Converts a Time-of-Flight (ToF) distance image to a PointSet using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetIntrinsicParameters(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane. If a subset of indizes of the image is defined via SetSubset(), the output PointSet will only contain the cartesian coordinates of the corresponding 3D points. More...

#include <mitkToFDistanceImageToPointSetFilter.h>

Inheritance diagram for mitk::ToFDistanceImageToPointSetFilter:

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Collaboration diagram for mitk::ToFDistanceImageToPointSetFilter:

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Public Member Functions
	mitkClassMacro (ToFDistanceImageToPointSetFilter, PointSetSource)

Pointer	Clone () const

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

virtual mitk::CameraIntrinsics::Pointer	GetCameraIntrinsics ()

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

virtual mitk::ToFProcessingCommon::ToFPoint2D	GetInterPixelDistance ()

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

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

void	SetSubset (std::vector< itk::Index< 3 > > subset)
	If this subset is defined, the cartesian coordinates are only computed for the contained indizes. Make sure the indizes are contained in the input image. More...

void	SetSubset (mitk::PointSet::Pointer pointSet)
	Sets the subset of indizes used for caluclation of output PointSet as a PointSet. Warning: make sure the points in your PointSet are index coordinates. More...

void	SetReconstructionMode (bool withoutInterpixdist=true)
	Sets the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units (=true) or interpixeldistances and focal length in mm (=false) More...

bool	GetReconstructionMode ()
	Returns the reconstruction mode. More...

Public Member Functions inherited from mitk::PointSetSource
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

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

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::PointSetSource
static const char *	GetStaticNameOfClass ()

static Pointer	New ()

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

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

	~ToFDistanceImageToPointSetFilter () override
	Standard destructor. More...

void	GenerateOutputInformation () override

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::PointSetSource
	PointSetSource ()

	~PointSetSource () override

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

	~BaseDataSource () override

Protected Attributes
std::vector< itk::Index< 3 > >	m_Subset
	If this subset is specified only the contained indizes are converted to cartesian coordinates. More...

mitk::CameraIntrinsics::Pointer	m_CameraIntrinsics
	Member holding the intrinsic parameters needed for PointSet calculation. More...

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

bool	m_ReconstructionMode
	true = Reconstruction without interpixeldistance and with focal lengths in pixel units. false = Reconstruction with interpixeldistance and with focal length in mm. More...

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

typedef BaseDataSource	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer< const Self >	ConstPointer

typedef PointSet	OutputType

typedef OutputType::Pointer	OutputTypePointer

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::BaseDataSource
static Pointer	New ()

Detailed Description

Converts a Time-of-Flight (ToF) distance image to a PointSet using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetIntrinsicParameters(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane. If a subset of indizes of the image is defined via SetSubset(), the output PointSet will only contain the cartesian coordinates of the corresponding 3D points.

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 43 of file mitkToFDistanceImageToPointSetFilter.h.

Constructor & Destructor Documentation

◆ ToFDistanceImageToPointSetFilter()

mitk::ToFDistanceImageToPointSetFilter::ToFDistanceImageToPointSetFilter ( )

protected

Standard constructor.

Definition at line 20 of file mitkToFDistanceImageToPointSetFilter.cpp.

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

◆ ~ToFDistanceImageToPointSetFilter()

mitk::ToFDistanceImageToPointSetFilter::~ToFDistanceImageToPointSetFilter ( )

overrideprotected

Standard destructor.

Definition at line 31 of file mitkToFDistanceImageToPointSetFilter.cpp.

Member Function Documentation

◆ Clone()

Pointer mitk::ToFDistanceImageToPointSetFilter::Clone ( ) const

◆ CreateOutputsForAllInputs()

void mitk::ToFDistanceImageToPointSetFilter::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 195 of file mitkToFDistanceImageToPointSetFilter.cpp.

References mitk::PointSetSource::GetOutput(), and mitk::PointSetSource::MakeOutput().

Referenced by SetInput().

◆ GenerateData()

void mitk::ToFDistanceImageToPointSetFilter::GenerateData ( )

overrideprotected

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.

Definition at line 115 of file mitkToFDistanceImageToPointSetFilter.cpp.

References mitk::eps, GetInput(), mitk::PointSetSource::GetOutput(), mitk::ToFProcessingCommon::IndexToCartesianCoordinates(), mitk::ToFProcessingCommon::IndexToCartesianCoordinatesWithInterpixdist(), m_CameraIntrinsics, m_InterPixelDistance, m_ReconstructionMode, and m_Subset.

◆ GenerateOutputInformation()

void mitk::ToFDistanceImageToPointSetFilter::GenerateOutputInformation ( )

overrideprotected

Definition at line 207 of file mitkToFDistanceImageToPointSetFilter.cpp.

References mitk::PointSetSource::GetOutput().

◆ GetCameraIntrinsics()

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

virtual

◆ GetInput() [1/2]

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

Returns the input of this filter.

Definition at line 53 of file mitkToFDistanceImageToPointSetFilter.cpp.

Referenced by GenerateData(), and SetSubset().

◆ GetInput() [2/2]

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

Returns the input with id idx of this filter.

