The main interface to the depth cameras. More...

#include <camera.hpp>

Inheritance diagram for chronoptics::tof::Camera:

Public Member Functions
	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.

ProcessingConfig	get_process_config () const
	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.

Detailed Description

The main interface to the depth cameras.

Definition at line 17 of file camera.hpp.

Constructor & Destructor Documentation

◆ Camera()

chronoptics::tof::Camera::Camera ( tof_camera_t ptr = nullptr )

inline

Construct from pointer.

Definition at line 20 of file camera.hpp.

Member Function Documentation

◆ add_user_pointer() [1/2]

void chronoptics::tof::Camera::add_user_pointer	(	uint8_t *	pointer,
		size_t	capacity,
		tof_user_pointer_destructed_t	callback,
		void *	callback_user_data,
		FrameType	frame_type
	)

inline

Add a pointer that will be filled with the specified data type.

This method allows you to fill data straight into your own data type without any additional copying.

Parameters

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
frame_type	The frame type that will be filled into the pointer

Definition at line 181 of file camera.hpp.

◆ add_user_pointer() [2/2]

void chronoptics::tof::Camera::add_user_pointer	(	uint8_t *	pointer,
		size_t	capacity,
		user_pointer_destructed_fn &	callback,
		FrameType	frame_type
	)

inline

Add a pointer that will be filled with the specified data type.

This method allows you to fill data straight into your own data type without any additional copying.

Parameters

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
frame_type	The frame type that will be filled into the pointer

Definition at line 167 of file camera.hpp.

◆ clear_buffer()

void chronoptics::tof::Camera::clear_buffer ( )

inline

Clear the circular buffer used to store frames.

Definition at line 97 of file camera.hpp.

◆ clear_user_pointers()

void chronoptics::tof::Camera::clear_user_pointers ( )

inline

Clear all user pointers in memory.

Definition at line 187 of file camera.hpp.

◆ config_index()

uint32_t chronoptics::tof::Camera::config_index ( ) const

inline

Get the currently set configuration index.

Returns: config index

Definition at line 194 of file camera.hpp.

Referenced by switch_config().

◆ get_buffer_size()

size_t chronoptics::tof::Camera::get_buffer_size ( ) const

inline

Get the circular buffer size.

Returns: The maximum number of sets of frames that is stored before the oldest is overwritten

Definition at line 105 of file camera.hpp.

◆ get_calibration()

Calibration chronoptics::tof::Camera::get_calibration ( ) const

inline

Get calibration from the camera.

Returns: The calibration

Definition at line 137 of file camera.hpp.

◆ get_camera_config()

CameraConfig chronoptics::tof::Camera::get_camera_config ( ) const

inline

Get the currently active camera config.

Returns: The camera config

Definition at line 120 of file camera.hpp.

◆ get_frames()

std::vector< Data > chronoptics::tof::Camera::get_frames ( )

inline

Get data frames from camera.

Returns: Data frames

Definition at line 84 of file camera.hpp.

◆ get_multiple_camera_configurations()

std::vector< CameraConfig > chronoptics::tof::Camera::get_multiple_camera_configurations ( ) const

inline

Get all the set camera configurations.

Returns: Multiple camera configurations

Definition at line 251 of file camera.hpp.

◆ get_multiple_descriptions()

std::vector< const char * > chronoptics::tof::Camera::get_multiple_descriptions ( ) const

inline

Get the description for each configuration.

Returns: Descriptions

Definition at line 289 of file camera.hpp.

◆ get_multiple_names()

std::vector< const char * > chronoptics::tof::Camera::get_multiple_names ( ) const

inline

Get the name for each configuration.

Returns: Names

Definition at line 279 of file camera.hpp.

◆ get_multiple_processing_configurations()

std::vector< ProcessingConfig > chronoptics::tof::Camera::get_multiple_processing_configurations ( ) const

inline

Get all the set processing configurations.

Returns: Multiple processing configurations

Definition at line 265 of file camera.hpp.

◆ get_output_frame_types()

std::vector< FrameType > chronoptics::tof::Camera::get_output_frame_types ( ) const

inline

Get the frame types the camera should output.

Returns: Output frame types

Definition at line 226 of file camera.hpp.

◆ get_process_config()

ProcessingConfig chronoptics::tof::Camera::get_process_config ( ) const

inline

the processing config of the camera

Returns: The processing config

Definition at line 67 of file camera.hpp.

