Converts a Time-of-Flight (ToF) distance image to a 3D surface using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetCameraIntrinsics(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane. More...

#include <mitkToFDistanceImageToSurfaceFilter.h>

Inheritance diagram for mitk::ToFDistanceImageToSurfaceFilter:

Public Types
enum	ReconstructionModeType { WithOutInterPixelDistance = 1 , WithInterPixelDistance = 2 , Kinect = 3 }
	The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect. More...

Public Member Functions
	mitkClassMacro (ToFDistanceImageToSurfaceFilter, SurfaceSource)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	itkSetMacro (CameraIntrinsics, mitk::CameraIntrinsics::Pointer)

	itkGetMacro (CameraIntrinsics, mitk::CameraIntrinsics::Pointer)

	itkSetMacro (InterPixelDistance, ToFProcessingCommon::ToFPoint2D)

	itkGetMacro (InterPixelDistance, ToFProcessingCommon::ToFPoint2D)

	itkSetMacro (TextureIndex, int)

void	SetTriangulationThreshold (double triangulationThreshold)
	SetTriangulationThreshold Sets a triangulation threshold in order to remove unusually huge faces from the surface. If this value is set, the filter will check whether the distance between two neighboring vertices exceeds the triangulation threshold. If yes, there vertices will not be triangulated (connected with lines). The vertices will still be added to the surface, but only as single point (if they have no other neighbors).

	itkGetMacro (TriangulationThreshold, double)

	itkSetMacro (VertexIdList, vtkSmartPointer< vtkIdList >)

	itkGetMacro (VertexIdList, vtkSmartPointer< vtkIdList >)

	itkSetMacro (GenerateTriangularMesh, bool)

	itkGetMacro (GenerateTriangularMesh, bool)

	itkSetEnumMacro (ReconstructionMode, ReconstructionModeType)

	itkGetEnumMacro (ReconstructionMode, ReconstructionModeType)

void	SetScalarImage (IplImage *iplScalarImage)
	Set scalar image used as texture of the surface.

IplImage *	GetScalarImage ()
	Set scalar image used as texture of the surface.

void	SetTextureImageWidth (int width)
	Set width of the scalar image used for texturing the surface.

void	SetTextureImageHeight (int height)
	Set height of the scalar image used for texturing the surface.

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

virtual void	SetInput (Image *distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics)
	Sets the input of this filter and the intrinsic parameters.

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

virtual void	SetInput (unsigned int idx, Image *distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics)
	Sets the input of this filter at idx and the intrinsic parameters.

Image *	GetInput ()
	Returns the input of this filter.

Image *	GetInput (unsigned int idx)
	Returns the input with id idx of this filter.

Protected Member Functions
	ToFDistanceImageToSurfaceFilter ()
	Standard constructor.

	~ToFDistanceImageToSurfaceFilter () override
	Standard destructor.

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.

void	CreateOutputsForAllInputs ()
	Create an output for each input.

Protected Attributes
IplImage *	m_IplScalarImage
	Scalar image used for surface texturing.

mitk::CameraIntrinsics::Pointer	m_CameraIntrinsics
	Specifies the intrinsic parameters.

int	m_TextureImageWidth
	Width (x-dimension) of the texture image.

int	m_TextureImageHeight
	Height (y-dimension) of the texture image.

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

int	m_TextureIndex
	Index of the input used as texture image when no scalar image was set via SetIplScalarImage(). 0 = Distance, 1 = Amplitude, 2 = Intensity.

bool	m_GenerateTriangularMesh

ReconstructionModeType	m_ReconstructionMode
	The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect.

vtkSmartPointer< vtkIdList >	m_VertexIdList
	Make a vtkIdList to save the ID's of the polyData corresponding to the image pixel ID's. This can be accessed after generate data to obtain the mapping.

double	m_TriangulationThreshold

Detailed Description

Converts a Time-of-Flight (ToF) distance image to a 3D surface using the pinhole camera model for coordinate computation. The intrinsic parameters of the camera (FocalLength, PrincipalPoint, InterPixelDistance) are set via SetCameraIntrinsics(). The measured distance for each pixel corresponds to the distance between the object point and the corresponding image point on the image plane.

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 46 of file mitkToFDistanceImageToSurfaceFilter.h.

Member Enumeration Documentation

◆ ReconstructionModeType

enum mitk::ToFDistanceImageToSurfaceFilter::ReconstructionModeType

The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect.

Enumerator
WithOutInterPixelDistance
WithInterPixelDistance
Kinect

Definition at line 84 of file mitkToFDistanceImageToSurfaceFilter.h.

Constructor & Destructor Documentation

◆ ToFDistanceImageToSurfaceFilter()

mitk::ToFDistanceImageToSurfaceFilter::ToFDistanceImageToSurfaceFilter ( )

protected

Standard constructor.

Definition at line 31 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ ~ToFDistanceImageToSurfaceFilter()

mitk::ToFDistanceImageToSurfaceFilter::~ToFDistanceImageToSurfaceFilter ( )

overrideprotected

Standard destructor.

Definition at line 43 of file mitkToFDistanceImageToSurfaceFilter.cpp.

