Image source providing ToF images. Interface for filters provided in ToFProcessing module. More...

#include <mitkToFImageGrabber.h>

Inheritance diagram for mitk::ToFImageGrabber:

Collaboration diagram for mitk::ToFImageGrabber:

Public Member Functions
	mitkClassMacro (ToFImageGrabber, ImageSource)

Pointer	Clone () const

void	ShowDebugImage (float *distances)

virtual bool	ConnectCamera ()
	Establish a connection to the ToF camera. More...

virtual bool	DisconnectCamera ()
	Disconnects the ToF 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 bool	IsCameraActive ()
	Returns true if the camera is connected and started. More...

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

void	SetCameraDevice (ToFCameraDevice *aToFCameraDevice)
	Sets the ToF device, the image grabber is grabbing the images from. More...

ToFCameraDevice *	GetCameraDevice ()
	Get the currently set ToF camera device. More...

int	SetModulationFrequency (int modulationFrequency)
	Set the modulation frequency used by the ToF camera. For default values see the corresponding device classes. More...

int	GetModulationFrequency ()
	Get the modulation frequency used by the ToF camera. More...

int	SetIntegrationTime (int integrationTime)
	Set the integration time used by the ToF camera. For default values see the corresponding device classes. More...

int	GetIntegrationTime ()
	Get the integration time in used by the ToF camera. More...

int	GetCaptureWidth ()
	Get the dimension in x direction of the ToF image. More...

int	GetCaptureHeight ()
	Get the dimension in y direction of the ToF image. More...

int	GetPixelNumber ()
	Get the number of pixel in the ToF image. More...

int	GetRGBImageWidth ()
	Get the dimension in x direction of the ToF image. More...

int	GetRGBImageHeight ()
	Get the dimension in y direction of the ToF image. More...

int	GetRGBPixelNumber ()
	Get the number of pixel in the ToF image. More...

void	SetBoolProperty (const char *propertyKey, bool boolValue)

void	SetIntProperty (const char *propertyKey, int intValue)

void	SetFloatProperty (const char *propertyKey, float floatValue)

void	SetStringProperty (const char propertyKey, const char stringValue)

void	SetProperty (const char propertyKey, BaseProperty propertyValue)

bool	GetBoolProperty (const char *propertyKey)

int	GetIntProperty (const char *propertyKey)

float	GetFloatProperty (const char *propertyKey)

const char *	GetStringProperty (const char *propertyKey)

BaseProperty *	GetProperty (const char *propertyKey)

Public Member Functions inherited from mitk::ToFImageSource
	mitkClassMacro (ToFImageSource, ImageSource)

Pointer	Clone () const

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

virtual const char *	GetClassName () const

Pointer	Clone () const

OutputType *	GetOutput ()
	Get the output data of this image source object. More...

const OutputType *	GetOutput () const

OutputType *	GetOutput (DataObjectPointerArraySizeType idx)

const OutputType *	GetOutput (DataObjectPointerArraySizeType idx) const

virtual itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override
	Make a DataObject of the correct type to used as the specified output. More...

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

virtual vtkImageData *	GetVtkImageData ()

virtual const vtkImageData *	GetVtkImageData () const

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::ToFImageSource
static Pointer	New ()

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

static Pointer	New ()
	Method for creation through the object factory. More...

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

Protected Member Functions
void	OnToFCameraDeviceModified ()

virtual void	CleanUpImageArrays ()
	clean up memory allocated for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray More...

virtual void	AllocateImageArrays ()
	Allocate memory for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray. More...

void	InitializeImages ()
	InitializeImages Initialze the geometries of the images according to the device properties. More...

	ToFImageGrabber ()

	~ToFImageGrabber ()

void	GenerateData () override
	Method generating the outputs of this filter. Called in the updated process of the pipeline. 0: distance image 1: amplitude image 2: intensity image 3: RGB image. More...

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

	~ToFImageSource ()

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

virtual	~ImageSource ()

virtual void	ThreadedGenerateData (const OutputImageRegionType &outputRegionForThread, itk::ThreadIdType threadId)
	If an imaging filter can be implemented as a multithreaded algorithm, the filter will provide an implementation of ThreadedGenerateData(). More...

virtual void	PrepareOutputs () override
	This method is intentionally left blank. More...

virtual void	AllocateOutputs ()
	The GenerateData method normally allocates the buffers for all of the outputs of a filter. More...

virtual void	BeforeThreadedGenerateData ()
	If an imaging filter needs to perform processing after the buffer has been allocated but before threads are spawned, the filter can can provide an implementation for BeforeThreadedGenerateData(). More...

virtual void	AfterThreadedGenerateData ()
	If an imaging filter needs to perform processing after all processing threads have completed, the filter can can provide an implementation for AfterThreadedGenerateData(). More...

virtual unsigned int	SplitRequestedRegion (unsigned int i, unsigned int num, OutputImageRegionType &splitRegion)
	Split the output's RequestedRegion into "num" pieces, returning region "i" as "splitRegion". More...

