22 #include "vnl/vnl_matrix.h"
25 #define SOURCE_PARAM ""
68 MITK_INFO <<
"Datasource size: " << this->m_SourceDataSize <<std::endl;
78 std::stringstream command;
79 command<<
"SetSoftOffset "<<
offset;
80 this->m_PMDRes = pmdSourceCommand(
m_PMDHandle,0,0,command.str().c_str());
81 return ErrorText(this->m_PMDRes);
87 this->m_PMDRes = pmdSourceCommand(
m_PMDHandle, offset, 16,
"GetSoftOffset");
88 ErrorText(this->m_PMDRes);
96 unsigned int factor = leftUpperCornerX/3;
97 leftUpperCornerX = 3*factor;
100 std::stringstream command;
101 command<<
"SetROI "<<leftUpperCornerX<<
" "<<leftUpperCornerY<<
" "<<width<<
" "<<height;
102 this->m_PMDRes = pmdSourceCommand(
m_PMDHandle,0,0,command.str().c_str());
103 return ErrorText(this->m_PMDRes);
108 return this->SetRegionOfInterest(roi[0],roi[1],roi[2],roi[3]);
149 std::stringstream commandStream;
150 commandStream<<
"SetFOV "<<fov;
151 this->m_PMDRes = pmdProcessingCommand(
m_PMDHandle, 0, 0, commandStream.str().c_str());
152 return ErrorText(this->m_PMDRes);
162 outMat = temp.transpose();
167 outMat.copy_out(out);
unsigned int m_InternalCaptureHeight
holds the height of the image in pixel as is it requested by the user (cf. TransformCameraOutput()) D...
ToFCameraPMDCamBoardController()
virtual bool UpdateCamera()
calls update on the camera -> a new ToF-image is aquired
PMDDataDescription m_DataDescription
virtual void TransformCameraOutput(float *in, float *out, bool isDist)
unsigned int * GetRegionOfInterest()
returns the region of interest currently set
~ToFCameraPMDCamBoardController()
#define MITK_TOF_PMDCAMBOARD_PROCESSING_PLUGIN
char * m_ProcParam
holds processing parameter(s)
int m_PixelNumber
holds the number of pixels contained in the image
DataCollection - Class to facilitate loading/accessing structured data.
bool m_ConnectionCheck
flag showing whether the camera is connected (true) or not (false)
#define MITK_TOF_PMDCAMBOARD_SOURCE_PLUGIN
int m_NumberOfBytes
holds the number of bytes contained in the image
virtual int GetIntegrationTime()
Returns the currently set integration time.
unsigned int m_CaptureHeight
holds the height of the image in pixel as it is originally acquired by the camera ...
bool SetDistanceOffset(float offset)
sets an additional distance offset which will be added to all distance values.
bool SetFieldOfView(float fov)
Sets the field of view of the camera lens.
float GetDistanceOffset()
returns the currently applied distance offset in m
virtual int GetModulationFrequency()
Returns the currently set modulation frequency.
bool ErrorText(int error)
Method printing the current error message to the console and returning whether the previous command w...
char * m_ProcPlugin
holds name of processing plugin to be loaded (e.g. camcubeproc.W64.pap for CamCube 3...
virtual bool OpenCameraConnection()
opens a connection to the ToF camera and initializes the hardware specific members ...
unsigned int m_CaptureWidth
holds the width of the image in pixel as it is originally acquired by the camera
int m_PMDRes
holds the current result message provided by PMD
int m_SourceDataStructSize
size of the PMD source data struct and the PMD source data
static bool in(Reader::Char c, Reader::Char c1, Reader::Char c2, Reader::Char c3, Reader::Char c4)
unsigned int m_InternalCaptureWidth
holds the width of the image in pixel as it is requested by the user (cf. TransformCameraOutput()) De...
bool SetRegionOfInterest(unsigned int leftUpperCornerX, unsigned int leftUpperCornerY, unsigned int width, unsigned int height)
Setting the region of interest, the camera is configured to only output a certain area of the image...
char * m_SourceParam
holds source parameter(s)
int m_SourceDataSize
size of the original PMD source data
char * m_SourcePlugin
holds name of source plugin to be loaded (e.g. camcube3.W64.pap for CamCube 3.0 on Win64 platform) ...