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

#include <dinast_grabber.h>

Inheritance diagram for pcl::DinastGrabber:

Public Member Functions
	DinastGrabber (const int device_position=1)
	Constructor that sets up the grabber constants.
std::string	getDeviceVersion ()
	Get the version number of the currently opened device.
virtual float	getFramesPerSecond () const
	Obtain the number of frames per second (FPS).
virtual std::string	getName () const
	Returns the name of the concrete subclass, DinastGrabber.
virtual bool	isRunning () const
	Check if the grabber is running.
virtual void	start ()
	Start the data acquisition process.
virtual void	stop ()
	Stop the data acquisition process.
virtual	~DinastGrabber () throw ()
	Destructor. It never throws.
Protected Types
enum	{ CMD_READ_START = 0xC7, CMD_READ_STOP = 0xC8, CMD_GET_VERSION = 0xDC, CMD_SEND_DATA = 0xDE }
	Device command values. More...
enum	pixel_size { RAW8 = 1, RGB16 = 2, RGB24 = 3, RGB32 = 4 }
	Size of pixel. More...
Protected Member Functions
void	captureThreadFunction ()
	The function in charge of getting the data from the camera.
int	checkHeader ()
	Check if we have a header in the global buffer, and return the position of the next valid image.
pcl::PointCloud < pcl::PointXYZI >::Ptr	getXYZIPointCloud ()
	Obtains XYZI Point Cloud from the image of the camera.
void	onInit (const int device_id)
	On initialization processing.
void	readImage ()
	Read image data and leaves it on image_.
void	setupDevice (int device_position, const int id_vendor=0x18d1, const int id_product=0x1402)
	Setup a Dinast 3D camera device.
bool	USBRxControlData (const unsigned char req_code, unsigned char *buffer, int length)
	Send a RX data packet request.
bool	USBTxControlData (const unsigned char req_code, unsigned char *buffer, int length)
	Send a TX data packet request.
Protected Attributes
unsigned char	bulk_ep_
	Bulk endpoint address value.
boost::mutex	capture_mutex_
boost::thread	capture_thread_
libusb_context *	context_
	The libusb context.
struct libusb_device_handle *	device_handle_
	the actual device_handle for the camera
double	dist_max_2d_
double	fov_
	diagonal Field of View
boost::circular_buffer < unsigned char >	g_buffer_
	Global circular buffer.
unsigned char *	image_
int	image_height_
	Height of image.
int	image_size_
	Total size of image.
int	image_width_
	Width of image.
boost::signals2::signal < sig_cb_dinast_point_cloud > *	point_cloud_signal_
unsigned char *	raw_buffer_
	Temporary USB read buffer, since we read two RGB16 images at a time size is the double of two images plus a sync packet.
bool	running_
bool	second_image_
	Since there is no header after the first image, we need to save the state.
int	sync_packet_size_
	Length of a sync packet.
Private Types
typedef void(	sig_cb_dinast_point_cloud )(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &)

Detailed Description

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

Author:: Marco A. Gutierrez <marcog@unex.es>

Definition at line 57 of file dinast_grabber.h.

Member Typedef Documentation

typedef void( pcl::DinastGrabber::sig_cb_dinast_point_cloud)(const boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZI > > &) [private]

Definition at line 60 of file dinast_grabber.h.

Member Enumeration Documentation

anonymous enum [protected]

Device command values.

Enumerator:

CMD_READ_START
CMD_READ_STOP
CMD_GET_VERSION
CMD_SEND_DATA

Definition at line 199 of file dinast_grabber.h.

enum pcl::DinastGrabber::pixel_size [protected]

Size of pixel.

Enumerator:

RAW8
RGB16
RGB24
RGB32

Definition at line 179 of file dinast_grabber.h.

Constructor & Destructor Documentation

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

Definition at line 46 of file dinast_grabber.cpp.

pcl::DinastGrabber::~DinastGrabber ( ) throw () [virtual]

Destructor. It never throws.

Definition at line 65 of file dinast_grabber.cpp.

Member Function Documentation

void pcl::DinastGrabber::captureThreadFunction ( ) [protected]

The function in charge of getting the data from the camera.

Definition at line 437 of file dinast_grabber.cpp.

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

Definition at line 411 of file dinast_grabber.cpp.

std::string pcl::DinastGrabber::getDeviceVersion ( )

Get the version number of the currently opened device.

Definition at line 197 of file dinast_grabber.cpp.

float pcl::DinastGrabber::getFramesPerSecond ( ) const [virtual]

Obtain the number of frames per second (FPS).

Implements pcl::Grabber.

Definition at line 95 of file dinast_grabber.cpp.

virtual std::string pcl::DinastGrabber::getName ( ) const [inline, virtual]

Returns the name of the concrete subclass, DinastGrabber.

Returns:: DinastGrabber.

Implements pcl::Grabber.

Definition at line 81 of file dinast_grabber.h.

pcl::PointCloud< pcl::PointXYZI >::Ptr pcl::DinastGrabber::getXYZIPointCloud ( ) [protected]

Obtains XYZI Point Cloud from the image of the camera.

Parameters:

[out] the point cloud from the image data

Definition at line 299 of file dinast_grabber.cpp.

bool pcl::DinastGrabber::isRunning ( ) const [virtual]

Check if the grabber is running.

Returns:: true if grabber is running / streaming. False otherwise.

Implements pcl::Grabber.

Definition at line 88 of file dinast_grabber.cpp.

void pcl::DinastGrabber::onInit ( const int device_id ) [protected]

On initialization processing.

Definition at line 107 of file dinast_grabber.cpp.

void pcl::DinastGrabber::readImage ( ) [protected]

Read image data and leaves it on image_.

Definition at line 229 of file dinast_grabber.cpp.

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)

Definition at line 116 of file dinast_grabber.cpp.

void pcl::DinastGrabber::start ( ) [virtual]

Start the data acquisition process.

Implements pcl::Grabber.

Definition at line 209 of file dinast_grabber.cpp.

void pcl::DinastGrabber::stop ( ) [virtual]

Stop the data acquisition process.

Implements pcl::Grabber.

Definition at line 219 of file dinast_grabber.cpp.

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)
[in]	length	the length field for the setup packet. The data buffer should be at least this size.

Definition at line 359 of file dinast_grabber.cpp.

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)
[in]	length	the length field for the setup packet. The data buffer should be at least this size.

Definition at line 383 of file dinast_grabber.cpp.