LSSensor Class Reference

The general interface to connect and communicate with a FARO sensor devices. More...

#include <lssensor.h>

Inheritance diagram for LSSensor:

Classes
struct	ButtonInfo
	Button info containing hardware button and event. More...

Public Types
enum	Button { LEFT, MIDDLE, RIGHT }
	Hardware buttons. More...
enum	ButtonEvent {   CLICK, DOUBLECLICK, PRESS,   RELEASE }
	Events for hardware buttons. More...
typedef Eigen::Matrix< Eigen::Vector3uc, Eigen::Dynamic, Eigen::Dynamic >	VideoData
	Event that is triggered when new video data is available. More...

Public Member Functions
	LSSensor ()
	~LSSensor ()
ref_ptr< LSError >	connect (LSString id, float timeout=30.f)
	Connects to a sensor. More...
LSPod< std::vector< std::pair< LSString, LSString > > >	detectSensors () const
	Fetches a list of available sensors. More...
	SENSOR_SIGNAL (void) &onSensorDisconnected()
	Event that is triggered when a sensor device has been removed. More...
	SENSOR_SIGNAL (void) &onScanStartTriggered()
	Event that is triggered when the user intends to start scanning. More...
	SENSOR_SIGNAL (void) &onScanStarted()
	Event that is triggered when scanning has started. More...
	SENSOR_SIGNAL (void) &onScanTrackingLost()
	Event that is triggered when tracking has been lost. More...
	SENSOR_SIGNAL (void) &onScanTrackingFound()
	Event that is triggered when tracking has been found. More...
	SENSOR_SIGNAL (void) &onScanStopTriggered()
	Event that is triggered when the user intends to stop scanning. More...
	SENSOR_SIGNAL (void) &onScanCompleted()
	Event that is triggered when scanning has stopped and the scan is completed. More...
	FRAME_SIGNAL (LSPod< std::vector< LSPointXYZRGB >>) &onPointData()
	Event that is triggered when new point data is available. More...
	FRAME_SIGNAL (Eigen::Matrix4d) &onUpdateFramePose()
	Event that is triggered each time a frame's pose is updated. More...
	SENSOR_SIGNAL (ButtonInfo) &onButtonEvent()
	Event that is triggered when a hardware button event occurs. More...
LSResult::Result	start ()
	Starts the scanning process. More...
LSResult::Result	stop ()
	Stops the scanning process. More...

Additional Inherited Members
Protected Member Functions inherited from LSRefType
void	ref () const
	Increments the internal reference counter. More...
void	unref () const
	Decrements the internal reference counter. More...

Detailed Description

The general interface to connect and communicate with a FARO sensor devices.

Version

SCENE API Version 2.0.14.

Member Typedef Documentation

VideoData

typedef Eigen::Matrix<Eigen::Vector3uc, Eigen::Dynamic, Eigen::Dynamic> VideoData

Event that is triggered when new video data is available.

Version

SCENE API Version 2.0.14.

Member Enumeration Documentation

Button

enum Button

strong

Hardware buttons.

Version

SCENE API Version 2.0.17.

Enumerator
LEFT	Left button.
MIDDLE	Middle button.
RIGHT	Right button.

ButtonEvent

enum ButtonEvent

strong

Events for hardware buttons.

Version

SCENE API Version 2.0.17.

Enumerator
CLICK	Normal click (press and release).
DOUBLECLICK	Double click (two fast normal clicks).
PRESS	Button down.
RELEASE	Button up.

Constructor & Destructor Documentation

LSSensor()

LSSensor

(

)

Version

SCENE API Version 2.0.14.

~LSSensor()

~LSSensor

(

)

Version

SCENE API Version 2.0.14.

Member Function Documentation

connect()

ref_ptr<LSError> connect	(	LSString	id,
		float	timeout = 30.f
	)

Connects to a sensor.

Precondition

An open workspace (see LSSceneContext::openSceneWorkspace() or LSStandaloneContext::setCurrentWorkspace())

Parameters

id	The id of the sensor to connect to.
timeout	The timeout for the connection attempt.

Returns

An LSResult code.

Version

SCENE API Version 2.0.14.

detectSensors()

LSPod<std::vector<std::pair<LSString, LSString> > > detectSensors

(

)

const

Fetches a list of available sensors.

Returns

A list of detected sensors, each pair contains the serial number and the id.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [1/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when a sensor device has been removed.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [2/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when the user intends to start scanning.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [3/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when scanning has started.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [4/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when tracking has been lost.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [5/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when tracking has been found.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [6/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when the user intends to stop scanning.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [7/8]

SENSOR_SIGNAL

(

void

)

&

Event that is triggered when scanning has stopped and the scan is completed.

Version

SCENE API Version 2.0.14.

FRAME_SIGNAL() [1/2]

FRAME_SIGNAL

(

LSPod< std::vector< LSPointXYZRGB >>

)

&

Event that is triggered when new point data is available.

Version

SCENE API Version 2.0.14.

FRAME_SIGNAL() [2/2]

FRAME_SIGNAL

(

Eigen::Matrix4d

)

&

Event that is triggered each time a frame's pose is updated.

Use the pose to convert a frame's points to world coordinates.

Version

SCENE API Version 2.0.14.

SENSOR_SIGNAL() [8/8]

SENSOR_SIGNAL

(

ButtonInfo

)

&

Event that is triggered when a hardware button event occurs.

Version

SCENE API Version 2.0.17.

start()

LSResult::Result start

(

)

Starts the scanning process.

Version

SCENE API Version 2.0.17.

stop()

LSResult::Result stop

(

)

Stops the scanning process.

Version

SCENE API Version 2.0.17.