Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001) More...

#include <pcl/io/dinast_grabber.h>

Inheritance diagram for pcl::DinastGrabber:

Collaboration diagram for pcl::DinastGrabber:

Public Member Functions
	DinastGrabber (const int device_position=1)
	Constructor that sets up the grabber constants. More...

	~DinastGrabber () noexcept override
	Destructor. More...

bool	isRunning () const override
	Check if the grabber is running. More...

std::string	getName () const override
	Returns the name of the concrete subclass, DinastGrabber. More...

void	start () override
	Start the data acquisition process. More...

void	stop () override
	Stop the data acquisition process. More...

float	getFramesPerSecond () const override
	Obtain the number of frames per second (FPS). More...

std::string	getDeviceVersion ()
	Get the version number of the currently opened device. More...

Public Member Functions inherited from pcl::Grabber
	Grabber ()=default
	Default ctor. More...

	Grabber (const Grabber &)=delete
	No copy ctor since Grabber can't be copied. More...

Grabber &	operator= (const Grabber &)=delete
	No copy assign operator since Grabber can't be copied. More...

	Grabber (Grabber &&)=default
	Move ctor. More...

Grabber &	operator= (Grabber &&)=default
	Move assign operator. More...

virtual	~Grabber () noexcept=default
	virtual destructor. More...

template<typename T >
boost::signals2::connection	registerCallback (const std::function< T > &callback)
	registers a callback function/method to a signal with the corresponding signature More...

template<typename T >
bool	providesCallback () const noexcept
	indicates whether a signal with given parameter-type exists or not More...

bool	toggle ()
	For devices that are streaming, stopped streams are started and running stream are stopped. More...

Protected Types
enum	pixel_size { RAW8 =1 , RGB16 =2 , RGB24 =3 , RGB32 =4 }
	Size of pixel. More...

enum	{ CMD_READ_START =0xC7 , CMD_READ_STOP =0xC8 , CMD_GET_VERSION =0xDC , CMD_SEND_DATA =0xDE }
	Device command values. More...

Protected Member Functions
void	onInit (const int device_id)
	On initialization processing. More...

void	setupDevice (int device_position, const int id_vendor=0x18d1, const int id_product=0x1402)
	Setup a Dinast 3D camera device. More...

bool	USBRxControlData (const unsigned char req_code, unsigned char *buffer, int length)
	Send a RX data packet request. More...

bool	USBTxControlData (const unsigned char req_code, unsigned char *buffer, int length)
	Send a TX data packet request. More...

int	checkHeader ()
	Check if we have a header in the global buffer, and return the position of the next valid image. More...

void	readImage ()
	Read image data and leaves it on image_. More...

pcl::PointCloud< pcl::PointXYZI >::Ptr	getXYZIPointCloud ()
	Obtains XYZI Point Cloud from the image of the camera. More...

void	captureThreadFunction ()
	The function in charge of getting the data from the camera. More...

Protected Member Functions inherited from pcl::Grabber
virtual void	signalsChanged ()

template<typename T >
boost::signals2::signal< T > *	find_signal () const noexcept

template<typename T >
int	num_slots () const noexcept

template<typename T >
void	disconnect_all_slots ()

template<typename T >
void	block_signal ()

template<typename T >
void	unblock_signal ()

void	block_signals ()

void	unblock_signals ()

template<typename T >
boost::signals2::signal< T > *	createSignal ()

Protected Attributes
int	image_width_ {320}
	Width of image. More...

int	image_height_ {240}
	Height of image. More...

int	image_size_ {image_width_ * image_height_}
	Total size of image. More...

int	sync_packet_size_ {512}
	Length of a sync packet. More...

double	dist_max_2d_ {1. / (image_width_ / 2.)}

double	fov_ {64. * M_PI / 180.}
	diagonal Field of View More...

libusb_context *	context_ {nullptr}
	The libusb context. More...

struct libusb_device_handle *	device_handle_ {nullptr}
	the actual device_handle for the camera More...

unsigned char *	raw_buffer_ {nullptr}
	Temporary USB read buffer, since we read two RGB16 images at a time size is the double of two images plus a sync packet. More...

boost::circular_buffer< unsigned char >	g_buffer_
	Global circular buffer. More...

unsigned char	bulk_ep_ {std::numeric_limits<unsigned char>::max ()}
	Bulk endpoint address value. More...

unsigned char *	image_ {nullptr}

bool	second_image_ {false}
	Since there is no header after the first image, we need to save the state. More...

bool	running_ {false}

std::thread	capture_thread_

std::mutex	capture_mutex_

boost::signals2::signal< sig_cb_dinast_point_cloud > *	point_cloud_signal_

Protected Attributes inherited from pcl::Grabber
std::map< std::string, std::unique_ptr< boost::signals2::signal_base > >	signals_

std::map< std::string, std::vector< boost::signals2::connection > >	connections_

std::map< std::string, std::vector< boost::signals2::shared_connection_block > >	shared_connections_

Detailed Description

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.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protected

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

enum pcl::DinastGrabber::pixel_size

protected

Size of pixel.

