Interface to the Time-of-Flight (ToF) camera MESA Swissranger 4000. More...

#include <mitkToFCameraMESASR4000Controller.h>

Inheritance diagram for mitk::ToFCameraMESASR4000Controller:

Public Member Functions
	mitkClassMacro (ToFCameraMESASR4000Controller, mitk::ToFCameraMESAController)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

virtual bool	OpenCameraConnection ()
	opens a connection to the ToF camera and initializes the hardware specific members

virtual int	GetModulationFrequency ()
	Returns the currently set modulation frequency.

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.

virtual int	GetIntegrationTime ()
	Returns the currently set integration time.

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.

virtual void	SetFPN (bool fpn)
	Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

virtual void	SetConvGray (bool convGray)
	Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

virtual void	SetMedian (bool median)
	Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

virtual void	SetANF (bool anf)
	Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

Public Member Functions inherited from mitk::ToFCameraMESAController
	mitkClassMacroItkParent (ToFCameraMESAController, itk::Object)

virtual bool	CloseCameraConnection ()
	closes the connection to the camera

virtual bool	GetAmplitudes (float *amplitudeArray)
	Gets the current amplitude array from the device.

virtual bool	GetIntensities (float *intensityArray)
	Gets the current intensity array from the device.

virtual bool	GetDistances (float *distanceArray)
	Gets the current distance array from the device.

virtual bool	UpdateCamera ()
	calls update on the camera -> a new ToF-image is aquired

virtual void	SetInputFileName (std::string inputFileName)
	set input file name used by MESA player classes

	itkGetMacro (CaptureWidth, unsigned int)
	Access the resolution of the image in x direction.

	itkGetMacro (CaptureHeight, unsigned int)
	Access the resolution of the image in y direction.

Protected Member Functions
	ToFCameraMESASR4000Controller ()

	~ToFCameraMESASR4000Controller ()

Protected Member Functions inherited from mitk::ToFCameraMESAController
	ToFCameraMESAController ()

	~ToFCameraMESAController ()

bool	ErrorText (int error)
	Method printing the current error message to the console and returning whether the previous command was successful.

Additional Inherited Members
Protected Attributes inherited from mitk::ToFCameraMESAController
char	m_MESAError [128]
	member holding the current error text

int	m_MESARes
	holds the current result message provided by MESA

int	m_PixelNumber
	holds the number of pixels contained in the image

int	m_NumberOfBytes
	holds the number of bytes contained in the image

unsigned int	m_CaptureWidth
	holds the width of the image in pixel

unsigned int	m_CaptureHeight
	holds the height of the image in pixel

int	m_NumImg
	holds the number of images the camera provided (distance, intensity, etc)

float	m_MaxRangeFactor
	holds the factor to calculate the real distance depends on the modulation frequency

bool	m_ConnectionCheck
	flag showing whether the camera is connected (true) or not (false)

std::string	m_InputFileName
	input file name used by MESA player classes

Detailed Description

Interface to the Time-of-Flight (ToF) camera MESA Swissranger 4000.

Definition at line 30 of file mitkToFCameraMESASR4000Controller.h.

Constructor & Destructor Documentation

◆ ToFCameraMESASR4000Controller()

mitk::ToFCameraMESASR4000Controller::ToFCameraMESASR4000Controller ( )

protected

Definition at line 20 of file mitkToFCameraMESASR4000Controller.cpp.

◆ ~ToFCameraMESASR4000Controller()

mitk::ToFCameraMESASR4000Controller::~ToFCameraMESASR4000Controller ( )

protected

Definition at line 50 of file mitkToFCameraMESASR4000Controller.cpp.

Member Function Documentation

◆ GetIntegrationTime()

int mitk::ToFCameraMESASR4000Controller::GetIntegrationTime ( )

virtual

Returns the currently set integration time.

Returns: integration time

Implements mitk::ToFCameraMESAController.

Definition at line 136 of file mitkToFCameraMESASR4000Controller.cpp.

◆ GetModulationFrequency()

int mitk::ToFCameraMESASR4000Controller::GetModulationFrequency ( )

virtual

Returns the currently set modulation frequency.

Returns: modulation frequency

Implements mitk::ToFCameraMESAController.

Definition at line 167 of file mitkToFCameraMESASR4000Controller.cpp.

◆ itkCloneMacro()

mitk::ToFCameraMESASR4000Controller::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFCameraMESASR4000Controller::itkFactorylessNewMacro ( Self )

◆ mitkClassMacro()

mitk::ToFCameraMESASR4000Controller::mitkClassMacro	(	ToFCameraMESASR4000Controller	,
		mitk::ToFCameraMESAController	)

◆ OpenCameraConnection()

bool mitk::ToFCameraMESASR4000Controller::OpenCameraConnection ( )

virtual

opens a connection to the ToF camera and initializes the hardware specific members

Returns: returns whether the connection was successful (true) or not (false)

Implements mitk::ToFCameraMESAController.

Definition at line 54 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetANF()

void mitk::ToFCameraMESASR4000Controller::SetANF ( bool anf )

virtual

Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

Parameters

anf	Turns on the 5x5 hardware adaptive neighborhood filter

Definition at line 211 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetConvGray()

void mitk::ToFCameraMESASR4000Controller::SetConvGray ( bool convGray )

virtual

Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

Parameters

convGray Converts the amplitude image by multiplying by the square of the distance, resulting in image more like a conventional camera

Definition at line 187 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetFPN()

void mitk::ToFCameraMESASR4000Controller::SetFPN ( bool fpn )

virtual

Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

Parameters

fpn	turns on fix pattern noise correction this should always be enabled for good distance measurement

Definition at line 175 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetIntegrationTime()

int mitk::ToFCameraMESASR4000Controller::SetIntegrationTime ( unsigned int integrationTime )

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

Implements mitk::ToFCameraMESAController.

Definition at line 128 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetMedian()

void mitk::ToFCameraMESASR4000Controller::SetMedian ( bool median )

virtual

Sets the acquire mode of the MESA SR4000 camera. The method sets some parameter supported by the MESA SR4000, see MESA API for more details.

Parameters

median turns on a 3x3 median filter

Definition at line 199 of file mitkToFCameraMESASR4000Controller.cpp.

◆ SetModulationFrequency()

int mitk::ToFCameraMESASR4000Controller::SetModulationFrequency ( unsigned int modulationFrequency )

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

Implements mitk::ToFCameraMESAController.

Definition at line 143 of file mitkToFCameraMESASR4000Controller.cpp.

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

Modules/ToFHardware/MesaSR4000/mitkToFCameraMESASR4000Controller.h
Modules/ToFHardware/MesaSR4000/mitkToFCameraMESASR4000Controller.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraMESASR4000Controller()

◆ ~ToFCameraMESASR4000Controller()

Member Function Documentation

◆ GetIntegrationTime()

◆ GetModulationFrequency()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ OpenCameraConnection()

◆ SetANF()

◆ SetConvGray()

◆ SetFPN()

◆ SetIntegrationTime()

◆ SetMedian()

◆ SetModulationFrequency()