Time-of-Flight Library(ToF)
3.2.2
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Connect to a camera directly using the gige interface. More...
#include <gige_interface.hpp>
Public Member Functions | |
GigeInterface (tof_gige_interface_t ptr) | |
Construct from pointer. | |
GigeInterface (uint16_t port=0) | |
Create an instance of the gige interface. More... | |
std::vector< DiscoveryMessage > | discover () |
Detect all the cameras on the network. More... | |
DiscoveryMessage | discover_one () |
Returns a message of the first camera that responded. More... | |
DiscoveryMessage | find (StringView serial) |
Detect a specific camera on the network, will throw an error if it can't find the camera. More... | |
void | connect (const DiscoveryMessage &message) |
Connect to the camera and gain exclusive access. More... | |
void | disconnect () |
Disconnect from the camera. | |
bool | is_connected () const |
Check whether a connection is still maintained with the camera. More... | |
uint16_t | get_stream_packet_size () const |
Get stream packet size. More... | |
void | set_stream_packet_size (uint16_t packet_size) |
Set stream packet size. More... | |
bool | test_stream_packet_size (uint16_t port=0) |
Test whether using the set packet size works. More... | |
uint32_t | get_delay () const |
Get delay between network packets. More... | |
void | set_delay (uint32_t delay) |
Set delay between network packets. More... | |
CameraConfig | download_configuration (uint16_t port=0) |
Download camera configuration from the camera. More... | |
Calibration | download_calibration (uint16_t port=0) |
Download calibration from the camera. More... | |
void | upload_configuration (const CameraConfig &config, uint16_t port=0) |
Upload camera configuration to the camera. More... | |
bool | depth_stream_capable (DepthStreamType stream) const |
Check whether this camera is capable of streaming the specified type. More... | |
void | start_depth_stream (DepthStreamType stream, uint16_t port=0) |
Start the depth stream. More... | |
void | stop_depth_stream () |
Stop the depth stream. | |
bool | has_depth_data () const |
Returns true if a depth frame is available. More... | |
Data | get_depth_data () |
Get a depth frame. More... | |
bool | image_stream_capable () const |
Check whether camera supports an image stream. More... | |
void | start_image_stream (uint16_t port=0) |
Start image stream. More... | |
void | stop_image_stream () |
Stop image stream. | |
bool | has_image_data () const |
Check whether image frame is available. More... | |
Data | get_image_data () |
Get image frame. More... | |
Data | get_image_data_into_pointer (uint8_t *pointer, size_t capacity, user_pointer_destructed_fn &callback) |
Get the image frame into the supplied pointer. More... | |
Data | get_image_data_into_pointer (uint8_t *pointer, size_t capacity, tof_user_pointer_destructed_t callback, void *callback_user_data) |
Get the image frame into the supplied pointer. More... | |
bool | persistent_ip_capable () const |
Get whether the camera is persistent ip capable. More... | |
PersistentIp | get_persistent_ip () const |
Get the current persistent ip settings. More... | |
void | set_persistent_ip (const PersistentIp &persistent_ip) |
Set the persistent ip settings. More... | |
size_t | get_user_pointer_capacity () const |
Get the capacity for amount of user pointers that can be registered. More... | |
void | set_user_pointer_capacity (size_t capacity) |
Set the capacity for amount of user pointers that can be registered. More... | |
void | add_depth_user_pointer (uint8_t *pointer, size_t capacity, user_pointer_destructed_fn &callback) |
Add a pointer that will be filled with depth data. More... | |
void | add_depth_user_pointer (uint8_t *pointer, size_t capacity, tof_user_pointer_destructed_t callback, void *callback_user_data) |
Add a pointer that will be filled with depth data. More... | |
const char * | version () |
Get the tof library version running on the camera. More... | |
Connect to a camera directly using the gige interface.
Definition at line 126 of file gige_interface.hpp.
