Device class representing a player for MITK-ToF images. More...

#include <mitkToFCameraMITKPlayerDevice.h>

Inheritance diagram for mitk::ToFCameraMITKPlayerDevice:

Collaboration diagram for mitk::ToFCameraMITKPlayerDevice:

Public Member Functions
	mitkClassMacro (ToFCameraMITKPlayerDevice, ToFCameraDevice)

Pointer	Clone () const

virtual bool	OnConnectCamera () override
	opens a connection to the ToF camera More...

virtual bool	DisconnectCamera () override
	closes the connection to the camera More...

virtual void	StartCamera () override
	starts the continuous updating of the camera. A separate thread updates the source data, the main thread processes the source data and creates images and coordinates More...

virtual void	GetAmplitudes (float *amplitudeArray, int &imageSequence) override
	gets the amplitude data from the ToF camera as the strength of the active illumination of every pixel. Caution! The user is responsible for allocating and deleting the images. These values can be used to determine the quality of the distance values. The higher the amplitude value, the higher the accuracy of the according distance value More...

virtual void	GetIntensities (float *intensityArray, int &imageSequence) override
	gets the intensity data from the ToF camera as a greyscale image. Caution! The user is responsible for allocating and deleting the images. More...

virtual void	GetRgb (unsigned char *rgbArray, int &imageSequence)
	gets the rgb data from the ToF camera. Caution! The user is responsible for allocating and deleting the images. More...

virtual void	GetDistances (float *distanceArray, int &imageSequence) override
	gets the distance data from the ToF camera measuring the distance between the camera and the different object points in millimeters. Caution! The user is responsible for allocating and deleting the images. More...

virtual void	GetAllImages (float distanceArray, float amplitudeArray, float intensityArray, char sourceDataArray, int requiredImageSequence, int &capturedImageSequence, unsigned char *rgbDataArray=NULL) override
	gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images. More...

virtual void	SetInputFileName (std::string inputFileName)
	Set file name where the data is recorded. More...

virtual void	SetProperty (const char propertyKey, BaseProperty propertyValue) override
	set a BaseProperty More...

Public Member Functions inherited from mitk::ToFCameraDevice
	mitkClassMacroItkParent (ToFCameraDevice, itk::Object)

virtual bool	ConnectCamera ()
	ConnectCamera Internally calls OnConnectCamera() of the respective device implementation. More...

virtual void	StopCamera ()
	stops the continuous updating of the camera More...

virtual bool	IsCameraActive ()
	returns true if the camera is connected and started More...

virtual bool	IsCameraConnected ()
	returns true if the camera is connected More...

virtual int	GetCaptureWidth ()
	get the currently set capture width More...

virtual int	GetCaptureHeight ()
	get the currently set capture height More...

virtual int	GetSourceDataSize ()
	get the currently set source data size More...

virtual int	GetBufferSize ()
	get the currently set buffer size More...

virtual int	GetMaxBufferSize ()
	get the currently set max buffer size More...

void	SetBoolProperty (const char *propertyKey, bool boolValue)
	set a bool property in the property list More...

void	SetIntProperty (const char *propertyKey, int intValue)
	set an int property in the property list More...

void	SetFloatProperty (const char *propertyKey, float floatValue)
	set a float property in the property list More...

void	SetStringProperty (const char propertyKey, const char stringValue)
	set a string property in the property list More...

virtual BaseProperty *	GetProperty (const char *propertyKey)
	get a BaseProperty from the property list More...

bool	GetBoolProperty (const char *propertyKey, bool &boolValue)
	get a bool from the property list More...

bool	GetStringProperty (const char *propertyKey, std::string &string)
	get a string from the property list More...

bool	GetIntProperty (const char *propertyKey, int &integer)
	get an int from the property list More...

virtual int	GetRGBCaptureWidth ()

virtual int	GetRGBCaptureHeight ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	ToFCameraMITKPlayerDevice ()

	~ToFCameraMITKPlayerDevice ()

virtual void	UpdateCamera () override
	updates the camera for image acquisition More...

void	CleanUpDataBuffers ()
	Clean up memory (pixel buffers) More...

void	AllocateDataBuffers ()
	Allocate pixel buffers. More...

Protected Member Functions inherited from mitk::ToFCameraDevice
	ToFCameraDevice ()

	~ToFCameraDevice ()

virtual void	AllocatePixelArrays ()
	method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray More...

virtual void	CleanupPixelArrays ()
	method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray More...

Static Protected Member Functions
static ITK_THREAD_RETURN_TYPE	Acquire (void *pInfoStruct)
	Thread method continuously acquiring images from the specified input file. More...

Protected Attributes
ToFCameraMITKPlayerController::Pointer	m_Controller
	member holding the corresponding controller More...

std::string	m_InputFileName
	member holding the file name of the current input file More...

Protected Attributes inherited from mitk::ToFCameraDevice
float *	m_IntensityArray
	float array holding the intensity image More...

float *	m_DistanceArray
	float array holding the distance image More...

float *	m_AmplitudeArray
	float array holding the amplitude image More...

int	m_BufferSize
	buffer size of the image buffer needed for loss-less acquisition of range data More...

int	m_MaxBufferSize
	maximal buffer size needed for initialization of data arrays. Default value is 100. More...

int	m_CurrentPos
	current position in the buffer which will be retrieved by the Get methods More...

int	m_FreePos
	current position in the buffer which will be filled with data acquired from the hardware More...

int	m_CaptureWidth
	width of the range image (x dimension) More...

int	m_CaptureHeight
	height of the range image (y dimension) More...

int	m_PixelNumber
	number of pixels in the range image (m_CaptureWidth*m_CaptureHeight) More...

int	m_RGBImageWidth
	width of the RGB image (x dimension) More...

int	m_RGBImageHeight
	height of the RGB image (y dimension) More...

int	m_RGBPixelNumber
	number of pixels in the range image (m_RGBImageWidth*m_RGBImageHeight) More...

int	m_SourceDataSize
	size of the PMD source data More...

itk::MultiThreader::Pointer	m_MultiThreader
	itk::MultiThreader used for thread handling More...

itk::FastMutexLock::Pointer	m_ImageMutex
	mutex for images provided by the range camera More...

itk::FastMutexLock::Pointer	m_CameraActiveMutex
	mutex for the cameraActive flag More...

int	m_ThreadID
	ID of the started thread. More...

bool	m_CameraActive
	flag indicating if the camera is currently active or not. Caution: thread safe access only! More...

bool	m_CameraConnected
	flag indicating if the camera is successfully connected or not. Caution: thread safe access only! More...

int	m_ImageSequence
	counter for acquired images More...

PropertyList::Pointer	m_PropertyList
	a list of the corresponding properties More...

Detailed Description

Device class representing a player for MITK-ToF images.

Definition at line 37 of file mitkToFCameraMITKPlayerDevice.h.

Constructor & Destructor Documentation

mitk::ToFCameraMITKPlayerDevice::ToFCameraMITKPlayerDevice ( )

protected

Definition at line 27 of file mitkToFCameraMITKPlayerDevice.cpp.

References m_Controller, and mitk::ToFCameraMITKPlayerController::New().

mitk::ToFCameraMITKPlayerDevice::~ToFCameraMITKPlayerDevice ( )

protected

Definition at line 33 of file mitkToFCameraMITKPlayerDevice.cpp.

References CleanUpDataBuffers(), and DisconnectCamera().

Member Function Documentation

ITK_THREAD_RETURN_TYPE mitk::ToFCameraMITKPlayerDevice::Acquire ( void * pInfoStruct )

staticprotected

Thread method continuously acquiring images from the specified input file.

Definition at line 108 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::IsCameraActive(), mitk::ToFCameraDevice::m_BufferSize, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, MITK_INFO, mitk::RealTimeClock::New(), and UpdateCamera().

Referenced by StartCamera().

void mitk::ToFCameraMITKPlayerDevice::AllocateDataBuffers ( )

protected

Allocate pixel buffers.

Definition at line 356 of file mitkToFCameraMITKPlayerDevice.cpp.

References CleanUpDataBuffers(), mitk::ToFCameraDevice::m_MaxBufferSize, mitk::ToFCameraDevice::m_PixelNumber, and mitk::ToFCameraDevice::m_RGBPixelNumber.

Referenced by OnConnectCamera().

void mitk::ToFCameraMITKPlayerDevice::CleanUpDataBuffers ( )

protected

Clean up memory (pixel buffers)

Definition at line 320 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_MaxBufferSize.

Referenced by AllocateDataBuffers(), and ~ToFCameraMITKPlayerDevice().

Pointer mitk::ToFCameraMITKPlayerDevice::Clone ( ) const

bool mitk::ToFCameraMITKPlayerDevice::DisconnectCamera ( )

overridevirtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 63 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_CameraConnected, m_Controller, and mitk::ToFCameraDevice::m_PropertyList.

Referenced by ~ToFCameraMITKPlayerDevice().

void mitk::ToFCameraMITKPlayerDevice::GetAllImages	(	float *	distanceArray,
		float *	amplitudeArray,
		float *	intensityArray,
		char *	sourceDataArray,
		int	requiredImageSequence,
		int &	capturedImageSequence,
		unsigned char *	rgbDataArray = `NULL`
	)

overridevirtual

gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

Parameters

distanceArray	contains the returned distance data as an array.
amplitudeArray	contains the returned amplitude data as an array.
intensityArray	contains the returned intensity data as an array.
sourceDataArray	contains the complete source data from the camera device.
requiredImageSequence	the required image sequence number
capturedImageSequence	the actually captured image sequence number

Implements mitk::ToFCameraDevice.

Definition at line 218 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_PixelNumber, mitk::ToFCameraDevice::m_RGBPixelNumber, and MITK_INFO.

void mitk::ToFCameraMITKPlayerDevice::GetAmplitudes	(	float *	amplitudeArray,
		int &	imageSequence
	)

overridevirtual

gets the amplitude data from the ToF camera as the strength of the active illumination of every pixel. Caution! The user is responsible for allocating and deleting the images. These values can be used to determine the quality of the distance values. The higher the amplitude value, the higher the accuracy of the according distance value

Parameters

imageSequence	the actually captured image sequence number
amplitudeArray	contains the returned amplitude data as an array.

Implements mitk::ToFCameraDevice.

Definition at line 170 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and mitk::ToFCameraDevice::m_PixelNumber.

void mitk::ToFCameraMITKPlayerDevice::GetDistances	(	float *	distanceArray,
		int &	imageSequence
	)

overridevirtual

gets the distance data from the ToF camera measuring the distance between the camera and the different object points in millimeters. Caution! The user is responsible for allocating and deleting the images.

Parameters

distanceArray	contains the returned distances data as an array.
imageSequence	the actually captured image sequence number

Implements mitk::ToFCameraDevice.

Definition at line 194 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and mitk::ToFCameraDevice::m_PixelNumber.

void mitk::ToFCameraMITKPlayerDevice::GetIntensities	(	float *	intensityArray,
		int &	imageSequence
	)

overridevirtual

gets the intensity data from the ToF camera as a greyscale image. Caution! The user is responsible for allocating and deleting the images.

Parameters

intensityArray	contains the returned intensities data as an array.
imageSequence	the actually captured image sequence number

Implements mitk::ToFCameraDevice.

Definition at line 182 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and mitk::ToFCameraDevice::m_PixelNumber.

void mitk::ToFCameraMITKPlayerDevice::GetRgb	(	unsigned char *	rgbArray,
		int &	imageSequence
	)

virtual

gets the rgb data from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

Parameters

rgbArray	contains the returned rgb data as an array.
imageSequence	the actually captured image sequence number

Definition at line 206 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and mitk::ToFCameraDevice::m_RGBPixelNumber.

mitk::ToFCameraMITKPlayerDevice::mitkClassMacro	(	ToFCameraMITKPlayerDevice	,
		ToFCameraDevice
	)

static Pointer mitk::ToFCameraMITKPlayerDevice::New ( )

static

bool mitk::ToFCameraMITKPlayerDevice::OnConnectCamera ( )

overridevirtual

opens a connection to the ToF camera

Implements mitk::ToFCameraDevice.

Definition at line 39 of file mitkToFCameraMITKPlayerDevice.cpp.

References AllocateDataBuffers(), mitk::ToFCameraDevice::AllocatePixelArrays(), mitk::ToFCameraDevice::m_CameraConnected, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_PixelNumber, mitk::ToFCameraDevice::m_RGBImageHeight, mitk::ToFCameraDevice::m_RGBImageWidth, mitk::ToFCameraDevice::m_RGBPixelNumber, and mitk::ToFCameraDevice::SetBoolProperty().

void mitk::ToFCameraMITKPlayerDevice::SetInputFileName ( std::string inputFileName )

virtual

Set file name where the data is recorded.

Parameters

inputFileName name of input file which should be played

Definition at line 261 of file mitkToFCameraMITKPlayerDevice.cpp.

References m_Controller, and m_InputFileName.

void mitk::ToFCameraMITKPlayerDevice::SetProperty	(	const char *	propertyKey,
		BaseProperty *	propertyValue
	)

overridevirtual

set a BaseProperty

Reimplemented from mitk::ToFCameraDevice.

Definition at line 267 of file mitkToFCameraMITKPlayerDevice.cpp.

References mitk::ToFCameraDevice::GetStringProperty(), m_Controller, mitk::ToFCameraDevice::m_PropertyList, and MITK_WARN.

void mitk::ToFCameraMITKPlayerDevice::StartCamera ( )

overridevirtual

starts the continuous updating of the camera. A separate thread updates the source data, the main thread processes the source data and creates images and coordinates

Implements mitk::ToFCameraDevice.

Definition at line 74 of file mitkToFCameraMITKPlayerDevice.cpp.

References Acquire(), mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CameraActiveMutex, mitk::ToFCameraDevice::m_CameraConnected, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_MultiThreader, mitk::ToFCameraDevice::m_ThreadID, and MITK_INFO.