This is input class for sensor as camera. More...

#include <input_sensor_adtf31xx.h>

Inheritance diagram for InputSensorADTF31XX:

Public Member Functions
void	closeSensor ()
	closes the sensor More...

void	configureSensor (int camera_mode)
	Configures the camera. More...

void	getExtrinsics (CameraExtrinsics *camera_extrinsics)
	Gets camera extrinsics. More...

bool	getFrameTimestamp (ros::Time *timestamp)
	gets the frame timestamp from ToF SDK More...

void	getIntrinsics (CameraIntrinsics *camera_intrinsics)
	gets the camera intrinsics from the ToF SDK. More...

void	openSensor (std::string, int input_image_width, int input_image_height, std::string config_file_name, std::string input_sensor_ip)
	Opens the camera. More...

bool	readNextFrame (unsigned short depth_frame, unsigned short ab_frame, unsigned short conf_frame, short xyz_frame)
	reads frame from ToF SDK More...

void	setABinvalidationThreshold (int threshold)
	calls set ab invalidation threshold function from ToF SDK More...

void	setConfidenceThreshold (int threshold)
	calls set confidence threshold function from ToF SDK More...

void	setJBLFFilterSize (int jbfl_filter_size)
	sets the size of JBLF filter More...

void	setJBLFFilterState (bool enable_jblf_filter)
	sets the state of JBLF filter More...

void	setRadialFilterMaxThreshold (int radial_max_threshold)
	sets the maximum threshold for radial filter More...

void	setRadialFilterMinThreshold (int radial_min_threshold)
	sets the minimum threshold for radial filter More...

Public Member Functions inherited from IInputSensor
int	getFrameCounter ()
	Get the current Frame count value. More...

int	getFrameHeight ()
	Get the Frame Height object Only integer scaling is supported. More...

int	getFrameWidth ()
	Get the Frame Width object Only integer scaling is supported. More...

bool	isOpened ()
	function to check whether input is opened More...

void	setFrameHeight (int frm_height)
	Sett the Frame Height object Only integer scaling is supported. More...

void	setFrameWidth (int frm_width)
	Set the Frame Width object Only integer scaling is supported. More...

void	setProcessingScale (int scale_factor)
	Set the Processing Scale object. More...

Private Attributes
std::shared_ptr< aditof::Camera >	camera_

CameraIntrinsics	camera_intrinsics_

Additional Inherited Members
Protected Attributes inherited from IInputSensor
int	bytes_per_pixel_ = 2

unsigned int	frame_counter_ = 0

int	frame_height_ = 1024

int	frame_width_ = 1024

int	input_scale_factor_ = 2

bool	sensor_open_flag_

Detailed Description

This is input class for sensor as camera.

Definition at line 20 of file input_sensor_adtf31xx.h.

Member Function Documentation

◆ closeSensor()

void InputSensorADTF31XX::closeSensor ( )

virtual

closes the sensor

Implements IInputSensor.

Definition at line 293 of file input_sensor_adtf31xx.cpp.

◆ configureSensor()

void InputSensorADTF31XX::configureSensor ( int camera_mode )

virtual

Configures the camera.

Parameters

camera_mode camera_mode

Implements IInputSensor.

Definition at line 79 of file input_sensor_adtf31xx.cpp.

◆ getExtrinsics()

void InputSensorADTF31XX::getExtrinsics ( CameraExtrinsics * camera_extrinsics )

virtual

Gets camera extrinsics.

Parameters

camera_extrinsics Camera extrinsics

Implements IInputSensor.

Definition at line 270 of file input_sensor_adtf31xx.cpp.

◆ getFrameTimestamp()

bool InputSensorADTF31XX::getFrameTimestamp ( ros::Time * timestamp )

virtual

gets the frame timestamp from ToF SDK

Implements IInputSensor.

Definition at line 258 of file input_sensor_adtf31xx.cpp.

◆ getIntrinsics()

void InputSensorADTF31XX::getIntrinsics ( CameraIntrinsics * camera_intrinsics )

virtual

gets the camera intrinsics from the ToF SDK.

Parameters

camera_intrinsics camera intrinsics of ToF module.

