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

#include <mitkToFImageGrabber.h>

Inheritance diagram for mitk::ToFImageGrabber:

[legend]

Collaboration diagram for mitk::ToFImageGrabber:

[legend]

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

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

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 () override

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 () override

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

	~ImageSource () override

void	GenerateData () override
	A version of GenerateData() specific for image processing filters. More...

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...

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 ()

	~BaseDataSource () override

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::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 34 of file mitkToFImageGrabber.h.

Constructor & Destructor Documentation

◆ ToFImageGrabber()

mitk::ToFImageGrabber::ToFImageGrabber ( )

protected

◆ ~ToFImageGrabber()

mitk::ToFImageGrabber::~ToFImageGrabber ( )

overrideprotected

Member Function Documentation

◆ AllocateImageArrays()

virtual void mitk::ToFImageGrabber::AllocateImageArrays ( )

protectedvirtual

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

◆ CleanUpImageArrays()

virtual void mitk::ToFImageGrabber::CleanUpImageArrays ( )

protectedvirtual

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

◆ Clone()

Pointer mitk::ToFImageGrabber::Clone ( ) const

◆ ConnectCamera()

virtual bool mitk::ToFImageGrabber::ConnectCamera ( )

virtual

Establish a connection to the ToF camera.

◆ DisconnectCamera()

virtual bool mitk::ToFImageGrabber::DisconnectCamera ( )

virtual

Disconnects the ToF camera.

◆ GenerateData()

void mitk::ToFImageGrabber::GenerateData ( )

overrideprotected

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.

◆ GetBoolProperty()

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

◆ GetCameraDevice()

ToFCameraDevice* mitk::ToFImageGrabber::GetCameraDevice ( )

Get the currently set ToF camera device.

Returns: device currently used for grabbing images from the camera

◆ GetCaptureHeight()

int mitk::ToFImageGrabber::GetCaptureHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

◆ GetCaptureWidth()

int mitk::ToFImageGrabber::GetCaptureWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

◆ GetFloatProperty()

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

◆ GetIntegrationTime()

int mitk::ToFImageGrabber::GetIntegrationTime ( )

Get the integration time in used by the ToF camera.

Returns: integration time in ms

◆ GetIntProperty()

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

◆ GetModulationFrequency()

int mitk::ToFImageGrabber::GetModulationFrequency ( )

Get the modulation frequency used by the ToF camera.

Returns: modulation frequency in MHz

◆ GetPixelNumber()

int mitk::ToFImageGrabber::GetPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

◆ GetProperty()

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

◆ GetRGBImageHeight()

int mitk::ToFImageGrabber::GetRGBImageHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

◆ GetRGBImageWidth()

int mitk::ToFImageGrabber::GetRGBImageWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

◆ GetRGBPixelNumber()

int mitk::ToFImageGrabber::GetRGBPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

◆ GetStringProperty()

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

◆ InitializeImages()

void mitk::ToFImageGrabber::InitializeImages ( )

protected

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

◆ IsCameraActive()

virtual bool mitk::ToFImageGrabber::IsCameraActive ( )

virtual

Returns true if the camera is connected and started.

◆ IsCameraConnected()

virtual bool mitk::ToFImageGrabber::IsCameraConnected ( )

virtual

Returns true if the camera is connected.

◆ mitkClassMacro()

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

◆ New()

static Pointer mitk::ToFImageGrabber::New ( )

static

◆ OnToFCameraDeviceModified()

void mitk::ToFImageGrabber::OnToFCameraDeviceModified ( )

protected

called when the ToFCameraDevice was modified

◆ SetBoolProperty()

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

◆ SetCameraDevice()

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

◆ SetFloatProperty()

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

◆ SetIntegrationTime()

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

◆ SetIntProperty()

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

◆ SetModulationFrequency()

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

◆ SetProperty()

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

◆ SetStringProperty()

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

◆ ShowDebugImage()

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

◆ StartCamera()

virtual 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.

◆ StopCamera()

virtual void mitk::ToFImageGrabber::StopCamera ( )

virtual

Stops the continuous updating of the camera.

Member Data Documentation

◆ m_AmplitudeArray

float* mitk::ToFImageGrabber::m_AmplitudeArray

protected

member holding the current amplitude array

Definition at line 187 of file mitkToFImageGrabber.h.

◆ m_CaptureHeight

int mitk::ToFImageGrabber::m_CaptureHeight

protected

Height of the captured ToF image.

Definition at line 178 of file mitkToFImageGrabber.h.

