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:

Public Member Functions
	mitkClassMacro (ToFCameraPMDRawDataDevice, ToFCameraDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	itkSetMacro (ChannelSize, int)

	itkGetMacro (ChannelSize, int)

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

virtual bool	DisconnectCamera ()
	closes the connection to the camera

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

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

virtual void	UpdateCamera ()
	updates the camera for image acquisition

virtual bool	IsCameraActive ()
	returns whether the camera is currently active or not

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

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.

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.

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.

ToFCameraPMDController::Pointer	GetController ()
	returns the corresponding camera controller

virtual void	GetChannelSourceData (short , vtkShortArray )

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

	~ToFCameraPMDRawDataDevice ()

virtual void	AllocateSourceData ()
	method for allocating m_SourceDataArray and m_SourceDataBuffer

virtual void	CleanUpSourceData ()
	method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer

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

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

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.

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.

Protected Attributes
ToFCameraPMDController::Pointer	m_Controller
	corresponding CameraController

ThreadedToFRawDataReconstruction::Pointer	m_RawDataSource

char **	m_SourceDataBuffer
	buffer holding the last acquired images

char *	m_SourceDataArray
	array holding the current PMD source data

short *	m_ShortSourceData
	array holding the current PMD raw data

unsigned int	m_OriginControllerWidth
	holds the original controller width

unsigned int	m_OriginControllerHeight
	holds the original controller height

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

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

Definition at line 32 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ ~ToFCameraPMDRawDataDevice()

mitk::ToFCameraPMDRawDataDevice::~ToFCameraPMDRawDataDevice ( )

protected

Definition at line 39 of file mitkToFCameraPMDRawDataDevice.cpp.

Member Function Documentation

◆ Acquire()

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

staticprotected

Thread method continuously acquiring images from the ToF hardware.

Definition at line 142 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ AllocatePixelArrays()

void mitk::ToFCameraPMDRawDataDevice::AllocatePixelArrays ( )

protectedvirtual

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

Reimplemented from mitk::ToFCameraDevice.

Definition at line 412 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ AllocateSourceData()

void mitk::ToFCameraPMDRawDataDevice::AllocateSourceData ( )

protectedvirtual

method for allocating m_SourceDataArray and m_SourceDataBuffer

Definition at line 428 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ CleanupPixelArrays()

void mitk::ToFCameraPMDRawDataDevice::CleanupPixelArrays ( )

protectedvirtual

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

Reimplemented from mitk::ToFCameraDevice.

Definition at line 392 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ CleanUpSourceData()

void mitk::ToFCameraPMDRawDataDevice::CleanUpSourceData ( )

protectedvirtual

method for cleaning up memory allocated for m_SourceDataArray and m_SourceDataBuffer

Definition at line 443 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ DisconnectCamera()

bool mitk::ToFCameraPMDRawDataDevice::DisconnectCamera ( )

virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 69 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ GetAllImages()

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

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.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 264 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ GetAmplitudes()

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

imageSequence	the actually captured image sequence number
amplitudeArray	contains the returned amplitude data as an array.

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 225 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ GetChannelSourceData()

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

inlinevirtual

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice, and mitk::ToFCameraPMDRawDataCamCubeDevice.

Definition at line 103 of file mitkToFCameraPMDRawDataDevice.h.

◆ GetController()

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

returns the corresponding camera controller

Definition at line 369 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ GetDistances()

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

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

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 251 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ GetIntensities()

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

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

Implements mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamBoardDevice.

Definition at line 238 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ 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()

bool mitk::ToFCameraPMDRawDataDevice::IsCameraActive ( )

virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

Definition at line 126 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ itkCloneMacro()

mitk::ToFCameraPMDRawDataDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFCameraPMDRawDataDevice::itkFactorylessNewMacro ( Self )

◆ itkGetMacro()

mitk::ToFCameraPMDRawDataDevice::itkGetMacro	(	ChannelSize	,
		int	)

◆ itkSetMacro()

mitk::ToFCameraPMDRawDataDevice::itkSetMacro	(	ChannelSize	,
		int	)

◆ mitkClassMacro()

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

◆ OnConnectCamera()

bool mitk::ToFCameraPMDRawDataDevice::OnConnectCamera ( )

virtual

opens a connection to the ToF camera

Implements mitk::ToFCameraDevice.

