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Public Member Functions | Private Member Functions | Private Attributes
ipa_CameraSensors::Swissranger Class Reference

#include <Swissranger.h>

Inheritance diagram for ipa_CameraSensors::Swissranger:
Inheritance graph
[legend]

List of all members.

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

Definition at line 71 of file Swissranger.cpp.

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:
widthStepRangeThe stride of a row from the range image.
widthStepGrayThe stride of a row from the grayscale intensity image.
widthStepCartesianThe stride of a row from the cartesian image.
rangeImagecharacter array with depth information.
grayImagecharacter array with intensity (grayscale) information.
cartesianImagecharacter array with cartesian (x,y,z) information in meters.
getLatestFrameSet true to acquire a new image on calling instead of returning the one acquired last time
useCalibratedZCalibrate z values
grayImageTypeEither gray image data is filled with amplitude image or intensity image
Returns:
Return code.

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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:
rangeImageOpenCV conform image with depth information.
grayImageOpenCV conform image with grayscale information.
cartesianImageOpenCV conform image with cartesian (x,y,z) information in meters.
getLatestFrameSet true to acquire a new image on calling instead of returning the one acquired last time
useCalibratedZCalibrate z values
grayImageTypeEither gray image data is filled with amplitude image or intensity image
Exceptions:
IPA_ExceptionThrows 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:
propertyIDThe ID of the property.
cameraPropertyThe 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:
directoryPath to the directory of the range imaging sensor parameter file.
cameraIndexIt 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.

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:
filenameSwissranger parameter path and file name.
cameraIndexThe 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:
filenameConfiguration 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:
propertyIDThe ID of the property.
cameraPropertyThe 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

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.

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

Definition at line 181 of file Swissranger.h.

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

Definition at line 182 of file Swissranger.h.

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

Definition at line 183 of file Swissranger.h.

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

Definition at line 184 of file Swissranger.h.

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

Definition at line 185 of file Swissranger.h.

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

Definition at line 186 of file Swissranger.h.

True, when m_CoeffsAx have been initialized.

Definition at line 173 of file Swissranger.h.

Image array.

Definition at line 166 of file Swissranger.h.

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

Definition at line 174 of file Swissranger.h.

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

Definition at line 165 of file Swissranger.h.

Handle to USB SR3000 camera.

Definition at line 164 of file Swissranger.h.

Definition at line 169 of file Swissranger.h.

Definition at line 170 of file Swissranger.h.

Definition at line 171 of file Swissranger.h.


The documentation for this class was generated from the following files:
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cob_camera_sensors
Author(s): Jan Fischer
autogenerated on Fri Mar 1 2013 17:48:38