#include <ufuncstereo.h>

Inheritance diagram for UFuncStereo:

Public Member Functions
virtual void	callGotNewDataWithObject ()

virtual void	createResources ()

virtual bool	handleCommand (UServerInMsg msg, void extra)

	UFuncStereo ()

	~UFuncStereo ()

Public Member Functions inherited from UFuncPlugBasePush
virtual bool	setResource (UResBase *resource, bool remove)

	UFuncPlugBasePush ()

virtual	~UFuncPlugBasePush ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Private Member Functions
bool	handleStereo (UServerInMsg *msg)

void	initializeStereo (bool paramChanged)

bool	processImages ()

Private Attributes
CvStereoBMState *	BMState

UImg3Dpoints	cloud3d

CvSize	imageSize

UImage *	img1

CvMat *	img1rd

UImage *	img2

CvMat *	img2rd

ULogFile	logf

CvMat *	mx1

CvMat *	mx2

CvMat *	my1

CvMat *	my2

UMatrix	umatQ

UVariable *	varDebug

UVariable *	varDistortionLeft

UVariable *	varDistortionRight

UVariable *	varEssential

UVariable *	varFundamental

UVariable *	varImageDisp

UVariable *	varImageSize

UVariable *	varImagesLR

UVariable *	varIntrinsicLeft

UVariable *	varIntrinsicRight

UVariable *	varLRrotation

UVariable *	varLRtranslate

UVariable *	varMinDisparity

UVariable *	varNumberOfDisparities

UVariable *	varPoseOnRobot

UVariable *	varPreFilterCap

UVariable *	varPreFilterSize

UVariable *	varQ

UVariable *	varSADWindowSize

UVariable *	varTextureThreshold

UVariable *	varTime

UVariable *	varTrySmallerWindow

UVariable *	varUniquenessRatio

UVariable *	varUpdateCnt

char	whyString [MWL]

Static Private Attributes
static const int	MWL = 100

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFuncPlugBasePush
bool	handlePush (UServerInMsg *msg)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

This stereo plugin takes two unprocessed (raw) images and produce a diaparity image and a 3D cloud, based on a calibration values and correlation parameters in the global variables.

Author: Christian Andersen

Constructor & Destructor Documentation

UFuncStereo::UFuncStereo ( )

inline

Constructor

References BMState, callGotNewDataWithObject(), createResources(), handleCommand(), handleStereo(), imageSize, img1, img2, initializeStereo(), logf, UFunctionBase::msg, MWL, mx1, processImages(), UFunctionBase::setCommand(), ULogFile::setLogName(), varImagesLR, whyString, and ~UFuncStereo().

UFuncStereo::~UFuncStereo ( )

Destructor

References BMState, img1, img1rd, img2, img2rd, mx1, mx2, my1, and my2.

Referenced by UFuncStereo().

Member Function Documentation

void UFuncStereo::callGotNewDataWithObject ( )

virtual

Called from push implementor to get the push object. should call to 'gotNewData(object)' with the available event object. if no object is available (anymore), then call with a NULL pointer.

Reimplemented from UServerPush.

References cloud3d, data, and UServerPush::gotNewData().

Referenced by UFuncStereo().

void UFuncStereo::createResources ( )

virtual

Called by server after this module is integrated into the server core structure, i.e. all core services are in place, but no commands are serviced for this module yet. Create any resources that this modules needs.

Reimplemented from UFunctionBase.

References UResVarPool::addVar(), UResVarPool::addVarA(), varDebug, varDistortionLeft, varDistortionRight, varEssential, varFundamental, varImageDisp, varImageSize, varImagesLR, varIntrinsicLeft, varIntrinsicRight, varLRrotation, varLRtranslate, varMinDisparity, varNumberOfDisparities, varPoseOnRobot, varPreFilterCap, varPreFilterSize, varQ, varSADWindowSize, varTextureThreshold, varTime, varTrySmallerWindow, varUniquenessRatio, and varUpdateCnt.

Referenced by UFuncStereo().

bool UFuncStereo::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

Handle incomming commands flagged for this module

Parameters

msg	pointer to the message and the client issuing the command

Returns: true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References UFuncPlugBasePush::handlePush(), handleStereo(), USmlTagIn::isTagA(), UFunctionBase::sendDebug(), and UServerInMsg::tag.

Referenced by UFuncStereo().

bool UFuncStereo::handleStereo ( UServerInMsg * msg )

private

void UFuncStereo::initializeStereo ( bool paramChanged )

private

Initialize the needed stereo structures and parameters

Parameters

paramChanged marks that som parameter intrinsic, distortion or fundamental matrix has changed, and thus rectification values must be recalculated - otherwise the existing values are used.

References BMState, UMatrix::cvMat(), UVariable::getBool(), UVariable::getElementCnt(), UVariable::getInt(), UVariable::getValuesd(), imageSize, img1, img1rd, img2, img2rd, UMatrix::init(), mx1, mx2, my1, my2, UVariable::setValued(), umatQ, varDistortionLeft, varDistortionRight, varImageSize, varIntrinsicLeft, varIntrinsicRight, varLRrotation, varLRtranslate, varMinDisparity, varNumberOfDisparities, varPreFilterCap, varPreFilterSize, varQ, varSADWindowSize, varTextureThreshold, varTrySmallerWindow, and varUniquenessRatio.