Enumerator
RAW8
RGB16
RGB24
RGB32

Definition at line 183 of file dinast_grabber.h.

Constructor & Destructor Documentation

◆ 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 ( )

overridenoexcept

Destructor.

It never throws.

Member Function Documentation

◆ 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

Returns the name of the concrete subclass, DinastGrabber.

Returns: DinastGrabber.

Implements pcl::Grabber.

Definition at line 83 of file dinast_grabber.h.

◆ getXYZIPointCloud()

pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::DinastGrabber::getXYZIPointCloud ( )

protected

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

Stop the data acquisition process.

Implements pcl::Grabber.

◆ 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.

Member Data Documentation

◆ bulk_ep_

unsigned char pcl::DinastGrabber::bulk_ep_ {std::numeric_limits<unsigned char>::max ()}

protected

Bulk endpoint address value.

Definition at line 200 of file dinast_grabber.h.

◆ capture_mutex_

std::mutex pcl::DinastGrabber::capture_mutex_

mutableprotected

Definition at line 214 of file dinast_grabber.h.

◆ capture_thread_

std::thread pcl::DinastGrabber::capture_thread_

protected

Definition at line 212 of file dinast_grabber.h.

◆ context_

libusb_context* pcl::DinastGrabber::context_ {nullptr}

protected

The libusb context.

Definition at line 186 of file dinast_grabber.h.

◆ device_handle_

struct libusb_device_handle* pcl::DinastGrabber::device_handle_ {nullptr}

protected

the actual device_handle for the camera

Definition at line 189 of file dinast_grabber.h.

◆ dist_max_2d_

double pcl::DinastGrabber::dist_max_2d_ {1. / (image_width_ / 2.)}

protected

Definition at line 177 of file dinast_grabber.h.

◆ fov_

double pcl::DinastGrabber::fov_ {64. * M_PI / 180.}

protected

diagonal Field of View

Definition at line 180 of file dinast_grabber.h.

◆ g_buffer_

boost::circular_buffer<unsigned char> pcl::DinastGrabber::g_buffer_

protected

Global circular buffer.

Definition at line 197 of file dinast_grabber.h.

◆ image_

unsigned char* pcl::DinastGrabber::image_ {nullptr}

protected

Definition at line 205 of file dinast_grabber.h.

◆ image_height_

int pcl::DinastGrabber::image_height_ {240}

protected

Height of image.

Definition at line 169 of file dinast_grabber.h.

◆ image_size_

int pcl::DinastGrabber::image_size_ {image_width_ * image_height_}

protected

Total size of image.

Definition at line 172 of file dinast_grabber.h.

◆ image_width_

int pcl::DinastGrabber::image_width_ {320}

protected

Width of image.

Definition at line 166 of file dinast_grabber.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_dinast_point_cloud>* pcl::DinastGrabber::point_cloud_signal_

protected

Definition at line 215 of file dinast_grabber.h.

◆ raw_buffer_

unsigned char* pcl::DinastGrabber::raw_buffer_ {nullptr}

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_ {false}

protected

Definition at line 210 of file dinast_grabber.h.

◆ second_image_

bool pcl::DinastGrabber::second_image_ {false}

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_ {512}

protected

Length of a sync packet.

Definition at line 175 of file dinast_grabber.h.

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

pcl/io/dinast_grabber.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ pixel_size

Constructor & Destructor Documentation

◆ DinastGrabber()

◆ ~DinastGrabber()

Member Function Documentation

◆ captureThreadFunction()

◆ checkHeader()

◆ getDeviceVersion()

◆ getFramesPerSecond()

◆ getName()

◆ getXYZIPointCloud()

◆ isRunning()

◆ onInit()

◆ readImage()

◆ setupDevice()

◆ start()

◆ stop()

◆ USBRxControlData()

◆ USBTxControlData()

Member Data Documentation

◆ bulk_ep_

◆ capture_mutex_

◆ capture_thread_

◆ context_

◆ device_handle_

◆ dist_max_2d_

◆ fov_

◆ g_buffer_

◆ image_

◆ image_height_

◆ image_size_

◆ image_width_

◆ point_cloud_signal_

◆ raw_buffer_

◆ running_

◆ second_image_

◆ sync_packet_size_