Virtual interface and base class for all PMD Time-of-Flight devices. Wraps PMD API provided in PMDSDK2 Provides methods for accessing current distance, amplitude, intensity and raw data. Allows to set parameters like modulation frequency and integration time. More...
#include <mitkToFCameraPMDController.h>
Public Member Functions | |
| mitkClassMacroItkParent (ToFCameraPMDController, itk::Object) | |
| virtual bool | OpenCameraConnection ()=0 |
| opens a connection to the ToF camera. Has to be implemented by the sub class More... | |
| virtual bool | CloseCameraConnection () |
| closes the connection to the camera More... | |
| virtual bool | GetAmplitudes (float *amplitudeArray) |
| Gets the current amplitude array from the device. More... | |
| virtual bool | GetAmplitudes (char *sourceData, float *amplitudeArray) |
| Calculates the current amplitude data from the raw source data using the processing plugin of the PMDSDK. More... | |
| virtual bool | GetIntensities (float *intensityArray) |
| Gets the current intensity array from the device. More... | |
| virtual bool | GetIntensities (char *sourceData, float *intensityArray) |
| Calculates the current intensity data from the raw source data using the processing plugin of the PMDSDK. More... | |
| virtual bool | GetDistances (float *distanceArray) |
| Gets the current distance array from the device. More... | |
| virtual bool | GetDistances (char *sourceData, float *distanceArray) |
| Calculates the current distance data from the raw source data using the processing plugin of the PMDSDK. More... | |
| virtual bool | GetSourceData (char *sourceDataArray) |
| Gets the PMD raw data from the ToF device. More... | |
| bool | GetShortSourceData (short *sourceData) |
| Convenience method to get the PMD raw data from the ToF device as short array. More... | |
| virtual bool | UpdateCamera () |
| calls update on the camera -> a new ToF-image is aquired More... | |
| virtual int | GetModulationFrequency () |
| Returns the currently set modulation frequency. More... | |
| virtual int | SetModulationFrequency (unsigned int modulationFrequency) |
| Sets the modulation frequency of the ToF device. The method automatically calculates a valid value from the given frequency to make sure that only valid frequencies are used. More... | |
| virtual int | GetIntegrationTime () |
| Returns the currently set integration time. More... | |
| virtual int | SetIntegrationTime (unsigned int integrationTime) |
| Sets the integration time of the ToF device. The method automatically calculates a valid value from the given integration time to make sure that only valid times are used. More... | |
| virtual void | SetInputFileName (std::string inputFileName) |
| set input file name used by PMD player classes More... | |
| virtual unsigned int | GetCaptureWidth () |
| Access the resolution of the image in x direction. More... | |
| virtual unsigned int | GetCaptureHeight () |
| Access the resolution of the image in y direction. More... | |
| virtual unsigned int | GetInternalCaptureWidth () |
| Access the chosen width of the resulting image in x direction. More... | |
| virtual unsigned int | GetInternalCaptureHeight () |
| Access the chosen width of the resulting image in y direction. More... | |
| virtual int | GetSourceDataStructSize () |
Protected Member Functions | |
| ToFCameraPMDController () | |
| ~ToFCameraPMDController () | |
| bool | ErrorText (int error) |
| Method printing the current error message to the console and returning whether the previous command was successful. More... | |
| virtual void | TransformCameraOutput (float *in, float *out, bool isDist)=0 |
Protected Attributes | |
| char | m_PMDError [128] |
| member holding the current error text More... | |
| int | m_PMDRes |
| holds the current result message provided by PMD More... | |
| int | m_PixelNumber |
| holds the number of pixels contained in the image More... | |
| int | m_NumberOfBytes |
| holds the number of bytes contained in the image More... | |
| unsigned int | m_CaptureWidth |
| holds the width of the image in pixel as it is originally acquired by the camera More... | |
| unsigned int | m_CaptureHeight |
| holds the height of the image in pixel as it is originally acquired by the camera More... | |
| unsigned int | m_InternalCaptureWidth |
| holds the width of the image in pixel as it is requested by the user (cf. TransformCameraOutput()) Default: m_CaptureWidth More... | |
| unsigned int | m_InternalCaptureHeight |
| holds the height of the image in pixel as is it requested by the user (cf. TransformCameraOutput()) Default: m_CaptureHeight More... | |
| int | m_SourceDataSize |
| size of the original PMD source data More... | |
| int | m_SourceDataStructSize |
| size of the PMD source data struct and the PMD source data More... | |
| bool | m_ConnectionCheck |
| flag showing whether the camera is connected (true) or not (false) More... | |
| std::string | m_InputFileName |
| input file name used by PMD player classes More... | |
| char * | m_SourcePlugin |
| holds name of source plugin to be loaded (e.g. camcube3.W64.pap for CamCube 3.0 on Win64 platform) More... | |
| char * | m_SourceParam |
| holds source parameter(s) More... | |
| char * | m_ProcPlugin |
| holds name of processing plugin to be loaded (e.g. camcubeproc.W64.pap for CamCube 3.0 on Win64 platform) More... | |
| char * | m_ProcParam |
| holds processing parameter(s) More... | |
Detailed Description
Virtual interface and base class for all PMD Time-of-Flight devices. Wraps PMD API provided in PMDSDK2 Provides methods for accessing current distance, amplitude, intensity and raw data. Allows to set parameters like modulation frequency and integration time.
Definition at line 31 of file mitkToFCameraPMDController.h.
Constructor & Destructor Documentation
◆ ToFCameraPMDController()
|
protected |
◆ ~ToFCameraPMDController()
|
protected |
Member Function Documentation
◆ CloseCameraConnection()
|
virtual |
closes the connection to the camera
◆ ErrorText()
|
protected |
Method printing the current error message to the console and returning whether the previous command was successful.
- Parameters
-
error error number returned by the PMD function
- Returns
- flag indicating if an error occured (false) or not (true)
◆ GetAmplitudes() [1/2]
|
virtual |
Calculates the current amplitude data from the raw source data using the processing plugin of the PMDSDK.
- Parameters
-
sourceData raw data array amplitudeArray float array where the amplitude data will be saved
◆ GetAmplitudes() [2/2]
|
virtual |
Gets the current amplitude array from the device.
- Parameters
-
amplitudeArray float array where the amplitude data will be saved
◆ GetCaptureHeight()
|
virtual |
Access the resolution of the image in y direction.
- Returns
- height of image in pixel
◆ GetCaptureWidth()
|
virtual |
Access the resolution of the image in x direction.
- Returns
- widht of image in pixel
◆ GetDistances() [1/2]
|
virtual |
Calculates the current distance data from the raw source data using the processing plugin of the PMDSDK.
- Parameters
-
sourceData raw data array distanceArray float array where the distance data will be saved
◆ GetDistances() [2/2]
|
virtual |
Gets the current distance array from the device.
- Parameters
-
distanceArray float array where the distance data will be saved
◆ GetIntegrationTime()
|
virtual |
Returns the currently set integration time.
- Returns
- integration time
◆ GetIntensities() [1/2]
|
virtual |
Calculates the current intensity data from the raw source data using the processing plugin of the PMDSDK.
- Parameters
-
sourceData raw data array intensityArray float array where the intensity data will be saved
◆ GetIntensities() [2/2]
|
virtual |
Gets the current intensity array from the device.
- Parameters
-
intensityArray float array where the intensity data will be saved
◆ GetInternalCaptureHeight()
|
virtual |
Access the chosen width of the resulting image in y direction.
- Returns
- height of image in pixel
◆ GetInternalCaptureWidth()
|
virtual |
Access the chosen width of the resulting image in x direction.
- Returns
- widht of image in pixel
◆ GetModulationFrequency()
|
virtual |
Returns the currently set modulation frequency.
- Returns
- modulation frequency
◆ GetShortSourceData()
| bool mitk::ToFCameraPMDController::GetShortSourceData | ( | short * | sourceData | ) |
Convenience method to get the PMD raw data from the ToF device as short array.
- Parameters
-
sourceData array where the short raw data will be saved
◆ GetSourceData()
|
virtual |
Gets the PMD raw data from the ToF device.
- Parameters
-
sourceDataArray array where the raw data will be saved
◆ GetSourceDataStructSize()
|
virtual |
◆ mitkClassMacroItkParent()
| mitk::ToFCameraPMDController::mitkClassMacroItkParent | ( | ToFCameraPMDController | , |
| itk::Object | |||
| ) |
◆ OpenCameraConnection()
|
pure virtual |
opens a connection to the ToF camera. Has to be implemented by the sub class
- Exceptions
-
mitkException In case of no connection, an exception is thrown!