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

virtual	~BaseDataSource ()

Protected Attributes
ToFCameraDevice::Pointer	m_ToFCameraDevice
	Device allowing access to ToF image data. More...

int	m_CaptureWidth
	Width of the captured ToF image. More...

int	m_CaptureHeight
	Height of the captured ToF image. More...

int	m_PixelNumber
	Number of pixels in the image. More...

int	m_RGBImageWidth
	Width of the captured RGB image. More...

int	m_RGBImageHeight
	Height of the captured RGB image. More...

int	m_RGBPixelNumber
	Number of pixels in the RGB image. More...

int	m_ImageSequence
	counter for currently acquired images More...

int	m_SourceDataSize
	size of the source data in bytes More...

float *	m_IntensityArray
	member holding the current intensity array More...

float *	m_DistanceArray
	member holding the current distance array More...

float *	m_AmplitudeArray
	member holding the current amplitude array More...

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

unsigned char *	m_RgbDataArray
	member holding the current rgb data array More...

unsigned long	m_DeviceObserverTag
	tag of the observer for the ToFCameraDevice More...

Protected Attributes inherited from mitk::ToFImageSource
us::ServiceRegistration< Self >	m_ServiceRegistration

Additional Inherited Members
Public Types inherited from mitk::ImageSource
typedef ImageSource	Self

typedef BaseDataSource	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer< const Self >	ConstPointer

typedef mitk::Image	OutputImageType
	Some convenient typedefs. More...

typedef OutputImageType	OutputType

typedef OutputImageType::Pointer	OutputImagePointer

typedef SlicedData::RegionType	OutputImageRegionType

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

Static Protected Member Functions inherited from mitk::ImageSource
static ITK_THREAD_RETURN_TYPE	ThreaderCallback (void *arg)
	Static function used as a "callback" by the MultiThreader. More...

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

Detailed Description

Image source providing ToF images. Interface for filters provided in ToFProcessing module.

Documentation This class internally holds a ToFCameraDevice to access the images acquired by a ToF camera.

Provided images include: distance image (output 0), amplitude image (output 1), intensity image (output 2)

Definition at line 38 of file mitkToFImageGrabber.h.

Constructor & Destructor Documentation

mitk::ToFImageGrabber::ToFImageGrabber ( )

protected

Definition at line 23 of file mitkToFImageGrabber.cpp.

References mitk::ImageSource::MakeOutput().

mitk::ToFImageGrabber::~ToFImageGrabber ( )

protected

Definition at line 53 of file mitkToFImageGrabber.cpp.

References CleanUpImageArrays(), DisconnectCamera(), m_AmplitudeArray, m_DeviceObserverTag, m_DistanceArray, m_IntensityArray, m_RgbDataArray, and m_ToFCameraDevice.

Member Function Documentation

void mitk::ToFImageGrabber::AllocateImageArrays ( )

protectedvirtual

Allocate memory for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray.

Definition at line 321 of file mitkToFImageGrabber.cpp.

References CleanUpImageArrays(), m_AmplitudeArray, m_DistanceArray, m_IntensityArray, m_PixelNumber, m_RgbDataArray, m_RGBPixelNumber, m_SourceDataArray, and m_SourceDataSize.

Referenced by ConnectCamera().

void mitk::ToFImageGrabber::CleanUpImageArrays ( )

protectedvirtual

clean up memory allocated for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray

Definition at line 291 of file mitkToFImageGrabber.cpp.

References m_AmplitudeArray, m_DistanceArray, m_IntensityArray, m_RgbDataArray, and m_SourceDataArray.

Referenced by AllocateImageArrays(), and ~ToFImageGrabber().

Pointer mitk::ToFImageGrabber::Clone ( ) const

bool mitk::ToFImageGrabber::ConnectCamera ( )

virtual

Establish a connection to the ToF camera.

Definition at line 107 of file mitkToFImageGrabber.cpp.

References AllocateImageArrays(), InitializeImages(), m_CaptureHeight, m_CaptureWidth, m_PixelNumber, m_RGBImageHeight, m_RGBImageWidth, m_RGBPixelNumber, m_SourceDataSize, and m_ToFCameraDevice.

bool mitk::ToFImageGrabber::DisconnectCamera ( )

virtual

Disconnects the ToF camera.

