43 #include <pcl/point_cloud.h> 44 #include <pcl/io/grabber.h> 46 #include <pcl/console/print.h> 47 #include <libusb-1.0/libusb.h> 48 #include <boost/circular_buffer.hpp> 77 isRunning ()
const override;
84 {
return (std::string (
"DinastGrabber")); }
98 getFramesPerSecond ()
const override;
109 onInit (
const int device_id);
117 setupDevice (
int device_position,
118 const int id_vendor = 0x18d1,
119 const int id_product = 0x1402);
127 USBRxControlData (
const unsigned char req_code,
128 unsigned char *buffer,
137 USBTxControlData (
const unsigned char req_code,
138 unsigned char *buffer,
158 getXYZIPointCloud ();
163 captureThreadFunction ();
203 enum { CMD_READ_START=0xC7, CMD_READ_STOP=0xC8, CMD_GET_VERSION=0xDC, CMD_SEND_DATA=0xDE };
struct libusb_device_handle * device_handle_
the actual device_handle for the camera
libusb_context * context_
The libusb context.
std::string getName() const override
Returns the name of the concrete subclass, DinastGrabber.
shared_ptr< PointCloud< PointT > > Ptr
int image_width_
Width of image.
boost::circular_buffer< unsigned char > g_buffer_
Global circular buffer.
int image_height_
Height of image.
Grabber for DINAST devices (i.e., IPA-1002, IPA-1110, IPA-2001)
Grabber interface for PCL 1.x device drivers.
std::thread capture_thread_
bool second_image_
Since there is no header after the first image, we need to save the state.
Defines all the PCL implemented PointT point type structures.
unsigned char bulk_ep_
Bulk endpoint address value.
double fov_
diagonal Field of View
int sync_packet_size_
Length of a sync packet.
unsigned char * raw_buffer_
Temporary USB read buffer, since we read two RGB16 images at a time size is the double of two images ...
shared_ptr< const PointCloud< PointT > > ConstPtr
boost::signals2::signal< sig_cb_dinast_point_cloud > * point_cloud_signal_
Define methods for measuring time spent in code blocks.
std::mutex capture_mutex_
int image_size_
Total size of image.