#include <AbstractRangeImagingSensor.h>

Inheritance diagram for ipa_CameraSensors::AbstractRangeImagingSensor:

Classes
struct	t_RangeCameraParameters

Public Member Functions
virtual unsigned long	AcquireImages (cv::Mat rangeImage=0, cv::Mat intensityImage=0, cv::Mat *cartesianImage=0, bool getLatestFrame=true, bool undistort=true, ipa_CameraSensors::t_ToFGrayImageType grayImageType=ipa_CameraSensors::INTENSITY_32F1)=0

virtual unsigned long	AcquireImages (int widthStepRange, int widthStepGray, int widthStepCartesian, char rangeImage=NULL, char grayImage=NULL, char *cartesianImage=NULL, bool getLatestFrame=true, bool undistort=true, ipa_CameraSensors::t_ToFGrayImageType grayImageType=ipa_CameraSensors::INTENSITY_32F1)=0

virtual unsigned long	Close ()=0

virtual t_CalibrationMethod	GetCalibrationMethod ()

virtual t_cameraType	GetCameraType ()

virtual int	GetNumberOfImages ()

virtual unsigned long	GetProperty (t_cameraProperty *cameraProperty)=0

virtual unsigned long	Init (std::string directory, int cameraIndex=0)=0

virtual bool	isInitialized ()=0

virtual bool	isOpen ()=0

virtual unsigned long	Open ()=0

virtual unsigned long	SaveParameters (const char *filename)=0

virtual unsigned long	SetIntrinsics (cv::Mat &intrinsicMatrix, cv::Mat &undistortMapX, cv::Mat &undistortMapY)

virtual unsigned long	SetPathToImages (std::string path)

virtual unsigned long	SetProperty (t_cameraProperty *cameraProperty)=0

virtual unsigned long	SetPropertyDefaults ()=0

virtual	~AbstractRangeImagingSensor ()
	Destructor. More...

Public Attributes
unsigned int	m_ImageCounter
	Holds the index of the image that is extracted during the next call of `AcquireImages` More...

Protected Attributes
unsigned int	m_BufferSize
	Number of images, the camera buffers internally. More...

t_CalibrationMethod	m_CalibrationMethod
	Calibration method MATLAB, MATLAB_NO_Z or SWISSRANGER. More...

t_cameraType	m_CameraType
	Camera Type. More...

bool	m_initialized
	True, when the camera has sucessfully been initialized. More...

cv::Mat	m_intrinsicMatrix
	Intrinsic parameters [fx 0 cx; 0 fy cy; 0 0 1]. More...

bool	m_open
	True, when the camera has sucessfully been opend. More...

t_RangeCameraParameters	m_RangeCameraParameters
	Storage for xml configuration file parmeters. More...

cv::Mat	m_undistortMapX
	The output array of x coordinates for the undistortion map. More...

cv::Mat	m_undistortMapY
	The output array of Y coordinates for the undistortion map. More...

Private Member Functions
virtual unsigned long	LoadParameters (const char *filename, int cameraIndex)=0

Detailed Description

Abstract interface for range imaging sensors.

Definition at line 52 of file AbstractRangeImagingSensor.h.

Constructor & Destructor Documentation

AbstractRangeImagingSensor::~AbstractRangeImagingSensor ( )

virtual

Destructor.

Definition at line 30 of file AbstractRangeImagingSensor.cpp.

Member Function Documentation

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::AcquireImages	(	cv::Mat *	rangeImage = `0`,
		cv::Mat *	intensityImage = `0`,
		cv::Mat *	cartesianImage = `0`,
		bool	getLatestFrame = `true`,
		bool	undistort = `true`,
		ipa_CameraSensors::t_ToFGrayImageType	grayImageType = `ipa_CameraSensors::INTENSITY_32F1`
	)

pure virtual

Acquires an image from SwissRanger camera. Data is read from the camera and put into a corresponding OpenCV cv::Mat data type. The cv::Mat are allocated on demand.