Definition at line 127 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by ~ToFImageGrabber().

void mitk::ToFImageGrabber::GenerateData ( )

overrideprotectedvirtual

Method generating the outputs of this filter. Called in the updated process of the pipeline. 0: distance image 1: amplitude image 2: intensity image 3: RGB image.

Reimplemented from mitk::ImageSource.

Definition at line 66 of file mitkToFImageGrabber.cpp.

References mitk::ImageSource::GetOutput(), m_AmplitudeArray, m_DistanceArray, m_ImageSequence, m_IntensityArray, m_RgbDataArray, m_SourceDataArray, and m_ToFCameraDevice.

bool mitk::ToFImageGrabber::GetBoolProperty ( const char * propertyKey )

Definition at line 256 of file mitkToFImageGrabber.cpp.

References GetProperty().

ToFCameraDevice * mitk::ToFImageGrabber::GetCameraDevice ( )

Get the currently set ToF camera device.

Returns: device currently used for grabbing images from the camera

Definition at line 166 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

int mitk::ToFImageGrabber::GetCaptureHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

Definition at line 176 of file mitkToFImageGrabber.cpp.

References m_CaptureHeight.

int mitk::ToFImageGrabber::GetCaptureWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

Definition at line 171 of file mitkToFImageGrabber.cpp.

References m_CaptureWidth.

float mitk::ToFImageGrabber::GetFloatProperty ( const char * propertyKey )

Definition at line 269 of file mitkToFImageGrabber.cpp.

References GetProperty().

int mitk::ToFImageGrabber::GetIntegrationTime ( )

Get the integration time in used by the ToF camera.

Returns: integration time in ms

Definition at line 217 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by QmitkToFPMDParameterWidget::ActivateAllParameters(), and SetIntegrationTime().

int mitk::ToFImageGrabber::GetIntProperty ( const char * propertyKey )

Definition at line 263 of file mitkToFImageGrabber.cpp.

References GetProperty().

int mitk::ToFImageGrabber::GetModulationFrequency ( )

Get the modulation frequency used by the ToF camera.

Returns: modulation frequency in MHz

Definition at line 224 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by QmitkToFPMDParameterWidget::ActivateAllParameters(), and SetModulationFrequency().

int mitk::ToFImageGrabber::GetPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

Definition at line 181 of file mitkToFImageGrabber.cpp.

References m_PixelNumber.

BaseProperty * mitk::ToFImageGrabber::GetProperty ( const char * propertyKey )

Definition at line 281 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by GetBoolProperty(), GetFloatProperty(), GetIntProperty(), and GetStringProperty().

int mitk::ToFImageGrabber::GetRGBImageHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

Definition at line 191 of file mitkToFImageGrabber.cpp.

References m_RGBImageHeight.

int mitk::ToFImageGrabber::GetRGBImageWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

Definition at line 186 of file mitkToFImageGrabber.cpp.

References m_RGBImageWidth.

int mitk::ToFImageGrabber::GetRGBPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

Definition at line 196 of file mitkToFImageGrabber.cpp.

References m_RGBPixelNumber.

const char * mitk::ToFImageGrabber::GetStringProperty ( const char * propertyKey )

Definition at line 275 of file mitkToFImageGrabber.cpp.

References GetProperty().

void mitk::ToFImageGrabber::InitializeImages ( )

protected

InitializeImages Initialze the geometries of the images according to the device properties.

Definition at line 333 of file mitkToFImageGrabber.cpp.

References mitk::ImageSource::GetOutput(), m_ToFCameraDevice, and mitk::MakePixelType().

Referenced by ConnectCamera().

bool mitk::ToFImageGrabber::IsCameraActive ( )

virtual

Returns true if the camera is connected and started.

Definition at line 148 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by QmitkToFMESAParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFPMDParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFMESAParameterWidget::OnChangeModulationFrequencyComboBox(), and QmitkToFPMDParameterWidget::OnChangeModulationFrequencySpinBox().

bool mitk::ToFImageGrabber::IsCameraConnected ( )

virtual

Returns true if the camera is connected.

Definition at line 152 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

mitk::ToFImageGrabber::mitkClassMacro	(	ToFImageGrabber	,
		ImageSource
	)

static Pointer mitk::ToFImageGrabber::New ( )

static

Referenced by QmitkToFConnectionWidget::QmitkToFConnectionWidget().

void mitk::ToFImageGrabber::OnToFCameraDeviceModified ( )

protected

called when the ToFCameraDevice was modified

Definition at line 286 of file mitkToFImageGrabber.cpp.

Referenced by SetCameraDevice().

void mitk::ToFImageGrabber::SetBoolProperty	(	const char *	propertyKey,
		bool	boolValue
	)

Definition at line 231 of file mitkToFImageGrabber.cpp.

References mitk::BoolProperty::New(), and SetProperty().

Referenced by QmitkToFMESAParameterWidget::ActivateAllParameters(), QmitkToFPMDParameterWidget::ActivateAllParameters(), QmitkToFMESAParameterWidget::OnChangeANFCheckBox(), QmitkToFMESAParameterWidget::OnChangeConvGrayCheckBox(), QmitkToFMESAParameterWidget::OnChangeFPNCheckBox(), and QmitkToFMESAParameterWidget::OnChangeMedianCheckBox().

void mitk::ToFImageGrabber::SetCameraDevice ( ToFCameraDevice * aToFCameraDevice )

Sets the ToF device, the image grabber is grabbing the images from.

Parameters

aToFCameraDevice device internally used for grabbing the images from the camera

Definition at line 157 of file mitkToFImageGrabber.cpp.

References m_DeviceObserverTag, m_ToFCameraDevice, mitk::New(), and OnToFCameraDeviceModified().

void mitk::ToFImageGrabber::SetFloatProperty	(	const char *	propertyKey,
		float	floatValue
	)

Definition at line 241 of file mitkToFImageGrabber.cpp.

References mitk::FloatProperty::New(), and SetProperty().

int mitk::ToFImageGrabber::SetIntegrationTime ( int integrationTime )

Set the integration time used by the ToF camera. For default values see the corresponding device classes.

Parameters

integrationTime integration time in ms

Definition at line 209 of file mitkToFImageGrabber.cpp.

References GetIntegrationTime(), m_ToFCameraDevice, and mitk::IntProperty::New().

Referenced by QmitkToFMESAParameterWidget::ActivateAllParameters(), QmitkToFPMDParameterWidget::ActivateAllParameters(), QmitkToFPMDParameterWidget::OnChangeIntegrationTimeSpinBox(), and QmitkToFMESAParameterWidget::OnChangeIntegrationTimeSpinBox().

void mitk::ToFImageGrabber::SetIntProperty	(	const char *	propertyKey,
		int	intValue
	)

Definition at line 236 of file mitkToFImageGrabber.cpp.

References mitk::IntProperty::New(), and SetProperty().

int mitk::ToFImageGrabber::SetModulationFrequency ( int modulationFrequency )

Set the modulation frequency used by the ToF camera. For default values see the corresponding device classes.

Parameters

modulationFrequency modulation frequency in Hz

Definition at line 201 of file mitkToFImageGrabber.cpp.

References GetModulationFrequency(), m_ToFCameraDevice, and mitk::IntProperty::New().

Referenced by QmitkToFMESAParameterWidget::ActivateAllParameters(), QmitkToFPMDParameterWidget::ActivateAllParameters(), QmitkToFMESAParameterWidget::OnChangeModulationFrequencyComboBox(), and QmitkToFPMDParameterWidget::OnChangeModulationFrequencySpinBox().

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

Definition at line 251 of file mitkToFImageGrabber.cpp.

References m_ToFCameraDevice.

Referenced by SetBoolProperty(), SetFloatProperty(), SetIntProperty(), and SetStringProperty().

void mitk::ToFImageGrabber::SetStringProperty	(	const char *	propertyKey,
		const char *	stringValue
	)

Definition at line 246 of file mitkToFImageGrabber.cpp.

References mitk::StringProperty::New(), and SetProperty().

void mitk::ToFImageGrabber::ShowDebugImage ( float * distances )

void mitk::ToFImageGrabber::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.

Definition at line 132 of file mitkToFImageGrabber.cpp.

References us::GetModuleContext(), mitk::ToFImageSource::m_ServiceRegistration, and m_ToFCameraDevice.

Referenced by QmitkToFMESAParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFPMDParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFMESAParameterWidget::OnChangeModulationFrequencyComboBox(), and QmitkToFPMDParameterWidget::OnChangeModulationFrequencySpinBox().

void mitk::ToFImageGrabber::StopCamera ( )

virtual

Stops the continuous updating of the camera.

Definition at line 141 of file mitkToFImageGrabber.cpp.

References mitk::ToFImageSource::m_ServiceRegistration, m_ToFCameraDevice, and us::ServiceRegistrationBase::Unregister().

Referenced by QmitkToFMESAParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFPMDParameterWidget::OnChangeIntegrationTimeSpinBox(), QmitkToFMESAParameterWidget::OnChangeModulationFrequencyComboBox(), and QmitkToFPMDParameterWidget::OnChangeModulationFrequencySpinBox().