Class IInputSensor

Inheritance Relationships

Derived Types

Class Documentation

class IInputSensor

This is input base class.

Subclassed by InputSensorADTF31XX, InputSensorFileRosbagBin

Public Functions

virtual void openSensor(std::string sensor_name, int input_image_width, int input_image_height, std::string config_file_name, std::string input_sensor_ip) = 0
virtual void configureSensor(int camera_mode) = 0
virtual void getIntrinsics(CameraIntrinsics *camera_intrinsics) = 0
virtual void getExtrinsics(CameraExtrinsics *camera_extrinsics) = 0
virtual bool readNextFrame(unsigned short *depth_frame, unsigned short *ab_frame, unsigned short *conf_frame, short *xyz_frame) = 0
virtual bool getFrameTimestamp(rclcpp::Time *timestamp) = 0
virtual void closeSensor() = 0
virtual void setConfidenceThreshold(int threshold) = 0
virtual void setABinvalidationThreshold(int threshold) = 0
virtual void setJBLFFilterState(bool jblf_filter_state) = 0
virtual void setJBLFFilterSize(int jblf_filter_size) = 0
virtual void setRadialFilterMinThreshold(int radial_min_threshold) = 0
virtual void setRadialFilterMaxThreshold(int radial_max_threshold) = 0
inline bool isOpened()

function to check whether input is opened

Returns:

true if the input sensor opened

Returns:

false if the input sensor is not opened

inline int getFrameWidth()

Get the Frame Width object Only integer scaling is supported.

Returns:

int

inline int getFrameHeight()

Get the Frame Height object Only integer scaling is supported.

Returns:

int

inline void setFrameWidth(int frm_width)

Set the Frame Width object Only integer scaling is supported.

Returns:

int

inline void setFrameHeight(int frm_height)

Sett the Frame Height object Only integer scaling is supported.

Returns:

int

inline void setProcessingScale(int scale_factor)

Set the Processing Scale object.

Parameters:

scale_factor –

Returns:

int

inline int getFrameCounter()

Get the current Frame count value.

Returns:

int

Protected Attributes

bool sensor_open_flag_
int frame_width_ = 1024
int frame_height_ = 1024
int bytes_per_pixel_ = 2
int input_scale_factor_ = 2
unsigned int frame_counter_ = 0