#include <VirtualRangeCam.h>

Inheritance diagram for ipa_CameraSensors::VirtualRangeCam:

Public Member Functions
unsigned long	AcquireImages (int widthStepRange, int widthStepGray, int widthStepCartesian, char rangeImage=NULL, char intensityImage=NULL, char *cartesianImage=NULL, bool getLatestFrame=true, bool undistort=true, ipa_CameraSensors::t_ToFGrayImageType grayImageType=ipa_CameraSensors::INTENSITY_32F1)

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)

unsigned long	Close ()

unsigned long	GetCalibratedUV (double x, double y, double z, double &u, double &v)

int	GetNumberOfImages ()

unsigned long	GetProperty (t_cameraProperty *cameraProperty)

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

bool	isInitialized ()

bool	isOpen ()

unsigned long	Open ()

unsigned long	SaveParameters (const char *filename)

unsigned long	SetPathToImages (std::string path)

unsigned long	SetProperty (t_cameraProperty *cameraProperty)

unsigned long	SetPropertyDefaults ()

	VirtualRangeCam ()

	~VirtualRangeCam ()

Public Member Functions inherited from ipa_CameraSensors::AbstractRangeImagingSensor
virtual t_CalibrationMethod	GetCalibrationMethod ()

virtual t_cameraType	GetCameraType ()

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

virtual	~AbstractRangeImagingSensor ()
	Destructor. More...

Private Member Functions
void	FindSourceImageFormat (std::map< std::string, int >::iterator &itCounter, std::string &ext)

unsigned long	GetCalibratedXYMatlab (int u, int v, float z, float &x, float &y)

unsigned long	GetCalibratedZMatlab (int u, int v, float zRaw, float &zCalibrated)

unsigned long	LoadParameters (const char *filename, int cameraIndex)

void	UpdateImageDimensionsOnFirstImage (std::string filename, std::string ext=".xml")

Private Attributes
std::vector< std::string >	m_AmplitudeImageFileNames

std::string	m_CameraDataDirectory
	Directory where the image data resides. More...

int	m_CameraIndex
	Index of the specified camera. Important, when several cameras of the same type are present. More...

cv::Mat	m_CoeffsA0
	a0 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA1
	a1 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA2
	a2 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA3
	a3 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA4
	a4 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA5
	a5 z-calibration parameters. One matrix entry corresponds to one pixel More...

cv::Mat	m_CoeffsA6
	a6 z-calibration parameters. One matrix entry corresponds to one pixel More...

bool	m_CoeffsInitialized

std::vector< std::string >	m_CoordinateImageFileNames

int	m_ImageHeight
	Image height. More...

int	m_ImageWidth
	Image width. More...

std::vector< std::string >	m_IntensityImageFileNames

double	m_k1

double	m_k2

double	m_p1

double	m_p2
	Distortion parameters. More...

std::vector< std::string >	m_RangeImageFileNames

Additional Inherited Members
Public Attributes inherited from ipa_CameraSensors::AbstractRangeImagingSensor
unsigned int	m_ImageCounter
	Holds the index of the image that is extracted during the next call of `AcquireImages` More...

Protected Attributes inherited from ipa_CameraSensors::AbstractRangeImagingSensor
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...

Detailed Description

Interface class to virtual range camera like Swissranger 3000/4000. The class offers an interface to a virtual range camera, that is equal to the interface of a real range camera. However, pictures are read from a directory instead of the camera.

Definition at line 50 of file VirtualRangeCam.h.

Constructor & Destructor Documentation

VirtualRangeCam::VirtualRangeCam ( )

Definition at line 40 of file VirtualRangeCam.cpp.

VirtualRangeCam::~VirtualRangeCam ( )

Definition at line 51 of file VirtualRangeCam.cpp.

Member Function Documentation

unsigned long VirtualRangeCam::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`
	)

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.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 539 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::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`
	)

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

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 496 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::Close ( )

virtual

Close camera device.

Returns: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 431 of file VirtualRangeCam.cpp.

void VirtualRangeCam::FindSourceImageFormat	(	std::map< std::string, int >::iterator &	itCounter,
		std::string &	ext
	)

inlineprivate

Compares the value of the iterator with ext in order to find the extension which has instances in the directory. Throws an error if different file formats are present at the same time.

Parameters

itCounter	Iterator containing a file extension and a number of instances.
ext	Is empty if no extension was found before, otherwise it contains the found extension.

Definition at line 227 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::GetCalibratedUV	(	double	x,
		double	y,
		double	z,
		double &	u,
		double &	v
	)

Definition at line 924 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::GetCalibratedXYMatlab	(	int	u,
		int	v,
		float	z,
		float &	x,
		float &	y
	)

private

Definition at line 885 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::GetCalibratedZMatlab	(	int	u,
		int	v,
		float	zRaw,
		float &	zCalibrated
	)

private

Definition at line 873 of file VirtualRangeCam.cpp.

int VirtualRangeCam::GetNumberOfImages ( )

virtual

Returns the number of images in the directory

Returns: The number of images in the directory

Reimplemented from ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 839 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::GetProperty ( t_cameraProperty * cameraProperty )

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.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 467 of file VirtualRangeCam.cpp.

