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>
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=nullptr) |
| 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 () override | |
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... | |
| std::mutex | m_ImageMutex |
| mutex for images provided by the range camera More... | |
| std::mutex | m_CameraActiveMutex |
| mutex for the cameraActive flag More... | |
| std::thread | m_Thread |
| 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 30 of file mitkToFCameraPMDRawDataDevice.h.
Constructor & Destructor Documentation
◆ ToFCameraPMDRawDataDevice()
|
protected |
◆ ~ToFCameraPMDRawDataDevice()
|
protected |
Member Function Documentation
◆ Acquire()
|
staticprotected |
Thread method continuously acquiring images from the ToF hardware.
◆ AllocatePixelArrays()
|
protectedvirtual |
method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray
Reimplemented from mitk::ToFCameraDevice.
◆ AllocateSourceData()
|
protectedvirtual |
method for allocating m_SourceDataArray and m_SourceDataBuffer
◆ CleanupPixelArrays()
|
protectedvirtual |
method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray
Reimplemented from mitk::ToFCameraDevice.
◆ CleanUpSourceData()
|
protectedvirtual |
method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer
◆ Clone()
| Pointer mitk::ToFCameraPMDRawDataDevice::Clone | ( | ) | const |
◆ DisconnectCamera()
|
virtual |
closes the connection to the camera
Implements mitk::ToFCameraDevice.
◆ GetAllImages()
|
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 rgbDataArray
Implements mitk::ToFCameraDevice.
Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.
◆ GetAmplitudes()
|
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.
◆ GetChannelSize()
|
virtual |
◆ GetChannelSourceData()
|
inlinevirtual |
Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataCamCubeDevice.
Definition at line 103 of file mitkToFCameraPMDRawDataDevice.h.
◆ GetController()
| ToFCameraPMDController::Pointer mitk::ToFCameraPMDRawDataDevice::GetController | ( | ) |
returns the corresponding camera controller
◆ GetDistances()
|
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.
◆ GetIntensities()
|
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.
◆ 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
◆ IsCameraActive()
|
virtual |
returns whether the camera is currently active or not
Reimplemented from mitk::ToFCameraDevice.
◆ mitkClassMacro()
| mitk::ToFCameraPMDRawDataDevice::mitkClassMacro | ( | ToFCameraPMDRawDataDevice | , |
| ToFCameraDevice | |||
| ) |
◆ New()
|
static |
◆ OnConnectCamera()
|
virtual |
opens a connection to the ToF camera
Implements mitk::ToFCameraDevice.
◆ SetChannelSize()
|
virtual |
◆ SetProperty()
|
virtual |
set a BaseProperty
Reimplemented from mitk::ToFCameraDevice.
Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataCamCubeDevice.
◆ 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.
◆ StopCamera()
|
virtual |
stops the continuous updating of the camera
Reimplemented from mitk::ToFCameraDevice.
◆ UpdateCamera()
|
virtual |
updates the camera for image acquisition
Implements mitk::ToFCameraDevice.
◆ XYAxisFlipImage()
|
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)
Member Data Documentation
◆ m_Controller
|
protected |
corresponding CameraController
Definition at line 155 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_OriginControllerHeight
|
protected |
holds the original controller height
Definition at line 161 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_OriginControllerWidth
|
protected |
holds the original controller width
Definition at line 160 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_RawDataSource
|
protected |
Definition at line 156 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_ShortSourceData
|
protected |
array holding the current PMD raw data
Definition at line 159 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_SourceDataArray
|
protected |
array holding the current PMD source data
Definition at line 158 of file mitkToFCameraPMDRawDataDevice.h.
◆ m_SourceDataBuffer
|
protected |
buffer holding the last acquired images
Definition at line 157 of file mitkToFCameraPMDRawDataDevice.h.
The documentation for this class was generated from the following file:
