Interface for all representations of PMD ToF devices. ToFCameraPMDDevice internally holds an instance of ToFCameraPMDController and starts a thread that continuously grabs images from the controller. A buffer structure buffers the last acquired images to provide the image data loss-less. More...

#include <mitkToFCameraPMDRawDataDevice.h>

Inheritance diagram for mitk::ToFCameraPMDRawDataDevice:

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Collaboration diagram for mitk::ToFCameraPMDRawDataDevice:

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Public Member Functions
	mitkClassMacro (ToFCameraPMDRawDataDevice, ToFCameraDevice)

Pointer	Clone () const

virtual void	SetChannelSize (int _arg)

virtual int	GetChannelSize ()

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

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

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

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

virtual bool	IsCameraActive ()
	returns whether the camera is currently active or not More...

virtual void	GetAmplitudes (float *amplitudeArray, int &imageSequence)
	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)
	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	GetDistances (float *distanceArray, int &imageSequence)
	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)
	gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images. More...

ToFCameraPMDController::Pointer	GetController ()
	returns the corresponding camera controller More...

virtual void	GetChannelSourceData (short , vtkShortArray )

virtual void	SetProperty (const char propertyKey, BaseProperty propertyValue)
	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 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
	ToFCameraPMDRawDataDevice ()

	~ToFCameraPMDRawDataDevice ()

virtual void	AllocateSourceData ()
	method for allocating m_SourceDataArray and m_SourceDataBuffer More...

virtual void	CleanUpSourceData ()
	method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer More...

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...

void	GetNextPos ()
	moves the position pointer m_CurrentPos to the next position in the buffer if that's not the next free position to prevent reading from an empty buffer More...

void	XYAxisFlipImage (float imageData, float &flippedData, int xAxis, int yAxis, int dimension=1)
	gets the image data and flips it according to user needs Caution! The user is responsible for allocating and deleting the data. More...

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

	~ToFCameraDevice ()

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

Protected Attributes
ToFCameraPMDController::Pointer	m_Controller
	corresponding CameraController More...

ThreadedToFRawDataReconstruction::Pointer	m_RawDataSource

char **	m_SourceDataBuffer
	buffer holding the last acquired images More...

char *	m_SourceDataArray
	array holding the current PMD source data More...

short *	m_ShortSourceData
	array holding the current PMD raw data More...

unsigned int	m_OriginControllerWidth
	holds the original controller width More...

unsigned int	m_OriginControllerHeight
	holds the original controller height 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

Interface for all representations of PMD ToF devices. ToFCameraPMDDevice internally holds an instance of ToFCameraPMDController and starts a thread that continuously grabs images from the controller. A buffer structure buffers the last acquired images to provide the image data loss-less.

Definition at line 34 of file mitkToFCameraPMDRawDataDevice.h.

Constructor & Destructor Documentation

mitk::ToFCameraPMDRawDataDevice::ToFCameraPMDRawDataDevice ( )

protected

Definition at line 36 of file mitkToFCameraPMDRawDataDevice.cpp.

References m_RawDataSource, and mitk::ThreadedToFRawDataReconstruction::New().

mitk::ToFCameraPMDRawDataDevice::~ToFCameraPMDRawDataDevice ( )

protected

Definition at line 43 of file mitkToFCameraPMDRawDataDevice.cpp.

References CleanUpSourceData().

Member Function Documentation

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

staticprotected

Thread method continuously acquiring images from the ToF hardware.

Definition at line 146 of file mitkToFCameraPMDRawDataDevice.cpp.

Referenced by StartCamera().

void mitk::ToFCameraPMDRawDataDevice::AllocatePixelArrays ( )

protectedvirtual

method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

Reimplemented from mitk::ToFCameraDevice.

Definition at line 416 of file mitkToFCameraPMDRawDataDevice.cpp.

References CleanupPixelArrays(), mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_IntensityArray, mitk::ToFCameraDevice::m_PixelNumber, m_ShortSourceData, and mitk::ToFCameraDevice::m_SourceDataSize.

Referenced by mitk::ToFCameraPMDRawDataCamBoardDevice::ConnectCamera(), and OnConnectCamera().

void mitk::ToFCameraPMDRawDataDevice::AllocateSourceData ( )

protectedvirtual

method for allocating m_SourceDataArray and m_SourceDataBuffer

Definition at line 432 of file mitkToFCameraPMDRawDataDevice.cpp.

References CleanUpSourceData(), mitk::ToFCameraDevice::m_MaxBufferSize, m_SourceDataArray, m_SourceDataBuffer, and mitk::ToFCameraDevice::m_SourceDataSize.

Referenced by mitk::ToFCameraPMDRawDataCamBoardDevice::ConnectCamera(), and OnConnectCamera().

void mitk::ToFCameraPMDRawDataDevice::CleanupPixelArrays ( )

protectedvirtual

method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

Reimplemented from mitk::ToFCameraDevice.

Definition at line 396 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_IntensityArray, and m_ShortSourceData.

Referenced by AllocatePixelArrays().

void mitk::ToFCameraPMDRawDataDevice::CleanUpSourceData ( )

protectedvirtual

method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer

Definition at line 447 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_MaxBufferSize, m_SourceDataArray, and m_SourceDataBuffer.

Referenced by AllocateSourceData(), and ~ToFCameraPMDRawDataDevice().

Pointer mitk::ToFCameraPMDRawDataDevice::Clone ( ) const

bool mitk::ToFCameraPMDRawDataDevice::DisconnectCamera ( )

virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 73 of file mitkToFCameraPMDRawDataDevice.cpp.

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

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

virtual

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.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 268 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_IntensityArray, mitk::ToFCameraDevice::m_PixelNumber, m_SourceDataBuffer, mitk::ToFCameraDevice::m_SourceDataSize, MITK_INFO, and MITK_WARN.

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

virtual

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.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 229 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_PixelNumber, and MITK_WARN.

virtual int mitk::ToFCameraPMDRawDataDevice::GetChannelSize ( )

virtual

Referenced by Acquire().

virtual void mitk::ToFCameraPMDRawDataDevice::GetChannelSourceData	(	short *	,
		vtkShortArray *
	)

inlinevirtual

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataCamCubeDevice.

Definition at line 105 of file mitkToFCameraPMDRawDataDevice.h.

Referenced by Acquire().

ToFCameraPMDController::Pointer mitk::ToFCameraPMDRawDataDevice::GetController ( )

returns the corresponding camera controller

Definition at line 373 of file mitkToFCameraPMDRawDataDevice.cpp.

References m_Controller.

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

virtual

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.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 255 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_PixelNumber, and MITK_WARN.

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

virtual

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.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 242 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_IntensityArray, mitk::ToFCameraDevice::m_PixelNumber, and MITK_WARN.

void mitk::ToFCameraPMDRawDataDevice::GetNextPos ( )

protected

moves the position pointer m_CurrentPos to the next position in the buffer if that's not the next free position to prevent reading from an empty buffer

bool mitk::ToFCameraPMDRawDataDevice::IsCameraActive ( )

virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

Definition at line 130 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_CameraActive, and mitk::ToFCameraDevice::m_CameraActiveMutex.

Referenced by Acquire().

mitk::ToFCameraPMDRawDataDevice::mitkClassMacro	(	ToFCameraPMDRawDataDevice	,
		ToFCameraDevice
	)

static Pointer mitk::ToFCameraPMDRawDataDevice::New ( )

static

bool mitk::ToFCameraPMDRawDataDevice::OnConnectCamera ( )

virtual

opens a connection to the ToF camera

Implements mitk::ToFCameraDevice.

Definition at line 48 of file mitkToFCameraPMDRawDataDevice.cpp.

References AllocatePixelArrays(), AllocateSourceData(), mitk::ToFCameraDevice::m_CameraConnected, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, m_OriginControllerHeight, m_OriginControllerWidth, mitk::ToFCameraDevice::m_PixelNumber, and mitk::ToFCameraDevice::m_SourceDataSize.

virtual void mitk::ToFCameraPMDRawDataDevice::SetChannelSize ( int _arg )

virtual

Referenced by mitk::ToFCameraPMDRawDataCamCubeDevice::GetChannelSourceData(), and mitk::ToFCameraPMDRawDataCamBoardDevice::GetChannelSourceData().

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

virtual

set a BaseProperty

Reimplemented from mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataCamCubeDevice.

Definition at line 378 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::GetIntProperty(), m_Controller, mitk::ToFCameraDevice::m_PropertyList, and mitk::ToFCameraDevice::SetProperty().

Referenced by mitk::ToFCameraPMDRawDataCamCubeDevice::SetProperty(), and mitk::ToFCameraPMDRawDataCamBoardDevice::SetProperty().

void mitk::ToFCameraPMDRawDataDevice::StartCamera ( )

virtual

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 87 of file mitkToFCameraPMDRawDataDevice.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, m_SourceDataBuffer, mitk::ToFCameraDevice::m_ThreadID, and MITK_INFO.

void mitk::ToFCameraPMDRawDataDevice::StopCamera ( )

virtual

stops the continuous updating of the camera

Reimplemented from mitk::ToFCameraDevice.

Definition at line 115 of file mitkToFCameraPMDRawDataDevice.cpp.

References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CameraActiveMutex, mitk::ToFCameraDevice::m_MultiThreader, and mitk::ToFCameraDevice::m_ThreadID.

void mitk::ToFCameraPMDRawDataDevice::UpdateCamera ( )

virtual

updates the camera for image acquisition

Implements mitk::ToFCameraDevice.

Definition at line 138 of file mitkToFCameraPMDRawDataDevice.cpp.

References m_Controller.

Referenced by Acquire().

void mitk::ToFCameraPMDRawDataDevice::XYAxisFlipImage	(	float *	imageData,
		float *&	flippedData,
		int	xAxis,
		int	yAxis,
		int	dimension = `1`
	)

protected

gets the image data and flips it according to user needs Caution! The user is responsible for allocating and deleting the data.

Parameters

imageData	contains array to the input data.
flippedData	contains flipped output array - Caution! The user is responsible for allocating and deleting the data. Size should be equal to imageData!
xAxis	flag is set to flip around x axis (1 - set, 0 - not set).
yAxis	flag is set to flip around y axis (1 - set, 0 - not set).
dimension	contains the extend of the z dimension (preset is 1)