Converts a Time-of-Flight (ToF) distance image to a 3D surface using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetCameraIntrinsics(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane. More...

#include <mitkToFDistanceImageToSurfaceFilter.h>

Inheritance diagram for mitk::ToFDistanceImageToSurfaceFilter:

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Collaboration diagram for mitk::ToFDistanceImageToSurfaceFilter:

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Public Types
enum	ReconstructionModeType { WithOutInterPixelDistance, WithInterPixelDistance, Kinect }
	The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect. More...

Public Types inherited from mitk::SurfaceSource
typedef SurfaceSource	Self

typedef BaseDataSource	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer< const Self >	ConstPointer

typedef Surface	OutputType

Public Types inherited from mitk::BaseDataSource
typedef BaseDataSource	Self

typedef itk::ProcessObject	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer< const Self >	ConstPointer

typedef BaseData	OutputType

typedef itk::DataObject::DataObjectIdentifierType	DataObjectIdentifierType

Public Member Functions
	mitkClassMacro (ToFDistanceImageToSurfaceFilter, SurfaceSource)

Pointer	Clone () const

virtual void	SetCameraIntrinsics (mitk::CameraIntrinsics::Pointer _arg)

virtual mitk::CameraIntrinsics::Pointer	GetCameraIntrinsics ()

virtual void	SetInterPixelDistance (ToFProcessingCommon::ToFPoint2D _arg)

virtual ToFProcessingCommon::ToFPoint2D	GetInterPixelDistance ()

virtual void	SetTextureIndex (int _arg)

void	SetTriangulationThreshold (double triangulationThreshold)
	SetTriangulationThreshold Sets a triangulation threshold in order to remove unusually huge faces from the surface. If this value is set, the filter will check whether the distance between two neighboring vertices exceeds the triangulation threshold. If yes, there vertices will not be triangulated (connected with lines). The vertices will still be added to the surface, but only as single point (if they have no other neighbors). More...

virtual double	GetTriangulationThreshold ()

virtual void	SetVertexIdList (vtkSmartPointer< vtkIdList > _arg)

virtual vtkSmartPointer< vtkIdList >	GetVertexIdList ()

virtual void	SetGenerateTriangularMesh (bool _arg)

virtual bool	GetGenerateTriangularMesh ()

	itkSetEnumMacro (ReconstructionMode, ReconstructionModeType)

	itkGetEnumMacro (ReconstructionMode, ReconstructionModeType)

void	SetScalarImage (IplImage *iplScalarImage)
	Set scalar image used as texture of the surface. More...

IplImage *	GetScalarImage ()
	Set scalar image used as texture of the surface. More...

void	SetTextureImageWidth (int width)
	Set width of the scalar image used for texturing the surface. More...

void	SetTextureImageHeight (int height)
	Set height of the scalar image used for texturing the surface. More...

virtual void	SetInput (Image *distanceImage)
	Sets the input of this filter. More...

virtual void	SetInput (Image *distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics)
	Sets the input of this filter and the intrinsic parameters. More...

virtual void	SetInput (unsigned int idx, Image *distanceImage)
	Sets the input of this filter at idx. More...

virtual void	SetInput (unsigned int idx, Image *distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics)
	Sets the input of this filter at idx and the intrinsic parameters. More...

Image *	GetInput ()
	Returns the input of this filter. More...

Image *	GetInput (unsigned int idx)
	Returns the input with id idx of this filter. More...

Public Member Functions inherited from mitk::SurfaceSource
virtual std::vector< std::string >	GetClassHierarchy () const override

virtual const char *	GetClassName () const

Pointer	Clone () const

OutputType *	GetOutput ()

const OutputType *	GetOutput () const

OutputType *	GetOutput (DataObjectPointerArraySizeType idx)

const OutputType *	GetOutput (DataObjectPointerArraySizeType idx) const

virtual itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override

virtual itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override

Public Member Functions inherited from mitk::BaseDataSource
OutputType *	GetOutput ()

const OutputType *	GetOutput () const

OutputType *	GetOutput (DataObjectPointerArraySizeType idx)

const OutputType *	GetOutput (DataObjectPointerArraySizeType idx) const

virtual void	GraftOutput (OutputType *output)
	Graft the specified BaseData onto this BaseDataSource's output. More...

virtual void	GraftOutput (const DataObjectIdentifierType &key, OutputType *output)

virtual void	GraftNthOutput (unsigned int idx, OutputType *output)
	Graft the specified base data object onto this BaseDataSource's idx'th output. More...

bool	Updating () const
	Access itk::ProcessObject::m_Updating. More...