◆ m_CaptureWidth

int mitk::ToFImageGrabber::m_CaptureWidth

protected

Width of the captured ToF image.

Definition at line 177 of file mitkToFImageGrabber.h.

◆ m_DeviceObserverTag

unsigned long mitk::ToFImageGrabber::m_DeviceObserverTag

protected

tag of the observer for the ToFCameraDevice

Definition at line 190 of file mitkToFImageGrabber.h.

◆ m_DistanceArray

float* mitk::ToFImageGrabber::m_DistanceArray

protected

member holding the current distance array

Definition at line 186 of file mitkToFImageGrabber.h.

◆ m_ImageSequence

int mitk::ToFImageGrabber::m_ImageSequence

protected

counter for currently acquired images

Definition at line 183 of file mitkToFImageGrabber.h.

◆ m_IntensityArray

float* mitk::ToFImageGrabber::m_IntensityArray

protected

member holding the current intensity array

Definition at line 185 of file mitkToFImageGrabber.h.

◆ m_PixelNumber

int mitk::ToFImageGrabber::m_PixelNumber

protected

Number of pixels in the image.

Definition at line 179 of file mitkToFImageGrabber.h.

◆ m_RgbDataArray

unsigned char* mitk::ToFImageGrabber::m_RgbDataArray

protected

member holding the current rgb data array

Definition at line 189 of file mitkToFImageGrabber.h.

◆ m_RGBImageHeight

int mitk::ToFImageGrabber::m_RGBImageHeight

protected

Height of the captured RGB image.

Definition at line 181 of file mitkToFImageGrabber.h.

◆ m_RGBImageWidth

int mitk::ToFImageGrabber::m_RGBImageWidth

protected

Width of the captured RGB image.

Definition at line 180 of file mitkToFImageGrabber.h.

◆ m_RGBPixelNumber

int mitk::ToFImageGrabber::m_RGBPixelNumber

protected

Number of pixels in the RGB image.

Definition at line 182 of file mitkToFImageGrabber.h.

◆ m_SourceDataArray

char* mitk::ToFImageGrabber::m_SourceDataArray

protected

member holding the current source data array

Definition at line 188 of file mitkToFImageGrabber.h.

◆ m_SourceDataSize

int mitk::ToFImageGrabber::m_SourceDataSize

protected

size of the source data in bytes

Definition at line 184 of file mitkToFImageGrabber.h.

◆ m_ToFCameraDevice

ToFCameraDevice::Pointer mitk::ToFImageGrabber::m_ToFCameraDevice

protected

Device allowing access to ToF image data.

Definition at line 176 of file mitkToFImageGrabber.h.

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

mitkToFImageGrabber.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ToFImageGrabber()

◆ ~ToFImageGrabber()

Member Function Documentation

◆ AllocateImageArrays()

◆ CleanUpImageArrays()

◆ Clone()

◆ ConnectCamera()

◆ DisconnectCamera()

◆ GenerateData()

◆ GetBoolProperty()

◆ GetCameraDevice()

◆ GetCaptureHeight()

◆ GetCaptureWidth()

◆ GetFloatProperty()

◆ GetIntegrationTime()

◆ GetIntProperty()

◆ GetModulationFrequency()

◆ GetPixelNumber()

◆ GetProperty()

◆ GetRGBImageHeight()

◆ GetRGBImageWidth()

◆ GetRGBPixelNumber()

◆ GetStringProperty()

◆ InitializeImages()

◆ IsCameraActive()

◆ IsCameraConnected()

◆ mitkClassMacro()

◆ New()

◆ OnToFCameraDeviceModified()

◆ SetBoolProperty()

◆ SetCameraDevice()

◆ SetFloatProperty()

◆ SetIntegrationTime()

◆ SetIntProperty()

◆ SetModulationFrequency()

◆ SetProperty()

◆ SetStringProperty()

◆ ShowDebugImage()

◆ StartCamera()

◆ StopCamera()

Member Data Documentation

◆ m_AmplitudeArray

◆ m_CaptureHeight

◆ m_CaptureWidth

◆ m_DeviceObserverTag

◆ m_DistanceArray

◆ m_ImageSequence

◆ m_IntensityArray

◆ m_PixelNumber

◆ m_RgbDataArray

◆ m_RGBImageHeight

◆ m_RGBImageWidth

◆ m_RGBPixelNumber

◆ m_SourceDataArray

◆ m_SourceDataSize

◆ m_ToFCameraDevice