#include <SafeVisionaryData.h>

Inheritance diagram for visionary::SafeVisionaryData:

Public Member Functions
void	clearData (uint32_t changedCounter)

void	generatePointCloud (std::vector< PointXYZ > &pointCloud) override

DataSetsActive	getDataSetsActive ()

DEVICE_STATUS	getDeviceStatus () const

DEVICE_STATUS_ELEMENT	getDeviceStatusData () const
	Gets Device Status element. More...

const std::vector< uint16_t > &	getDistanceMap () const

const FIELDINFORMATION_DATA &	getFieldInformationData () const

uint16_t	getFlags () const

const IMU_ELEMENT	getIMUData () const

const std::vector< uint16_t > &	getIntensityMap () const

DataHandlerError	getLastError ()

LOCALIOS_ELEMENT	getLocalIOData () const

const LOGICSIGNALS_DATA &	getLogicSignalsData () const

const ROI_DATA &	getRoiData () const

const std::vector< uint8_t > &	getStateMap () const

bool	isDistanceMapFiltered () const

bool	isIntrudedPixelStateValid () const

	SafeVisionaryData ()

virtual	~SafeVisionaryData ()

Public Member Functions inherited from visionary::VisionaryData
const CameraParameters &	getCameraParameters () const

uint32_t	getFrameNum () const

int	getHeight () const

uint64_t	getSegmentTimestampMS (uint8_t segNum) const

uint64_t	getTimestamp () const

uint64_t	getTimestampMS () const

int	getWidth () const

virtual bool	parseDepthMap (std::vector< uint8_t >::iterator itBuf, size_t length)

void	transformPointCloud (std::vector< PointXYZ > &pointCloud) const

	VisionaryData ()

	~VisionaryData ()

Static Public Attributes
static const float	DISTANCE_MAP_UNIT = 0.25f
	factor to convert Radial distance map from fixed point to floating point More...

Protected Member Functions
bool	parseBinaryData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseDeviceStatusData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseFieldInformationData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseIMUData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseLocalIOsData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseLogicSignalsData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseRoiData (std::vector< uint8_t >::iterator itBuf, size_t length)

bool	parseXML (const std::string &xmlString, uint32_t changeCounter)

Protected Member Functions inherited from visionary::VisionaryData
void	generatePointCloud (const std::vector< uint16_t > &map, const ImageType &imgType, std::vector< PointXYZ > &pointCloud)

int	getItemLength (std::string dataType)

void	preCalcCamInfo (const ImageType &type)

Private Attributes
DataSetsActive	m_dataSetsActive

DEVICE_STATUS	m_deviceStatus
	Contains the received device status. More...

DEVICE_STATUS_ELEMENT	m_deviceStatusData

uint32_t	m_distanceByteDepth
	Byte depth of depth map. More...

std::vector< uint16_t >	m_distanceMap
	Vector containing the depth map. More...

FIELDINFORMATION_DATA	m_fieldInformationData

uint16_t	m_flags
	Contains the received flags. More...

IMU_ELEMENT	m_IMUData

uint32_t	m_intensityByteDepth
	Byte depth of intensity map. More...

std::vector< uint16_t >	m_intensityMap
	Vector containing the intensity map. More...

DataHandlerError	m_lastDataHandlerError
	Stores the last error which occurred while parsing the Blob data segments. More...

LOCALIOS_ELEMENT	m_localIOsData

LOGICSIGNALS_DATA	m_logicSignalsData

ROI_DATA	m_roiData
	Contains the ROI data. More...

uint32_t	m_stateByteDepth
	Byte depth of pixel state map. More...

std::vector< uint8_t >	m_stateMap
	Vector containing the pixel state map. More...

Additional Inherited Members
Protected Types inherited from visionary::VisionaryData
enum	ImageType { UNKNOWN, PLANAR, RADIAL }

Protected Attributes inherited from visionary::VisionaryData
uint64_t	m_blobTimestamp

CameraParameters	m_cameraParams

uint_fast32_t	m_changeCounter
	Change counter to detect changes in XML. More...

uint_fast32_t	m_frameNum

std::vector< PointXYZ >	m_preCalcCamInfo

ImageType	m_preCalcCamInfoType

float	m_scaleZ
	Factor to convert unit of distance image to mm. More...

uint64_t	m_segmentTimestamp [TOTAL_SEGMENT_NUMBER]

Detailed Description

Definition at line 356 of file SafeVisionaryData.h.

