Manages all camera instances in the system. More...
#include <CameraManager.h>
Public Member Functions | |
| bool | initialize (const std::vector< cam_info > &camera_configs) |
| Initialize the camera manager with camera configurations. | |
| void | shutdown () |
| Shut down all cameras and clean up resources. | |
| std::shared_ptr< CameraBase > | getCamera (size_t camera_id) |
| Get a camera by its ID. | |
| std::vector< std::shared_ptr< CameraBase > > | getAllCameras () |
| Get all cameras. | |
| size_t | getCameraCount () const |
| Get the number of cameras. | |
| bool | isInitialized () const |
| Check if the camera manager is initialized. | |
Static Public Member Functions | |
| static CameraManager & | getInstance () |
| Get the singleton instance of the CameraManager. | |
Detailed Description
Manages all camera instances in the system.
This class is responsible for creating, initializing, and managing all camera instances. It provides a centralized point for camera configuration and access using the singleton pattern.
The CameraManager provides:
- Centralized camera lifecycle management
- Thread-safe camera access
- Automatic camera type detection and creation
- Resource cleanup and shutdown
- Camera configuration validation
Key features:
- Singleton pattern for global access
- Template-based camera creation for extensibility
- Thread-safe operations with mutex protection
- Automatic resource management
- Support for multiple camera types
Definition at line 60 of file CameraManager.h.
Member Function Documentation
◆ getAllCameras()
| std::vector< std::shared_ptr< CameraBase > > voxl::CameraManager::getAllCameras | ( | ) |
Get all cameras.
Returns a vector containing all managed camera instances.
- Returns
- Vector of camera shared pointers
Returns a vector containing all managed camera instances. The method is thread-safe and returns a copy of the camera collection to prevent external modification.
- Returns
- Vector of camera shared pointers
Definition at line 248 of file CameraManager.cpp.
◆ getCamera()
| std::shared_ptr< CameraBase > voxl::CameraManager::getCamera | ( | size_t | camera_id | ) |
Get a camera by its ID.
Retrieves a specific camera instance by its unique identifier.
- Parameters
-
camera_id The ID of the camera to retrieve
- Returns
- Shared pointer to the camera, or nullptr if not found
◆ getCameraCount()
| size_t voxl::CameraManager::getCameraCount | ( | ) | const |
Get the number of cameras.
Returns the total number of cameras currently managed by the system.
- Returns
- Number of cameras managed
Returns the total number of cameras currently managed by the system. The method is thread-safe and provides a consistent count.
- Returns
- Number of cameras managed
Definition at line 267 of file CameraManager.cpp.
◆ getInstance()
|
static |
Get the singleton instance of the CameraManager.
Returns the single instance of the CameraManager, creating it if it doesn't exist (lazy initialization).
- Returns
- Reference to the CameraManager instance
Returns the single instance of the CameraManager, creating it if it doesn't exist (lazy initialization). This ensures that only one camera manager exists throughout the application lifecycle.
- Returns
- Reference to the CameraManager instance
Definition at line 35 of file CameraManager.cpp.
◆ initialize()
| bool voxl::CameraManager::initialize | ( | const std::vector< cam_info > & | camera_configs | ) |
Initialize the camera manager with camera configurations.
Sets up the camera manager with the provided camera configurations. This method creates and initializes all cameras based on their configuration information.
- Parameters
-
camera_configs Vector of camera configurations
- Returns
- True if successful, false otherwise
Sets up the camera manager with the provided camera configurations. This method creates and initializes all cameras based on their configuration information.
The initialization process includes:
- Validating that the manager is not already initialized
- Checking that camera configurations are provided
- Filtering cameras by supported modes (currently only MONO)
- Creating and connecting each camera
- Starting the camera fusion system
- Setting the initialized flag
If any camera fails to initialize, the method performs a clean shutdown and returns false.
- Parameters
-
camera_configs Vector of camera configurations
- Returns
- true if successful, false otherwise
Definition at line 112 of file CameraManager.cpp.
References CameraQueueFusion::getInstance(), cam_info::mode, MONO, cam_info::name, shutdown(), CameraQueueFusion::start(), STEREO, and vio_error_codes.
◆ isInitialized()
| bool voxl::CameraManager::isInitialized | ( | ) | const |
Check if the camera manager is initialized.
Determines whether the camera manager has been successfully initialized with camera configurations.
- Returns
- True if initialized, false otherwise
Determines whether the camera manager has been successfully initialized with camera configurations. The method is thread-safe and provides a consistent state check.
- Returns
- true if initialized, false otherwise
Definition at line 282 of file CameraManager.cpp.
◆ shutdown()
| void voxl::CameraManager::shutdown | ( | ) |
Shut down all cameras and clean up resources.
Performs a clean shutdown of all camera instances, disconnecting them from their data sources and freeing allocated resources.
Performs a clean shutdown of all camera instances, disconnecting them from their data sources and freeing allocated resources.
The shutdown process includes:
- Checking if the manager is already shut down
- Disconnecting each camera in a separate thread to avoid blocking
- Waiting for disconnect operations to complete with timeout
- Clearing the camera collection
- Resetting the initialized flag
The method uses detached threads for camera disconnection to prevent blocking the main thread during shutdown.
Definition at line 191 of file CameraManager.cpp.
Referenced by initialize().
The documentation for this class was generated from the following files:
- VoxlCam/CameraManager.h
- VoxlCam/CameraManager.cpp
