#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 ()
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
cv::Mat	m_CoeffsA1
	a1 z-calibration parameters. One matrix entry corresponds to one pixel
cv::Mat	m_CoeffsA2
	a2 z-calibration parameters. One matrix entry corresponds to one pixel
cv::Mat	m_CoeffsA3
	a3 z-calibration parameters. One matrix entry corresponds to one pixel
cv::Mat	m_CoeffsA4
	a4 z-calibration parameters. One matrix entry corresponds to one pixel
cv::Mat	m_CoeffsA5
	a5 z-calibration parameters. One matrix entry corresponds to one pixel
cv::Mat	m_CoeffsA6
	a6 z-calibration parameters. One matrix entry corresponds to one pixel
bool	m_CoeffsInitialized
	True, when m_CoeffsAx have been initialized.
ImgEntry *	m_DataBuffer
	Image array.
bool	m_GrayImageAcquireCalled
	Is false, when acquiring gray image has not been called, yet.
int	m_NumOfImages
	Number of images the siwssranger returns (i.e. an intensity and a range image)
SRCAM	m_SRCam
	Handle to USB SR3000 camera.
float	m_X [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]
float	m_Y [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]
float	m_Z [SWISSRANGER_COLUMNS *SWISSRANGER_ROWS]

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 110 of file Swissranger.h.

Constructor & Destructor Documentation

Swissranger::Swissranger ( )

Definition at line 71 of file Swissranger.cpp.

Swissranger::~Swissranger ( )

Definition at line 84 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 709 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 660 of file Swissranger.cpp.

unsigned long Swissranger::Close ( ) [virtual]

Close camera device.

Returns:: Return code.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 335 of file Swissranger.cpp.

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

Definition at line 996 of file Swissranger.cpp.

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

Definition at line 1035 of file Swissranger.cpp.

unsigned long Swissranger::GetCalibratedZMatlab	(	int	u,
		int	v,
		float	zRaw,
		float &	zCalibrated
	)		`[private]`

Definition at line 975 of file Swissranger.cpp.

unsigned long Swissranger::GetCalibratedZSwissranger	(	int	u,
		int	v,
		int	width,
		float &	zCalibrated
	)		`[private]`

Definition at line 988 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 587 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 119 of file Swissranger.cpp.

bool ipa_CameraSensors::Swissranger::isInitialized ( ) [inline, virtual]

Determines if range imaging camera has successfully been initialized.

Returns:: True if camera is initialized, false otherwise.

Implements ipa_CameraSensors::AbstractRangeImagingSensor.

Definition at line 139 of file Swissranger.h.

bool ipa_CameraSensors::Swissranger::isOpen ( ) [inline, virtual]

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 140 of file Swissranger.h.

unsigned long Swissranger::LoadParameters	(	const char *	filename,
		int	cameraIndex
	)		`[private, virtual]`

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 1165 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 265 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 970 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 1045 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 356 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 581 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 180 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 181 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 182 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 183 of file Swissranger.h.

cv::Mat ipa_CameraSensors::Swissranger::m_CoeffsA4 [private]

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