Constructor & Destructor Documentation

◆ SafeVisionaryData()

visionary::SafeVisionaryData::SafeVisionaryData ( )

Definition at line 67 of file SafeVisionaryData.cpp.

◆ ~SafeVisionaryData()

visionary::SafeVisionaryData::~SafeVisionaryData ( )

virtual

Definition at line 78 of file SafeVisionaryData.cpp.

Member Function Documentation

◆ clearData()

void visionary::SafeVisionaryData::clearData ( uint32_t changedCounter )

virtual

Clears the data from the last Blob in case the corresponding segment is not available any more. In case the data segment "DepthMap" is not available, use the given changed counter as framenumber. The changed counter is incremented each Blob and is identical to the frame number.

Parameters

[in] changedCounter counter which shall be used as frame number

Reimplemented from visionary::VisionaryData.

Definition at line 872 of file SafeVisionaryData.cpp.

◆ generatePointCloud()

void visionary::SafeVisionaryData::generatePointCloud ( std::vector< PointXYZ > & pointCloud )

overridevirtual

Calculate and return the point cloud in the camera perspective. Units are in meters.

Parameters

[out] vector containing the calculated point cloud

Implements visionary::VisionaryData.

Definition at line 792 of file SafeVisionaryData.cpp.

◆ getDataSetsActive()

DataSetsActive visionary::SafeVisionaryData::getDataSetsActive ( )

virtual

Gets the structure with the active segments.

Returns: Returns the structure with the active segments

Reimplemented from visionary::VisionaryData.

Definition at line 867 of file SafeVisionaryData.cpp.

◆ getDeviceStatus()

DEVICE_STATUS visionary::SafeVisionaryData::getDeviceStatus ( ) const

Gets device status

Returns: received device status

Definition at line 812 of file SafeVisionaryData.cpp.

◆ getDeviceStatusData()

DEVICE_STATUS_ELEMENT visionary::SafeVisionaryData::getDeviceStatusData ( ) const

Gets Device Status element.

Definition at line 837 of file SafeVisionaryData.cpp.

◆ getDistanceMap()

const std::vector< uint16_t > & visionary::SafeVisionaryData::getDistanceMap ( ) const

Gets the radial distance map The unit of the distance map is 1/4 mm.

Returns: vector containing the radial distance map

Definition at line 797 of file SafeVisionaryData.cpp.

◆ getFieldInformationData()

const FIELDINFORMATION_DATA & visionary::SafeVisionaryData::getFieldInformationData ( ) const

Gets Field Information

Returns: received field Information

Definition at line 847 of file SafeVisionaryData.cpp.

◆ getFlags()

uint16_t visionary::SafeVisionaryData::getFlags ( ) const

Gets the flags state map

Returns: flags state

Definition at line 827 of file SafeVisionaryData.cpp.

◆ getIMUData()

const IMU_ELEMENT visionary::SafeVisionaryData::getIMUData ( ) const

Gets IMU data

Returns: received IMU data

Definition at line 857 of file SafeVisionaryData.cpp.

◆ getIntensityMap()

const std::vector< uint16_t > & visionary::SafeVisionaryData::getIntensityMap ( ) const

Gets the intensity map

Returns: vector containing the intensity map

Definition at line 802 of file SafeVisionaryData.cpp.

◆ getLastError()

DataHandlerError visionary::SafeVisionaryData::getLastError ( )

Gets the last error which occurred while parsing the Blob data segments.

Returns: Returns the last error, OK in case there occurred no error

Definition at line 862 of file SafeVisionaryData.cpp.

◆ getLocalIOData()

LOCALIOS_ELEMENT visionary::SafeVisionaryData::getLocalIOData ( ) const

Gets Local I/Os

Returns: received Local I/Os

Definition at line 842 of file SafeVisionaryData.cpp.