Implemented in mitk::ToFCameraPMDPlayerController, mitk::ToFCameraPMDCamBoardController, mitk::ToFCameraPMDCamCubeController, and mitk::ToFCameraPMDO3Controller.
◆ SetInputFileName()
|
virtual |
set input file name used by PMD player classes
◆ SetIntegrationTime()
|
virtual |
Sets the integration time of the ToF device. The method automatically calculates a valid value from the given integration time to make sure that only valid times are used.
- Parameters
-
integrationTime integration time
- Returns
- integration time set after validation step
Reimplemented in mitk::ToFCameraPMDPlayerController.
◆ SetModulationFrequency()
|
virtual |
Sets the modulation frequency of the ToF device. The method automatically calculates a valid value from the given frequency to make sure that only valid frequencies are used.
- Parameters
-
modulationFrequency modulation frequency
- Returns
- frequency set after validation step
Reimplemented in mitk::ToFCameraPMDPlayerController.
◆ TransformCameraOutput()
|
protectedpure virtual |
◆ UpdateCamera()
|
virtual |
calls update on the camera -> a new ToF-image is aquired
- Exceptions
-
mitkException In case of no connection, an exception is thrown!
Member Data Documentation
◆ m_CaptureHeight
|
protected |
holds the height of the image in pixel as it is originally acquired by the camera
Definition at line 175 of file mitkToFCameraPMDController.h.
◆ m_CaptureWidth
|
protected |
holds the width of the image in pixel as it is originally acquired by the camera
Definition at line 174 of file mitkToFCameraPMDController.h.
◆ m_ConnectionCheck
|
protected |
flag showing whether the camera is connected (true) or not (false)
Definition at line 182 of file mitkToFCameraPMDController.h.
◆ m_InputFileName
|
protected |
input file name used by PMD player classes
Definition at line 184 of file mitkToFCameraPMDController.h.
◆ m_InternalCaptureHeight
|
protected |
holds the height of the image in pixel as is it requested by the user (cf. TransformCameraOutput()) Default: m_CaptureHeight
Definition at line 177 of file mitkToFCameraPMDController.h.
◆ m_InternalCaptureWidth
|
protected |
holds the width of the image in pixel as it is requested by the user (cf. TransformCameraOutput()) Default: m_CaptureWidth
Definition at line 176 of file mitkToFCameraPMDController.h.
◆ m_NumberOfBytes
|
protected |
holds the number of bytes contained in the image
Definition at line 173 of file mitkToFCameraPMDController.h.
◆ m_PixelNumber
|
protected |
holds the number of pixels contained in the image
Definition at line 172 of file mitkToFCameraPMDController.h.
◆ m_PMDError
|
protected |
member holding the current error text
Definition at line 169 of file mitkToFCameraPMDController.h.
◆ m_PMDRes
|
protected |
holds the current result message provided by PMD
Definition at line 170 of file mitkToFCameraPMDController.h.
◆ m_ProcParam
|
protected |
holds processing parameter(s)
Definition at line 189 of file mitkToFCameraPMDController.h.
◆ m_ProcPlugin
|
protected |
holds name of processing plugin to be loaded (e.g. camcubeproc.W64.pap for CamCube 3.0 on Win64 platform)
Definition at line 188 of file mitkToFCameraPMDController.h.
◆ m_SourceDataSize
|
protected |
size of the original PMD source data
Definition at line 179 of file mitkToFCameraPMDController.h.
◆ m_SourceDataStructSize
|
protected |
size of the PMD source data struct and the PMD source data
Definition at line 180 of file mitkToFCameraPMDController.h.
◆ m_SourceParam
|
protected |
holds source parameter(s)
Definition at line 187 of file mitkToFCameraPMDController.h.
◆ m_SourcePlugin
|
protected |
holds name of source plugin to be loaded (e.g. camcube3.W64.pap for CamCube 3.0 on Win64 platform)
Definition at line 186 of file mitkToFCameraPMDController.h.
The documentation for this class was generated from the following file:
