Virtual interface and base class for all Time-of-Flight devices. More...

#include <mitkToFCameraDevice.h>

Inheritance diagram for mitk::ToFCameraDevice:

Public Member Functions
	mitkClassMacroItkParent (ToFCameraDevice, itk::Object)

virtual bool	OnConnectCamera ()=0
	Opens a connection to the ToF camera. Has to be implemented in the specialized inherited classes.

virtual bool	ConnectCamera ()
	ConnectCamera Internally calls OnConnectCamera() of the respective device implementation.

virtual bool	DisconnectCamera ()=0
	closes the connection to the camera

virtual void	StartCamera ()=0
	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

virtual void	StopCamera ()
	stops the continuous updating of the camera

virtual bool	IsCameraActive ()
	returns true if the camera is connected and started

virtual bool	IsCameraConnected ()
	returns true if the camera is connected

virtual void	UpdateCamera ()=0
	updates the camera for image acquisition

virtual void	GetAmplitudes (float *amplitudeArray, int &imageSequence)=0
	gets the amplitude data from the ToF camera as the strength of the active illumination of every pixel 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

virtual void	GetIntensities (float *intensityArray, int &imageSequence)=0
	gets the intensity data from the ToF camera as a greyscale image

virtual void	GetDistances (float *distanceArray, int &imageSequence)=0
	gets the distance data from the ToF camera measuring the distance between the camera and the different object points in millimeters

virtual void	GetAllImages (float distanceArray, float amplitudeArray, float intensityArray, char sourceDataArray, int requiredImageSequence, int &capturedImageSequence, unsigned char *rgbDataArray=nullptr)=0
	gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

	itkGetMacro (CaptureWidth, int)
	get the currently set capture width

	itkGetMacro (CaptureHeight, int)
	get the currently set capture height

	itkGetMacro (SourceDataSize, int)
	get the currently set source data size

	itkGetMacro (BufferSize, int)
	get the currently set buffer size

	itkGetMacro (MaxBufferSize, int)
	get the currently set max buffer size

void	SetBoolProperty (const char *propertyKey, bool boolValue)
	set a bool property in the property list

void	SetIntProperty (const char *propertyKey, int intValue)
	set an int property in the property list

void	SetFloatProperty (const char *propertyKey, float floatValue)
	set a float property in the property list

void	SetStringProperty (const char propertyKey, const char stringValue)
	set a string property in the property list

virtual void	SetProperty (const char propertyKey, BaseProperty propertyValue)
	set a BaseProperty property in the property list

virtual BaseProperty *	GetProperty (const char *propertyKey)
	get a BaseProperty from the property list

bool	GetBoolProperty (const char *propertyKey, bool &boolValue)
	get a bool from the property list

bool	GetStringProperty (const char *propertyKey, std::string &string)
	get a string from the property list

bool	GetIntProperty (const char *propertyKey, int &integer)
	get an int from the property list

virtual int	GetRGBCaptureWidth ()

virtual int	GetRGBCaptureHeight ()

Protected Member Functions
	ToFCameraDevice ()

	~ToFCameraDevice () override

virtual void	AllocatePixelArrays ()
	method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

virtual void	CleanupPixelArrays ()
	method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray

Protected Attributes
float *	m_IntensityArray
	float array holding the intensity image

float *	m_DistanceArray
	float array holding the distance image

float *	m_AmplitudeArray
	float array holding the amplitude image

int	m_BufferSize
	buffer size of the image buffer needed for loss-less acquisition of range data

int	m_MaxBufferSize
	maximal buffer size needed for initialization of data arrays. Default value is 100.

int	m_CurrentPos
	current position in the buffer which will be retrieved by the Get methods

int	m_FreePos
	current position in the buffer which will be filled with data acquired from the hardware

int	m_CaptureWidth
	width of the range image (x dimension)

int	m_CaptureHeight
	height of the range image (y dimension)

int	m_PixelNumber
	number of pixels in the range image (m_CaptureWidth*m_CaptureHeight)

int	m_RGBImageWidth
	width of the RGB image (x dimension)

int	m_RGBImageHeight
	height of the RGB image (y dimension)

int	m_RGBPixelNumber
	number of pixels in the range image (m_RGBImageWidth*m_RGBImageHeight)

int	m_SourceDataSize
	size of the PMD source data

std::mutex	m_ImageMutex
	mutex for images provided by the range camera

std::mutex	m_CameraActiveMutex
	mutex for the cameraActive flag

std::thread	m_Thread

bool	m_CameraActive
	flag indicating if the camera is currently active or not. Caution: thread safe access only!

bool	m_CameraConnected
	flag indicating if the camera is successfully connected or not. Caution: thread safe access only!

int	m_ImageSequence
	counter for acquired images

PropertyList::Pointer	m_PropertyList
	a list of the corresponding properties

Detailed Description

Virtual interface and base class for all Time-of-Flight devices.

Definition at line 37 of file mitkToFCameraDevice.h.

Constructor & Destructor Documentation

◆ ToFCameraDevice()

mitk::ToFCameraDevice::ToFCameraDevice ( )

protected

Definition at line 17 of file mitkToFCameraDevice.cpp.

◆ ~ToFCameraDevice()

mitk::ToFCameraDevice::~ToFCameraDevice ( )

overrideprotected

Definition at line 38 of file mitkToFCameraDevice.cpp.

Member Function Documentation

◆ AllocatePixelArrays()

void mitk::ToFCameraDevice::AllocatePixelArrays ( )

protectedvirtual

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

Reimplemented in mitk::ToFCameraPMDRawDataDevice.

Definition at line 125 of file mitkToFCameraDevice.cpp.

◆ CleanupPixelArrays()

void mitk::ToFCameraDevice::CleanupPixelArrays ( )

protectedvirtual

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

Reimplemented in mitk::ToFCameraPMDRawDataDevice.

Definition at line 109 of file mitkToFCameraDevice.cpp.

◆ ConnectCamera()

bool mitk::ToFCameraDevice::ConnectCamera ( )

virtual

ConnectCamera Internally calls OnConnectCamera() of the respective device implementation.

Returns: True for success.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 168 of file mitkToFCameraDevice.cpp.

◆ DisconnectCamera()

virtual bool mitk::ToFCameraDevice::DisconnectCamera ( )

pure virtual

closes the connection to the camera

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ GetAllImages()

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

pure 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

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ GetAmplitudes()

virtual void mitk::ToFCameraDevice::GetAmplitudes	(	float *	amplitudeArray,
		int &	imageSequence )

pure virtual

gets the amplitude data from the ToF camera as the strength of the active illumination of every pixel 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.

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ GetBoolProperty()

bool mitk::ToFCameraDevice::GetBoolProperty	(	const char *	propertyKey,
		bool &	boolValue )

get a bool from the property list

Definition at line 72 of file mitkToFCameraDevice.cpp.

◆ GetDistances()

virtual void mitk::ToFCameraDevice::GetDistances	(	float *	distanceArray,
		int &	imageSequence )

pure virtual

gets the distance data from the ToF camera measuring the distance between the camera and the different object points in millimeters

Parameters

distanceArray	contains the returned distances data as an array.
imageSequence	the actually captured image sequence number

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ GetIntensities()

virtual void mitk::ToFCameraDevice::GetIntensities	(	float *	intensityArray,
		int &	imageSequence )

pure virtual

gets the intensity data from the ToF camera as a greyscale image

Parameters

intensityArray	contains the returned intensities data as an array.
imageSequence	the actually captured image sequence number

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ GetIntProperty()

bool mitk::ToFCameraDevice::GetIntProperty	(	const char *	propertyKey,
		int &	integer )

get an int from the property list

Definition at line 95 of file mitkToFCameraDevice.cpp.

◆ GetProperty()

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

virtual

get a BaseProperty from the property list

Definition at line 67 of file mitkToFCameraDevice.cpp.

◆ GetRGBCaptureHeight()

int mitk::ToFCameraDevice::GetRGBCaptureHeight ( )

virtual

Reimplemented in mitk::KinectDevice, and mitk::KinectV2Device.

Definition at line 143 of file mitkToFCameraDevice.cpp.

◆ GetRGBCaptureWidth()

int mitk::ToFCameraDevice::GetRGBCaptureWidth ( )

virtual

Reimplemented in mitk::KinectDevice, and mitk::KinectV2Device.

Definition at line 138 of file mitkToFCameraDevice.cpp.

◆ GetStringProperty()

bool mitk::ToFCameraDevice::GetStringProperty	(	const char *	propertyKey,
		std::string &	string )

get a string from the property list

Definition at line 82 of file mitkToFCameraDevice.cpp.

◆ IsCameraActive()

bool mitk::ToFCameraDevice::IsCameraActive ( )

virtual

returns true if the camera is connected and started

Reimplemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, and mitk::ToFCameraPMDRawDataDevice.

Definition at line 160 of file mitkToFCameraDevice.cpp.

◆ IsCameraConnected()

bool mitk::ToFCameraDevice::IsCameraConnected ( )

virtual

returns true if the camera is connected

Definition at line 175 of file mitkToFCameraDevice.cpp.

◆ itkGetMacro() [1/5]

mitk::ToFCameraDevice::itkGetMacro	(	BufferSize	,
		int	)

get the currently set buffer size

Returns: buffer size

◆ itkGetMacro() [2/5]

mitk::ToFCameraDevice::itkGetMacro	(	CaptureHeight	,
		int	)

get the currently set capture height

Returns: capture height

◆ itkGetMacro() [3/5]

mitk::ToFCameraDevice::itkGetMacro	(	CaptureWidth	,
		int	)

get the currently set capture width

Returns: capture width

◆ itkGetMacro() [4/5]

mitk::ToFCameraDevice::itkGetMacro	(	MaxBufferSize	,
		int	)

get the currently set max buffer size

Returns: max buffer size

◆ itkGetMacro() [5/5]

mitk::ToFCameraDevice::itkGetMacro	(	SourceDataSize	,
		int	)

get the currently set source data size

Returns: source data size

◆ mitkClassMacroItkParent()

mitk::ToFCameraDevice::mitkClassMacroItkParent	(	ToFCameraDevice	,
		itk::Object	)

◆ OnConnectCamera()

virtual bool mitk::ToFCameraDevice::OnConnectCamera ( )

pure virtual

Opens a connection to the ToF camera. Has to be implemented in the specialized inherited classes.

Returns: True for success.

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ SetBoolProperty()

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

set a bool property in the property list

Definition at line 42 of file mitkToFCameraDevice.cpp.

◆ SetFloatProperty()

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

set a float property in the property list

Definition at line 52 of file mitkToFCameraDevice.cpp.

◆ SetIntProperty()

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

set an int property in the property list

Definition at line 47 of file mitkToFCameraDevice.cpp.

◆ SetProperty()

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

virtual

set a BaseProperty property in the property list

Reimplemented in mitk::KinectDevice, mitk::ToFCameraMESADevice, mitk::ToFCameraMESASR4000Device, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDCamBoardDevice, mitk::ToFCameraPMDCamCubeDevice, mitk::ToFCameraPMDDevice, mitk::ToFCameraPMDPlayerDevice, mitk::ToFCameraPMDRawDataCamCubeDevice, and mitk::ToFCameraPMDRawDataDevice.

Definition at line 62 of file mitkToFCameraDevice.cpp.

◆ SetStringProperty()

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

set a string property in the property list

Definition at line 57 of file mitkToFCameraDevice.cpp.

◆ StartCamera()

virtual void mitk::ToFCameraDevice::StartCamera ( )

pure 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

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, and mitk::ToFCameraPMDRawDataDevice.

◆ StopCamera()

void mitk::ToFCameraDevice::StopCamera ( )

virtual

stops the continuous updating of the camera

Reimplemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, and mitk::ToFCameraPMDRawDataDevice.

Definition at line 148 of file mitkToFCameraDevice.cpp.

◆ UpdateCamera()

virtual void mitk::ToFCameraDevice::UpdateCamera ( )

pure virtual

updates the camera for image acquisition

Implemented in mitk::KinectDevice, mitk::KinectV2Device, mitk::ToFCameraMESADevice, mitk::ToFCameraMITKPlayerDevice, mitk::ToFCameraPMDDevice, and mitk::ToFCameraPMDRawDataDevice.

Member Data Documentation

◆ m_AmplitudeArray

float* mitk::ToFCameraDevice::m_AmplitudeArray

protected

float array holding the amplitude image

Definition at line 203 of file mitkToFCameraDevice.h.

◆ m_BufferSize

int mitk::ToFCameraDevice::m_BufferSize

protected

buffer size of the image buffer needed for loss-less acquisition of range data

Definition at line 204 of file mitkToFCameraDevice.h.

◆ m_CameraActive

bool mitk::ToFCameraDevice::m_CameraActive

protected

flag indicating if the camera is currently active or not. Caution: thread safe access only!

Definition at line 218 of file mitkToFCameraDevice.h.

◆ m_CameraActiveMutex

std::mutex mitk::ToFCameraDevice::m_CameraActiveMutex

protected

mutex for the cameraActive flag

Definition at line 216 of file mitkToFCameraDevice.h.

◆ m_CameraConnected

bool mitk::ToFCameraDevice::m_CameraConnected

protected

flag indicating if the camera is successfully connected or not. Caution: thread safe access only!

Definition at line 219 of file mitkToFCameraDevice.h.

◆ m_CaptureHeight

int mitk::ToFCameraDevice::m_CaptureHeight

protected

height of the range image (y dimension)

Definition at line 209 of file mitkToFCameraDevice.h.

◆ m_CaptureWidth

int mitk::ToFCameraDevice::m_CaptureWidth

protected

width of the range image (x dimension)

Definition at line 208 of file mitkToFCameraDevice.h.

◆ m_CurrentPos

int mitk::ToFCameraDevice::m_CurrentPos

protected

current position in the buffer which will be retrieved by the Get methods

Definition at line 206 of file mitkToFCameraDevice.h.

◆ m_DistanceArray

float* mitk::ToFCameraDevice::m_DistanceArray

protected

float array holding the distance image

Definition at line 202 of file mitkToFCameraDevice.h.

◆ m_FreePos

int mitk::ToFCameraDevice::m_FreePos

protected

current position in the buffer which will be filled with data acquired from the hardware

Definition at line 207 of file mitkToFCameraDevice.h.

◆ m_ImageMutex

std::mutex mitk::ToFCameraDevice::m_ImageMutex

protected

mutex for images provided by the range camera

Definition at line 215 of file mitkToFCameraDevice.h.

◆ m_ImageSequence

int mitk::ToFCameraDevice::m_ImageSequence

protected

counter for acquired images

Definition at line 220 of file mitkToFCameraDevice.h.

◆ m_IntensityArray

float* mitk::ToFCameraDevice::m_IntensityArray

protected

float array holding the intensity image

Definition at line 201 of file mitkToFCameraDevice.h.

◆ m_MaxBufferSize

int mitk::ToFCameraDevice::m_MaxBufferSize

protected

maximal buffer size needed for initialization of data arrays. Default value is 100.

Definition at line 205 of file mitkToFCameraDevice.h.

◆ m_PixelNumber

int mitk::ToFCameraDevice::m_PixelNumber

protected

number of pixels in the range image (m_CaptureWidth*m_CaptureHeight)

Definition at line 210 of file mitkToFCameraDevice.h.

◆ m_PropertyList

PropertyList::Pointer mitk::ToFCameraDevice::m_PropertyList

protected

a list of the corresponding properties

Definition at line 222 of file mitkToFCameraDevice.h.

◆ m_RGBImageHeight

int mitk::ToFCameraDevice::m_RGBImageHeight

protected

height of the RGB image (y dimension)

Definition at line 212 of file mitkToFCameraDevice.h.

◆ m_RGBImageWidth

int mitk::ToFCameraDevice::m_RGBImageWidth

protected

width of the RGB image (x dimension)

Definition at line 211 of file mitkToFCameraDevice.h.

◆ m_RGBPixelNumber

int mitk::ToFCameraDevice::m_RGBPixelNumber

protected

number of pixels in the range image (m_RGBImageWidth*m_RGBImageHeight)

Definition at line 213 of file mitkToFCameraDevice.h.

◆ m_SourceDataSize

int mitk::ToFCameraDevice::m_SourceDataSize

protected

size of the PMD source data

Definition at line 214 of file mitkToFCameraDevice.h.

◆ m_Thread

std::thread mitk::ToFCameraDevice::m_Thread

protected

Definition at line 217 of file mitkToFCameraDevice.h.

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

Modules/ToFHardware/mitkToFCameraDevice.h
Modules/ToFHardware/mitkToFCameraDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraDevice()

◆ ~ToFCameraDevice()

Member Function Documentation

◆ AllocatePixelArrays()

◆ CleanupPixelArrays()

◆ ConnectCamera()

◆ DisconnectCamera()

◆ GetAllImages()

◆ GetAmplitudes()

◆ GetBoolProperty()

◆ GetDistances()

◆ GetIntensities()

◆ GetIntProperty()

◆ GetProperty()

◆ GetRGBCaptureHeight()

◆ GetRGBCaptureWidth()

◆ GetStringProperty()

◆ IsCameraActive()

◆ IsCameraConnected()

◆ itkGetMacro() [1/5]

◆ itkGetMacro() [2/5]

◆ itkGetMacro() [3/5]

◆ itkGetMacro() [4/5]

◆ itkGetMacro() [5/5]

◆ mitkClassMacroItkParent()

◆ OnConnectCamera()

◆ SetBoolProperty()

◆ SetFloatProperty()

◆ SetIntProperty()

◆ SetProperty()

◆ SetStringProperty()

◆ StartCamera()

◆ StopCamera()

◆ UpdateCamera()

Member Data Documentation

◆ m_AmplitudeArray

◆ m_BufferSize

◆ m_CameraActive

◆ m_CameraActiveMutex

◆ m_CameraConnected

◆ m_CaptureHeight

◆ m_CaptureWidth

◆ m_CurrentPos

◆ m_DistanceArray

◆ m_FreePos

◆ m_ImageMutex

◆ m_ImageSequence

◆ m_IntensityArray

◆ m_MaxBufferSize

◆ m_PixelNumber

◆ m_PropertyList

◆ m_RGBImageHeight

◆ m_RGBImageWidth

◆ m_RGBPixelNumber

◆ m_SourceDataSize

◆ m_Thread