◆ getLogicSignalsData()

const LOGICSIGNALS_DATA & visionary::SafeVisionaryData::getLogicSignalsData ( ) const

Gets Logic Signals data

Returns: received Logic Signal data

Definition at line 852 of file SafeVisionaryData.cpp.

◆ getRoiData()

const ROI_DATA & visionary::SafeVisionaryData::getRoiData ( ) const

Gets ROI data

Returns: received ROI data

Definition at line 832 of file SafeVisionaryData.cpp.

◆ getStateMap()

const std::vector< uint8_t > & visionary::SafeVisionaryData::getStateMap ( ) const

Gets the pixel state map

Returns: vector containing the pixel state map

Definition at line 807 of file SafeVisionaryData.cpp.

◆ isDistanceMapFiltered()

bool visionary::SafeVisionaryData::isDistanceMapFiltered ( ) const

Gets the information whether the distance map is filtered.

Returns: returns true in case the distance map is filtered, otherwise returns false

Definition at line 817 of file SafeVisionaryData.cpp.

◆ isIntrudedPixelStateValid()

bool visionary::SafeVisionaryData::isIntrudedPixelStateValid ( ) const

Gets the information whether the intruded pixel state in the pixel state map is valid.

Returns: returns true in case the intruded pixel state is valid, otherwise returns false

Definition at line 822 of file SafeVisionaryData.cpp.

◆ parseBinaryData()

bool visionary::SafeVisionaryData::parseBinaryData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the Binary data part to extract the image data. some variables are commented out, because they are not used in this sample.

Returns: Returns true when parsing was successful.

Implements visionary::VisionaryData.

Definition at line 333 of file SafeVisionaryData.cpp.

◆ parseDeviceStatusData()

bool visionary::SafeVisionaryData::parseDeviceStatusData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the DeviceStatus data from the Blob segment "Device Status".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 496 of file SafeVisionaryData.cpp.

◆ parseFieldInformationData()

bool visionary::SafeVisionaryData::parseFieldInformationData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the field Information data from the Blob segment "Field Information ".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 611 of file SafeVisionaryData.cpp.

◆ parseIMUData()

bool visionary::SafeVisionaryData::parseIMUData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the IMU data from the Blob segment "IMU".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 732 of file SafeVisionaryData.cpp.

◆ parseLocalIOsData()

bool visionary::SafeVisionaryData::parseLocalIOsData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the Local I/Os data from the Blob segment "local I/Os".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 554 of file SafeVisionaryData.cpp.

◆ parseLogicSignalsData()

bool visionary::SafeVisionaryData::parseLogicSignalsData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the Logic Signals data from the Blob segment "Logic Signals".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 672 of file SafeVisionaryData.cpp.

◆ parseRoiData()

bool visionary::SafeVisionaryData::parseRoiData	(	std::vector< uint8_t >::iterator	itBuf,
		size_t	length
	)

protectedvirtual

Parse the ROI data from the Blob segment "ROI".

Returns: Returns true when parsing was successful.

Reimplemented from visionary::VisionaryData.

Definition at line 438 of file SafeVisionaryData.cpp.

◆ parseXML()

bool visionary::SafeVisionaryData::parseXML	(	const std::string &	xmlString,
		uint32_t	changeCounter
	)

protectedvirtual

Parse the XML Metadata part to get information about the sensor and the following image data.

Returns: Returns true when parsing was successful.

Implements visionary::VisionaryData.

Definition at line 80 of file SafeVisionaryData.cpp.

Member Data Documentation

◆ DISTANCE_MAP_UNIT

constexpr float visionary::SafeVisionaryData::DISTANCE_MAP_UNIT = 0.25f

staticconstexpr

factor to convert Radial distance map from fixed point to floating point

Definition at line 422 of file SafeVisionaryData.h.

◆ m_dataSetsActive

DataSetsActive visionary::SafeVisionaryData::m_dataSetsActive

private

Definition at line 481 of file SafeVisionaryData.h.

◆ m_deviceStatus

DEVICE_STATUS visionary::SafeVisionaryData::m_deviceStatus

private

Contains the received device status.

Definition at line 502 of file SafeVisionaryData.h.

