#include <Swissranger.h>

Inheritance diagram for ipa_CameraSensors::Swissranger:

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 grayImage=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	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	SetProperty (t_cameraProperty *cameraProperty)

unsigned long	SetPropertyDefaults ()

	Swissranger ()

	~Swissranger ()

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

virtual t_cameraType	GetCameraType ()

virtual int	GetNumberOfImages ()

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

virtual unsigned long	SetPathToImages (std::string path)

virtual	~AbstractRangeImagingSensor ()
	Destructor. More...

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

unsigned long	GetCalibratedXYSwissranger (int u, int v, int width, float &x, float &y)

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

unsigned long	GetCalibratedZSwissranger (int u, int v, int width, float &zCalibrated)

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

unsigned long	SetParameters ()

Private Attributes
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
	True, when m_CoeffsAx have been initialized. More...

ImgEntry *	m_DataBuffer
	Image array. More...

bool	m_GrayImageAcquireCalled
	Is false, when acquiring gray image has not been called, yet. More...

int	m_NumOfImages
	Number of images the siwssranger returns (i.e. an intensity and a range image) More...

SRCAM	m_SRCam
	Handle to USB SR3000 camera. More...

float	m_X [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

float	m_Y [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

float	m_Z [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

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 SwissRanger camera SR-3000. Platform independent interface to SwissRanger camera SR-3000. Implementation depends on libusbSR library.

Definition at line 73 of file Swissranger.h.

Constructor & Destructor Documentation

Swissranger::Swissranger ( )

Definition at line 36 of file Swissranger.cpp.

Swissranger::~Swissranger ( )

Definition at line 49 of file Swissranger.cpp.

Member Function Documentation

unsigned long Swissranger::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 674 of file Swissranger.cpp.

unsigned long Swissranger::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 625 of file Swissranger.cpp.

unsigned long Swissranger::Close ( )

virtual

Close camera device.

Returns: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 300 of file Swissranger.cpp.

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

private

Definition at line 961 of file Swissranger.cpp.

unsigned long Swissranger::GetCalibratedXYSwissranger	(	int	u,
		int	v,
		int	width,
		float &	x,
		float &	y
	)

private

Definition at line 1000 of file Swissranger.cpp.

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

private

Definition at line 940 of file Swissranger.cpp.

unsigned long Swissranger::GetCalibratedZSwissranger	(	int	u,
		int	v,
		int	width,
		float &	zCalibrated
	)

private

Definition at line 953 of file Swissranger.cpp.

unsigned long Swissranger::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 552 of file Swissranger.cpp.

unsigned long Swissranger::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 84 of file Swissranger.cpp.

bool ipa_CameraSensors::Swissranger::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 102 of file Swissranger.h.

bool ipa_CameraSensors::Swissranger::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 103 of file Swissranger.h.

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

privatevirtual

Load general Swissranger parameters and previously determined calibration parameters.

Parameters

filename	Swissranger parameter 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 value

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 1130 of file Swissranger.cpp.

unsigned long Swissranger::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 230 of file Swissranger.cpp.

unsigned long Swissranger::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 935 of file Swissranger.cpp.

unsigned long Swissranger::SetParameters ( )

private

Parses the data extracted by LoadParameters and calls the corresponding SetProperty functions.

Returns: Return code

Definition at line 1010 of file Swissranger.cpp.

unsigned long Swissranger::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 321 of file Swissranger.cpp.

unsigned long Swissranger::SetPropertyDefaults ( )

virtual

Function to set property defaults of the range imaging sensor.

Returns: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 546 of file Swissranger.cpp.

Member Data Documentation

cv::Mat ipa_CameraSensors::Swissranger::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 143 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA1

private

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

Definition at line 144 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA2

private

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

Definition at line 145 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA3

private

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

Definition at line 146 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA4

private

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

Definition at line 147 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA5

private

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

Definition at line 148 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA6

private

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

Definition at line 149 of file Swissranger.h.

bool ipa_CameraSensors::Swissranger::m_CoeffsInitialized

private

True, when m_CoeffsAx have been initialized.

Definition at line 136 of file Swissranger.h.

ImgEntry* ipa_CameraSensors::Swissranger::m_DataBuffer

private

Image array.

Definition at line 129 of file Swissranger.h.

bool ipa_CameraSensors::Swissranger::m_GrayImageAcquireCalled

private

Is false, when acquiring gray image has not been called, yet.

Definition at line 137 of file Swissranger.h.

int ipa_CameraSensors::Swissranger::m_NumOfImages

private

Number of images the siwssranger returns (i.e. an intensity and a range image)

Definition at line 128 of file Swissranger.h.

SRCAM ipa_CameraSensors::Swissranger::m_SRCam

private

Handle to USB SR3000 camera.

Definition at line 127 of file Swissranger.h.

float ipa_CameraSensors::Swissranger::m_X[SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

private

Definition at line 132 of file Swissranger.h.

float ipa_CameraSensors::Swissranger::m_Y[SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

private

Definition at line 133 of file Swissranger.h.

float ipa_CameraSensors::Swissranger::m_Z[SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

private

Definition at line 134 of file Swissranger.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