1.22. PmdPico#

Summary:

:pluginsummary:`PmdPico`

Type:

:plugintype:`PmdPico`

License:

:pluginlicense:`PmdPico`

Platforms:

Windows

Devices:

pico flexx, pico maxx, pico monster

Author:

:pluginauthor:`PmdPico`

1.22.1. Overview#

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 transferred 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. Or got to the website and request a download link from the vendor: https://pmdtec.com/

Make sure that the path to the royale.dll is added to your system path variables.

For Windows open the command line interface with administrator privileges. Use setx to permanently change the System PATH Variable (eg. “setx / M PATH “%PATH;C:Program Filesroyale4.24.0.1201bin”).

Set the CMAKE variable PmdPico_ROYALE_DIR or the environment variable PMD_ROYALE_ROOT to the PMD Royale SDK installation folder (e.g. C:Program Filesroyale4.24.0.1201)

1.22.5. Changelog#

  • itom setup 3.1.0: plugin uses the Royale SDK in version 3.12.0

  • itom setup 3.2.1: plugin uses the Royale SDK in version 3.21.1

  • itom setup 4.0.0: plugin uses the Royale SDK in version 3.21.1

  • itom setup 4.1.0: plugin uses the Royale SDK in version 3.21.1

  • itom setup 4.3.0: plugin uses the Royale SDK in version 4.24.0