#include <RGBD/Include/ImFusion/RGBD/LaserManager.h>

Manages synchronization and coordination of laser states among multiple RGB-D sensors. More...

Detailed Description

Manages synchronization and coordination of laser states among multiple RGB-D sensors.

This singleton class ensures that only one sensor's laser is active at a time, preventing interference and enabling reliable multi-sensor acquisition. Therfore it is used for sensors that have active laser illumination (e.g. structured light or time-of-flight sensors).

LaserManager provides configurable delays for sensor and laser state changes, manages a queue for lock requests, and tracks lock failures.

Typical usage:

auto& manager = LaserManager::get();
manager.addSensor(sensorA); // usually done in RGBDStream::startImpl()
manager.addSensor(sensorB); // usually done in RGBDStream::startImpl()
manager.setEnabled(true);   // usually done once at program start
manager.lockLaserState(sensorA); //usually done in RGBDStream::doWork() through LaserLocker
// Only sensorA's laser is active
manager.unlockLaserState(sensorA);  //usually done in RGBDStream::doWork() through LaserLocker running out of scope

Note

The class is thread-safe.
All delays are specified in milliseconds.
Sensors must support laser control for correct operation.

See also: ImFusion::LaserLocker, ImFusion::RGBDStream

Public Member Functions
	LaserManager (const LaserManager &obj)=delete

void	setEnabled (bool enable)
	Enables or disables laser synchronization.

bool	enabled () const

void	setLaserWaitTime (int waitMs)
	Sets the duration (ms) to wait after enabling a laser before frames are accepted.

int	laserWaitTime () const

void	setLaserDelay (int delay)
	Sets the delay (ms) between turning all lasers off and enabling the target laser.

int	laserDelay () const

void	setSensorOpenDelay (int delay)
	Sets the delay (ms) after opening a sensor.

int	sensorOpenDelay () const

void	setSensorCloseDelay (int delay)
	Sets the delay (ms) after closing a sensor.

int	sensorCloseDelay () const

void	setSensorStartDelay (int delay)
	Sets the delay (ms) after starting a sensor.

int	sensorStartDelay () const

void	setSensorStopDelay (int delay)
	Sets the delay (ms) after stopping a sensor.

int	sensorStopDelay () const

void	addSensor (RGBDStream *sensor)
	Registers a sensor for laser management.

void	removeSensor (RGBDStream *sensor)
	Removes a sensor from laser management.

bool	lockLaserState (RGBDStream *sensor, int timeout=5000)
	Locks the laser state for the specified sensor, turning its laser on and all others off.

void	unlockLaserState (RGBDStream *sensor)
	Unlocks the laser state for the specified sensor, allowing other sensors to acquire the lock.

int	sensorCount () const
	Returns the number of managed sensors.

Static Public Member Functions
static LaserManager &	get ()
	Returns the singleton instance of the LaserManager.

Member Function Documentation

◆ lockLaserState()

bool lockLaserState	(	RGBDStream *	sensor,
		int	timeout = 5000 )

Locks the laser state for the specified sensor, turning its laser on and all others off.

Returns true if the lock was acquired within the timeout.

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

RGBD/Include/ImFusion/RGBD/LaserManager.h

Detailed Description

Public Member Functions

Static Public Member Functions

Member Function Documentation

◆ lockLaserState()