24 #ifndef __FIREVISION_CAMS_SWISSRANGER_H_ 25 #define __FIREVISION_CAMS_SWISSRANGER_H_ 27 #include <fvcams/camera.h> 28 #include <fvcams/control/focus.h> 31 #include <definesSR.h> 38 class CameraArgumentParser;
73 virtual unsigned char*
buffer();
83 virtual const char *
model()
const;
102 unsigned int __vendor_id;
103 unsigned int __product_id;
104 unsigned int __serial;
110 unsigned int __integration_time;
111 unsigned int __amplitude_threshold;
113 ModulationFrq __modulation_freq;
115 unsigned int __width;
116 unsigned int __height;
118 size_t __buffer_size;
119 unsigned char *__buffer;
120 unsigned char *__gray_buffer;
121 void *__coord_uint16_buf;
122 float *__coord_float_buf;
123 double *__coord_double_buf;
127 unsigned short *__zu;
virtual void flush()
Flush image queue.
amplitude gray image, 8bpp
bool _valid_frame_received
true, if a valid frame has been received, false otherwise
Camera interface for image aquiring devices in FireVision.
bool _started
true if camera has been started, false otherwise
raw distance image, unsigned short distance values
virtual unsigned char * buffer()
Get access to current image buffer.
virtual bool ready()
Camera is ready for taking pictures.
amplitude gray image, 16bpp
virtual ~SwissRangerCamera()
Empty destructor.
SwissRangerCamera(const CameraArgumentParser *cap)
Constructor.
raw amplitude image, unsigned short values
static void print_available_cams()
Print list of cameras.
virtual unsigned int pixel_width()
Width of image in pixels.
Cartesian coordinates, three consecutive planes for X, Y, Z data, each with double values (meters) ...
virtual void close()
Close camera.
virtual unsigned int buffer_size()
Size of buffer.
virtual void set_image_number(unsigned int n)
Set image number to retrieve.
virtual const char * model() const
Get camera model.
Cartesian coordinates, three consecutive planes for X, Y, Z data, each with float values (meters) ...
Cartesian coordinates, three consecutive planes for X, Y, Z data, each with unsigned short values (mm...
virtual void capture()
Capture an image.
bool _opened
true if camera has been opened, false otherwise
virtual unsigned int pixel_height()
Height of image in pixels.
virtual colorspace_t colorspace()
Colorspace of returned image.
virtual void stop()
Stop image transfer from the camera.
mode_t
Operation mode of the camera.
gray distance image, plain gray 8bpp buffer
virtual void print_info()
Print out camera information.
virtual void start()
Start image transfer from the camera.
virtual void open()
Open the camera.
virtual void dispose_buffer()
Dispose current buffer.