	Construct a new Camera Handler Thread:: Camera Handler Thread object.
	~CameraHandler ()
	Destroy the Camera Handler Thread:: Camera Handler Thread object.
void	StartAllCameras ()
	Signals all cameras to start their threads.
void	StartRecording ()
	Signal the RecordingHandler to start recording video feeds from the CameraHandler.
void	StopAllCameras ()
	Signals all cameras to stop their threads.
void	StopRecording ()
	Signal the RecordingHandler to stop recording video feeds from the CameraHandler.
std::shared_ptr< ZEDCamera >	GetZED (ZEDCamName eCameraName)
	Accessor for ZED cameras.
std::shared_ptr< BasicCamera >	GetBasicCam (BasicCamName eCameraName)
	Accessor for Basic cameras.

Private Attributes
std::shared_ptr< ZEDCamera >	m_pMainCam
std::shared_ptr< ZEDCamera >	m_pRearCam
std::unique_ptr< RecordingHandler >	m_pRecordingHandler

Detailed Description

The CameraHandler class is responsible for managing all of the camera feeds that Autonomy_Software uses for computer vision. Whether it be a USB webcam, a MJPEG stream, or a ZED camera, this class is responsible for initializing that camera and configuring it.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-17

Member Enumeration Documentation

ZEDCamName

enum class CameraHandler::ZEDCamName

strong

        {
            ZEDCAM_START,
            eHeadMainCam,
            eRearCam,
            ZEDCAM_END
        };

BasicCamName

enum class CameraHandler::BasicCamName

strong

        {
            BASICCAM_START,
            // eExampleBasicCam,   // Uncomment and change name if basic cam needed.
            BASICCAM_END
        };

Constructor & Destructor Documentation

CameraHandler()

CameraHandler::CameraHandler

(

)

Construct a new Camera Handler Thread:: Camera Handler Thread object.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-08-17

{
    // Check if we are in simulation mode.
    if (!constants::MODE_SIM)
    {
        // Initialize main ZED camera.
        m_pMainCam = std::make_shared<ZEDCam>(constants::ZED_MAINCAM_RESOLUTIONX,
                                              constants::ZED_MAINCAM_RESOLUTIONY,
                                              constants::ZED_MAINCAM_FPS,
                                              constants::ZED_MAINCAM_HORIZONTAL_FOV,
                                              constants::ZED_MAINCAM_VERTICAL_FOV,
                                              constants::ZED_MAINCAM_ENABLE_RECORDING,
                                              constants::ZED_MAINCAM_EXPORT_SVO_RECORDING,
                                              constants::ZED_DEFAULT_MINIMUM_DISTANCE,
                                              constants::ZED_DEFAULT_MAXIMUM_DISTANCE,
                                              constants::ZED_MAINCAM_USE_GPU_MAT,
                                              constants::ZED_MAINCAM_USE_HALF_PRECISION_DEPTH,
                                              constants::ZED_MAINCAM_FRAME_RETRIEVAL_THREADS,
                                              constants::ZED_MAINCAM_SERIAL);
 
        // Additional setup for main ZED camera.
        if (constants::ZED_MAINCAM_EXPORT_SPATIAL_MAP)
        {
            m_pMainCam->EnableSpatialMapping();
        }
 
        // Initialize rear ZED camera.
        m_pRearCam = std::make_shared<ZEDCam>(constants::ZED_REARCAM_RESOLUTIONX,
                                              constants::ZED_REARCAM_RESOLUTIONY,
                                              constants::ZED_REARCAM_FPS,
                                              constants::ZED_REARCAM_HORIZONTAL_FOV,
                                              constants::ZED_REARCAM_VERTICAL_FOV,
                                              constants::ZED_REARCAM_ENABLE_RECORDING,
                                              constants::ZED_REARCAM_EXPORT_SVO_RECORDING,
                                              constants::ZED_DEFAULT_MINIMUM_DISTANCE,
                                              constants::ZED_DEFAULT_MAXIMUM_DISTANCE,
                                              constants::ZED_REARCAM_USE_GPU_MAT,
                                              constants::ZED_REARCAM_USE_HALF_PRECISION_DEPTH,
                                              constants::ZED_REARCAM_FRAME_RETRIEVAL_THREADS,
                                              constants::ZED_REARCAM_SERIAL);
 
        // Additional setup for rear ZED camera.
        if (constants::ZED_REARCAM_EXPORT_SPATIAL_MAP)
        {
            m_pRearCam->EnableSpatialMapping();
        }
    }
    else
    {
        m_pMainCam =
            std::make_shared<SIMZEDCam>("ws://" + constants::SIM_IP_ADDRESS + ":" + std::to_string(constants::SIM_WEBSOCKET_PORT) + "/" + constants::SIM_MAINCAM_NAME,
                                        constants::ZED_MAINCAM_RESOLUTIONX,
                                        constants::ZED_MAINCAM_RESOLUTIONY,
                                        constants::ZED_MAINCAM_FPS,
                                        constants::ZED_MAINCAM_HORIZONTAL_FOV,
                                        constants::ZED_MAINCAM_VERTICAL_FOV,
                                        constants::ZED_MAINCAM_ENABLE_RECORDING,
                                        constants::ZED_MAINCAM_FRAME_RETRIEVAL_THREADS,
                                        constants::ZED_MAINCAM_SERIAL);
 
        m_pRearCam =
            std::make_shared<SIMZEDCam>("ws://" + constants::SIM_IP_ADDRESS + ":" + std::to_string(constants::SIM_WEBSOCKET_PORT) + "/" + constants::SIM_REARCAM_NAME,
                                        constants::ZED_REARCAM_RESOLUTIONX,
                                        constants::ZED_REARCAM_RESOLUTIONY,
                                        constants::ZED_REARCAM_FPS,
                                        constants::ZED_REARCAM_HORIZONTAL_FOV,
                                        constants::ZED_REARCAM_VERTICAL_FOV,
                                        constants::ZED_REARCAM_ENABLE_RECORDING,
                                        constants::ZED_REARCAM_FRAME_RETRIEVAL_THREADS,
                                        constants::ZED_REARCAM_SERIAL);
    }
 