Definition at line 44 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ SetProperty()

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

virtual

set a BaseProperty

Reimplemented from mitk::ToFCameraDevice.

Reimplemented in mitk::ToFCameraPMDRawDataCamCubeDevice.

Definition at line 374 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ StartCamera()

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.

Definition at line 83 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ StopCamera()

void mitk::ToFCameraPMDRawDataDevice::StopCamera ( )

virtual

stops the continuous updating of the camera

Reimplemented from mitk::ToFCameraDevice.

Definition at line 111 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ UpdateCamera()

void mitk::ToFCameraPMDRawDataDevice::UpdateCamera ( )

virtual

updates the camera for image acquisition

Implements mitk::ToFCameraDevice.

Definition at line 134 of file mitkToFCameraPMDRawDataDevice.cpp.

◆ 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

imageData	contains array to the input data.
flippedData	contains flipped output array - Caution! The user is responsible for allocating and deleting the data. Size should be equal to imageData!
xAxis	flag is set to flip around x axis (1 - set, 0 - not set).
yAxis	flag is set to flip around y axis (1 - set, 0 - not set).
dimension	contains the extend of the z dimension (preset is 1)

Definition at line 310 of file mitkToFCameraPMDRawDataDevice.cpp.

Member Data Documentation

◆ m_Controller

ToFCameraPMDController::Pointer mitk::ToFCameraPMDRawDataDevice::m_Controller

protected

corresponding CameraController

Definition at line 155 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_OriginControllerHeight

unsigned int mitk::ToFCameraPMDRawDataDevice::m_OriginControllerHeight

protected

holds the original controller height

Definition at line 161 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_OriginControllerWidth

unsigned int mitk::ToFCameraPMDRawDataDevice::m_OriginControllerWidth

protected

holds the original controller width

Definition at line 160 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_RawDataSource

ThreadedToFRawDataReconstruction::Pointer mitk::ToFCameraPMDRawDataDevice::m_RawDataSource

protected

Definition at line 156 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_ShortSourceData

short* mitk::ToFCameraPMDRawDataDevice::m_ShortSourceData

protected

array holding the current PMD raw data

Definition at line 159 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_SourceDataArray

char* mitk::ToFCameraPMDRawDataDevice::m_SourceDataArray

protected

array holding the current PMD source data

Definition at line 158 of file mitkToFCameraPMDRawDataDevice.h.

◆ m_SourceDataBuffer

char** mitk::ToFCameraPMDRawDataDevice::m_SourceDataBuffer

protected

buffer holding the last acquired images

Definition at line 157 of file mitkToFCameraPMDRawDataDevice.h.

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

Modules/ToFHardware/PMD/mitkToFCameraPMDRawDataDevice.h
Modules/ToFHardware/PMD/mitkToFCameraPMDRawDataDevice.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ToFCameraPMDRawDataDevice()

◆ ~ToFCameraPMDRawDataDevice()

Member Function Documentation

◆ Acquire()

◆ AllocatePixelArrays()

◆ AllocateSourceData()

◆ CleanupPixelArrays()

◆ CleanUpSourceData()

◆ DisconnectCamera()

◆ GetAllImages()

◆ GetAmplitudes()

◆ GetChannelSourceData()

◆ GetController()

◆ GetDistances()

◆ GetIntensities()

◆ GetNextPos()

◆ IsCameraActive()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetMacro()

◆ itkSetMacro()

◆ mitkClassMacro()

◆ OnConnectCamera()

◆ SetProperty()

◆ StartCamera()

◆ StopCamera()

◆ UpdateCamera()

◆ XYAxisFlipImage()

Member Data Documentation

◆ m_Controller

◆ m_OriginControllerHeight

◆ m_OriginControllerWidth

◆ m_RawDataSource

◆ m_ShortSourceData

◆ m_SourceDataArray

◆ m_SourceDataBuffer