Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001) More...
#include <pcl/io/dinast_grabber.h>
Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001)
- Author
- Marco A. Gutierrez marco.nosp@m.g@un.nosp@m.ex.es
Definition at line 59 of file dinast_grabber.h.
anonymous enum
Device command values.
| Enumerator |
|---|
|
CMD_READ_START |
|
|
CMD_READ_STOP |
|
|
CMD_GET_VERSION |
|
|
CMD_SEND_DATA |
|
Definition at line 203 of file dinast_grabber.h.
pixel_size
Size of pixel.
| Enumerator |
|---|
|
RAW8 |
|
|
RGB16 |
|
|
RGB24 |
|
|
RGB32 |
|
Definition at line 183 of file dinast_grabber.h.
DinastGrabber()
| pcl::DinastGrabber::DinastGrabber | ( | const int |
device_position = 1
|
) | |
Constructor that sets up the grabber constants.
- Parameters
-
| [in] |
device_position |
Number corresponding the device to grab |
~DinastGrabber()
| pcl::DinastGrabber::~DinastGrabber | ( | |
) | | | noexcept |
Destructor.
It never throws.
captureThreadFunction()
| void pcl::DinastGrabber::captureThreadFunction | ( | |
) | | | protected |
The function in charge of getting the data from the camera.
checkHeader()
| int pcl::DinastGrabber::checkHeader | ( | |
) | | | protected |
Check if we have a header in the global buffer, and return the position of the next valid image.
- Note
- If the image in the buffer is partial, return -1, as we have to wait until we add more data to it.
- Returns
- the position of the next valid image (i.e., right after a valid header) or -1 in case the buffer either doesn't have an image or has a partial image
getDeviceVersion()
| std::string pcl::DinastGrabber::getDeviceVersion | ( | |
) | |
Get the version number of the currently opened device.
getFramesPerSecond()
| float pcl::DinastGrabber::getFramesPerSecond | ( | |
) | const | | overridevirtual |
Obtain the number of frames per second (FPS).
Implements pcl::Grabber.
getName()
| std::string pcl::DinastGrabber::getName | ( | |
) | const | | inlineoverridevirtual |
getXYZIPointCloud()
Obtains XYZI Point Cloud from the image of the camera.
- Returns
- the point cloud from the image data
isRunning()
| bool pcl::DinastGrabber::isRunning | ( | |
) | const | | overridevirtual |
Check if the grabber is running.
- Returns
- true if grabber is running / streaming. False otherwise.
Implements pcl::Grabber.
onInit()
| void pcl::DinastGrabber::onInit | ( | const int | device_id |
) | | | protected |
On initialization processing.
readImage()
| void pcl::DinastGrabber::readImage | ( | |
) | | | protected |
Read image data and leaves it on image_.
setupDevice()
| void pcl::DinastGrabber::setupDevice | ( | int |
device_position, | | | const int |
id_vendor = 0x18d1, | | | const int |
id_product = 0x1402 | | ) | |
| | protected |
Setup a Dinast 3D camera device.
- Parameters
-
| [in] |
device_position |
Number corresponding the device to grab |
| [in] |
id_vendor |
The ID of the camera vendor (should be 0x18d1) |
| [in] |
id_product |
The ID of the product (should be 0x1402) |
start()
| void pcl::DinastGrabber::start | ( | |
) | | | overridevirtual |
Start the data acquisition process.
Implements pcl::Grabber.
stop()
| void pcl::DinastGrabber::stop | ( | |
) | | | overridevirtual |
USBRxControlData()
| bool pcl::DinastGrabber::USBRxControlData | ( | const unsigned char |
req_code, | | | unsigned char * |
buffer, | | | int |
length | | ) | |
| | protected |
Send a RX data packet request.
- Parameters
-
| [in] |
req_code |
the request to send (the request field for the setup packet) |
|
buffer |
|
| [in] |
length |
the length field for the setup packet. The data buffer should be at least this size. |
USBTxControlData()
| bool pcl::DinastGrabber::USBTxControlData | ( | const unsigned char |
req_code, | | | unsigned char * |
buffer, | | | int |
length | | ) | |
| | protected |
Send a TX data packet request.
- Parameters
-
| [in] |
req_code |
the request to send (the request field for the setup packet) |
|
buffer |
|
| [in] |
length |
the length field for the setup packet. The data buffer should be at least this size. |
bulk_ep_
| unsigned char pcl::DinastGrabber::bulk_ep_ | | protected |
capture_mutex_
| std::mutex pcl::DinastGrabber::capture_mutex_ | | mutableprotected |
capture_thread_
| std::thread pcl::DinastGrabber::capture_thread_ | | protected |
context_
| libusb_context* pcl::DinastGrabber::context_ | | protected |
device_handle_
| struct libusb_device_handle* pcl::DinastGrabber::device_handle_ | | protected |
dist_max_2d_
| double pcl::DinastGrabber::dist_max_2d_ | | protected |
fov_
| double pcl::DinastGrabber::fov_ | | protected |
g_buffer_
| boost::circular_buffer<unsigned char> pcl::DinastGrabber::g_buffer_ | | protected |
image_
| unsigned char* pcl::DinastGrabber::image_ | | protected |
image_height_
| int pcl::DinastGrabber::image_height_ | | protected |
image_size_
| int pcl::DinastGrabber::image_size_ | | protected |
image_width_
| int pcl::DinastGrabber::image_width_ | | protected |
point_cloud_signal_
| boost::signals2::signal<sig_cb_dinast_point_cloud>* pcl::DinastGrabber::point_cloud_signal_ | | protected |
raw_buffer_
| unsigned char* pcl::DinastGrabber::raw_buffer_ | | protected |
Temporary USB read buffer, since we read two RGB16 images at a time size is the double of two images plus a sync packet.
Definition at line 194 of file dinast_grabber.h.
running_
| bool pcl::DinastGrabber::running_ | | protected |
second_image_
| bool pcl::DinastGrabber::second_image_ | | protected |
Since there is no header after the first image, we need to save the state.
Definition at line 208 of file dinast_grabber.h.
sync_packet_size_
| int pcl::DinastGrabber::sync_packet_size_ | | protected |
The documentation for this class was generated from the following file:
Public Member Functions inherited from pcl::Grabber