Parameters

rangeImage	OpenCV conform image with depth information.
grayImage	OpenCV conform image with grayscale information.
cartesianImage	OpenCV conform image with cartesian (x,y,z) information in meters.
getLatestFrame	Set true to acquire a new image on calling instead of returning the one acquired last time
useCalibratedZ	Calibrate z values
grayImageType	Either gray image data is filled with amplitude image or intensity image

Exceptions

IPA_Exception Throws an exception, if camera access failed

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::AcquireImages	(	int	widthStepRange,
		int	widthStepGray,
		int	widthStepCartesian,
		char *	rangeImage = `NULL`,
		char *	grayImage = `NULL`,
		char *	cartesianImage = `NULL`,
		bool	getLatestFrame = `true`,
		bool	undistort = `true`,
		ipa_CameraSensors::t_ToFGrayImageType	grayImageType = `ipa_CameraSensors::INTENSITY_32F1`
	)

pure virtual

Acquires an image from SwissRanger. This implementation is designated for people that do not use openCV image type.

Parameters

widthStepRange	The stride of a row from the range image.
widthStepGray	The stride of a row from the grayscale intensity image.
widthStepCartesian	The stride of a row from the cartesian image.
rangeImage	character array with depth information.
grayImage	character array with intensity (grayscale) information.
cartesianImage	character array with cartesian (x,y,z) information in meters.
getLatestFrame	Set true to acquire a new image on calling instead of returning the one acquired last time
useCalibratedZ	Calibrate z values
grayImageType	Either gray image data is filled with amplitude image or intensity image

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::Close ( )

pure virtual

Close camera device.

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual t_CalibrationMethod ipa_CameraSensors::AbstractRangeImagingSensor::GetCalibrationMethod ( )

inlinevirtual

Returns the utilized calibration method. Possible methods are MATLAB or SWISSRANGER.

Returns: The utilized calibration method.

Definition at line 158 of file AbstractRangeImagingSensor.h.

virtual t_cameraType ipa_CameraSensors::AbstractRangeImagingSensor::GetCameraType ( )

inlinevirtual

Returns the camera type.

Returns: The camera type

Definition at line 162 of file AbstractRangeImagingSensor.h.

virtual int ipa_CameraSensors::AbstractRangeImagingSensor::GetNumberOfImages ( )

inlinevirtual

Returns the number of images in the directory

Returns: The number of images in the directory

Reimplemented in ipa_CameraSensors::VirtualRangeCam.

Definition at line 177 of file AbstractRangeImagingSensor.h.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::GetProperty ( t_cameraProperty * cameraProperty )

pure virtual

Function to set properties of the range imaging sensor.

Parameters

propertyID	The ID of the property.
cameraProperty	The value of the property.

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::Init	(	std::string	directory,
		int	cameraIndex = `0`
	)

pure virtual

Initializes Swissranger.

Parameters

directory	Path to the directory of the range imaging sensor parameter file.
cameraIndex	It is possible to have several cameras of the same type on the system. One may use the camera index to apply different configuration files to each of them.

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual bool ipa_CameraSensors::AbstractRangeImagingSensor::isInitialized ( )

pure virtual

Determines if range imaging camera has successfully been initialized.

Returns: True if camera is initialized, false otherwise.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual bool ipa_CameraSensors::AbstractRangeImagingSensor::isOpen ( )

pure virtual

Determines if range imaging camera camera has successfully been opened.

Returns: True if camera is open, false otherwise.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::LoadParameters	(	const char *	filename,
		int	cameraIndex
	)

privatepure virtual

Load general SR31 parameters and previously determined calibration parameters.

Parameters

filename	Range imaging sensor parameter path and file name.
cameraIndex	It is possible to have several cameras of the same type on the system. One may us the camera index to apply different configuration files to each of them

Returns: Return code

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::Open ( )

pure virtual

Opens the camera device. All camera specific parameters for opening the camera should have been set within the Init() function.

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

virtual unsigned long ipa_CameraSensors::AbstractRangeImagingSensor::SaveParameters ( const char * filename )

pure virtual

Save camera parameters. Saves the on-line set parameters for the range imaging camera to a file.

Parameters

filename Configuration file name.

Returns: Return code.

Implemented in ipa_CameraSensors::Swissranger, and ipa_CameraSensors::VirtualRangeCam.

unsigned long AbstractRangeImagingSensor::SetIntrinsics	(	cv::Mat &	intrinsicMatrix,
		cv::Mat &	undistortMapX,
		cv::Mat &	undistortMapY
	)

virtual

Assignes intrinsics to the range sensor. Intrinsics are read from the configuration file by the camera toolbox. Intrinsics are needed to calculat range values based on own calibration.

Parameters

intrinsicMatrix	The intrinsic matrix
undistortMapX	undistortMapX The undistortion map for x direction
undistortMapY	undistortMapY The undistortion map for y direction