◆ m_deviceStatusData

DEVICE_STATUS_ELEMENT visionary::SafeVisionaryData::m_deviceStatusData

private

Definition at line 508 of file SafeVisionaryData.h.

◆ m_distanceByteDepth

uint32_t visionary::SafeVisionaryData::m_distanceByteDepth

private

Byte depth of depth map.

Definition at line 484 of file SafeVisionaryData.h.

◆ m_distanceMap

std::vector<uint16_t> visionary::SafeVisionaryData::m_distanceMap

private

Vector containing the depth map.

Definition at line 493 of file SafeVisionaryData.h.

◆ m_fieldInformationData

FIELDINFORMATION_DATA visionary::SafeVisionaryData::m_fieldInformationData

private

Definition at line 514 of file SafeVisionaryData.h.

◆ m_flags

uint16_t visionary::SafeVisionaryData::m_flags

private

Contains the received flags.

Definition at line 523 of file SafeVisionaryData.h.

◆ m_IMUData

IMU_ELEMENT visionary::SafeVisionaryData::m_IMUData

private

Definition at line 520 of file SafeVisionaryData.h.

◆ m_intensityByteDepth

uint32_t visionary::SafeVisionaryData::m_intensityByteDepth

private

Byte depth of intensity map.

Definition at line 487 of file SafeVisionaryData.h.

◆ m_intensityMap

std::vector<uint16_t> visionary::SafeVisionaryData::m_intensityMap

private

Vector containing the intensity map.

Definition at line 496 of file SafeVisionaryData.h.

◆ m_lastDataHandlerError

DataHandlerError visionary::SafeVisionaryData::m_lastDataHandlerError

private

Stores the last error which occurred while parsing the Blob data segments.

Definition at line 526 of file SafeVisionaryData.h.

◆ m_localIOsData

LOCALIOS_ELEMENT visionary::SafeVisionaryData::m_localIOsData

private

Definition at line 511 of file SafeVisionaryData.h.

◆ m_logicSignalsData

LOGICSIGNALS_DATA visionary::SafeVisionaryData::m_logicSignalsData

private

Definition at line 517 of file SafeVisionaryData.h.

◆ m_roiData

ROI_DATA visionary::SafeVisionaryData::m_roiData

private

Contains the ROI data.

Definition at line 505 of file SafeVisionaryData.h.

◆ m_stateByteDepth

uint32_t visionary::SafeVisionaryData::m_stateByteDepth

private

Byte depth of pixel state map.

Definition at line 490 of file SafeVisionaryData.h.

◆ m_stateMap

std::vector<uint8_t> visionary::SafeVisionaryData::m_stateMap

private

Vector containing the pixel state map.

Definition at line 499 of file SafeVisionaryData.h.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SafeVisionaryData()

◆ ~SafeVisionaryData()

Member Function Documentation

◆ clearData()

◆ generatePointCloud()

◆ getDataSetsActive()

◆ getDeviceStatus()

◆ getDeviceStatusData()

◆ getDistanceMap()

◆ getFieldInformationData()

◆ getFlags()

◆ getIMUData()

◆ getIntensityMap()

◆ getLastError()

◆ getLocalIOData()

◆ getLogicSignalsData()

◆ getRoiData()

◆ getStateMap()

◆ isDistanceMapFiltered()

◆ isIntrudedPixelStateValid()

◆ parseBinaryData()

◆ parseDeviceStatusData()

◆ parseFieldInformationData()

◆ parseIMUData()

◆ parseLocalIOsData()

◆ parseLogicSignalsData()

◆ parseRoiData()

◆ parseXML()

Member Data Documentation

◆ DISTANCE_MAP_UNIT

◆ m_dataSetsActive

◆ m_deviceStatus

◆ m_deviceStatusData

◆ m_distanceByteDepth

◆ m_distanceMap

◆ m_fieldInformationData

◆ m_flags

◆ m_IMUData

◆ m_intensityByteDepth

◆ m_intensityMap

◆ m_lastDataHandlerError

◆ m_localIOsData

◆ m_logicSignalsData

◆ m_roiData

◆ m_stateByteDepth

◆ m_stateMap