Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001)
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#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 57 of file dinast_grabber.h.
pcl::DinastGrabber::DinastGrabber |
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const int |
device_position = 1 | ) |
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Constructor that sets up the grabber constants.
- Parameters
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[in] | device_position | Number corresponding the device to grab |
virtual pcl::DinastGrabber::~DinastGrabber |
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throw | ( | |
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virtual |
Destructor.
It never throws.
void pcl::DinastGrabber::captureThreadFunction |
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protected |
The function in charge of getting the data from the camera.
int pcl::DinastGrabber::checkHeader |
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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
std::string pcl::DinastGrabber::getDeviceVersion |
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Get the version number of the currently opened device.
virtual float pcl::DinastGrabber::getFramesPerSecond |
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const |
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virtual |
Obtain the number of frames per second (FPS).
Implements pcl::Grabber.
virtual std::string pcl::DinastGrabber::getName |
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const |
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inlinevirtual |
Obtains XYZI Point Cloud from the image of the camera.
- Parameters
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[out] | the | point cloud from the image data |
virtual bool pcl::DinastGrabber::isRunning |
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const |
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virtual |
Check if the grabber is running.
- Returns
- true if grabber is running / streaming. False otherwise.
Implements pcl::Grabber.
void pcl::DinastGrabber::onInit |
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const int |
device_id | ) |
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protected |
On initialization processing.
void pcl::DinastGrabber::readImage |
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protected |
Read image data and leaves it on image_.
void pcl::DinastGrabber::setupDevice |
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int |
device_position, |
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const int |
id_vendor = 0x18d1 , |
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const int |
id_product = 0x1402 |
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) |
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protected |
Setup a Dinast 3D camera device.
- Parameters
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[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) |
virtual void pcl::DinastGrabber::start |
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virtual |
Start the data acquisition process.
Implements pcl::Grabber.
virtual void pcl::DinastGrabber::stop |
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bool pcl::DinastGrabber::USBRxControlData |
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const unsigned char |
req_code, |
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unsigned char * |
buffer, |
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int |
length |
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) |
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protected |
Send a RX data packet request.
- Parameters
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[in] | req_code | the request to send (the request field for the setup packet) |
[in] | length | the length field for the setup packet. The data buffer should be at least this size. |
bool pcl::DinastGrabber::USBTxControlData |
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const unsigned char |
req_code, |
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unsigned char * |
buffer, |
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int |
length |
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) |
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protected |
Send a TX data packet request.
- Parameters
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[in] | req_code | the request to send (the request field for the setup packet) |
[in] | length | the length field for the setup packet. The data buffer should be at least this size. |
unsigned char pcl::DinastGrabber::bulk_ep_ |
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protected |
boost::mutex pcl::DinastGrabber::capture_mutex_ |
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mutableprotected |
boost::thread pcl::DinastGrabber::capture_thread_ |
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libusb_context* pcl::DinastGrabber::context_ |
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struct libusb_device_handle* pcl::DinastGrabber::device_handle_ |
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double pcl::DinastGrabber::dist_max_2d_ |
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double pcl::DinastGrabber::fov_ |
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boost::circular_buffer<unsigned char> pcl::DinastGrabber::g_buffer_ |
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unsigned char* pcl::DinastGrabber::image_ |
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int pcl::DinastGrabber::image_height_ |
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int pcl::DinastGrabber::image_size_ |
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int pcl::DinastGrabber::image_width_ |
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boost::signals2::signal<sig_cb_dinast_point_cloud>* pcl::DinastGrabber::point_cloud_signal_ |
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unsigned char* pcl::DinastGrabber::raw_buffer_ |
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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 190 of file dinast_grabber.h.
bool pcl::DinastGrabber::running_ |
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protected |
bool pcl::DinastGrabber::second_image_ |
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protected |
Since there is no header after the first image, we need to save the state.
Definition at line 204 of file dinast_grabber.h.
int pcl::DinastGrabber::sync_packet_size_ |
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protected |
The documentation for this class was generated from the following file: