Time-of-Flight Library(ToF) 3.13.2
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The main interface to the kea camera. More...
#include <kea_camera.hpp>
Public Member Functions | |
KeaCamera (tof_kea_camera_t ptr=nullptr) | |
Construct from pointer. | |
KeaCamera (const ProcessingConfig &processing_config, StringView serial) | |
Construct the kea camera. | |
KeaCamera (StringView serial) | |
Construct the kea camera with a processing config generated by default_processing from the camera config. | |
KeaCamera (const ProcessingConfig &processing_config, StringView serial, const CameraConfig &camera_config) | |
Construct the kea camera with the given processing and camera config. | |
bool | on_camera_processing_capable () const |
Check whether this kea camera can do on camera processing. | |
bool | get_on_camera_processing () const |
Get on camera processing. | |
void | set_on_camera_processing (bool on_camera_processing) |
Set on camera processing. | |
uint32_t | get_delay () const |
Get delay between network packets. | |
void | set_delay (uint32_t delay) |
Set delay between network packets. | |
uint16_t | get_packet_size () const |
Get maximum size of each network packet transmitted. | |
void | set_packet_size (uint16_t size) |
Set maximum size of each network packet transmitted. | |
void | set_camera_config (const CameraConfig &camera_config) |
Set the camera config. | |
void | set_configurations (const CameraConfig &camera_config, const ProcessingConfig &processing_config) |
Set both the camera and processing config. | |
const char * | version () |
Get the tof library version running on the camera. | |
bool | software_trigger_capable () |
Check whether the camera is capable of software trigger. | |
void | software_trigger () |
Software trigger the camera. | |
bool | remote_update_capable () |
Check whether the camera is capable of updating remotely. | |
void | remote_update (StringView file_location) |
Update the camera remotely. | |
bool | multiple_configurations_possible () const |
Check whether camera supports multiple configurations. | |
void | set_multiple_configurations (const std::vector< CameraConfig > &camera_configs, const std::vector< ProcessingConfig > &pro_configs) |
Set multiple configurations. | |
bool | get_temperatures_capable () |
Whether the camera is capable of returning temperatures. | |
std::vector< float > | get_temperatures () |
Get the current on camera temperatures. | |
bool | persistent_ip_capable () const |
Whether the camera is persistent ip capable. | |
PersistentIp | get_persistent_ip () const |
Get the current persistent ip settings. | |
void | set_persistent_ip (const PersistentIp &persistent_ip) |
Set the persistent ip settings. | |
bool | apply_persistent_ip_capable () const |
Whether the camera is capable of applying the persistent ip. | |
void | apply_persistent_ip () |
Apply persistent ip by rebooting the camera, power cycling the camera is discouraged because the applied ip settings might not stick. | |
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Camera (tof_camera_t ptr=nullptr) | |
Construct from pointer. | |
void | start () |
Start streaming of the camera. | |
void | stop () |
Stop streaming of the camera. | |
bool | is_streaming () const |
Check whether the camera is streaming. | |
bool | is_connected () const |
Check whether the camera is still connected. | |
std::vector< Stream > | get_stream_list () const |
Get the different output streams the camera can provide. | |
void | set_stream_list (const std::vector< Stream > &streams) |
Set the streams that you want to get from the camera. | |
bool | is_stream_list_set () const |
Check whether the stream list is set. | |
std::vector< Stream > | get_set_stream_list () |
Get the stream list that is set on the camera. | |
ProcessingConfig | get_process_config () const |
Get the processing config of the camera. | |
void | set_process_config (ProcessingConfig &config) |
Set the processing config of the camera. | |
bool | has_frames () const |
Check if the camera has frames available. | |
std::vector< Data > | get_frames () |
Get data frames from camera. | |
void | clear_buffer () |
Clear the circular buffer used to store frames. | |
size_t | get_buffer_size () const |
Get the circular buffer size. | |
void | set_buffer_size (size_t size) |
Set the circular buffer size. | |
CameraConfig | get_camera_config () const |
Get the currently active camera config. | |
const char * | get_serial () const |
Get the serial number of the current camera. | |
Calibration | get_calibration () const |
Get calibration from the camera. | |
size_t | get_user_pointer_capacity () const |
Get the amount of user pointers that can be stored. | |
void | set_user_pointer_capacity (size_t capacity) |
Set the amount of user pointers that can be stored. | |
void | add_user_pointer (uint8_t *pointer, size_t capacity, user_pointer_destructed_fn &callback, FrameType frame_type) |
Add a pointer that will be filled with the specified data type. | |
void | add_user_pointer (uint8_t *pointer, size_t capacity, tof_user_pointer_destructed_t callback, void *callback_user_data, FrameType frame_type) |
Add a pointer that will be filled with the specified data type. | |
void | clear_user_pointers () |
Clear all user pointers in memory. | |
uint32_t | config_index () const |
Get the currently set configuration index. | |
void | switch_config (uint32_t config_index) |
Switch to a different config in real time, depending on configuration and camera, this can take 100-300ms. | |
std::vector< FrameType > | possible_frame_types () const |
Get the frame types that this camera can output. | |
bool | output_frame_types_set () |
Whether output frame types have been set. | |
std::vector< FrameType > | get_output_frame_types () const |
Get the frame types the camera should output. | |
void | set_output_frame_types (const std::vector< FrameType > &output_frame_types) |
Set the frame types the camera should output. | |
bool | has_multiple_configurations () const |
Check if multiple configurations are set. | |
std::vector< CameraConfig > | get_multiple_camera_configurations () const |
Get all the set camera configurations. | |
std::vector< ProcessingConfig > | get_multiple_processing_configurations () const |
Get all the set processing configurations. | |
std::vector< const char * > | get_multiple_names () const |
Get the name for each configuration. | |
std::vector< const char * > | get_multiple_descriptions () const |
Get the description for each configuration. | |
The main interface to the kea camera.
Definition at line 16 of file kea_camera.hpp.
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Construct from pointer.
Definition at line 19 of file kea_camera.hpp.
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Construct the kea camera.
processing_config | The processing config |
serial | The serial number of the camera to connect to, if the camera is available over both usb and gige it will be connected over usb. If an empty string is supplied the camera will connect to the first usb camera, if no usb camera is connected it will connect to the first gige camera that replies (this reply time is random, so you might connect to a different camera each time if you've got multiple cameras connected to your network). If no camera is found with the given serial number a nullptr and error is returned. |
Definition at line 32 of file kea_camera.hpp.
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Construct the kea camera with a processing config generated by default_processing from the camera config.
serial | The serial number of the camera to connect to, if the camera is available over both usb and gige it will be connected over usb. If an empty string is supplied the camera will connect to the first usb camera, if no usb camera is connected it will connect to the first gige camera that replies (this reply time is random, so you might connect to a different camera each time if you've got multiple cameras connected to your network). If no camera is found with the given serial number a nullptr and error is returned. |
Definition at line 47 of file kea_camera.hpp.
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Construct the kea camera with the given processing and camera config.
processing_config | The processing config |
serial | The serial number of the camera to connect to, if the camera is available over both usb and gige it will be connected over usb. If an empty string is supplied the camera will connect to the first usb camera, if no usb camera is connected it will connect to the first gige camera that replies (this reply time is random, so you might connect to a different camera each time if you've got multiple cameras connected to your network). If no camera is found with the given serial number a nullptr and error is returned. |
camera_config | The camera config |
Definition at line 63 of file kea_camera.hpp.
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Apply persistent ip by rebooting the camera, power cycling the camera is discouraged because the applied ip settings might not stick.
Definition at line 261 of file kea_camera.hpp.
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Whether the camera is capable of applying the persistent ip.
Definition at line 253 of file kea_camera.hpp.
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Get delay between network packets.
Definition at line 96 of file kea_camera.hpp.
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Get on camera processing.
Definition at line 78 of file kea_camera.hpp.
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Get maximum size of each network packet transmitted.
Definition at line 113 of file kea_camera.hpp.
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Get the current persistent ip settings.
Definition at line 233 of file kea_camera.hpp.
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Get the current on camera temperatures.
Definition at line 214 of file kea_camera.hpp.
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Whether the camera is capable of returning temperatures.
Definition at line 206 of file kea_camera.hpp.
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Check whether camera supports multiple configurations.
Definition at line 189 of file kea_camera.hpp.
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Check whether this kea camera can do on camera processing.
Definition at line 70 of file kea_camera.hpp.
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Whether the camera is persistent ip capable.
Definition at line 225 of file kea_camera.hpp.
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Update the camera remotely.
After uploading the update file the function will return. If a correct update file was uploaded, the camera will flash the update and reboot. This generally takes about a minute. The camera can also be updated via a web interface by visiting the ip address of the camera on port 8080, for example http://192.168.1.208:8080
file_location | Location of the update file |
Definition at line 181 of file kea_camera.hpp.
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Check whether the camera is capable of updating remotely.
Definition at line 169 of file kea_camera.hpp.
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Set the camera config.
camera_config | Camera config |
Definition at line 129 of file kea_camera.hpp.
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Set both the camera and processing config.
camera_config | Camera config |
processing_config | Processing config |
Definition at line 138 of file kea_camera.hpp.
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Set delay between network packets.
delay | The delay, depending on the camera software it is in nanoseconds or in cpu instruction |
Definition at line 105 of file kea_camera.hpp.
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Set multiple configurations.
camera_configs | Camera configurations |
pro_configs | Processing configurations |
Definition at line 198 of file kea_camera.hpp.
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Set on camera processing.
on_camera_processing | True on camera processing, false on host processing |
Definition at line 87 of file kea_camera.hpp.
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Set maximum size of each network packet transmitted.
size | Packet size in bytes |
Definition at line 121 of file kea_camera.hpp.
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Set the persistent ip settings.
To activate persistent ip settings run apply_persistent_ip.
persistent_ip | The persistent ip |
Definition at line 245 of file kea_camera.hpp.
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Software trigger the camera.
Definition at line 161 of file kea_camera.hpp.
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Check whether the camera is capable of software trigger.
Definition at line 154 of file kea_camera.hpp.
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Get the tof library version running on the camera.
Definition at line 146 of file kea_camera.hpp.