#include <VisionaryData.h>

Inheritance diagram for visionary::VisionaryData:

Public Member Functions
virtual void	clearData (uint32_t changedCounter)

virtual void	generatePointCloud (std::vector< PointXYZ > &pointCloud)=0

const CameraParameters &	getCameraParameters () const

virtual DataSetsActive	getDataSetsActive ()

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	parseBinaryData (std::vector< uint8_t >::iterator inputBuffer, size_t length)=0

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

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

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

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

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

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

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

virtual bool	parseXML (const std::string &xmlString, uint32_t changeCounter)=0

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

	VisionaryData ()

	~VisionaryData ()

Protected Types
enum	ImageType { UNKNOWN, PLANAR, RADIAL }

Protected Member Functions
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)

Protected Attributes
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]

Static Private Attributes
static const uint64_t	BITMASK_DAY

static const uint64_t	BITMASK_HOUR

static const uint64_t	BITMASK_MILLISECOND

static const uint64_t	BITMASK_MINUTE

static const uint64_t	BITMASK_MONTH

static const uint64_t	BITMASK_SECOND

static const uint64_t	BITMASK_YEAR

Detailed Description

Definition at line 72 of file VisionaryData.h.

Member Enumeration Documentation

◆ ImageType

enum visionary::VisionaryData::ImageType

protected

Enumerator
UNKNOWN
PLANAR
RADIAL

Definition at line 198 of file VisionaryData.h.

Constructor & Destructor Documentation

◆ VisionaryData()

visionary::VisionaryData::VisionaryData ( )

Definition at line 36 of file VisionaryData.cpp.

◆ ~VisionaryData()

visionary::VisionaryData::~VisionaryData ( )

Definition at line 44 of file VisionaryData.cpp.

Member Function Documentation

◆ clearData()

virtual void visionary::VisionaryData::clearData ( uint32_t changedCounter )

inlinevirtual

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 in visionary::SafeVisionaryData.

Definition at line 189 of file VisionaryData.h.

◆ generatePointCloud() [1/2]

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

protected

Definition at line 125 of file VisionaryData.cpp.

◆ generatePointCloud() [2/2]

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

pure virtual

Implemented in visionary::SafeVisionaryData.

◆ getCameraParameters()

const CameraParameters & visionary::VisionaryData::getCameraParameters ( ) const

Definition at line 253 of file VisionaryData.cpp.

◆ getDataSetsActive()

virtual DataSetsActive visionary::VisionaryData::getDataSetsActive ( )

inlinevirtual

Gets the structure with the active segments.

Returns: Returns the structure with the active segments

Reimplemented in visionary::SafeVisionaryData.

Definition at line 194 of file VisionaryData.h.

◆ getFrameNum()

uint32_t visionary::VisionaryData::getFrameNum ( ) const

Definition at line 209 of file VisionaryData.cpp.

◆ getHeight()

int visionary::VisionaryData::getHeight ( ) const

Definition at line 199 of file VisionaryData.cpp.

◆ getItemLength()

int visionary::VisionaryData::getItemLength ( std::string dataType )

protected

Definition at line 46 of file VisionaryData.cpp.

◆ getSegmentTimestampMS()

uint64_t visionary::VisionaryData::getSegmentTimestampMS ( uint8_t segNum ) const

Definition at line 236 of file VisionaryData.cpp.

◆ getTimestamp()

uint64_t visionary::VisionaryData::getTimestamp ( ) const

Definition at line 214 of file VisionaryData.cpp.

◆ getTimestampMS()

uint64_t visionary::VisionaryData::getTimestampMS ( ) const

Definition at line 219 of file VisionaryData.cpp.

◆ getWidth()

int visionary::VisionaryData::getWidth ( ) const

Definition at line 204 of file VisionaryData.cpp.

◆ parseBinaryData()

virtual bool visionary::VisionaryData::parseBinaryData	(	std::vector< uint8_t >::iterator	inputBuffer,
		size_t	length
	)

pure virtual

Implemented in visionary::SafeVisionaryData.

◆ parseDepthMap()

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

inlinevirtual

Parse the device status from the Blob segment "DepthMap".

Returns: Returns true when parsing was successful.

Definition at line 122 of file VisionaryData.h.

◆ parseDeviceStatusData()

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

inlinevirtual

Parse the Device status data from the Blob segment "Device Status"

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 140 of file VisionaryData.h.

◆ parseFieldInformationData()

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

inlinevirtual

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

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 158 of file VisionaryData.h.

◆ parseIMUData()

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

inlinevirtual

Parse the IMU data from the Blob segment "IMU"

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 176 of file VisionaryData.h.

◆ parseLocalIOsData()

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

inlinevirtual

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

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 149 of file VisionaryData.h.

◆ parseLogicSignalsData()

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

inlinevirtual

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

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 167 of file VisionaryData.h.

◆ parseRoiData()

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

inlinevirtual

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

Returns: Returns true when parsing was successful.

Reimplemented in visionary::SafeVisionaryData.

Definition at line 131 of file VisionaryData.h.

◆ parseXML()

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

pure virtual

Implemented in visionary::SafeVisionaryData.

◆ preCalcCamInfo()

void visionary::VisionaryData::preCalcCamInfo ( const ImageType & type )

protected

Definition at line 70 of file VisionaryData.cpp.

◆ transformPointCloud()

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

Definition at line 172 of file VisionaryData.cpp.

Member Data Documentation

◆ BITMASK_DAY

const uint64_t visionary::VisionaryData::BITMASK_DAY

staticprivate

Initial value:

=

0x7C000000000

Definition at line 260 of file VisionaryData.h.

◆ BITMASK_HOUR

const uint64_t visionary::VisionaryData::BITMASK_HOUR

staticprivate

Initial value:

=

0x7C00000

Definition at line 262 of file VisionaryData.h.

◆ BITMASK_MILLISECOND

const uint64_t visionary::VisionaryData::BITMASK_MILLISECOND

staticprivate

Initial value:

=

0x3FF

Definition at line 268 of file VisionaryData.h.

◆ BITMASK_MINUTE

const uint64_t visionary::VisionaryData::BITMASK_MINUTE

staticprivate

Initial value:

=

0x3F0000

Definition at line 264 of file VisionaryData.h.

◆ BITMASK_MONTH

const uint64_t visionary::VisionaryData::BITMASK_MONTH

staticprivate

Initial value:

=

0x780000000000

Definition at line 258 of file VisionaryData.h.

◆ BITMASK_SECOND

const uint64_t visionary::VisionaryData::BITMASK_SECOND

staticprivate

Initial value:

=

0xFC00

Definition at line 266 of file VisionaryData.h.

◆ BITMASK_YEAR

const uint64_t visionary::VisionaryData::BITMASK_YEAR

staticprivate

Initial value:

=

0x7FF800000000000

Definition at line 256 of file VisionaryData.h.

◆ m_blobTimestamp

uint64_t visionary::VisionaryData::m_blobTimestamp

protected

Definition at line 239 of file VisionaryData.h.

◆ m_cameraParams

CameraParameters visionary::VisionaryData::m_cameraParams

protected

Definition at line 223 of file VisionaryData.h.

◆ m_changeCounter

uint_fast32_t visionary::VisionaryData::m_changeCounter

protected

Change counter to detect changes in XML.

Definition at line 230 of file VisionaryData.h.

◆ m_frameNum

uint_fast32_t visionary::VisionaryData::m_frameNum

protected

Dataset Version 1: incremented on each received image Dataset Version 2: framenumber received with dataset

Definition at line 235 of file VisionaryData.h.

◆ m_preCalcCamInfo

std::vector<PointXYZ> visionary::VisionaryData::m_preCalcCamInfo

protected

Definition at line 249 of file VisionaryData.h.

◆ m_preCalcCamInfoType

ImageType visionary::VisionaryData::m_preCalcCamInfoType

protected

Definition at line 247 of file VisionaryData.h.

◆ m_scaleZ

float visionary::VisionaryData::m_scaleZ

protected

Factor to convert unit of distance image to mm.

Definition at line 227 of file VisionaryData.h.

◆ m_segmentTimestamp

uint64_t visionary::VisionaryData::m_segmentTimestamp[TOTAL_SEGMENT_NUMBER]

protected

Definition at line 243 of file VisionaryData.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ImageType

Constructor & Destructor Documentation

◆ VisionaryData()

◆ ~VisionaryData()

Member Function Documentation

◆ clearData()

◆ generatePointCloud() [1/2]

◆ generatePointCloud() [2/2]

◆ getCameraParameters()

◆ getDataSetsActive()

◆ getFrameNum()

◆ getHeight()

◆ getItemLength()

◆ getSegmentTimestampMS()

◆ getTimestamp()

◆ getTimestampMS()

◆ getWidth()

◆ parseBinaryData()

◆ parseDepthMap()

◆ parseDeviceStatusData()

◆ parseFieldInformationData()

◆ parseIMUData()

◆ parseLocalIOsData()

◆ parseLogicSignalsData()

◆ parseRoiData()

◆ parseXML()

◆ preCalcCamInfo()

◆ transformPointCloud()

Member Data Documentation

◆ BITMASK_DAY

◆ BITMASK_HOUR

◆ BITMASK_MILLISECOND

◆ BITMASK_MINUTE

◆ BITMASK_MONTH

◆ BITMASK_SECOND

◆ BITMASK_YEAR

◆ m_blobTimestamp

◆ m_cameraParams

◆ m_changeCounter

◆ m_frameNum

◆ m_preCalcCamInfo

◆ m_preCalcCamInfoType

◆ m_scaleZ

◆ m_segmentTimestamp