ArPixelDevice< DataObject > Class Template Reference

Holds data from a sensor that provides data arranged in a 2d array. More...

#include <ArPixelDevice.h>

Public Member Functions
	ArPixelDevice (int x_size, int y_size, double x_fov, double y_fov, const char *name)
	Base Constructor.
const char *	getName (void)
	Get the name of the device.
DataObject ***	getRawSensorData (void)
	Gets the raw sensor data.
DataObject ***	getRawSensorXYZ (void)
	Gets the raw XYZ data.
DataObject *	getSensorData (int x, int y)
	Get the value of the sensor at the (x,y) coords.
DataObject *	getSensorXYZ (int x, int y)
	Get the xyz array of the sensor at the (x,y) pizels.
int	getXDimension (void)
	Get the dimension of the grid in the x direction.
double	getXFOV (void)
	Get the X direction Field of View, in degrees.
int	getYDimension (void)
	Get the dimension of the grid in the y direction.
double	getYFOV (void)
	Get the Y direction Field of View, in degrees.
virtual int	lockDevice ()
	Lock this device.
virtual int	tryLockDevice ()
	Try to lock this device.
virtual int	unlockDevice ()
	Unlock this device.
virtual	~ArPixelDevice ()
	Base destructor.

Protected Member Functions
bool	allocateSensorDataMemory ()
bool	allocateSensorXYZMemory ()

Protected Attributes
ArMutex	myDeviceMutex
std::string	myName
DataObject ***	mySensorData
DataObject ***	mySensorXYZ
double	myXFOV
int	myXSize
double	myYFOV
int	myYSize

Detailed Description

template<class DataObject>
class ArPixelDevice< DataObject >

Holds data from a sensor that provides data arranged in a 2d array.

Subclasses are used for specific sensor implementations, such as the ArFocusPixelDevice for the Focus Robotics nDepth stereocamera.

The data are arranged in an x,y grid, with the origin being in the upper left corner, from the perspective of the robot. It's in a row-major format.

The Field of View (FOV) is assumed to be centered with zero being the center of the area, such that the permitted x angles are between ((-x_fov/2) to (+x_fov/2)) and ((-y_fov/2) to (+y_fov/2)). Negative angles are to the lower left of the grid from the perspective of the robot.

Parameters

x_size	dimension of data grid in x direction
y_size	dimension of data grid in y direction
x_fov	Field of View of sensor in X direction (angle in degrees)
y_fov	Field of View of sensor in Y direction (angle in degrees)
name	the name of this device

---

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

• ArPixelDevice.h