Class containing image Header information common to all image types. More...

#include <MultiSenseTypes.hh>

Inheritance diagram for crl::multisense::image::Header:

Collaboration diagram for crl::multisense::image::Header:

Public Member Functions
	Header ()
	Default Constructor. More...

virtual bool	inMask (DataSource mask)
	Member function used to determine if the data contained in the header is contained in a specific image mask. More...

Public Member Functions inherited from crl::multisense::HeaderBase
virtual	~HeaderBase ()

Public Attributes
DataSource	source
	DataSource corresponding to imageDataP. More...

uint32_t	bitsPerPixel
	Bits per pixel in the image. More...

uint32_t	width
	Width of the image. More...

uint32_t	height
	Height of the image. More...

int64_t	frameId
	Unique ID used to describe an image. More...

uint32_t	timeSeconds
	The time seconds value corresponding to when the image was captured. More...

uint32_t	timeMicroSeconds
	The time microseconds value corresponding to when the image was captured. More...

uint32_t	exposure
	The image exposure time in microseconds. More...

float	gain
	The imager gain the image was captured with. More...

float	framesPerSecond
	The number of frames per second currently streaming from the device. More...

uint32_t	imageLength
	The length of the image data stored in imageDataP. More...

const void *	imageDataP
	A pointer to the image data. More...

uint32_t	headId
	The active remote head if any. More...

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)

#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 441 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ Header()

crl::multisense::image::Header::Header ( )

inline

Default Constructor.

Definition at line 474 of file MultiSenseTypes.hh.

Member Function Documentation

◆ inMask()

virtual bool crl::multisense::image::Header::inMask ( DataSource mask )

inlinevirtual

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 481 of file MultiSenseTypes.hh.

Member Data Documentation

◆ bitsPerPixel

uint32_t crl::multisense::image::Header::bitsPerPixel

Bits per pixel in the image.

Definition at line 447 of file MultiSenseTypes.hh.

◆ exposure

uint32_t crl::multisense::image::Header::exposure

The image exposure time in microseconds.

Definition at line 460 of file MultiSenseTypes.hh.

◆ frameId

int64_t crl::multisense::image::Header::frameId

Unique ID used to describe an image.

FrameIds increase sequentally from the device

Definition at line 453 of file MultiSenseTypes.hh.

◆ framesPerSecond

float crl::multisense::image::Header::framesPerSecond

The number of frames per second currently streaming from the device.

Definition at line 464 of file MultiSenseTypes.hh.

◆ gain

float crl::multisense::image::Header::gain

The imager gain the image was captured with.

Definition at line 462 of file MultiSenseTypes.hh.

◆ headId

uint32_t crl::multisense::image::Header::headId

The active remote head if any.

Definition at line 470 of file MultiSenseTypes.hh.

◆ height

uint32_t crl::multisense::image::Header::height

Height of the image.

Definition at line 451 of file MultiSenseTypes.hh.

◆ imageDataP

const void* crl::multisense::image::Header::imageDataP

A pointer to the image data.

Definition at line 468 of file MultiSenseTypes.hh.

◆ imageLength

uint32_t crl::multisense::image::Header::imageLength

The length of the image data stored in imageDataP.

Definition at line 466 of file MultiSenseTypes.hh.

◆ source

DataSource crl::multisense::image::Header::source

DataSource corresponding to imageDataP.

Definition at line 445 of file MultiSenseTypes.hh.

◆ timeMicroSeconds

uint32_t crl::multisense::image::Header::timeMicroSeconds

The time microseconds value corresponding to when the image was captured.

Definition at line 457 of file MultiSenseTypes.hh.

◆ timeSeconds

uint32_t crl::multisense::image::Header::timeSeconds

The time seconds value corresponding to when the image was captured.

Definition at line 455 of file MultiSenseTypes.hh.

◆ width

uint32_t crl::multisense::image::Header::width

Width of the image.

Definition at line 449 of file MultiSenseTypes.hh.

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

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Public Member Functions

Public Attributes