Interface to the Time-of-Flight (ToF) camera PMD CamCube. More...

#include <mitkToFCameraPMDCamCubeController.h>

Inheritance diagram for mitk::ToFCameraPMDCamCubeController:

Public Member Functions
	mitkClassMacro (ToFCameraPMDCamCubeController, ToFCameraPMDController)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

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

bool	SetDistanceOffset (float offset)
	sets an additional distance offset which will be added to all distance values.

float	GetDistanceOffset ()
	returns the currently applied distance offset in m

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.

bool	SetRegionOfInterest (unsigned int roi[4])
	Setting the region of interest, the camera is configured to only output a certain area of the image.

unsigned int *	GetRegionOfInterest ()
	returns the region of interest currently set

bool	SetExposureMode (int mode)
	sets the exposure mode of the CamCube

bool	SetFieldOfView (float fov)
	Sets the field of view of the camera lens.

bool	SetFPNCalibration (bool on)
	Enable/Disable PMD fixed pattern noise (FPN) calibration.

bool	SetFPPNCalibration (bool on)
	Enable/Disable PMD fixed pattern phase noise (FPPN) calibration.

bool	SetLinearityCalibration (bool on)
	Enable/Disable PMD linearity calibration.

bool	SetLensCalibration (bool on)
	Enable/Disable PMD lens calibration.

Public Member Functions inherited from mitk::ToFCameraPMDController
	mitkClassMacroItkParent (ToFCameraPMDController, 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	GetAmplitudes (char sourceData, float amplitudeArray)
	Calculates the current amplitude data from the raw source data using the processing plugin of the PMDSDK.

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

virtual bool	GetIntensities (char sourceData, float intensityArray)
	Calculates the current intensity data from the raw source data using the processing plugin of the PMDSDK.

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

virtual bool	GetDistances (char sourceData, float distanceArray)
	Calculates the current distance data from the raw source data using the processing plugin of the PMDSDK.

virtual bool	GetSourceData (char *sourceDataArray)
	Gets the PMD raw data from the ToF device.

bool	GetShortSourceData (short *sourceData)
	Convenience method to get the PMD raw data from the ToF device as short array.

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

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	SetInputFileName (std::string inputFileName)
	set input file name used by PMD 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.

	itkGetMacro (InternalCaptureWidth, unsigned int)
	Access the chosen width of the resulting image in x direction.

	itkGetMacro (InternalCaptureHeight, unsigned int)
	Access the chosen width of the resulting image in y direction.

	itkGetMacro (SourceDataStructSize, int)

Protected Member Functions
virtual void	TransformCameraOutput (float in, float out, bool isDist)

	ToFCameraPMDCamCubeController ()

	~ToFCameraPMDCamCubeController ()

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

	~ToFCameraPMDController ()

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::ToFCameraPMDController
char	m_PMDError [128]
	member holding the current error text

int	m_PMDRes
	holds the current result message provided by PMD

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 as it is originally acquired by the camera

unsigned int	m_CaptureHeight
	holds the height of the image in pixel as it is originally acquired by the camera

unsigned int	m_InternalCaptureWidth
	holds the width of the image in pixel as it is requested by the user (cf. TransformCameraOutput()) Default: m_CaptureWidth

unsigned int	m_InternalCaptureHeight
	holds the height of the image in pixel as is it requested by the user (cf. TransformCameraOutput()) Default: m_CaptureHeight

int	m_SourceDataSize
	size of the original PMD source data

int	m_SourceDataStructSize
	size of the PMD source data struct and the PMD source data

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

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

char *	m_SourcePlugin
	holds name of source plugin to be loaded (e.g. camcube3.W64.pap for CamCube 3.0 on Win64 platform)

char *	m_SourceParam
	holds source parameter(s)

char *	m_ProcPlugin
	holds name of processing plugin to be loaded (e.g. camcubeproc.W64.pap for CamCube 3.0 on Win64 platform)

char *	m_ProcParam
	holds processing parameter(s)

Detailed Description

Interface to the Time-of-Flight (ToF) camera PMD CamCube.

Definition at line 30 of file mitkToFCameraPMDCamCubeController.h.

Constructor & Destructor Documentation

◆ ToFCameraPMDCamCubeController()

mitk::ToFCameraPMDCamCubeController::ToFCameraPMDCamCubeController ( )

protected

Definition at line 30 of file mitkToFCameraPMDCamCubeController.cpp.

◆ ~ToFCameraPMDCamCubeController()

mitk::ToFCameraPMDCamCubeController::~ToFCameraPMDCamCubeController ( )

protected

Definition at line 38 of file mitkToFCameraPMDCamCubeController.cpp.

Member Function Documentation

◆ GetDistanceOffset()

float mitk::ToFCameraPMDCamCubeController::GetDistanceOffset ( )

returns the currently applied distance offset in m

Definition at line 88 of file mitkToFCameraPMDCamCubeController.cpp.

◆ GetRegionOfInterest()

unsigned int * mitk::ToFCameraPMDCamCubeController::GetRegionOfInterest ( )

returns the region of interest currently set

Returns: currently set region of interest.

Definition at line 114 of file mitkToFCameraPMDCamCubeController.cpp.

◆ itkCloneMacro()

mitk::ToFCameraPMDCamCubeController::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFCameraPMDCamCubeController::itkFactorylessNewMacro ( Self )

◆ mitkClassMacro()

mitk::ToFCameraPMDCamCubeController::mitkClassMacro	(	ToFCameraPMDCamCubeController	,
		ToFCameraPMDController	)

◆ OpenCameraConnection()

bool mitk::ToFCameraPMDCamCubeController::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::ToFCameraPMDController.

Definition at line 42 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetDistanceOffset()

bool mitk::ToFCameraPMDCamCubeController::SetDistanceOffset ( float offset )

sets an additional distance offset which will be added to all distance values.

Parameters

offset offset in m

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 80 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetExposureMode()

bool mitk::ToFCameraPMDCamCubeController::SetExposureMode ( int mode )

sets the exposure mode of the CamCube

Parameters

mode	exposure mode. 0: normal mode (one exposure), 1: Suppression of motion blur (SMB), minimizes the time needed to capture a distance image from the camera which results in a reduced amount of motion artifact but may lead to increased noise.

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 149 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetFieldOfView()

bool mitk::ToFCameraPMDCamCubeController::SetFieldOfView ( float fov )

Sets the field of view of the camera lens.

Parameters

fov	field of view in degrees. The default value is 40 degrees.

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 168 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetFPNCalibration()

bool mitk::ToFCameraPMDCamCubeController::SetFPNCalibration ( bool on )

Enable/Disable PMD fixed pattern noise (FPN) calibration.

Parameters

on	enabled (true), disabled (false)

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 176 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetFPPNCalibration()

bool mitk::ToFCameraPMDCamCubeController::SetFPPNCalibration ( bool on )

Enable/Disable PMD fixed pattern phase noise (FPPN) calibration.

Parameters

on	enabled (true), disabled (false)

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 190 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetLensCalibration()

bool mitk::ToFCameraPMDCamCubeController::SetLensCalibration ( bool on )

Enable/Disable PMD lens calibration.

Parameters

on	enabled (true), disabled (false)

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 218 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetLinearityCalibration()

bool mitk::ToFCameraPMDCamCubeController::SetLinearityCalibration ( bool on )

Enable/Disable PMD linearity calibration.

Parameters

on	enabled (true), disabled (false)

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 204 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetRegionOfInterest() [1/2]

bool mitk::ToFCameraPMDCamCubeController::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.

Parameters

leftUpperCornerX	x value of left upper corner of region
leftUpperCornerY	y value of left upper corner of region
width	width of region
height	height of region

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 96 of file mitkToFCameraPMDCamCubeController.cpp.

◆ SetRegionOfInterest() [2/2]

bool mitk::ToFCameraPMDCamCubeController::SetRegionOfInterest ( unsigned int roi[4] )

Setting the region of interest, the camera is configured to only output a certain area of the image.

Parameters

roi	region of interest. roi[0]: x value of left upper corner, roi[1]: y value of left upper corner, roi[2]: width, roi[3]: height

Returns: returns whether set operation was successful (true) or not (false)

Definition at line 109 of file mitkToFCameraPMDCamCubeController.cpp.

◆ TransformCameraOutput()

void mitk::ToFCameraPMDCamCubeController::TransformCameraOutput	(	float *	in,
		float *	out,
		bool	isDist )

protectedvirtual

Implements mitk::ToFCameraPMDController.

Definition at line 232 of file mitkToFCameraPMDCamCubeController.cpp.

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

Modules/ToFHardware/PMD/mitkToFCameraPMDCamCubeController.h
Modules/ToFHardware/PMD/mitkToFCameraPMDCamCubeController.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraPMDCamCubeController()

◆ ~ToFCameraPMDCamCubeController()

Member Function Documentation

◆ GetDistanceOffset()

◆ GetRegionOfInterest()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ OpenCameraConnection()

◆ SetDistanceOffset()

◆ SetExposureMode()

◆ SetFieldOfView()

◆ SetFPNCalibration()

◆ SetFPPNCalibration()

◆ SetLensCalibration()

◆ SetLinearityCalibration()

◆ SetRegionOfInterest() [1/2]

◆ SetRegionOfInterest() [2/2]

◆ TransformCameraOutput()