xv::TofCamera Class Reference

A class to handle callbacks of the ToF camera. More...

#include <xv-sdk.h>

Public Types
enum class	StreamMode {   DepthOnly = 0 , CloudOnly , DepthAndCloud , None ,   CloudOnLeftHandSlam }
enum class	DistanceMode { Short = 0 , Middle , Long }
enum class	SonyTofLibMode {   IQMIX_DF , IQMIX_SF , LABELIZE_DF , LABELIZE_SF ,   M2MIX_DF , M2MIX_SF }
enum class	Framerate {   FPS_5 , FPS_10 , FPS_15 , FPS_20 ,   FPS_25 , FPS_30 }
enum class	Resolution { Unknown = -1 , VGA = 0 , QVGA , HQVGA }
enum class	Manufacturer { Unknown = -1 , Pmd = 0 , Sony }
enum class	ColorDepthBase { RGB = 0 , TOF = 1 }
using	Data = DepthImage const &

Public Member Functions
virtual bool	setColorDepthBase (ColorDepthBase base)=0
virtual ColorDepthBase	getColoerDepthBase ()=0
virtual int	registerColorDepthImageCallback (std::function< void(const DepthColorImage &)>)=0
	Gives access to composed image with RBG color on depth images.
virtual bool	unregisterColorDepthImageCallback (int callbackId)=0
virtual std::shared_ptr< PointCloud >	depthImageToPointCloud (DepthImage const &) const =0
	Convert a depth image to point cloud for sony TOF. More...
virtual std::shared_ptr< PointCloud >	formatPmdCloudToPointCloudStruct (DepthImage const &) const =0
	format a depth image to point cloud for pmd TOF(Cloud Only). More...
virtual bool	setStreamMode (StreamMode mode)=0
	Set which stream will be reported. Not work with sony TOF.
virtual bool	setDistanceMode (DistanceMode mode)=0
	Set distance mode. More...
virtual Resolution	getResolution ()=0
	Get current resolution. More...
virtual Manufacturer	getManufacturer ()=0
	Get tof Manufacturer. More...
virtual bool	setLibWorkMode (SonyTofLibMode mode)=0
	Set lib mode. More...
virtual bool	enableTofIr (bool enable)=0
	Enable tof ir.
virtual bool	setMode (int mode)=0
	Set work mode.
virtual bool	setSonyTofSetting (SonyTofLibMode mode, Resolution resolution, Framerate frameRate)=0
	SonyTof Settings.
virtual void	setTofIrGamma (double gamma)=0
virtual void	setFilterFile (std::string filePath)=0
	set SonyTof filter file
virtual bool	start ()=0
	start streaming.
virtual bool	stop ()=0
	stop streaming.
virtual int	registerCallback (std::function< void(DepthImage const &)>)=0
	Register callback to receive data.
virtual bool	unregisterCallback (int callbackId)=0
	Unregister callback.
virtual const std::vector< Calibration > &	calibration ()
	Get the camera calibration. More...
virtual bool	setResolution (int resolution)
virtual bool	setFramerate (float framerate)
virtual bool	setExposure (int aecMode=0, int exposureGain=0, float exposureTimeMs=0.0)
	Exposure setting. More...
virtual bool	setBrightness (int brightness)
	Set output image brightness. Only valid in auto exposure mode. More...

Detailed Description

A class to handle callbacks of the ToF camera.

Member Function Documentation

calibration()

virtual const std::vector<Calibration>& xv::Camera::calibration ( )

virtualinherited

Get the camera calibration.

The frames coordinates are defined according to the IMU frame coordinates. If 2 fisheyes cameras the first is left and second is right camera.

depthImageToPointCloud()

virtual std::shared_ptr<PointCloud> xv::TofCamera::depthImageToPointCloud ( DepthImage const &  ) const

pure virtual

Convert a depth image to point cloud for sony TOF.

Returns

The point cloud of valid depth image pixels in ToF frame coordinates, nullptr if something went wrong.

Note

The coordinate system of the point cloud is the camera coordinate system, and the data unit is millimeters.

formatPmdCloudToPointCloudStruct()

virtual std::shared_ptr<PointCloud> xv::TofCamera::formatPmdCloudToPointCloudStruct ( DepthImage const &  ) const

pure virtual

format a depth image to point cloud for pmd TOF(Cloud Only).

Returns

The point cloud of valid depth image pixels in ToF frame coordinates, nullptr if something went wrong.

getManufacturer()

virtual Manufacturer xv::TofCamera::getManufacturer ( )

pure virtual

Get tof Manufacturer.

Returns

Manufacturer {Unknown = -1, Pmd = 0, Sony};

getResolution()

virtual Resolution xv::TofCamera::getResolution ( )

pure virtual

Get current resolution.

Returns

Resolution{ Unknown = -1,VGA = 0 ,QVGA ,HQVGA};

setBrightness()

virtual bool xv::Camera::setBrightness ( int  brightness )

virtualinherited

Set output image brightness. Only valid in auto exposure mode.

Parameters

[in]

brightness

brightness of image, [0,255]

setDistanceMode()

virtual bool xv::TofCamera::setDistanceMode ( DistanceMode  mode )

pure virtual

Set distance mode.

Midlle=Short for 010/009 TOF.

SonyTof: Short LABELIZE_SF_VGA_30FPS Middle M2_DF_VGA_30FPS Long IQ_DF_VGA_30FPS

setExposure()

virtual bool xv::Camera::setExposure ( int  aecMode = 0, int  exposureGain = 0, float  exposureTimeMs = 0.0  )

virtualinherited

Exposure setting.

Parameters

[in]	aecMode	0:auto exposure 1:manual exposure
[in]	exposureGain	Only valid in manual exposure mode, [0,255]
[in]	exposureTimeMs	Only valid in manual exposure mode, in milliseconds

setLibWorkMode()

virtual bool xv::TofCamera::setLibWorkMode ( SonyTofLibMode  mode )

pure virtual

Set lib mode.

1. IQMIX_DF
2. IQMIX_SF
3. LABELIZE_DF
4. LABELIZE_SF
5. M2MIX_DF
6. M2MIX_SF

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

• /sources/include/xv-sdk.h