multisense::Channel Class Reference

#include <MultiSenseChannel.hh>

Classes
struct	Config
struct	ReceiveBufferConfig
	Certain implementations may use a fixed set of internal buffers to manage incoming camera data. More...

Public Types
enum class	ChannelImplementation { LEGACY }
	Identifiers for the different Channel implementations. More...

Public Member Functions
	Channel ()=default
	Channel (const Channel &)=delete
	Non-copyable.
Channel &	operator= (const Channel &)=delete
	Channel (Channel &&) noexcept=default
	Movable.
Channel &	operator= (Channel &&) noexcept=default
virtual	~Channel ()=default
virtual Status	start_streams (const std::vector< DataSource > &sources)=0
	Start a collection of data sources streaming from the camera.
virtual Status	stop_streams (const std::vector< DataSource > &sources)=0
	Stop specific data sources from streaming from the camera.
virtual void	add_image_frame_callback (std::function< void(const ImageFrame &)> callback)=0
	Setup user callback that will be invoked whenever a new image frame is received.
virtual void	add_imu_frame_callback (std::function< void(const ImuFrame &)> callback)=0
	Setup user callback that will be invoked whenever a new imu frame is received.
virtual Status	connect (const Config &config)=0
	Initialize the connection to the camera.
virtual void	disconnect ()=0
	Disconnect from the camera.
virtual std::optional< ImageFrame >	get_next_image_frame ()=0
	A blocking call that waits for one image frame from the camera.
virtual std::optional< ImuFrame >	get_next_imu_frame ()=0
	A blocking call that waits for one imu frame from the camera.
virtual MultiSenseConfig	get_config ()=0
	Get the current MultiSense configuration.
virtual Status	set_config (const MultiSenseConfig &config)=0
	Get set the current MultiSense configuration.
virtual StereoCalibration	get_calibration ()=0
	Get the current stereo calibration.
virtual Status	set_calibration (const StereoCalibration &calibration)=0
	Set the current stereo calibration.
virtual MultiSenseInfo	get_info ()=0
	Get the static information associated with the camera.
virtual Status	set_device_info (const MultiSenseInfo::DeviceInfo &device_info, const std::string &key)=0
	Set the camera's device info.
virtual std::optional< MultiSenseStatus >	get_system_status ()=0
	Query the current system status.
virtual Status	set_network_config (const MultiSenseInfo::NetworkInfo &config, const std::optional< std::string > &broadcast_interface)=0
	Update the network configuration of the MultiSense.

Static Public Member Functions
static std::unique_ptr< Channel >	create (const Config &config, const ChannelImplementation &impl=ChannelImplementation::LEGACY)
	Factory create function which allows for switching between different channel implementations.

Detailed Description

Definition at line 46 of file MultiSenseChannel.hh.

Member Enumeration Documentation

ChannelImplementation

enum class multisense::Channel::ChannelImplementation

strong

Identifiers for the different Channel implementations.

Used for selecting a implementation at runtime

Enumerator
LEGACY	Use the Legacy MultiSense wire protocol implemented as part of LibMultiSense.

Definition at line 52 of file MultiSenseChannel.hh.

Constructor & Destructor Documentation

Channel() [1/3]

multisense::Channel::Channel ( )

default

Channel() [2/3]

multisense::Channel::Channel ( const Channel &  )

delete

Non-copyable.

Channel() [3/3]

multisense::Channel::Channel ( Channel &&  )

defaultnoexcept

Movable.

~Channel()

virtual multisense::Channel::~Channel ( )

virtualdefault

Member Function Documentation

add_image_frame_callback()

virtual void multisense::Channel::add_image_frame_callback ( std::function< void(const ImageFrame &)>  callback )

pure virtual

Setup user callback that will be invoked whenever a new image frame is received.

add_imu_frame_callback()

virtual void multisense::Channel::add_imu_frame_callback ( std::function< void(const ImuFrame &)>  callback )

pure virtual

Setup user callback that will be invoked whenever a new imu frame is received.

connect()

virtual Status multisense::Channel::connect ( const Config &  config )

pure virtual

Initialize the connection to the camera.

create()

static std::unique_ptr< Channel > multisense::Channel::create ( const Config &  config, const ChannelImplementation &  impl = ChannelImplementation::LEGACY  )

static

Factory create function which allows for switching between different channel implementations.

disconnect()

virtual void multisense::Channel::disconnect ( )

pure virtual

Disconnect from the camera.

get_calibration()

virtual StereoCalibration multisense::Channel::get_calibration ( )

pure virtual

Get the current stereo calibration.

The output calibration will correspond to the full-resolution operating mode of the camera

get_config()

virtual MultiSenseConfig multisense::Channel::get_config ( )

pure virtual

Get the current MultiSense configuration.

get_info()

virtual MultiSenseInfo multisense::Channel::get_info ( )

pure virtual

Get the static information associated with the camera.

get_next_image_frame()

virtual std::optional< ImageFrame > multisense::Channel::get_next_image_frame ( )

pure virtual

A blocking call that waits for one image frame from the camera.

If you’ve set a receive timeout (via Config), it will block until that timeout expires; otherwise, it blocks indefinitely until data arrives.

Returns

The newly received ImageFrame, or std::nullopt if timed out (and you used a timeout).

get_next_imu_frame()

virtual std::optional< ImuFrame > multisense::Channel::get_next_imu_frame ( )

pure virtual

A blocking call that waits for one imu frame from the camera.

If you’ve set a receive timeout (via Config), it will block until that timeout expires; otherwise, it blocks indefinitely until data arrives.

Returns

The newly received ImuFrame, or std::nullopt if timed out (and you used a timeout).

get_system_status()

virtual std::optional< MultiSenseStatus > multisense::Channel::get_system_status ( )

pure virtual

Query the current system status.

operator=() [1/2]

Channel & multisense::Channel::operator= ( Channel &&  )

defaultnoexcept

operator=() [2/2]

Channel & multisense::Channel::operator= ( const Channel &  )

delete

set_calibration()

virtual Status multisense::Channel::set_calibration ( const StereoCalibration &  calibration )

pure virtual

Set the current stereo calibration.

The calibration is expected to be or the full-resolution operating mode of the camera

set_config()

virtual Status multisense::Channel::set_config ( const MultiSenseConfig &  config )

pure virtual

Get set the current MultiSense configuration.

set_device_info()

virtual Status multisense::Channel::set_device_info ( const MultiSenseInfo::DeviceInfo &  device_info, const std::string &  key  )

pure virtual

Set the camera's device info.

This setting is protected via a key since invalid values in the device info can result in internal camera failures

set_network_config()

virtual Status multisense::Channel::set_network_config ( const MultiSenseInfo::NetworkInfo &  config, const std::optional< std::string > &  broadcast_interface  )

pure virtual

Update the network configuration of the MultiSense.

This will require a hardware reboot of the MultiSense after it's been successfully applied.

Parameters

broadcast_interface

If specified a broadcast packet will be sent over the specified interface changing the IP address of all the camera connected to that interface

start_streams()

virtual Status multisense::Channel::start_streams ( const std::vector< DataSource > &  sources )

pure virtual

Start a collection of data sources streaming from the camera.

stop_streams()

virtual Status multisense::Channel::stop_streams ( const std::vector< DataSource > &  sources )

pure virtual

Stop specific data sources from streaming from the camera.

An empty collection of sources will stop all sources

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

• /home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh