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261 lines
9.9 KiB
C
261 lines
9.9 KiB
C
/*
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* PMDSDK 2
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*
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* File: pmdsdk2.h
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* Author: Martin Profittlich
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* Version: 1.0
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*
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* General header file for applications using the PMDSDK 2.0.
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* Contains all necessary definitions and prototypes.
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*
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* Copyright (c) 2006-2007 PMD Technologies GmbH.
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* All Rights Reserved.
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*
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*/
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//
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// Differences from MiniSDK 1.0:
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//
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// - Distance, amplitude and intensity data type is float (was double)
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// - pmdGetRaw() is now pmdGetSourceData()
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// - Error code values changed
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// - User is responsible for memory (de-)allocation now
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// - Info commands removed, introduced pmdSourceCommand instead
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// - Plugins!
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// - Multiple integration times and modulation frequencies
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// - Only one connection command, camera identification via plugin/parameter
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//
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#ifndef PMDMSDK2_H_INCLUDED_2503171013
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#define PMDMSDK2_H_INCLUDED_2503171013
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#include "pmddatadescription.h"
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#include "pmdheader.h"
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#ifdef _WIN32
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# ifndef DLLSPEC
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# define DLLSPEC __declspec(dllimport)
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# endif
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#else
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# ifdef DLLSPEC
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# undef DLLSPEC
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# endif
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# define DLLSPEC
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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// TYPES
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/// Handle for a camera connection.
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///This handle is used for all subsequent operations.
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///
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//typedef void* PMDHandle;
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typedef unsigned PMDHandle;
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// FUNCTIONS
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ImageHeaderInformation *retriveHeader();
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int pmdGetDistancesAsync(PMDHandle hnd, float *data, size_t maxLen);
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int pmdGetAmplitudesAsync(PMDHandle hnd, float * data, size_t maxLen);
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int pmdGetIntensitiesAsync(PMDHandle hnd, float * data, size_t maxLen);
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/// Connect to a PMD camera or other data source
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///\param hnd Empty PMDHandle structure. On success, this value
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///will contain the handle for subsequent operations.
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///\param rplugin Path of the camera plugin
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///\param rparam Parameter for the camera plugin
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///\param pplugin Path of the processing plugin. If this is NULL, no porcessing plugin will be loaded.
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///\param pparam Parameter for the processing plugin
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///\return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdOpen (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam);
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/// Connect to a PMD camera or other data source without processing
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///\param hnd Empty PMDHandle structure. On success, this value
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///will contain the handle for subsequent operations.
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///\param rplugin Path of the camera plugin
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///\param rparam Parameter for the camera plugin
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///\return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdOpenSourcePlugin (PMDHandle * hnd, const char * rplugin, const char * rparam);
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/// Disconnect and close the handle.
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/// \param hnd Handle of the connection.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdClose (PMDHandle hnd);
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/// Get an error description from the last error.
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/// Error messages are stored per handle. A new error associated with PMDHandle A
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/// does not overwrite the last error message associated with PMDHandle B.
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/// \param hnd Handle of the connection/plugin.
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/// \param error Memory to hold the error message.
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/// \param maxLen Maximum length of the error message, including the terminating zero byte.
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/// Longer messages will be truncated.
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DLLSPEC int pmdGetLastError (PMDHandle hnd, char * error, size_t maxLen);
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/// Retrieve the a new frame from the camera.
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/// To obtain the actual data, use pmdGetSourceData, pmdGetDistances,
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/// pmdGetAmplitudes etc.
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/// \param hnd Handle of the connection.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdUpdate (PMDHandle hnd);
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/// Set the integration time of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the integration time.
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/// \param t Integration time in microseconds.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdSetIntegrationTime (PMDHandle hnd, unsigned idx, unsigned t);
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/// Get the integration time of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the integration time.
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/// \param t Pointer to a variable to contain the
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/// integration time in microseconds.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetIntegrationTime (PMDHandle hnd, unsigned * t, unsigned idx);
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/// Get a supported integration time of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the integration time.
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/// \param t The desired integration time
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/// \param w Where to look for a valid integration time in respect to the desired
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/// integration time (CloseTo, AtLeast or AtMost)
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/// \param responsible Pointer to a variable to contain the
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/// integration time in microseconds.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetValidIntegrationTime (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned t);
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/// Set the modulation frequency of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the modulation frequency.
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/// \param f Modulation frequency in Hz.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdSetModulationFrequency (PMDHandle hnd, unsigned idx, unsigned f);
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/// Get the modulation frequency of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the modulation frequency.
