Base class for all camera implementations. More...

#include <CameraBase.h>

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Public Member Functions
	CameraBase (const cam_info &camera_info)
	Constructor.

virtual	~CameraBase ()=default
	Virtual destructor.

virtual bool	connect ()
	Initialize the camera pipe connection.

virtual void	disconnect ()
	Disconnect and clean up resources.

const cam_info &	get_camera_info () const
	Get the camera information.

bool	popCameraData (ov_core::CameraData &out)
	Pop camera data from the queue.

int	get_channel () const
	Get the camera pipe channel.

size_t	get_id () const
	Get the camera identifier.

Protected Member Functions
virtual void	process_image (const camera_image_metadata_t &meta, voxl::ImageType img_type, void *frame)=0
	Process incoming image data.

Static Protected Member Functions
static void	camera_callback (int ch, camera_image_metadata_t meta, char frame, void context)
	Common callback function for pipe client.

static void	camera_device_buffer_callback (int ch, mpa_ion_buf_t data, void context)

Protected Attributes
cam_info	camera_info_
	Camera configuration information.

int	channel_ {-1}
	Channel used for pipe communication.

bool	is_connected_ {false}
	Indicates if camera is connected to pipe.

std::mutex	mutex_
	Mutex for thread-safe operations.

cl_context	ctx_ {nullptr}
	OpenCL context used if GPU is enabled.

cl_command_queue	q_ {nullptr}
	OpenCL command queue used if GPU is enabled.

boost::lockfree::spsc_queue< ov_core::CameraData, boost::lockfree::capacity< 64 > >	camera_queue
	Lock-free SPSC queue for camera data.

img_ringbuf_packet	curr_message_
	Instance-local buffer for image processing.

cv::Mat	use_mask_
	Per-instance reusable mask for feature tracking.

bool	drop_frames {false}
	Indicates if frames should be dropped.

bool	skip_jerk_detection {true}
	Indicates if jerk detection should be skipped.

Detailed Description

Base class for all camera implementations.

This abstract class defines the interface for camera handlers in the system. It provides the foundation for different camera types (mono, stereo, etc.) and handles pipe communication, image processing, and VIO integration.

The class manages:

Pipe client connections for image data
Image processing and feature extraction
Integration with the VIO manager
Thread-safe operations
OpenCL context for GPU acceleration

Definition at line 56 of file CameraBase.h.

Constructor & Destructor Documentation

◆ CameraBase()

voxl::CameraBase::CameraBase ( const cam_info & camera_info )

explicit

Constructor.

Constructor for CameraBase.

Parameters

camera_info Camera configuration information

Initializes a camera instance with the provided configuration information. Sets up the camera with default values and prepares it for connection.

Parameters

camera_info Camera configuration and calibration information

Definition at line 41 of file CameraBase.cpp.

◆ ~CameraBase()

virtual voxl::CameraBase::~CameraBase ( )

virtualdefault

Virtual destructor.

Member Function Documentation

◆ camera_callback()

void voxl::CameraBase::camera_callback	(	int	ch,
		camera_image_metadata_t	meta,
		char *	frame,
		void *	context
	)

staticprotected

Common callback function for pipe client.

This function receives raw image data from the pipe and dispatches it to the appropriate processing method. It serves as the entry point for all camera data processing.

Parameters

ch	Channel number
meta	Image metadata
frame	Pointer to image data
context	Context pointer (the CameraBase instance)

This function receives raw image data from the pipe and dispatches it to the appropriate processing method. It serves as the entry point for all camera data processing.

The callback performs the following operations:

Enables thread cancellation for proper cleanup
Validates the camera context pointer
Checks for global shutdown conditions
Dispatches to the derived class process_image method

Parameters

ch	Channel number (unused)
meta	Image metadata containing timestamp and format information
frame	Pointer to image data buffer
context	Context pointer (the CameraBase instance)

Definition at line 186 of file CameraBase.cpp.

References main_running, process_image(), and vio_error_codes.

Referenced by connect().

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◆ camera_device_buffer_callback()

void voxl::CameraBase::camera_device_buffer_callback	(	int	ch,
		mpa_ion_buf_t *	data,
		void *	context
	)

staticprotected

Definition at line 213 of file CameraBase.cpp.

◆ connect()

bool voxl::CameraBase::connect ( )

virtual

Initialize the camera pipe connection.

Connect to the camera pipe service.

This method establishes the connection to the camera pipe service and sets up the necessary callbacks for image data reception.

Returns: True if successful, false otherwise

This method establishes the connection to the camera pipe service and sets up the necessary callbacks for image data reception.

The connection process includes:

Obtaining an available pipe channel
Configuring appropriate callbacks
Opening the pipe connection with proper flags and buffer size
Flushing the pipe to clear stale data

Returns: true if connection was successful, false otherwise

Definition at line 60 of file CameraBase.cpp.

References camera_callback(), camera_info_, channel_, en_debug, is_connected_, mutex_, cam_info::name, PROCESS_NAME, cam_info::tracking_name, and vio_error_codes.

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◆ disconnect()

void voxl::CameraBase::disconnect ( )

virtual

Disconnect and clean up resources.

This method properly closes the pipe connection and cleans up any allocated resources.

This method properly closes the pipe connection and cleans up any allocated resources. It ensures a clean shutdown of the camera connection.

The disconnection process includes:

Flushing the pipe to clear pending data
Waiting for pending operations to complete
Closing the pipe connection
Updating connection state

The method is thread-safe and handles cases where the camera is already disconnected.

Definition at line 139 of file CameraBase.cpp.

References camera_info_, channel_, en_debug, is_connected_, mutex_, and cam_info::name.

◆ get_camera_info()

const cam_info & voxl::CameraBase::get_camera_info ( ) const

inline

Get the camera information.

Returns: Camera information structure

Definition at line 92 of file CameraBase.h.

References camera_info_.

◆ get_channel()

int voxl::CameraBase::get_channel ( ) const

inline

Get the camera pipe channel.

Returns: Pipe channel number

Definition at line 113 of file CameraBase.h.

References channel_.

◆ get_id()

size_t voxl::CameraBase::get_id ( ) const

inline

Get the camera identifier.

Returns: Camera identifier

Definition at line 119 of file CameraBase.h.

References cam_info::cam_id, and camera_info_.

◆ popCameraData()

bool voxl::CameraBase::popCameraData ( ov_core::CameraData & out )

inline

Pop camera data from the queue.

Retrieves the next available camera data from the internal queue. This method is used to get processed image data for VIO processing.

The method uses a lock-free SPSC (Single Producer, Single Consumer) queue for efficient thread-safe data transfer between the camera callback thread and the VIO processing thread.

Parameters

out	Reference to store the popped data

Returns: true if data was popped, false if queue is empty

Definition at line 107 of file CameraBase.h.

References camera_queue.

◆ process_image()

virtual void voxl::CameraBase::process_image	(	const camera_image_metadata_t &	meta,
		voxl::ImageType	img_type,
		void *	frame
	)

protectedpure virtual

Process incoming image data.

This method is called by the pipe callback when new image data arrives. Derived classes must implement this method to handle their specific image processing requirements.

Parameters

meta	Image metadata containing timestamp and other information
frame	Pointer to image data buffer

Implemented in voxl::MonoCamera, and voxl::StereoCamera.

Referenced by camera_callback().

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Member Data Documentation

◆ camera_info_

cam_info voxl::CameraBase::camera_info_

protected

Camera configuration information.

Definition at line 155 of file CameraBase.h.

Referenced by connect(), disconnect(), get_camera_info(), and get_id().

◆ camera_queue

boost::lockfree::spsc_queue<ov_core::CameraData, boost::lockfree::capacity<64> > voxl::CameraBase::camera_queue

protected

Lock-free SPSC queue for camera data.

Used for efficient communication between camera thread and VIO thread. Capacity of 64 provides approximately 2.4 seconds of buffering at 30fps.

Definition at line 178 of file CameraBase.h.

Referenced by popCameraData().

◆ channel_

int voxl::CameraBase::channel_ {-1}

protected

Channel used for pipe communication.

Definition at line 158 of file CameraBase.h.

Referenced by connect(), disconnect(), and get_channel().

◆ ctx_

cl_context voxl::CameraBase::ctx_ {nullptr}

protected

OpenCL context used if GPU is enabled.

Definition at line 167 of file CameraBase.h.

◆ curr_message_

img_ringbuf_packet voxl::CameraBase::curr_message_

protected

Instance-local buffer for image processing.

Definition at line 181 of file CameraBase.h.

◆ drop_frames

bool voxl::CameraBase::drop_frames {false}

protected

Indicates if frames should be dropped.

Definition at line 187 of file CameraBase.h.

Referenced by voxl::MonoCamera::process_image().

◆ is_connected_

bool voxl::CameraBase::is_connected_ {false}

protected

Indicates if camera is connected to pipe.

Definition at line 161 of file CameraBase.h.

Referenced by connect(), and disconnect().

◆ mutex_

std::mutex voxl::CameraBase::mutex_

protected

Mutex for thread-safe operations.

Definition at line 164 of file CameraBase.h.

Referenced by connect(), and disconnect().

◆ q_

cl_command_queue voxl::CameraBase::q_ {nullptr}

protected

OpenCL command queue used if GPU is enabled.

Definition at line 170 of file CameraBase.h.

◆ skip_jerk_detection

bool voxl::CameraBase::skip_jerk_detection {true}

protected

Indicates if jerk detection should be skipped.

Definition at line 190 of file CameraBase.h.

Referenced by voxl::MonoCamera::process_image().

◆ use_mask_

cv::Mat voxl::CameraBase::use_mask_

protected

Per-instance reusable mask for feature tracking.

Definition at line 184 of file CameraBase.h.

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

VoxlCam/CameraBase.h
VoxlCam/CameraBase.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CameraBase()

◆ ~CameraBase()

Member Function Documentation

◆ camera_callback()

◆ camera_device_buffer_callback()

◆ connect()

◆ disconnect()

◆ get_camera_info()

◆ get_channel()

◆ get_id()

◆ popCameraData()

◆ process_image()

Member Data Documentation

◆ camera_info_

◆ camera_queue

◆ channel_

◆ ctx_

◆ curr_message_

◆ drop_frames

◆ is_connected_

◆ mutex_

◆ q_

◆ skip_jerk_detection

◆ use_mask_