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Create an instance of the gige interface.
port | The port to use for GVCP communication, if 0 is specified it will use an OS assigned port |
Definition at line 137 of file gige_interface.hpp.
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Add a pointer that will be filled with depth data.
This method allows you to fill data straight into your own data structure without any additional copying.
pointer | The pointer to the data to write into |
capacity | The amount of data the pointer can hold |
callback | Callback that will be called when pointer is no longer in use |
callback_user_data | User data that will be passed back when the function pointer is called |
Definition at line 430 of file gige_interface.hpp.
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Add a pointer that will be filled with depth data.
This method allows you to fill data straight into your own data structure without any additional copying.
pointer | The pointer to the data to write into |
capacity | The amount of data the pointer can hold |
callback | Callback that will be called when pointer is no longer in use |
Definition at line 417 of file gige_interface.hpp.
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Connect to the camera and gain exclusive access.
message | Discovery message of the camera to connect to |
Definition at line 180 of file gige_interface.hpp.
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Check whether this camera is capable of streaming the specified type.
stream | Depth stream type |
Definition at line 269 of file gige_interface.hpp.
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Detect all the cameras on the network.
Definition at line 144 of file gige_interface.hpp.
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Returns a message of the first camera that responded.
Definition at line 158 of file gige_interface.hpp.
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Download calibration from the camera.
port | Port to download configuration on |
Definition at line 250 of file gige_interface.hpp.
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Download camera configuration from the camera.
port | Port to download configuration on |
Definition at line 239 of file gige_interface.hpp.
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Detect a specific camera on the network, will throw an error if it can't find the camera.
serial | Serial number of camera to find |
Definition at line 170 of file gige_interface.hpp.
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Get delay between network packets.
Definition at line 223 of file gige_interface.hpp.
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Get the image frame into the supplied pointer.
pointer | The pointer to the data to write into |
capacity | The amount of data the pointer can hold |
callback | Callback that will be called when pointer is no longer in use |
callback_user_data | User data that will be passed back when the function pointer is called |
Definition at line 363 of file gige_interface.hpp.
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Get the image frame into the supplied pointer.
pointer | The pointer to the data to write into |
capacity | The amount of data the pointer can hold |
callback | Callback that will be called when pointer is no longer in use |
Definition at line 348 of file gige_interface.hpp.
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Get the current persistent ip settings.
Definition at line 380 of file gige_interface.hpp.
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Get the capacity for amount of user pointers that can be registered.
Definition at line 398 of file gige_interface.hpp.
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Returns true if a depth frame is available.
Definition at line 290 of file gige_interface.hpp.
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Check whether image frame is available.
Definition at line 327 of file gige_interface.hpp.
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Check whether camera supports an image stream.
Definition at line 307 of file gige_interface.hpp.
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Check whether a connection is still maintained with the camera.
Definition at line 193 of file gige_interface.hpp.
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Get whether the camera is persistent ip capable.
Definition at line 373 of file gige_interface.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 231 of file gige_interface.hpp.
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Set the persistent ip settings.
The persistent ip settings will be active on next reboot.
persistent_ip | The persistent ip |
Definition at line 391 of file gige_interface.hpp.
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Set stream packet size.
packet_size | The packet size |
Definition at line 207 of file gige_interface.hpp.
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Set the capacity for amount of user pointers that can be registered.
capacity | User pointer capacity |
Definition at line 405 of file gige_interface.hpp.
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Start the depth stream.
stream | Depth stream type |
port | Port to receive depth data on |
Definition at line 277 of file gige_interface.hpp.
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Start image stream.
port | Port to receive image data on |
Definition at line 314 of file gige_interface.hpp.
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Test whether using the set packet size works.
port | Port to send test packets to |
Definition at line 215 of file gige_interface.hpp.
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Upload camera configuration to the camera.
config | Camera configuration |
port | Port to download configuration on |
Definition at line 261 of file gige_interface.hpp.
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Get the tof library version running on the camera.
Definition at line 437 of file gige_interface.hpp.