dinast_grabber.h

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#ifndef PCL_IO_DINAST_GRABBER_
#define PCL_IO_DINAST_GRABBER_

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/grabber.h>
#include <pcl/common/time.h>
#include <pcl/console/print.h>
#include <libusb-1.0/libusb.h>
#include <boost/circular_buffer.hpp>

namespace pcl
{
  class PCL_EXPORTS DinastGrabber: public Grabber
  {
    // Define callback signature typedefs
    typedef void (sig_cb_dinast_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
    
    public:
      DinastGrabber (const int device_position=1);

      virtual ~DinastGrabber () throw ();

      virtual bool 
      isRunning () const;
      
      virtual std::string
      getName () const
      { return (std::string ("DinastGrabber")); }
      
      virtual void
      start ();

      virtual void
      stop ();
      
      virtual float 
      getFramesPerSecond () const;

      std::string
      getDeviceVersion ();
      
    protected:  
      
      void
      onInit (const int device_id);
      
      void
      setupDevice (int device_position,
                  const int id_vendor = 0x18d1, 
                  const int id_product = 0x1402);
      
      bool
      USBRxControlData (const unsigned char req_code,
                        unsigned char *buffer,
                        int length);

      bool
      USBTxControlData (const unsigned char req_code,
                        unsigned char *buffer,
                        int length);
      
      int
      checkHeader ();
      
      void
      readImage ();
      
      pcl::PointCloud<pcl::PointXYZI>::Ptr
      getXYZIPointCloud ();
      
      void 
      captureThreadFunction ();
      
      int image_width_;
      
      int image_height_;
      
      int image_size_;
      
      int sync_packet_size_;
      
      double dist_max_2d_;
      
      double fov_;
      
      enum pixel_size { RAW8=1, RGB16=2, RGB24=3, RGB32=4 };
      
      libusb_context *context_;
      
      struct libusb_device_handle *device_handle_;
      
      unsigned char *raw_buffer_ ;

      boost::circular_buffer<unsigned char> g_buffer_;

      unsigned char bulk_ep_;
      
      enum { CMD_READ_START=0xC7, CMD_READ_STOP=0xC8, CMD_GET_VERSION=0xDC, CMD_SEND_DATA=0xDE };

      unsigned char *image_;
      
      bool second_image_;
      
      bool running_;
      
      boost::thread capture_thread_;
      
      mutable boost::mutex capture_mutex_;
      boost::signals2::signal<sig_cb_dinast_point_cloud>* point_cloud_signal_;
  };
} //namespace pcl

#endif // PCL_IO_DINAST_GRABBER_