Public Member Functions | Public Attributes
crl::multisense::image::Header Class Reference

#include <MultiSenseTypes.hh>

Inheritance diagram for crl::multisense::image::Header:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 Header ()
virtual bool inMask (DataSource mask)

Public Attributes

uint32_t bitsPerPixel
uint32_t exposure
int64_t frameId
float framesPerSecond
float gain
uint32_t height
const void * imageDataP
uint32_t imageLength
DataSource source
uint32_t timeMicroSeconds
uint32_t timeSeconds
uint32_t width

Detailed Description

Class containing image Header information common to all image types. This will be passed to any callback, of type image::Callback, that is subscribed to image data.

See crl::multisense::Channel::addIsolatedCallback for more details

Example code to extract 8 bit image data from a image header and display it using OpenCV (header.bitsPerPixel = 8)

 {.cpp}
  #include <iostream>
  #include <stdexcept>
  #include <signal.h>
  #include <unistd.h>

  #include <MultiSenseTypes.hh>
  #include <MultiSenseChannel.hh>

  //
  // Note this example has only been tested under Linux
  #include <opencv2/opencv.hpp>

  volatile bool doneG = false;

  void signalHandler(int sig)
  {
      std::cerr << "Shutting down on signal: " << strsignal(sig) << std::endl;
      doneG = true;
  }

  class Camera
  {
      public:
          Camera(crl::multisense::Channel* channel);
          ~Camera();
          void imageCallback(const crl::multisense::image::Header& header);

      private:
          crl::multisense::Channel* m_channel;
  };

  namespace {
      //
      // Shim for the C-style callbacks accepted by
      // crl::mulisense::Channel::addIsolatedCallback
      void monoCallback(const crl::multisense::image::Header& header, void* userDataP)
      { reinterpret_cast<Camera*>(userDataP)->imageCallback(header); }
  };


  Camera::Camera(crl::multisense::Channel* channel):
      m_channel(channel)
  {
      crl::multisense::Status status;

      //
      // Attach our monoCallback to our Channel instance. It will get
      // called every time there is new Left Luma or Right luma image
      // data.
      status = m_channel->addIsolatedCallback(monoCallback,
                                             crl::multisense::Source_Luma_Left | crl::multisense::Source_Luma_Right,
                                             this);

      //
      // Check to see if the callback was successfully attached
      if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to attach isolated callback");
      }

      //
      // Start streaming luma images for the left and right cameras.
      m_channel->startStreams(crl::multisense::Source_Luma_Left | crl::multisense::Source_Luma_Right);

      //
      // Check to see if the streams were sucessfully started
      if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to start image streams");
      }
  }

  Camera::~Camera()
  {
      crl::multisense::Status status;

      //
      // Remove our isolated callback.
      status = m_channel->removeIsolatedCallback(monoCallback);

      //
      // Check to see if the callback was successfully removed
      if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to remove isolated callback");
      }

      //
      // Stop streaming luma images for the left and right cameras
      m_channel->stopStreams(crl::multisense::Source_Luma_Left | crl::multisense::Source_Luma_Right);

      //
      // Check to see if the image streams were successfully stopped
      if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to stop streams");
      }
  }

  void Camera::imageCallback(const crl::multisense::image::Header& header)
  {
      //
      // Create a container for the image data
      std::vector<uint8_t> imageData;
      imageData.resize(header.imageLength);

      //
      // Copy image data from the header's image data pointer to our
      // image container
      memcpy(&(imageData[0]), header.imageDataP, header.imageLength);

      //
      // Create a OpenCV matrix using our image container
      cv::Mat_<uint8_t> imageMat(header.height, header.width, &(imageData[0]));

      //
      // Display the image using OpenCV
      cv::namedWindow("Example");
      cv::imshow("Example", imageMat);
      cv::waitKey(1000./header.framesPerSecond);
  }


  int main()
  {
      //
      // Setup a signal handler to kill the application
      signal(SIGINT, signalHandler);

      //
      // Instantiate a channel connecting to a sensor at the factory default
      // IP address
      crl::multisense::Channel* channel;
      channel = crl::multisense::Channel::Create("10.66.171.21");

      channel->setMtu(7200);

      try
      {
          Camera camera(channel);
          while(!doneG)
          {
              usleep(100000);
          }
      }
      catch(std::exception& e)
      {
          std::cerr << e.what() << std::endl;
      }

      //
      // Destroy the channel instance
      crl::multisense::Channel::Destroy(channel);
  }

Definition at line 374 of file MultiSenseTypes.hh.


Constructor & Destructor Documentation

Default Constructor

Definition at line 406 of file MultiSenseTypes.hh.


Member Function Documentation

virtual bool crl::multisense::image::Header::inMask ( DataSource  mask) [inline, virtual]

Member function used to determine if the data contained in the header is contained in a specific image mask

Reimplemented from crl::multisense::HeaderBase.

Definition at line 413 of file MultiSenseTypes.hh.


Member Data Documentation

Bits per pixel in the image

Definition at line 380 of file MultiSenseTypes.hh.

The image exposure time in microseconds

Definition at line 393 of file MultiSenseTypes.hh.

Unique ID used to describe an image. FrameIds increase sequentally from the device

Definition at line 386 of file MultiSenseTypes.hh.

The number of frames per second currently streaming from the device

Definition at line 397 of file MultiSenseTypes.hh.

The imager gain the image was captured with

Definition at line 395 of file MultiSenseTypes.hh.

Height of the image

Definition at line 384 of file MultiSenseTypes.hh.

A pointer to the image data

Definition at line 401 of file MultiSenseTypes.hh.

The length of the image data stored in imageDataP

Definition at line 399 of file MultiSenseTypes.hh.

DataSource corresponding to imageDataP

Definition at line 378 of file MultiSenseTypes.hh.

The time microseconds value corresponding to when the image was captured

Definition at line 390 of file MultiSenseTypes.hh.

The time seconds value corresponding to when the image was captured

Definition at line 388 of file MultiSenseTypes.hh.

Width of the image

Definition at line 382 of file MultiSenseTypes.hh.


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


multisense_lib
Author(s):
autogenerated on Mon Oct 9 2017 03:06:22