Medical Imaging Interaction Toolkit
2016.11.0
Medical Imaging Interaction Toolkit
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Interface for all representations of Kinect devices. KinectDevice internally holds an instance of KinectController 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 <mitkKinectDevice.h>
Public Member Functions | |
mitkClassMacro (KinectDevice, ToFCameraDevice) | |
Pointer | Clone () const |
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... | |
KinectController::Pointer | GetController () |
returns the corresponding camera controller More... | |
virtual void | SetProperty (const char *propertyKey, BaseProperty *propertyValue) |
set a BaseProperty More... | |
int | GetRGBCaptureWidth () |
returns the width of the RGB image More... | |
int | GetRGBCaptureHeight () |
returns the height of the RGB image 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... | |
Static Public Member Functions | |
static Pointer | New () |
Protected Member Functions | |
KinectDevice () | |
~KinectDevice () | |
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... | |
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 ToF hardware. More... | |
Protected Attributes | |
KinectController::Pointer | m_Controller |
corresponding CameraController More... | |
float ** | m_DistanceDataBuffer |
buffer holding the last distance images More... | |
float ** | m_AmplitudeDataBuffer |
buffer holding the last infra-red (IR) images More... | |
unsigned char ** | m_RGBDataBuffer |
buffer holding the last RGB image 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... | |
Interface for all representations of Kinect devices. KinectDevice internally holds an instance of KinectController 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.
mitkException | In case of no connection, an exception is thrown! |
Definition at line 42 of file mitkKinectDevice.h.
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Definition at line 26 of file mitkKinectDevice.cpp.
References m_Controller, and mitk::KinectController::New().
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Definition at line 31 of file mitkKinectDevice.cpp.
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Thread method continuously acquiring images from the ToF hardware.
Definition at line 168 of file mitkKinectDevice.cpp.
References IsCameraActive(), m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, m_RGBDataBuffer, MITK_INFO, mitk::RealTimeClock::New(), and UpdateCamera().
Referenced by StartCamera().
Pointer mitk::KinectDevice::Clone | ( | ) | const |
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closes the connection to the camera
Implements mitk::ToFCameraDevice.
Definition at line 82 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_AmplitudeArray, m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_CameraConnected, m_Controller, mitk::ToFCameraDevice::m_DistanceArray, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_MaxBufferSize, and m_RGBDataBuffer.
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gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images.
distanceArray | contains the returned distance data as an array. |
amplitudeArray | contains the returned amplitude data as an array. |
capturedImageSequence | the actually captured image sequence number. |
Implements mitk::ToFCameraDevice.
Definition at line 263 of file mitkKinectDevice.cpp.
References m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_PixelNumber, m_RGBDataBuffer, mitk::ToFCameraDevice::m_RGBPixelNumber, MITK_INFO, and MITK_WARN.
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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
imageSequence | the actually captured image sequence number |
amplitudeArray | contains the returned amplitude data as an array. |
Implements mitk::ToFCameraDevice.
Definition at line 230 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and MITK_WARN.
KinectController::Pointer mitk::KinectDevice::GetController | ( | ) |
returns the corresponding camera controller
Definition at line 311 of file mitkKinectDevice.cpp.
References m_Controller.
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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.
distanceArray | contains the returned distances data as an array. |
imageSequence | the actually captured image sequence number |
Implements mitk::ToFCameraDevice.
Definition at line 249 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and MITK_WARN.
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gets the intensity data from the ToF camera as a greyscale image. Caution! The user is responsible for allocating and deleting the images.
intensityArray | contains the returned intensities data as an array. |
imageSequence | the actually captured image sequence number |
Implements mitk::ToFCameraDevice.
Definition at line 245 of file mitkKinectDevice.cpp.
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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
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returns the height of the RGB image
Reimplemented from mitk::ToFCameraDevice.
Definition at line 339 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::GetCaptureHeight().
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returns the width of the RGB image
Reimplemented from mitk::ToFCameraDevice.
Definition at line 334 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::GetCaptureWidth().
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returns whether the camera is currently active or not
Reimplemented from mitk::ToFCameraDevice.
Definition at line 152 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, and mitk::ToFCameraDevice::m_CameraActiveMutex.
Referenced by Acquire().
mitk::KinectDevice::mitkClassMacro | ( | KinectDevice | , |
ToFCameraDevice | |||
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opens a connection to the ToF camera
mitkException | In case of no connection, an exception is thrown! |
Implements mitk::ToFCameraDevice.
Definition at line 35 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_AmplitudeArray, m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_CameraConnected, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_DistanceArray, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_MaxBufferSize, mitk::ToFCameraDevice::m_PixelNumber, m_RGBDataBuffer, mitk::ToFCameraDevice::m_RGBImageHeight, mitk::ToFCameraDevice::m_RGBImageWidth, mitk::ToFCameraDevice::m_RGBPixelNumber, and mitk::ToFCameraDevice::SetBoolProperty().
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set a BaseProperty
Reimplemented from mitk::ToFCameraDevice.
Definition at line 316 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::GetBoolProperty(), m_Controller, mitk::ToFCameraDevice::m_PropertyList, and mitk::ToFCameraDevice::SetProperty().
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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
mitkException | In case of no connection, an exception is thrown! |
Implements mitk::ToFCameraDevice.
Definition at line 112 of file mitkKinectDevice.cpp.
References Acquire(), m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CameraActiveMutex, mitk::ToFCameraDevice::m_CameraConnected, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_MultiThreader, m_RGBDataBuffer, mitk::ToFCameraDevice::m_ThreadID, and MITK_INFO.
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stops the continuous updating of the camera
Reimplemented from mitk::ToFCameraDevice.
Definition at line 138 of file mitkKinectDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CameraActiveMutex, mitk::ToFCameraDevice::m_MultiThreader, and mitk::ToFCameraDevice::m_ThreadID.
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updates the camera for image acquisition
mitkException | In case of no connection, an exception is thrown! |
Implements mitk::ToFCameraDevice.
Definition at line 160 of file mitkKinectDevice.cpp.
References m_Controller.
Referenced by Acquire().
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buffer holding the last infra-red (IR) images
Definition at line 141 of file mitkKinectDevice.h.
Referenced by Acquire(), DisconnectCamera(), GetAllImages(), OnConnectCamera(), and StartCamera().
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corresponding CameraController
Definition at line 138 of file mitkKinectDevice.h.
Referenced by Acquire(), DisconnectCamera(), GetAllImages(), GetController(), KinectDevice(), OnConnectCamera(), SetProperty(), StartCamera(), and UpdateCamera().
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buffer holding the last distance images
Definition at line 140 of file mitkKinectDevice.h.
Referenced by Acquire(), DisconnectCamera(), GetAllImages(), OnConnectCamera(), and StartCamera().
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buffer holding the last RGB image
Definition at line 142 of file mitkKinectDevice.h.
Referenced by Acquire(), DisconnectCamera(), GetAllImages(), OnConnectCamera(), and StartCamera().