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/// \param t Pointer to a variable to contain the
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/// modulation frequency in Hz.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetModulationFrequency (PMDHandle hnd, unsigned * f, unsigned idx);
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/// Get a supported modulation frequency of the camera
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/// \param hnd Handle of the connection.
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/// \param idx Index of the modulation frequency.
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/// \param f The desired modulation frequency
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/// \param w Where to look for a valid modulation frequency in respect to the desired
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/// modulation frequency (CloseTo, AtLeast or AtMost)
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/// \param result Pointer to a variable to contain the
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/// modulation frequency in Hz.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetValidModulationFrequency (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned f);
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/// Get the raw data from the current frame.
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/// \param hnd Handle of the connection.
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/// \param data Pointer to the memory to contain the address of the data.
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/// \param maxLen Maximum length in bytes for the data
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetSourceData (PMDHandle hnd, void * data, size_t maxLen);
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/// Get the size in bytes of the current raw data frame.
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/// \param hnd Handle of the connection.
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/// \param size Will contain the size after the call
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetSourceDataSize (PMDHandle hnd, size_t * size);
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/// Get the description of the current raw data frame.
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/// \param hnd Handle of the connection.
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/// \param dd Will contain the PMDDataDescription after the call.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetSourceDataDescription (PMDHandle hnd, struct PMDDataDescription * dd);
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/// Get the distance data from the current frame.
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/// \param hnd Handle of the connection.
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/// \param data Pointer to a block of memory to contain the data.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetDistances (PMDHandle hnd, float * data, size_t maxLen);
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/// Get the amplitude data from the current frame.
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/// \param hnd Handle of the connection.
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/// \param data Pointer to a block of memory to contain the data.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetAmplitudes (PMDHandle hnd, float * data, size_t maxLen);
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/// Get the intensity data from the current frame.
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/// \param hnd Handle of the connection.
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/// \param data Pointer to a block of memory to contain the data.
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/// \return PMD_OK on success, errorcode otherwise
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///
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DLLSPEC int pmdGetIntensities (PMDHandle hnd, float * data, size_t maxLen);
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/// Execute an source plugin-specific command.
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/// \param hnd Handle of the connection.
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/// \param result Pointer to a block of memory to contain the result string.
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/// \param maxLen Maximum length of the result string, including terminating 0.
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/// \param cmd The command to be executed.
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///
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DLLSPEC int pmdSourceCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd);
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/// Execute a processing plugin-specific command.
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/// \param hnd Handle of the connection.
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/// \param result Pointer to a block of memory to contain the result string.
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/// \param maxLen Maximum length of the result string, including terminating 0.
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/// \param cmd The command to be executed.
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///
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DLLSPEC int pmdProcessingCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd);
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// ADDITIONAL PROCESSING
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DLLSPEC int pmdOpenProcessingPlugin (PMDHandle * hnd, const char * pplugin, const char * pparam);
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DLLSPEC int pmdProcess (PMDHandle hnd,
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unsigned numOut, struct PMDDataDescription * ddOut, void ** output,
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unsigned numIn, struct PMDDataDescription * ddIn, void ** input);
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DLLSPEC int pmdCanProcess (PMDHandle hnd, unsigned * memNeeded, unsigned type, unsigned numFmt, struct PMDDataDescription * fmt);
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// SPECIAL FUNCTIONS
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// additional header file? inline code?
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DLLSPEC int pmdConnectFireWire (PMDHandle * hnd, unsigned index);
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DLLSPEC int pmdConnectASample (PMDHandle * hnd, const char * address);
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#ifndef PMD_NO_DEPRECATED
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// DEPRECATED
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DLLSPEC int pmdConnect (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam);
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DLLSPEC int pmdConnectOnlyRaw (PMDHandle * hnd, const char * rplugin, const char * rparam);
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DLLSPEC int pmdDisconnect (PMDHandle hnd);
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DLLSPEC int pmdOpenAccessPlugin (PMDHandle * hnd, const char * rplugin, const char * rparam);
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DLLSPEC int pmdGetRawData (PMDHandle hnd, void * data, size_t maxLen);
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DLLSPEC int pmdGetRawDataSize (PMDHandle hnd, size_t * size);
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DLLSPEC int pmdGetRawDataDescription (PMDHandle hnd, struct PMDDataDescription * dd);
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DLLSPEC int pmdPlatformCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd);
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DLLSPEC int pmdConfigureProcess (PMDHandle hnd, char * result, size_t maxLen, const char * cmd);
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DLLSPEC int pmdGetInfo (PMDHandle hnd, char * result, size_t maxLen, const char * key);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif
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