Definition at line 58 of file mitkToFDistanceImageToPointSetFilter.cpp.

◆ GetInterPixelDistance()

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

virtual

◆ GetReconstructionMode()

bool mitk::ToFDistanceImageToPointSetFilter::GetReconstructionMode ( )

Returns the reconstruction mode.

Definition at line 218 of file mitkToFDistanceImageToPointSetFilter.cpp.

References m_ReconstructionMode.

◆ mitkClassMacro()

mitk::ToFDistanceImageToPointSetFilter::mitkClassMacro	(	ToFDistanceImageToPointSetFilter	,
		PointSetSource
	)

◆ New()

static Pointer mitk::ToFDistanceImageToPointSetFilter::New ( )

static

Referenced by QmitkToFPointSetWidget::MeasurementPointSetChanged(), and QmitkToFPointSetWidget::PointSetChanged().

◆ SetCameraIntrinsics()

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

virtual

◆ SetInput() [1/2]

void mitk::ToFDistanceImageToPointSetFilter::SetInput ( const 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 35 of file mitkToFDistanceImageToPointSetFilter.cpp.

◆ SetInput() [2/2]

void mitk::ToFDistanceImageToPointSetFilter::SetInput	(	unsigned int	idx,
		const 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 40 of file mitkToFDistanceImageToPointSetFilter.cpp.

References CreateOutputsForAllInputs().

◆ SetInterPixelDistance()

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

virtual

◆ SetReconstructionMode()

void mitk::ToFDistanceImageToPointSetFilter::SetReconstructionMode ( bool withoutInterpixdist = true )

Sets the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units (=true) or interpixeldistances and focal length in mm (=false)

Definition at line 213 of file mitkToFDistanceImageToPointSetFilter.cpp.

References m_ReconstructionMode.

◆ SetSubset() [1/2]

void mitk::ToFDistanceImageToPointSetFilter::SetSubset ( std::vector< itk::Index< 3 > > subset )

If this subset is defined, the cartesian coordinates are only computed for the contained indizes. Make sure the indizes are contained in the input image.

Parameters

subset index subset specified in index coordinates.

Definition at line 66 of file mitkToFDistanceImageToPointSetFilter.cpp.

References GetInput(), m_Subset, and MITK_ERROR.

Referenced by SetSubset().

◆ SetSubset() [2/2]

void mitk::ToFDistanceImageToPointSetFilter::SetSubset ( mitk::PointSet::Pointer pointSet )

Sets the subset of indizes used for caluclation of output PointSet as a PointSet. Warning: make sure the points in your PointSet are index coordinates.

Parameters

PointSet specified in index coordinates.

Definition at line 100 of file mitkToFDistanceImageToPointSetFilter.cpp.

References SetSubset().

Member Data Documentation

◆ m_CameraIntrinsics

mitk::CameraIntrinsics::Pointer mitk::ToFDistanceImageToPointSetFilter::m_CameraIntrinsics

protected

Member holding the intrinsic parameters needed for PointSet calculation.

Definition at line 130 of file mitkToFDistanceImageToPointSetFilter.h.

Referenced by GenerateData(), and ToFDistanceImageToPointSetFilter().

◆ m_InterPixelDistance

ToFProcessingCommon::ToFPoint2D mitk::ToFDistanceImageToPointSetFilter::m_InterPixelDistance

protected

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

Definition at line 131 of file mitkToFDistanceImageToPointSetFilter.h.

Referenced by GenerateData(), and ToFDistanceImageToPointSetFilter().

◆ m_ReconstructionMode

bool mitk::ToFDistanceImageToPointSetFilter::m_ReconstructionMode

protected

true = Reconstruction without interpixeldistance and with focal lengths in pixel units. false = Reconstruction with interpixeldistance and with focal length in mm.

Definition at line 132 of file mitkToFDistanceImageToPointSetFilter.h.

Referenced by GenerateData(), GetReconstructionMode(), SetReconstructionMode(), and ToFDistanceImageToPointSetFilter().

◆ m_Subset

std::vector<itk::Index<3> > mitk::ToFDistanceImageToPointSetFilter::m_Subset

protected

If this subset is specified only the contained indizes are converted to cartesian coordinates.

Definition at line 129 of file mitkToFDistanceImageToPointSetFilter.h.

Referenced by GenerateData(), and SetSubset().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ToFDistanceImageToPointSetFilter()

◆ ~ToFDistanceImageToPointSetFilter()

Member Function Documentation

◆ Clone()

◆ CreateOutputsForAllInputs()

◆ GenerateData()

◆ GenerateOutputInformation()

◆ GetCameraIntrinsics()

◆ GetInput() [1/2]

◆ GetInput() [2/2]

◆ GetInterPixelDistance()

◆ GetReconstructionMode()

◆ mitkClassMacro()

◆ New()

◆ SetCameraIntrinsics()

◆ SetInput() [1/2]

◆ SetInput() [2/2]

◆ SetInterPixelDistance()

◆ SetReconstructionMode()

◆ SetSubset() [1/2]

◆ SetSubset() [2/2]

Member Data Documentation

◆ m_CameraIntrinsics

◆ m_InterPixelDistance

◆ m_ReconstructionMode

◆ m_Subset