    // Set the position offsets of the main camera.
    m_pMainCam->SetCameraPoseOffset(constants::ZED_MAINCAM_EASTING_OFFSET,
                                    constants::ZED_MAINCAM_NORTHING_OFFSET,
                                    constants::ZED_MAINCAM_ALTITUDE_OFFSET,
                                    constants::ZED_MAINCAM_QUATERNION_OFFSET_X,
                                    constants::ZED_MAINCAM_QUATERNION_OFFSET_Y,
                                    constants::ZED_MAINCAM_QUATERNION_OFFSET_Z,
                                    constants::ZED_MAINCAM_QUATERNION_OFFSET_W);
 
    // Set the position offsets of the rear camera.
    m_pRearCam->SetCameraPoseOffset(constants::ZED_REARCAM_EASTING_OFFSET,
                                    constants::ZED_REARCAM_NORTHING_OFFSET,
                                    constants::ZED_REARCAM_ALTITUDE_OFFSET,
                                    constants::ZED_REARCAM_QUATERNION_OFFSET_X,
                                    constants::ZED_REARCAM_QUATERNION_OFFSET_Y,
                                    constants::ZED_REARCAM_QUATERNION_OFFSET_Z,
                                    constants::ZED_REARCAM_QUATERNION_OFFSET_W);
 
    // Set the thread priorities for the cameras. This is important to ensure that the cameras are able to retrieve frames at their full FPS and don't get starved of CPU
    // time by other threads.
    m_pMainCam->SetMainThreadPriority(AutonomyThread<void>::AutonomyThreadPriority::eHighest);
    m_pMainCam->SetPoolThreadPriority(AutonomyThread<void>::AutonomyThreadPriority::eHigh);
    m_pRearCam->SetMainThreadPriority(AutonomyThread<void>::AutonomyThreadPriority::eHighest);
    m_pRearCam->SetPoolThreadPriority(AutonomyThread<void>::AutonomyThreadPriority::eHigh);
 
    // Initialize recording handler for cameras.
    m_pRecordingHandler = std::make_unique<RecordingHandler>(RecordingHandler::RecordingMode::eCameraHandler);
}

~CameraHandler()

CameraHandler::~CameraHandler

(

)

Destroy the Camera Handler Thread:: Camera Handler Thread object.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-08-17

{
    // Signal and wait for cameras to stop.
    this->StopAllCameras();
}

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Member Function Documentation

StartAllCameras()

void CameraHandler::StartAllCameras

(

)

Signals all cameras to start their threads.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-09-09

{
    // Start ZED cams.
    m_pMainCam->Start();
    m_pRearCam->Start();
}

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StartRecording()

void CameraHandler::StartRecording

(

)

Signal the RecordingHandler to start recording video feeds from the CameraHandler.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-12-31

{
    // Start recording handler.
    m_pRecordingHandler->Start();
}

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StopAllCameras()

void CameraHandler::StopAllCameras

(

)

Signals all cameras to stop their threads.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-10-03

{
    // Stop recording handler.
    m_pRecordingHandler->RequestStop();
    m_pRecordingHandler->Join();
 
    // Stop main ZED cam.
    m_pMainCam->RequestStop();
    m_pMainCam->Join();
 
    // Stop rear ZED cam.
    m_pRearCam->RequestStop();
    m_pRearCam->Join();
 
    // Stop basic cam.
    // m_pBasicCam->RequestStop();
    // m_pBasicCam->Join();
}

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StopRecording()

void CameraHandler::StopRecording

(

)

Signal the RecordingHandler to stop recording video feeds from the CameraHandler.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2024-01-01

{
    // Stop recording handler.
    m_pRecordingHandler->RequestStop();
    m_pRecordingHandler->Join();
}

GetZED()

std::shared_ptr< ZEDCamera > CameraHandler::GetZED

(

ZEDCamName

eCameraName

)

Accessor for ZED cameras.

Parameters

eCameraName

- The name of the camera to retrieve. An enum defined in and specific to this class.

Returns

std::shared_ptr<ZEDCamera> - A pointer to the zed camera pertaining to the given name.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-09-01

{
    // Determine which camera should be returned.
    switch (eCameraName)
    {
        case ZEDCamName::eHeadMainCam: return m_pMainCam; break;    // Return the main ZEDCam in the autonomy head.
        case ZEDCamName::eRearCam: return m_pRearCam; break;        // Return the rear ZedCam.
        default: return m_pMainCam; break;
    }
}

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GetBasicCam()

std::shared_ptr< BasicCamera > CameraHandler::GetBasicCam

(

BasicCamName

eCameraName

)

Accessor for Basic cameras.

Parameters

eCameraName

- The name of the camera to retrieve. An enum defined in and specific to this class.

Returns

std::shared_ptr<BasicCamera> - A pointer to the basic camera pertaining to the given name.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-09-01

{
    // Determine which camera should be returned.
    switch (eCameraName)
    {
        default: return nullptr; break;
    }
}

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---

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

• src/handlers/CameraHandler.h
• src/handlers/CameraHandler.cpp