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from mitk::SurfaceSource
static const char *	GetStaticNameOfClass ()

static Pointer	New ()

Static Public Member Functions inherited from mitk::BaseDataSource
static const char *	GetStaticNameOfClass ()

Protected Member Functions
	ToFDistanceImageToSurfaceFilter ()
	Standard constructor. More...

	~ToFDistanceImageToSurfaceFilter ()
	Standard destructor. More...

virtual void	GenerateOutputInformation () override

virtual void	GenerateData () override
	Method generating the output of this filter. Called in the updated process of the pipeline. This method generates the output of the ToFSurfaceSource: The generated surface of the 3d points. More...

void	CreateOutputsForAllInputs ()
	Create an output for each input. More...

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

virtual	~SurfaceSource ()

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

virtual	~BaseDataSource ()

Protected Attributes
IplImage *	m_IplScalarImage
	Scalar image used for surface texturing. More...

mitk::CameraIntrinsics::Pointer	m_CameraIntrinsics
	Specifies the intrinsic parameters. More...

int	m_TextureImageWidth
	Width (x-dimension) of the texture image. More...

int	m_TextureImageHeight
	Height (y-dimension) of the texture image. More...

ToFProcessingCommon::ToFPoint2D	m_InterPixelDistance
	distance in mm between two adjacent pixels on the ToF camera chip More...

int	m_TextureIndex
	Index of the input used as texture image when no scalar image was set via SetIplScalarImage(). 0 = Distance, 1 = Amplitude, 2 = Intensity. More...

bool	m_GenerateTriangularMesh

ReconstructionModeType	m_ReconstructionMode
	The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect. More...

vtkSmartPointer< vtkIdList >	m_VertexIdList
	Make a vtkIdList to save the ID's of the polyData corresponding to the image pixel ID's. This can be accessed after generate data to obtain the mapping. More...

double	m_TriangulationThreshold

Additional Inherited Members
Static Protected Member Functions inherited from mitk::BaseDataSource
static Pointer	New ()

Detailed Description

Converts a Time-of-Flight (ToF) distance image to a 3D surface using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetCameraIntrinsics(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane.

The coordinate conversion follows the model of a common pinhole camera where the origin of the camera coordinate system (world coordinates) is at the pinhole

The definition of the image plane and its coordinate systems (pixel and mm) is depicted in the following image

Definition at line 49 of file mitkToFDistanceImageToSurfaceFilter.h.

Member Enumeration Documentation

enum mitk::ToFDistanceImageToSurfaceFilter::ReconstructionModeType

The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect.

Enumerator
WithOutInterPixelDistance
WithInterPixelDistance
Kinect

Definition at line 89 of file mitkToFDistanceImageToSurfaceFilter.h.

Constructor & Destructor Documentation

mitk::ToFDistanceImageToSurfaceFilter::ToFDistanceImageToSurfaceFilter ( )

protected

Standard constructor.

Definition at line 35 of file mitkToFDistanceImageToSurfaceFilter.cpp.

References m_CameraIntrinsics, m_InterPixelDistance, m_ReconstructionMode, mitk::CameraIntrinsics::New(), and WithInterPixelDistance.

mitk::ToFDistanceImageToSurfaceFilter::~ToFDistanceImageToSurfaceFilter ( )

protected

Standard destructor.

Definition at line 47 of file mitkToFDistanceImageToSurfaceFilter.cpp.

Member Function Documentation

Pointer mitk::ToFDistanceImageToSurfaceFilter::Clone ( ) const

void mitk::ToFDistanceImageToSurfaceFilter::CreateOutputsForAllInputs ( )

protected

Create an output for each input.

This Method sets the number of outputs to the number of inputs and creates missing outputs objects.

Warning: any additional outputs that exist before the method is called are deleted

Definition at line 305 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::GenerateData ( )

overrideprotectedvirtual

Method generating the output of this filter. Called in the updated process of the pipeline. This method generates the output of the ToFSurfaceSource: The generated surface of the 3d points.

Here we have to incorporate spacing and origin to allow processing of cropped/resampled images Usually origin will be [0, 0, 0] and spacing will be [1, 1, 1], but just in case the image is moved due to cropping or the spacing differes due to up- or downsampling.

Definition at line 92 of file mitkToFDistanceImageToSurfaceFilter.cpp.

References mitk::eps, mitk::Equal(), mitk::ImageAccessorBase::GetData(), mitk::ToFProcessingCommon::IndexToCartesianCoordinates(), mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist(), mitk::ToFProcessingCommon::KinectIndexToCartesianCoordinates(), MITK_ERROR, and mitk::New().

void mitk::ToFDistanceImageToSurfaceFilter::GenerateOutputInformation ( void )

overrideprotectedvirtual

Definition at line 317 of file mitkToFDistanceImageToSurfaceFilter.cpp.

virtual mitk::CameraIntrinsics::Pointer mitk::ToFDistanceImageToSurfaceFilter::GetCameraIntrinsics ( )

virtual

virtual bool mitk::ToFDistanceImageToSurfaceFilter::GetGenerateTriangularMesh ( )

virtual

mitk::Image * mitk::ToFDistanceImageToSurfaceFilter::GetInput ( void )

Returns the input of this filter.

Definition at line 78 of file mitkToFDistanceImageToSurfaceFilter.cpp.

mitk::Image * mitk::ToFDistanceImageToSurfaceFilter::GetInput ( unsigned int idx )

Returns the input with id idx of this filter.

Definition at line 83 of file mitkToFDistanceImageToSurfaceFilter.cpp.

References mitkThrow.

virtual ToFProcessingCommon::ToFPoint2D mitk::ToFDistanceImageToSurfaceFilter::GetInterPixelDistance ( )

virtual

IplImage * mitk::ToFDistanceImageToSurfaceFilter::GetScalarImage ( )

Set scalar image used as texture of the surface.

Returns: OpenCV image for texturing

Definition at line 330 of file mitkToFDistanceImageToSurfaceFilter.cpp.

virtual double mitk::ToFDistanceImageToSurfaceFilter::GetTriangulationThreshold ( )

virtual

virtual vtkSmartPointer<vtkIdList> mitk::ToFDistanceImageToSurfaceFilter::GetVertexIdList ( )

virtual

mitk::ToFDistanceImageToSurfaceFilter::itkGetEnumMacro	(	ReconstructionMode	,
		ReconstructionModeType
	)

mitk::ToFDistanceImageToSurfaceFilter::itkSetEnumMacro	(	ReconstructionMode	,
		ReconstructionModeType
	)

mitk::ToFDistanceImageToSurfaceFilter::mitkClassMacro	(	ToFDistanceImageToSurfaceFilter	,
		SurfaceSource
	)

static Pointer mitk::ToFDistanceImageToSurfaceFilter::New ( )

static

virtual void mitk::ToFDistanceImageToSurfaceFilter::SetCameraIntrinsics ( mitk::CameraIntrinsics::Pointer _arg )

virtual

virtual void mitk::ToFDistanceImageToSurfaceFilter::SetGenerateTriangularMesh ( bool _arg )

virtual

void mitk::ToFDistanceImageToSurfaceFilter::SetInput ( mitk::Image * distanceImage )

virtual

Sets the input of this filter.

Parameters

distanceImage input is the distance image of e.g. a ToF camera

Definition at line 63 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	Image *	distanceImage,
		mitk::CameraIntrinsics::Pointer	cameraIntrinsics
	)

virtual

Sets the input of this filter and the intrinsic parameters.

Parameters

distanceImage input is the distance image of e.g. a ToF camera

Definition at line 51 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	unsigned int	idx,
		mitk::Image *	distanceImage
	)

virtual

Sets the input of this filter at idx.

Parameters

idx	number of the current input
distanceImage	input is the distance image of e.g. a ToF camera

Definition at line 68 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	unsigned int	idx,
		Image *	distanceImage,
		mitk::CameraIntrinsics::Pointer	cameraIntrinsics
	)

virtual

Sets the input of this filter at idx and the intrinsic parameters.

Parameters

idx	number of the current input
distanceImage	input is the distance image of e.g. a ToF camera
cameraIntrinsics	This is the camera model which holds parameters like focal length, pixel size, etc. which are needed for the reconstruction of the surface.

Definition at line 57 of file mitkToFDistanceImageToSurfaceFilter.cpp.

virtual void mitk::ToFDistanceImageToSurfaceFilter::SetInterPixelDistance ( ToFProcessingCommon::ToFPoint2D _arg )

virtual

void mitk::ToFDistanceImageToSurfaceFilter::SetScalarImage ( IplImage * iplScalarImage )

Set scalar image used as texture of the surface.

Parameters

iplScalarImage OpenCV image for texturing

Definition at line 324 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageHeight ( int height )

Set height of the scalar image used for texturing the surface.

Parameters

height height (y-dimension) of the texture image

Definition at line 340 of file mitkToFDistanceImageToSurfaceFilter.cpp.

void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageWidth ( int width )

Set width of the scalar image used for texturing the surface.

Parameters

width width (x-dimension) of the texture image

Definition at line 335 of file mitkToFDistanceImageToSurfaceFilter.cpp.

virtual void mitk::ToFDistanceImageToSurfaceFilter::SetTextureIndex ( int _arg )

virtual

void mitk::ToFDistanceImageToSurfaceFilter::SetTriangulationThreshold ( double triangulationThreshold )

SetTriangulationThreshold Sets a triangulation threshold in order to remove unusually huge faces from the surface. If this value is set, the filter will check whether the distance between two neighboring vertices exceeds the triangulation threshold. If yes, there vertices will not be triangulated (connected with lines). The vertices will still be added to the surface, but only as single point (if they have no other neighbors).

Parameters

triangulationThreshold The triangulationThreshold in mm. (not mm*mm!)

Note: vtkMath::Distance2BetweenPoints returns the squared distance between two points and hence we square m_TriangulationThreshold in order to save run-time.

Definition at line 346 of file mitkToFDistanceImageToSurfaceFilter.cpp.

virtual void mitk::ToFDistanceImageToSurfaceFilter::SetVertexIdList ( vtkSmartPointer< vtkIdList > _arg )

virtual

Member Data Documentation

mitk::CameraIntrinsics::Pointer mitk::ToFDistanceImageToSurfaceFilter::m_CameraIntrinsics

protected

Specifies the intrinsic parameters.

Definition at line 177 of file mitkToFDistanceImageToSurfaceFilter.h.

Referenced by ToFDistanceImageToSurfaceFilter().

bool mitk::ToFDistanceImageToSurfaceFilter::m_GenerateTriangularMesh

protected

Definition at line 184 of file mitkToFDistanceImageToSurfaceFilter.h.

ToFProcessingCommon::ToFPoint2D mitk::ToFDistanceImageToSurfaceFilter::m_InterPixelDistance

protected

distance in mm between two adjacent pixels on the ToF camera chip

Definition at line 181 of file mitkToFDistanceImageToSurfaceFilter.h.

Referenced by ToFDistanceImageToSurfaceFilter().

IplImage* mitk::ToFDistanceImageToSurfaceFilter::m_IplScalarImage

protected

Scalar image used for surface texturing.

Definition at line 175 of file mitkToFDistanceImageToSurfaceFilter.h.

ReconstructionModeType mitk::ToFDistanceImageToSurfaceFilter::m_ReconstructionMode

protected

The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect.

Definition at line 186 of file mitkToFDistanceImageToSurfaceFilter.h.

Referenced by ToFDistanceImageToSurfaceFilter().

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureImageHeight

protected

Height (y-dimension) of the texture image.

Definition at line 180 of file mitkToFDistanceImageToSurfaceFilter.h.

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureImageWidth

protected

Width (x-dimension) of the texture image.

Definition at line 179 of file mitkToFDistanceImageToSurfaceFilter.h.

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureIndex

protected

Index of the input used as texture image when no scalar image was set via SetIplScalarImage(). 0 = Distance, 1 = Amplitude, 2 = Intensity.

Definition at line 183 of file mitkToFDistanceImageToSurfaceFilter.h.

double mitk::ToFDistanceImageToSurfaceFilter::m_TriangulationThreshold

protected

Definition at line 190 of file mitkToFDistanceImageToSurfaceFilter.h.

vtkSmartPointer<vtkIdList> mitk::ToFDistanceImageToSurfaceFilter::m_VertexIdList

protected

Make a vtkIdList to save the ID's of the polyData corresponding to the image pixel ID's. This can be accessed after generate data to obtain the mapping.

Definition at line 188 of file mitkToFDistanceImageToSurfaceFilter.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation