Medical Imaging Interaction Toolkit
2016.11.0
Medical Imaging Interaction Toolkit
|
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 <mitkToFCameraPMDDevice.h>
Public Member Functions | |
mitkClassMacro (ToFCameraPMDDevice, 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 | UpdateCamera () |
updated the controller hold by this device 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 | 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 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 | |
ToFCameraPMDDevice () | |
~ToFCameraPMDDevice () | |
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... | |
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 | |
ToFCameraPMDController::Pointer | m_Controller |
corresponding CameraController More... | |
char ** | m_SourceDataBuffer |
buffer holding the last acquired images More... | |
char * | m_SourceDataArray |
array holding the current PMD source data 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 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.
mitkException | In case of no connection, an exception is thrown! |
Definition at line 42 of file mitkToFCameraPMDDevice.h.
|
protected |
Definition at line 24 of file mitkToFCameraPMDDevice.cpp.
|
protected |
Definition at line 29 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::CleanupPixelArrays(), and CleanUpSourceData().
|
staticprotected |
Thread method continuously acquiring images from the ToF hardware.
Definition at line 109 of file mitkToFCameraPMDDevice.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, m_SourceDataBuffer, MITK_INFO, mitk::RealTimeClock::New(), and UpdateCamera().
Referenced by StartCamera().
|
protectedvirtual |
method for allocating m_SourceDataArray and m_SourceDataBuffer
Definition at line 329 of file mitkToFCameraPMDDevice.cpp.
References CleanUpSourceData(), mitk::ToFCameraDevice::m_MaxBufferSize, m_SourceDataArray, m_SourceDataBuffer, and mitk::ToFCameraDevice::m_SourceDataSize.
Referenced by OnConnectCamera().
|
protectedvirtual |
method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer
Definition at line 344 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_MaxBufferSize, m_SourceDataArray, and m_SourceDataBuffer.
Referenced by AllocateSourceData(), and ~ToFCameraPMDDevice().
Pointer mitk::ToFCameraPMDDevice::Clone | ( | ) | const |
|
virtual |
closes the connection to the camera
Implements mitk::ToFCameraDevice.
Definition at line 58 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_CameraConnected, and m_Controller.
|
virtual |
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. |
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 249 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_IntensityArray, m_SourceDataBuffer, mitk::ToFCameraDevice::m_SourceDataSize, MITK_INFO, and MITK_WARN.
|
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
imageSequence | the actually captured image sequence number |
amplitudeArray | contains the returned amplitude data as an array. |
Implements mitk::ToFCameraDevice.
Definition at line 171 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_AmplitudeArray, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, m_SourceDataBuffer, and MITK_WARN.
ToFCameraPMDController::Pointer mitk::ToFCameraPMDDevice::GetController | ( | ) |
returns the corresponding camera controller
Definition at line 302 of file mitkToFCameraPMDDevice.cpp.
References m_Controller.
|
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.
distanceArray | contains the returned distances data as an array. |
imageSequence | the actually captured image sequence number |
Implements mitk::ToFCameraDevice.
Definition at line 223 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_DistanceArray, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, m_SourceDataBuffer, and MITK_WARN.
|
virtual |
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 196 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_IntensityArray, m_SourceDataBuffer, and MITK_WARN.
|
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
mitk::ToFCameraPMDDevice::mitkClassMacro | ( | ToFCameraPMDDevice | , |
ToFCameraDevice | |||
) |
|
static |
|
virtual |
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 mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::AllocatePixelArrays(), AllocateSourceData(), mitk::ToFCameraDevice::m_CameraConnected, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_PixelNumber, and mitk::ToFCameraDevice::m_SourceDataSize.
|
virtual |
set a BaseProperty
Reimplemented from mitk::ToFCameraDevice.
Reimplemented in mitk::ToFCameraPMDPlayerDevice, mitk::ToFCameraPMDCamBoardDevice, and mitk::ToFCameraPMDCamCubeDevice.
Definition at line 307 of file mitkToFCameraPMDDevice.cpp.
References mitk::ToFCameraDevice::GetIntProperty(), m_Controller, mitk::ToFCameraDevice::m_PropertyList, and mitk::ToFCameraDevice::SetProperty().
Referenced by mitk::ToFCameraPMDCamCubeDevice::SetProperty().
|
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
mitkException | In case of no connection, an exception is thrown! |
Implements mitk::ToFCameraDevice.
Definition at line 74 of file mitkToFCameraPMDDevice.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.
|
virtual |
updated the controller hold by this device
mitkException | In case of no connection, an exception is thrown! |
Implements mitk::ToFCameraDevice.
Definition at line 101 of file mitkToFCameraPMDDevice.cpp.
References m_Controller.
Referenced by Acquire().
|
protected |
corresponding CameraController
Definition at line 135 of file mitkToFCameraPMDDevice.h.
Referenced by Acquire(), DisconnectCamera(), GetAllImages(), GetAmplitudes(), GetController(), GetDistances(), GetIntensities(), OnConnectCamera(), mitk::ToFCameraPMDCamCubeDevice::SetProperty(), mitk::ToFCameraPMDPlayerDevice::SetProperty(), SetProperty(), mitk::ToFCameraPMDCamBoardDevice::SetRegionOfInterest(), StartCamera(), mitk::ToFCameraPMDCamBoardDevice::ToFCameraPMDCamBoardDevice(), mitk::ToFCameraPMDCamCubeDevice::ToFCameraPMDCamCubeDevice(), mitk::ToFCameraPMDO3Device::ToFCameraPMDO3Device(), mitk::ToFCameraPMDPlayerDevice::ToFCameraPMDPlayerDevice(), and UpdateCamera().
|
protected |
array holding the current PMD source data
Definition at line 137 of file mitkToFCameraPMDDevice.h.
Referenced by AllocateSourceData(), and CleanUpSourceData().
|
protected |
buffer holding the last acquired images
Definition at line 136 of file mitkToFCameraPMDDevice.h.
Referenced by Acquire(), AllocateSourceData(), CleanUpSourceData(), GetAllImages(), GetAmplitudes(), GetDistances(), GetIntensities(), and StartCamera().