1.22. PmdPico

Summary:

PmdPico Grabber

Type:

DataIO

License:

LPGL, uses royale software and driver (not covered by LPGL)

Platforms:

Windows

Devices:

pico flexx, pico maxx, pico monster

Author:

Robin Hahn

1.22.1. Overview

This plugin can be used to control any PMD pico device. The plugin was tested with a pico flexx device. Other devices have not been tested so far. If you start the plugin without further parameters (camera Number= 0), the first connected device is opened. This Plugin gives you only control to the level 1 functions of the SDK. For compiling this plugin, you need to install the royale software, shipped with the camera. Then set the CMake variable PmdPico_ROYALE_DIR to the folder including the bin folder (e.g. C:/Program Files/royale/3.8.0.35). After that make shure that the bin folder of the royale software is added to your path variables.

1.22.2. Initialization

The following parameters are mandatory or optional for initializing an instance of this plugin:

acquisition_mode: {int}

Indicates which data should be recorded. 0: depth data, 1: gray value, 2: confidence of depth, 3: all

auto_exposure: {int}

Indicates if the integration time is set automatically (1) or Manual (0)

bpp: {int}, read-only

bpp of gray value image

cam_number: {int}, read-only

index of the camera device

data_mode: {int}

Indicates whether depth data (0), gray value (1) or confidence map (2) is transfered when using copyVal, getVal or the live image

framerate: {int}

framerate of image acquisition (in fps). This parameter reflects the current framerate.

integration_time: {float}

integration time of [sec]

name: {str}, read-only

PmdPico

sensor_name: {str}, read-only

sensor name of the attached camera

serial_number: {str}, read-only

serial number of device.

sizex: {int}, read-only

width (x-direction)

sizey: {int}, read-only

height (y-direction)

use_case: {str}

current use case of camera. To get a list of all available use cases call the getUseCases exec function. Note the mixed modes are not supported yet.

x0: {int}, read-only

first pixel index (x-direction)

x1: {int}, read-only

last pixel index (x-direction)

y0: {int}, read-only

first pixel index (y-direction)

y1: {int}, read-only

last pixel index (y-direction)

1.22.3. Additional functions (exec functions)

instance.exec('getCoordinates', xCoordinate, yCoordinate)

returns the coordinates map of the acquired image.

Parameters

  • xCoordinate (dataObject) – x-coordinate map of the same shape as the current image

  • yCoordinate (dataObject) – y-coordinate map of the same shape as the current image

instance.exec('getUseCases')

prints out the available use cases.

1.22.4. Installation

For using this plugin, please install the Royale software that is shipped with your PMD device. Make shure that the path to the royale.dll is added to your system path variables.

1.22.5. Changelog

  • itom setup 3.1.0: plugin uses the Royale SDK in version 3.12.0.44

  • itom setup 3.2.1: plugin uses the Royale SDK in version 3.21.1.70

  • itom setup 4.0.0: plugin uses the Royale SDK in version 3.21.1.70

  • itom setup 4.1.0: plugin uses the Royale SDK in version 3.21.1.70