Medical Imaging Interaction Toolkit  2018.4.99-ae21cdc4
Medical Imaging Interaction Toolkit
mitk::ToFCameraPMDRawDataDevice Class Reference

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>

Inheritance diagram for mitk::ToFCameraPMDRawDataDevice:
Collaboration diagram for mitk::ToFCameraPMDRawDataDevice:

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 BasePropertyGetProperty (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...
 
itk::MultiThreader::Pointer m_MultiThreader
 itk::MultiThreader used for thread handling More...
 
itk::FastMutexLock::Pointer m_ImageMutex
 mutex for images provided by the range camera More...
 
itk::FastMutexLock::Pointer m_CameraActiveMutex
 mutex for the cameraActive flag More...
 
int m_ThreadID
 ID of the started thread. More...
 
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()

mitk::ToFCameraPMDRawDataDevice::ToFCameraPMDRawDataDevice ( )
protected

◆ ~ToFCameraPMDRawDataDevice()

mitk::ToFCameraPMDRawDataDevice::~ToFCameraPMDRawDataDevice ( )
protected

Member Function Documentation

◆ Acquire()

static ITK_THREAD_RETURN_TYPE mitk::ToFCameraPMDRawDataDevice::Acquire ( void *  pInfoStruct)
staticprotected

Thread method continuously acquiring images from the ToF hardware.

◆ AllocatePixelArrays()

virtual void mitk::ToFCameraPMDRawDataDevice::AllocatePixelArrays ( )
protectedvirtual

method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

Reimplemented from mitk::ToFCameraDevice.

◆ AllocateSourceData()

virtual void mitk::ToFCameraPMDRawDataDevice::AllocateSourceData ( )
protectedvirtual

method for allocating m_SourceDataArray and m_SourceDataBuffer

◆ CleanupPixelArrays()

virtual void mitk::ToFCameraPMDRawDataDevice::CleanupPixelArrays ( )
protectedvirtual

method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

Reimplemented from mitk::ToFCameraDevice.

◆ CleanUpSourceData()

virtual void mitk::ToFCameraPMDRawDataDevice::CleanUpSourceData ( )
protectedvirtual

method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer

◆ Clone()

Pointer mitk::ToFCameraPMDRawDataDevice::Clone ( ) const

◆ DisconnectCamera()

virtual bool mitk::ToFCameraPMDRawDataDevice::DisconnectCamera ( )
virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

◆ GetAllImages()

virtual void mitk::ToFCameraPMDRawDataDevice::GetAllImages ( float *  distanceArray,
float *  amplitudeArray,
float *  intensityArray,
char *  sourceDataArray,
int  requiredImageSequence,
int &  capturedImageSequence,
unsigned char *  rgbDataArray = nullptr 
)
virtual

gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

Parameters
distanceArraycontains the returned distance data as an array.
amplitudeArraycontains the returned amplitude data as an array.
intensityArraycontains the returned intensity data as an array.
sourceDataArraycontains the complete source data from the camera device.
requiredImageSequencethe required image sequence number
capturedImageSequencethe actually captured image sequence number

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

◆ GetAmplitudes()

virtual void mitk::ToFCameraPMDRawDataDevice::GetAmplitudes ( float *  amplitudeArray,
int &  imageSequence 
)
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
imageSequencethe actually captured image sequence number
amplitudeArraycontains the returned amplitude data as an array.

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

◆ GetChannelSize()

virtual int mitk::ToFCameraPMDRawDataDevice::GetChannelSize ( )
virtual

◆ GetChannelSourceData()

virtual void mitk::ToFCameraPMDRawDataDevice::GetChannelSourceData ( short *  ,
vtkShortArray *   
)
inlinevirtual

◆ GetController()

ToFCameraPMDController::Pointer mitk::ToFCameraPMDRawDataDevice::GetController ( )

returns the corresponding camera controller

◆ GetDistances()

virtual void mitk::ToFCameraPMDRawDataDevice::GetDistances ( float *  distanceArray,
int &  imageSequence 
)
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
distanceArraycontains the returned distances data as an array.
imageSequencethe actually captured image sequence number

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

◆ GetIntensities()

virtual void mitk::ToFCameraPMDRawDataDevice::GetIntensities ( float *  intensityArray,
int &  imageSequence 
)
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
intensityArraycontains the returned intensities data as an array.
imageSequencethe actually captured image sequence number

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

◆ GetNextPos()

void mitk::ToFCameraPMDRawDataDevice::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 bool mitk::ToFCameraPMDRawDataDevice::IsCameraActive ( )
virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

◆ mitkClassMacro()

mitk::ToFCameraPMDRawDataDevice::mitkClassMacro ( ToFCameraPMDRawDataDevice  ,
ToFCameraDevice   
)

◆ New()

static Pointer mitk::ToFCameraPMDRawDataDevice::New ( )
static

◆ OnConnectCamera()

virtual bool mitk::ToFCameraPMDRawDataDevice::OnConnectCamera ( )
virtual

opens a connection to the ToF camera

Implements mitk::ToFCameraDevice.

◆ SetChannelSize()

virtual void mitk::ToFCameraPMDRawDataDevice::SetChannelSize ( int  _arg)
virtual

◆ SetProperty()

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

◆ StartCamera()

virtual void mitk::ToFCameraPMDRawDataDevice::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 void mitk::ToFCameraPMDRawDataDevice::StopCamera ( )
virtual

stops the continuous updating of the camera

Reimplemented from mitk::ToFCameraDevice.

◆ UpdateCamera()

virtual void mitk::ToFCameraPMDRawDataDevice::UpdateCamera ( )
virtual

updates the camera for image acquisition

Implements mitk::ToFCameraDevice.

◆ XYAxisFlipImage()

void mitk::ToFCameraPMDRawDataDevice::XYAxisFlipImage ( float *  imageData,
float *&  flippedData,
int  xAxis,
int  yAxis,
int  dimension = 1 
)
protected

gets the image data and flips it according to user needs Caution! The user is responsible for allocating and deleting the data.

Parameters
imageDatacontains array to the input data.
flippedDatacontains flipped output array - Caution! The user is responsible for allocating and deleting the data. Size should be equal to imageData!
xAxisflag is set to flip around x axis (1 - set, 0 - not set).
yAxisflag is set to flip around y axis (1 - set, 0 - not set).
dimensioncontains the extend of the z dimension (preset is 1)

Member Data Documentation

◆ m_Controller

ToFCameraPMDController::Pointer mitk::ToFCameraPMDRawDataDevice::m_Controller
protected

corresponding CameraController

Definition at line 154 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_OriginControllerHeight

unsigned int mitk::ToFCameraPMDRawDataDevice::m_OriginControllerHeight
protected

holds the original controller height

Definition at line 160 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_OriginControllerWidth

unsigned int mitk::ToFCameraPMDRawDataDevice::m_OriginControllerWidth
protected

holds the original controller width

Definition at line 159 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_RawDataSource

ThreadedToFRawDataReconstruction::Pointer mitk::ToFCameraPMDRawDataDevice::m_RawDataSource
protected

Definition at line 155 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_ShortSourceData

short* mitk::ToFCameraPMDRawDataDevice::m_ShortSourceData
protected

array holding the current PMD raw data

Definition at line 158 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_SourceDataArray

char* mitk::ToFCameraPMDRawDataDevice::m_SourceDataArray
protected

array holding the current PMD source data

Definition at line 157 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_SourceDataBuffer

char** mitk::ToFCameraPMDRawDataDevice::m_SourceDataBuffer
protected

buffer holding the last acquired images

Definition at line 156 of file mitkToFCameraPMDRawDataDevice.h.


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