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>

Inheritance diagram for mitk::ToFCameraPMDController:

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

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
	ToFCameraPMDController ()

	~ToFCameraPMDController ()

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

virtual void	TransformCameraOutput (float in, float out, bool isDist)=0

Protected Attributes
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

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()

mitk::ToFCameraPMDController::ToFCameraPMDController ( )

protected

Definition at line 29 of file mitkToFCameraPMDController.cpp.

◆ ~ToFCameraPMDController()

mitk::ToFCameraPMDController::~ToFCameraPMDController ( )

protected

Definition at line 35 of file mitkToFCameraPMDController.cpp.

Member Function Documentation

◆ CloseCameraConnection()

bool mitk::ToFCameraPMDController::CloseCameraConnection ( )

virtual

closes the connection to the camera

Definition at line 39 of file mitkToFCameraPMDController.cpp.

◆ ErrorText()

bool mitk::ToFCameraPMDController::ErrorText ( int error )

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)

Definition at line 47 of file mitkToFCameraPMDController.cpp.

◆ GetAmplitudes() [1/2]

bool mitk::ToFCameraPMDController::GetAmplitudes	(	char *	sourceData,
		float *	amplitudeArray )

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

Definition at line 74 of file mitkToFCameraPMDController.cpp.

◆ GetAmplitudes() [2/2]

bool mitk::ToFCameraPMDController::GetAmplitudes ( float * amplitudeArray )

virtual

Gets the current amplitude array from the device.

Parameters

amplitudeArray float array where the amplitude data will be saved

Definition at line 65 of file mitkToFCameraPMDController.cpp.

◆ GetDistances() [1/2]

bool mitk::ToFCameraPMDController::GetDistances	(	char *	sourceData,
		float *	distanceArray )

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

Definition at line 110 of file mitkToFCameraPMDController.cpp.

◆ GetDistances() [2/2]

bool mitk::ToFCameraPMDController::GetDistances ( float * distanceArray )

virtual

Gets the current distance array from the device.

Parameters

distanceArray float array where the distance data will be saved

Definition at line 101 of file mitkToFCameraPMDController.cpp.

◆ GetIntegrationTime()

int mitk::ToFCameraPMDController::GetIntegrationTime ( )

virtual

Returns the currently set integration time.

Returns: integration time

Definition at line 158 of file mitkToFCameraPMDController.cpp.

◆ GetIntensities() [1/2]

bool mitk::ToFCameraPMDController::GetIntensities	(	char *	sourceData,
		float *	intensityArray )

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

Definition at line 92 of file mitkToFCameraPMDController.cpp.

◆ GetIntensities() [2/2]

bool mitk::ToFCameraPMDController::GetIntensities ( float * intensityArray )

virtual

Gets the current intensity array from the device.

Parameters

intensityArray float array where the intensity data will be saved

Definition at line 83 of file mitkToFCameraPMDController.cpp.

◆ GetModulationFrequency()

int mitk::ToFCameraPMDController::GetModulationFrequency ( )

virtual

Returns the currently set modulation frequency.

Returns: modulation frequency

Definition at line 185 of file mitkToFCameraPMDController.cpp.

◆ 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

Definition at line 131 of file mitkToFCameraPMDController.cpp.

◆ GetSourceData()

bool mitk::ToFCameraPMDController::GetSourceData ( char * sourceDataArray )

virtual

Gets the PMD raw data from the ToF device.

Parameters

sourceDataArray array where the raw data will be saved

Definition at line 119 of file mitkToFCameraPMDController.cpp.

◆ itkGetMacro() [1/5]

mitk::ToFCameraPMDController::itkGetMacro	(	CaptureHeight	,
		unsigned int	)

Access the resolution of the image in y direction.

Returns: height of image in pixel

◆ itkGetMacro() [2/5]

mitk::ToFCameraPMDController::itkGetMacro	(	CaptureWidth	,
		unsigned int	)

Access the resolution of the image in x direction.

Returns: widht of image in pixel

◆ itkGetMacro() [3/5]

mitk::ToFCameraPMDController::itkGetMacro	(	InternalCaptureHeight	,
		unsigned int	)

Access the chosen width of the resulting image in y direction.

Returns: height of image in pixel

◆ itkGetMacro() [4/5]

mitk::ToFCameraPMDController::itkGetMacro	(	InternalCaptureWidth	,
		unsigned int	)

Access the chosen width of the resulting image in x direction.

Returns: widht of image in pixel

◆ itkGetMacro() [5/5]

mitk::ToFCameraPMDController::itkGetMacro	(	SourceDataStructSize	,
		int	)

◆ mitkClassMacroItkParent()

mitk::ToFCameraPMDController::mitkClassMacroItkParent	(	ToFCameraPMDController	,
		itk::Object	)

◆ OpenCameraConnection()

virtual bool mitk::ToFCameraPMDController::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::ToFCameraPMDCamBoardController, mitk::ToFCameraPMDCamCubeController, mitk::ToFCameraPMDO3Controller, and mitk::ToFCameraPMDPlayerController.

◆ SetInputFileName()

void mitk::ToFCameraPMDController::SetInputFileName ( std::string inputFileName )

virtual

set input file name used by PMD player classes

Definition at line 193 of file mitkToFCameraPMDController.cpp.

◆ SetIntegrationTime()

int mitk::ToFCameraPMDController::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

Reimplemented in mitk::ToFCameraPMDPlayerController.

Definition at line 139 of file mitkToFCameraPMDController.cpp.

◆ SetModulationFrequency()

int mitk::ToFCameraPMDController::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

Reimplemented in mitk::ToFCameraPMDPlayerController.

Definition at line 166 of file mitkToFCameraPMDController.cpp.

◆ TransformCameraOutput()

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

protectedpure virtual

Implemented in mitk::ToFCameraPMDCamBoardController, mitk::ToFCameraPMDCamCubeController, mitk::ToFCameraPMDControllerTest, mitk::ToFCameraPMDO3Controller, and mitk::ToFCameraPMDPlayerController.

◆ UpdateCamera()

bool mitk::ToFCameraPMDController::UpdateCamera ( )

virtual

calls update on the camera -> a new ToF-image is aquired

Exceptions

mitkException In case of no connection, an exception is thrown!

Definition at line 59 of file mitkToFCameraPMDController.cpp.

Member Data Documentation

◆ m_CaptureHeight

unsigned int mitk::ToFCameraPMDController::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

unsigned int mitk::ToFCameraPMDController::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

bool mitk::ToFCameraPMDController::m_ConnectionCheck

protected

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

Definition at line 182 of file mitkToFCameraPMDController.h.

◆ m_InputFileName

std::string mitk::ToFCameraPMDController::m_InputFileName

protected

input file name used by PMD player classes

Definition at line 184 of file mitkToFCameraPMDController.h.

◆ m_InternalCaptureHeight

unsigned int mitk::ToFCameraPMDController::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

unsigned int mitk::ToFCameraPMDController::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

int mitk::ToFCameraPMDController::m_NumberOfBytes

protected

holds the number of bytes contained in the image

Definition at line 173 of file mitkToFCameraPMDController.h.

◆ m_PixelNumber

int mitk::ToFCameraPMDController::m_PixelNumber

protected

holds the number of pixels contained in the image

Definition at line 172 of file mitkToFCameraPMDController.h.

◆ m_PMDError

char mitk::ToFCameraPMDController::m_PMDError[128]

protected

member holding the current error text

Definition at line 169 of file mitkToFCameraPMDController.h.

◆ m_PMDRes

int mitk::ToFCameraPMDController::m_PMDRes

protected

holds the current result message provided by PMD

Definition at line 170 of file mitkToFCameraPMDController.h.

◆ m_ProcParam

char* mitk::ToFCameraPMDController::m_ProcParam

protected

holds processing parameter(s)

Definition at line 189 of file mitkToFCameraPMDController.h.

◆ m_ProcPlugin

char* mitk::ToFCameraPMDController::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

int mitk::ToFCameraPMDController::m_SourceDataSize

protected

size of the original PMD source data

Definition at line 179 of file mitkToFCameraPMDController.h.

◆ m_SourceDataStructSize

int mitk::ToFCameraPMDController::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

char* mitk::ToFCameraPMDController::m_SourceParam

protected

holds source parameter(s)

Definition at line 187 of file mitkToFCameraPMDController.h.

◆ m_SourcePlugin

char* mitk::ToFCameraPMDController::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 files:

Modules/ToFHardware/PMD/mitkToFCameraPMDController.h
Modules/ToFHardware/PMD/mitkToFCameraPMDController.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraPMDController()

◆ ~ToFCameraPMDController()

Member Function Documentation

◆ CloseCameraConnection()

◆ ErrorText()

◆ GetAmplitudes() [1/2]

◆ GetAmplitudes() [2/2]

◆ GetDistances() [1/2]

◆ GetDistances() [2/2]

◆ GetIntegrationTime()

◆ GetIntensities() [1/2]

◆ GetIntensities() [2/2]

◆ GetModulationFrequency()

◆ GetShortSourceData()

◆ GetSourceData()

◆ itkGetMacro() [1/5]

◆ itkGetMacro() [2/5]

◆ itkGetMacro() [3/5]

◆ itkGetMacro() [4/5]

◆ itkGetMacro() [5/5]

◆ mitkClassMacroItkParent()

◆ OpenCameraConnection()

◆ SetInputFileName()

◆ SetIntegrationTime()

◆ SetModulationFrequency()

◆ TransformCameraOutput()

◆ UpdateCamera()

Member Data Documentation

◆ m_CaptureHeight

◆ m_CaptureWidth

◆ m_ConnectionCheck

◆ m_InputFileName

◆ m_InternalCaptureHeight

◆ m_InternalCaptureWidth

◆ m_NumberOfBytes

◆ m_PixelNumber

◆ m_PMDError

◆ m_PMDRes

◆ m_ProcParam

◆ m_ProcPlugin

◆ m_SourceDataSize

◆ m_SourceDataStructSize

◆ m_SourceParam

◆ m_SourcePlugin