40 #ifndef PCL_IO_DINAST_GRABBER_
41 #define PCL_IO_DINAST_GRABBER_
43 #include <pcl/point_types.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/io/grabber.h>
46 #include <pcl/common/time.h>
47 #include <pcl/console/print.h>
48 #include <libusb-1.0/libusb.h>
49 #include <boost/circular_buffer.hpp>
60 typedef void (sig_cb_dinast_point_cloud) (
const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
82 {
return (std::string (
"DinastGrabber")); }
96 getFramesPerSecond ()
const;
107 onInit (
const int device_id);
115 setupDevice (
int device_position,
116 const int id_vendor = 0x18d1,
117 const int id_product = 0x1402);
124 USBRxControlData (
const unsigned char req_code,
125 unsigned char *buffer,
133 USBTxControlData (
const unsigned char req_code,
134 unsigned char *buffer,
154 getXYZIPointCloud ();
159 captureThreadFunction ();
199 enum { CMD_READ_START=0xC7, CMD_READ_STOP=0xC8, CMD_GET_VERSION=0xDC, CMD_SEND_DATA=0xDE };
215 #endif // PCL_IO_DINAST_GRABBER_