◆ get_serial()

const char * chronoptics::tof::Camera::get_serial ( ) const

inline

Get the serial number of the current camera.

Returns: The serial

Definition at line 130 of file camera.hpp.

◆ get_stream_list()

std::vector< Stream > chronoptics::tof::Camera::get_stream_list ( ) const

inline

Get the different output streams the camera can provide.

Returns: The streams

Definition at line 53 of file camera.hpp.

◆ get_user_pointer_capacity()

size_t chronoptics::tof::Camera::get_user_pointer_capacity ( ) const

inline

Get the amount of user pointers that can be stored.

Returns: The capacity

Definition at line 147 of file camera.hpp.

◆ has_frames()

bool chronoptics::tof::Camera::has_frames ( ) const

inline

Check if the camera has frames available.

Returns: Has frames available

Definition at line 77 of file camera.hpp.

◆ has_multiple_configurations()

bool chronoptics::tof::Camera::has_multiple_configurations ( ) const

inline

Check if multiple configurations are set.

Switch config can only be used when this is the case.

Returns: Is set

Definition at line 244 of file camera.hpp.

◆ is_connected()

bool chronoptics::tof::Camera::is_connected ( ) const

inline

Check whether the camera is still connected.

Returns: Is connected

Definition at line 46 of file camera.hpp.

◆ is_streaming()

bool chronoptics::tof::Camera::is_streaming ( ) const

inline

Check whether the camera is streaming.

Returns: Is streaming

Definition at line 39 of file camera.hpp.

◆ output_frame_types_set()

bool chronoptics::tof::Camera::output_frame_types_set ( )

inline

Whether output frame types have been set.

Returns: Output frame types set

Definition at line 219 of file camera.hpp.

◆ possible_frame_types()

std::vector< FrameType > chronoptics::tof::Camera::possible_frame_types ( ) const

inline

Get the frame types that this camera can output.

Returns: Possible frame types

Definition at line 209 of file camera.hpp.

◆ set_buffer_size()

void chronoptics::tof::Camera::set_buffer_size ( size_t size )

inline

Set the circular buffer size.

Parameters

size	The maximum number of sets of frames that is stored before the oldest is overwritten

Definition at line 113 of file camera.hpp.

◆ set_output_frame_types()

void chronoptics::tof::Camera::set_output_frame_types ( const std::vector< FrameType > & output_frame_types )

inline

Set the frame types the camera should output.

Parameters

output_frame_types Output frame types

Definition at line 236 of file camera.hpp.

◆ set_user_pointer_capacity()

void chronoptics::tof::Camera::set_user_pointer_capacity ( size_t capacity )

inline

Set the amount of user pointers that can be stored.

Parameters

capacity The capacity

Definition at line 154 of file camera.hpp.

◆ start()

void chronoptics::tof::Camera::start ( )

inline

Start streaming of the camera.

Definition at line 26 of file camera.hpp.

◆ stop()

void chronoptics::tof::Camera::stop ( )

inline

Stop streaming of the camera.

Definition at line 32 of file camera.hpp.

◆ switch_config()

void chronoptics::tof::Camera::switch_config ( uint32_t config_index )

inline

Switch to a different config in real time, depending on configuration and camera, this can take 100-300ms.

Parameters

config_index Config index to switch to

Definition at line 202 of file camera.hpp.

References config_index().

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Camera()

Member Function Documentation

◆ add_user_pointer() [1/2]

◆ add_user_pointer() [2/2]

◆ clear_buffer()

◆ clear_user_pointers()

◆ config_index()

◆ get_buffer_size()

◆ get_calibration()

◆ get_camera_config()

◆ get_frames()

◆ get_multiple_camera_configurations()

◆ get_multiple_descriptions()

◆ get_multiple_names()

◆ get_multiple_processing_configurations()

◆ get_output_frame_types()

◆ get_process_config()

◆ get_serial()

◆ get_stream_list()

◆ get_user_pointer_capacity()

◆ has_frames()

◆ has_multiple_configurations()

◆ is_connected()

◆ is_streaming()

◆ output_frame_types_set()

◆ possible_frame_types()

◆ set_buffer_size()

◆ set_output_frame_types()

◆ set_user_pointer_capacity()

◆ start()

◆ stop()

◆ switch_config()