Implements IInputSensor.

Definition at line 172 of file input_sensor_adtf31xx.cpp.

◆ openSensor()

void InputSensorADTF31XX::openSensor	(	std::string	,
		int	input_image_width,
		int	input_image_height,
		std::string	config_file_name,
		std::string	input_sensor_ip
	)

virtual

Opens the camera.

Parameters

sensor_name	This parameter is not used in this derived member function.
input_image_width	width of the image
input_image_height	height of the image
processing_scale	scale factor for image and camera intrinsics
config_file_name	path of configuration json file for ToF SDK.

Implements IInputSensor.

Definition at line 28 of file input_sensor_adtf31xx.cpp.

◆ readNextFrame()

bool InputSensorADTF31XX::readNextFrame	(	unsigned short *	depth_frame,
		unsigned short *	ab_frame,
		unsigned short *	conf_frame,
		short *	xyz_frame
	)

virtual

reads frame from ToF SDK

Parameters

depth_frame	pointer to get depth frame
ab_frame	pointer to get ab frame

Returns: true if read is successful; false if read is not successful

Implements IInputSensor.

Definition at line 194 of file input_sensor_adtf31xx.cpp.

◆ setABinvalidationThreshold()

void InputSensorADTF31XX::setABinvalidationThreshold ( int threshold )

virtual

calls set ab invalidation threshold function from ToF SDK

Parameters

threshold abinvalidation threshold

Implements IInputSensor.

Definition at line 305 of file input_sensor_adtf31xx.cpp.

◆ setConfidenceThreshold()

void InputSensorADTF31XX::setConfidenceThreshold ( int threshold )

virtual

calls set confidence threshold function from ToF SDK

Parameters

threshold confidence threshold

Implements IInputSensor.

Definition at line 316 of file input_sensor_adtf31xx.cpp.

◆ setJBLFFilterSize()

void InputSensorADTF31XX::setJBLFFilterSize ( int jbfl_filter_size )

virtual

sets the size of JBLF filter

Parameters

jbfl_filter_size parameter to set JBLF filter size

Implements IInputSensor.

Definition at line 338 of file input_sensor_adtf31xx.cpp.

◆ setJBLFFilterState()

void InputSensorADTF31XX::setJBLFFilterState ( bool enable_jblf_filter )

virtual

sets the state of JBLF filter

Parameters

enable_jblf_filter parameter to enable or disable JBLF filter

Implements IInputSensor.

Definition at line 327 of file input_sensor_adtf31xx.cpp.

◆ setRadialFilterMaxThreshold()

void InputSensorADTF31XX::setRadialFilterMaxThreshold ( int radial_max_threshold )

virtual

sets the maximum threshold for radial filter

Parameters

radial_threshold_max parameter to set maximum threshold for radial filter

Implements IInputSensor.

Definition at line 360 of file input_sensor_adtf31xx.cpp.

◆ setRadialFilterMinThreshold()

void InputSensorADTF31XX::setRadialFilterMinThreshold ( int radial_min_threshold )

virtual

sets the minimum threshold for radial filter

Parameters

radial_threshold_min parameter to set minimum threshold for radial filter

Implements IInputSensor.

Definition at line 349 of file input_sensor_adtf31xx.cpp.

Member Data Documentation

◆ camera_

std::shared_ptr<aditof::Camera> InputSensorADTF31XX::camera_

private

Definition at line 44 of file input_sensor_adtf31xx.h.

◆ camera_intrinsics_

CameraIntrinsics InputSensorADTF31XX::camera_intrinsics_

private

Definition at line 45 of file input_sensor_adtf31xx.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ closeSensor()

◆ configureSensor()

◆ getExtrinsics()

◆ getFrameTimestamp()

◆ getIntrinsics()

◆ openSensor()

◆ readNextFrame()

◆ setABinvalidationThreshold()

◆ setConfidenceThreshold()

◆ setJBLFFilterSize()

◆ setJBLFFilterState()

◆ setRadialFilterMaxThreshold()

◆ setRadialFilterMinThreshold()

Member Data Documentation

◆ camera_

◆ camera_intrinsics_