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

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.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 59 of file VirtualRangeCam.cpp.

bool ipa_CameraSensors::VirtualRangeCam::isInitialized ( )

inlinevirtual

Determines if range imaging camera has successfully been initialized.

Returns: True if camera is initialized, false otherwise.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 81 of file VirtualRangeCam.h.

bool ipa_CameraSensors::VirtualRangeCam::isOpen ( )

inlinevirtual

Determines if range imaging camera camera has successfully been opened.

Returns: True if camera is open, false otherwise.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 82 of file VirtualRangeCam.h.

unsigned long VirtualRangeCam::LoadParameters	(	const char *	filename,
		int	cameraIndex
	)

privatevirtual

Load general range camera parameters .

Parameters

filename	Configuration file-path and file-name.
cameraIndex	The index of the camera within the configuration file i.e. SR_CAM_0 or SR_CAM_1

Returns: Return code

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 969 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::Open ( )

virtual

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

Returns: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 242 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::SaveParameters ( const char * filename )

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.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 865 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::SetPathToImages ( std::string path )

virtual

Function specific to virtual camera. Resets the image directory read from the configuration file.

Parameters

path	The camera path

Returns: Return code

Reimplemented from ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 859 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::SetProperty ( t_cameraProperty * cameraProperty )

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.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 444 of file VirtualRangeCam.cpp.

unsigned long VirtualRangeCam::SetPropertyDefaults ( )

virtual

Function to set property defaults of the range imaging sensor.

Returns: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 461 of file VirtualRangeCam.cpp.

void VirtualRangeCam::UpdateImageDimensionsOnFirstImage	(	std::string	filename,
		std::string	ext = `".xml"`
	)

inlineprivate

Reads out the image width and height from the first image found in the filesystem.

Parameters

filename The name of that image.

Definition at line 205 of file VirtualRangeCam.cpp.

Member Data Documentation

std::vector<std::string> ipa_CameraSensors::VirtualRangeCam::m_AmplitudeImageFileNames

private

Definition at line 136 of file VirtualRangeCam.h.

std::string ipa_CameraSensors::VirtualRangeCam::m_CameraDataDirectory

private

Directory where the image data resides.

Definition at line 133 of file VirtualRangeCam.h.

int ipa_CameraSensors::VirtualRangeCam::m_CameraIndex

private

Index of the specified camera. Important, when several cameras of the same type are present.

Definition at line 134 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA0

private

a0 z-calibration parameters. One matrix entry corresponds to one pixel

Given a 32 bit swissranger depth value, the real depth value in meteres is given by: z(u,v)=a0(u,v)+a1(u,v)*d(u,v)+a2(u,v)*d(u,v)^2 +a3(u,v)*d(u,v)^3+a4(u,v)*d(u,v)^4+a5(u,v)*d(u,v)^5 +a6(u,v)*d(u,v)^6;

Definition at line 125 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA1

private

a1 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 126 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA2

private

a2 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 127 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA3

private

a3 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 128 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA4

private

a4 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 129 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA5

private

a5 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 130 of file VirtualRangeCam.h.

cv::Mat ipa_CameraSensors::VirtualRangeCam::m_CoeffsA6

private

a6 z-calibration parameters. One matrix entry corresponds to one pixel

Definition at line 131 of file VirtualRangeCam.h.

bool ipa_CameraSensors::VirtualRangeCam::m_CoeffsInitialized

private

Definition at line 119 of file VirtualRangeCam.h.

std::vector<std::string> ipa_CameraSensors::VirtualRangeCam::m_CoordinateImageFileNames

private

Definition at line 139 of file VirtualRangeCam.h.

int ipa_CameraSensors::VirtualRangeCam::m_ImageHeight

private

Image height.

Definition at line 142 of file VirtualRangeCam.h.

int ipa_CameraSensors::VirtualRangeCam::m_ImageWidth

private

Image width.

Definition at line 141 of file VirtualRangeCam.h.

std::vector<std::string> ipa_CameraSensors::VirtualRangeCam::m_IntensityImageFileNames

private

Definition at line 137 of file VirtualRangeCam.h.

double ipa_CameraSensors::VirtualRangeCam::m_k1

private

Definition at line 144 of file VirtualRangeCam.h.

double ipa_CameraSensors::VirtualRangeCam::m_k2

private

Definition at line 144 of file VirtualRangeCam.h.

double ipa_CameraSensors::VirtualRangeCam::m_p1

private

Definition at line 144 of file VirtualRangeCam.h.

double ipa_CameraSensors::VirtualRangeCam::m_p2

private

Distortion parameters.

Definition at line 144 of file VirtualRangeCam.h.

std::vector<std::string> ipa_CameraSensors::VirtualRangeCam::m_RangeImageFileNames

private

Definition at line 138 of file VirtualRangeCam.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation