Device class representing a player for MITK-ToF images. More...

#include <mitkToFCameraMITKPlayerDevice.h>

Inheritance diagram for mitk::ToFCameraMITKPlayerDevice:

Public Member Functions
	mitkClassMacro (ToFCameraMITKPlayerDevice, ToFCameraDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

bool	OnConnectCamera () override
	opens a connection to the ToF camera

bool	DisconnectCamera () override
	closes the connection to the camera

void	StartCamera () override
	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

void	GetAmplitudes (float *amplitudeArray, int &imageSequence) override
	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

void	GetIntensities (float *intensityArray, int &imageSequence) override
	gets the intensity data from the ToF camera as a greyscale image. Caution! The user is responsible for allocating and deleting the images.

virtual void	GetRgb (unsigned char *rgbArray, int &imageSequence)
	gets the rgb data from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

void	GetDistances (float *distanceArray, int &imageSequence) override
	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.

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

virtual void	SetInputFileName (std::string inputFileName)
	Set file name where the data is recorded.

void	SetProperty (const char propertyKey, BaseProperty propertyValue) override
	set a BaseProperty

Public Member Functions inherited from mitk::ToFCameraDevice
	mitkClassMacroItkParent (ToFCameraDevice, itk::Object)

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

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

	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 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
	ToFCameraMITKPlayerDevice ()

	~ToFCameraMITKPlayerDevice () override

void	UpdateCamera () override
	updates the camera for image acquisition

void	Acquire ()
	Thread method continuously acquiring images from the specified input file.

void	CleanUpDataBuffers ()
	Clean up memory (pixel buffers)

void	AllocateDataBuffers ()
	Allocate pixel buffers.

Protected Member Functions inherited from mitk::ToFCameraDevice
	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
ToFCameraMITKPlayerController::Pointer	m_Controller
	member holding the corresponding controller

std::string	m_InputFileName
	member holding the file name of the current input file

Protected Attributes inherited from mitk::ToFCameraDevice
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

Device class representing a player for MITK-ToF images.

Definition at line 31 of file mitkToFCameraMITKPlayerDevice.h.

Constructor & Destructor Documentation

◆ ToFCameraMITKPlayerDevice()

mitk::ToFCameraMITKPlayerDevice::ToFCameraMITKPlayerDevice ( )

protected

Definition at line 22 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ ~ToFCameraMITKPlayerDevice()

mitk::ToFCameraMITKPlayerDevice::~ToFCameraMITKPlayerDevice ( )

overrideprotected

Definition at line 28 of file mitkToFCameraMITKPlayerDevice.cpp.

Member Function Documentation

◆ Acquire()

void mitk::ToFCameraMITKPlayerDevice::Acquire ( )

protected

Thread method continuously acquiring images from the specified input file.

Definition at line 103 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ AllocateDataBuffers()

void mitk::ToFCameraMITKPlayerDevice::AllocateDataBuffers ( )

protected

Allocate pixel buffers.

Definition at line 336 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ CleanUpDataBuffers()

void mitk::ToFCameraMITKPlayerDevice::CleanUpDataBuffers ( )

protected

Clean up memory (pixel buffers)

Definition at line 300 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ DisconnectCamera()

bool mitk::ToFCameraMITKPlayerDevice::DisconnectCamera ( )

overridevirtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 58 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ GetAllImages()

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

overridevirtual

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.

Definition at line 198 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ GetAmplitudes()

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

overridevirtual

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.

Definition at line 150 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ GetDistances()

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

overridevirtual

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.

Definition at line 174 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ GetIntensities()

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

overridevirtual

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.

Definition at line 162 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ GetRgb()

void mitk::ToFCameraMITKPlayerDevice::GetRgb	(	unsigned char *	rgbArray,
		int &	imageSequence )

virtual

gets the rgb data from the ToF camera. Caution! The user is responsible for allocating and deleting the images.

Parameters

rgbArray	contains the returned rgb data as an array.
imageSequence	the actually captured image sequence number

Definition at line 186 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ itkCloneMacro()

mitk::ToFCameraMITKPlayerDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFCameraMITKPlayerDevice::itkFactorylessNewMacro ( Self )

◆ mitkClassMacro()

mitk::ToFCameraMITKPlayerDevice::mitkClassMacro	(	ToFCameraMITKPlayerDevice	,
		ToFCameraDevice	)

◆ OnConnectCamera()

bool mitk::ToFCameraMITKPlayerDevice::OnConnectCamera ( )

overridevirtual

opens a connection to the ToF camera

Implements mitk::ToFCameraDevice.

Definition at line 34 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ SetInputFileName()

void mitk::ToFCameraMITKPlayerDevice::SetInputFileName ( std::string inputFileName )

virtual

Set file name where the data is recorded.

Parameters

inputFileName name of input file which should be played

Definition at line 241 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ SetProperty()

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

overridevirtual

set a BaseProperty

Reimplemented from mitk::ToFCameraDevice.

Definition at line 247 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ StartCamera()

void mitk::ToFCameraMITKPlayerDevice::StartCamera ( )

overridevirtual

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.

Definition at line 69 of file mitkToFCameraMITKPlayerDevice.cpp.

◆ UpdateCamera()

void mitk::ToFCameraMITKPlayerDevice::UpdateCamera ( )

overrideprotectedvirtual

updates the camera for image acquisition

Implements mitk::ToFCameraDevice.

Definition at line 98 of file mitkToFCameraMITKPlayerDevice.cpp.

Member Data Documentation

◆ m_Controller

ToFCameraMITKPlayerController::Pointer mitk::ToFCameraMITKPlayerDevice::m_Controller

protected

member holding the corresponding controller

Definition at line 124 of file mitkToFCameraMITKPlayerDevice.h.

◆ m_InputFileName

std::string mitk::ToFCameraMITKPlayerDevice::m_InputFileName

protected

member holding the file name of the current input file

Definition at line 125 of file mitkToFCameraMITKPlayerDevice.h.

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

Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.h
Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraMITKPlayerDevice()

◆ ~ToFCameraMITKPlayerDevice()

Member Function Documentation

◆ Acquire()

◆ AllocateDataBuffers()

◆ CleanUpDataBuffers()

◆ DisconnectCamera()

◆ GetAllImages()

◆ GetAmplitudes()

◆ GetDistances()

◆ GetIntensities()

◆ GetRgb()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ OnConnectCamera()

◆ SetInputFileName()

◆ SetProperty()

◆ StartCamera()

◆ UpdateCamera()

Member Data Documentation

◆ m_Controller

◆ m_InputFileName