demo version

demo/camera_client/dependencies/libvisiontransfer/README.md

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+Vision Transfer Library 9.0.2
+-----------------------------
+
+The given library provides functionally for receiving and transmitting
+image pairs over a computer network. The intended use for this library
+is to receive output data from Nerian's 3D camera systems. However, the
+library also provides functionality for transmitting image data. It can
+thus be used for emulating a camera system when performing systems
+development, or for transmitting image data to Nerian's SceneScan
+system when using network image input.
+
+Images can be transferred with a bit depth of either 8 or 12 bits. When
+receiving 12-bit images, the library inflates the images internally to
+16 bits, in order to allow for more efficient processing. Monochrome
+and RGB images are supported.
+
+When receiving data from a camera system, the first image of an image
+set is typically the rectified image of the left camera, with a bit
+depth of 8 or 12 bits. The second image is typically a disparity map
+with subpixel resolution, which is transmitted as a 12-bit image. Each
+value in the disparity map has to be divided by 16 in order to receive
+disparities at the correct scale.
+
+There exist three possible ways for receiving and transmitting image
+pairs:
+
+* `visiontransfer::AsyncTransfer` allows for the asynchronous reception
+   or transmission of image pairs. This class creates one or more
+   threads that handle all network communication.
+
+* `visiontransfer::ImageTransfer` opens up a network socket for sending
+   and receiving image pairs. This class is single-threaded and will
+   thus block when receiving or transmitting data.
+
+* `visiontransfer::ImageProtocol` is the most low-level interface. This
+   class allows for the encoding and decoding of image pairs to / from
+   network messages. You will have to handle all network communication
+   yourself.
+
+
+In order to discover connected devices on the network, the class
+`visiontransfer::DeviceEnumeration` can be used, which scans for
+available devices and returns a list of `visiontransfer::DeviceInfo`
+objects. Such a `visiontransfer::DeviceInfo` object can be used for
+instantiating `visiontransfer::ImageTransfer` or
+`visiontransfer::AsyncTransfer`.
+
+A separate network protocol is used for reading and writing device
+parameters. This protocol is implemented by
+`visiontransfer::DeviceParameters`. Any parameters that are changed
+through this protocol will be reset if the device is rebooted or if the
+user makes a parameter change through the web interface.
+
+The library further includes the class `visiontransfer::Reconstruct3D`,
+which can be used for transforming a received disparity map into a set
+of 3D points.
+
+Available Examples
+------------------
+
+| File name                      | Description                                                                    |
+|--------------------------------|--------------------------------------------------------------------------------|
+| `asynctransfer_example.cpp`    | Demonstration of asynchroneous transfers with `visiontransfer::AsyncTransfer`. |
+| `imagetransfer_example.cpp`    | Demonstration of synchroneous transfers with `visiontransfer::ImageTransfer`.  |
+| `opencv_example.cpp`           | Shows how to convert an ImagePair to OpenCV images.                            |
+| `parameter_example.cpp`        | Shows how to read and write device parameters.                                 |
+| `pcl_example.cpp`              | Shows how to convert a disparity map to a PCL point cloud                      |
+| `server_example.cpp`           | Shows how to create a server that acts like a SceneScan device.                |
+| `imu_data_channel_example.cpp` | Shows how to receive IMU data.                                                 |
+
+[Changelog](CHANGELOG.md)