Member Function Documentation

◆ CreateOutputsForAllInputs()

void mitk::ToFDistanceImageToSurfaceFilter::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 310 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ GenerateData()

void mitk::ToFDistanceImageToSurfaceFilter::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.

Here we have to incorporate spacing and origin to allow processing of cropped/resampled images Usually origin will be [0, 0, 0] and spacing will be [1, 1, 1], but just in case the image is moved due to cropping or the spacing differes due to up- or downsampling.

Definition at line 88 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ GenerateOutputInformation()

void mitk::ToFDistanceImageToSurfaceFilter::GenerateOutputInformation ( )

overrideprotected

Definition at line 322 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ GetInput() [1/2]

mitk::Image * mitk::ToFDistanceImageToSurfaceFilter::GetInput ( )

Returns the input of this filter.

Definition at line 74 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ GetInput() [2/2]

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

Returns the input with id idx of this filter.

Definition at line 79 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ GetScalarImage()

IplImage * mitk::ToFDistanceImageToSurfaceFilter::GetScalarImage ( )

Set scalar image used as texture of the surface.

Returns: OpenCV image for texturing

Definition at line 335 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ itkCloneMacro()

mitk::ToFDistanceImageToSurfaceFilter::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFDistanceImageToSurfaceFilter::itkFactorylessNewMacro ( Self )

◆ itkGetEnumMacro()

mitk::ToFDistanceImageToSurfaceFilter::itkGetEnumMacro	(	ReconstructionMode	,
		ReconstructionModeType	)

◆ itkGetMacro() [1/5]

mitk::ToFDistanceImageToSurfaceFilter::itkGetMacro	(	CameraIntrinsics	,
		mitk::CameraIntrinsics::Pointer	)

◆ itkGetMacro() [2/5]

mitk::ToFDistanceImageToSurfaceFilter::itkGetMacro	(	GenerateTriangularMesh	,
		bool	)

◆ itkGetMacro() [3/5]

mitk::ToFDistanceImageToSurfaceFilter::itkGetMacro	(	InterPixelDistance	,
		ToFProcessingCommon::ToFPoint2D	)

◆ itkGetMacro() [4/5]

mitk::ToFDistanceImageToSurfaceFilter::itkGetMacro	(	TriangulationThreshold	,
		double	)

◆ itkGetMacro() [5/5]

mitk::ToFDistanceImageToSurfaceFilter::itkGetMacro	(	VertexIdList	,
		vtkSmartPointer< vtkIdList >	)

◆ itkSetEnumMacro()

mitk::ToFDistanceImageToSurfaceFilter::itkSetEnumMacro	(	ReconstructionMode	,
		ReconstructionModeType	)

◆ itkSetMacro() [1/5]

mitk::ToFDistanceImageToSurfaceFilter::itkSetMacro	(	CameraIntrinsics	,
		mitk::CameraIntrinsics::Pointer	)

◆ itkSetMacro() [2/5]

mitk::ToFDistanceImageToSurfaceFilter::itkSetMacro	(	GenerateTriangularMesh	,
		bool	)

◆ itkSetMacro() [3/5]

mitk::ToFDistanceImageToSurfaceFilter::itkSetMacro	(	InterPixelDistance	,
		ToFProcessingCommon::ToFPoint2D	)

◆ itkSetMacro() [4/5]

mitk::ToFDistanceImageToSurfaceFilter::itkSetMacro	(	TextureIndex	,
		int	)

◆ itkSetMacro() [5/5]

mitk::ToFDistanceImageToSurfaceFilter::itkSetMacro	(	VertexIdList	,
		vtkSmartPointer< vtkIdList >	)

◆ mitkClassMacro()

mitk::ToFDistanceImageToSurfaceFilter::mitkClassMacro	(	ToFDistanceImageToSurfaceFilter	,
		SurfaceSource	)

◆ SetInput() [1/4]

void mitk::ToFDistanceImageToSurfaceFilter::SetInput ( mitk::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 59 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetInput() [2/4]

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	Image *	distanceImage,
		mitk::CameraIntrinsics::Pointer	cameraIntrinsics )

virtual

Sets the input of this filter and the intrinsic parameters.

Parameters

distanceImage	input is the distance image of e.g. a ToF camera
cameraIntrinsics

Definition at line 47 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetInput() [3/4]

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	unsigned int	idx,
		mitk::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 64 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetInput() [4/4]

void mitk::ToFDistanceImageToSurfaceFilter::SetInput	(	unsigned int	idx,
		Image *	distanceImage,
		mitk::CameraIntrinsics::Pointer	cameraIntrinsics )

virtual

Sets the input of this filter at idx and the intrinsic parameters.

Parameters

idx	number of the current input
distanceImage	input is the distance image of e.g. a ToF camera
cameraIntrinsics	This is the camera model which holds parameters like focal length, pixel size, etc. which are needed for the reconstruction of the surface.

Definition at line 53 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetScalarImage()

void mitk::ToFDistanceImageToSurfaceFilter::SetScalarImage ( IplImage * iplScalarImage )

Set scalar image used as texture of the surface.

Parameters

iplScalarImage OpenCV image for texturing

Definition at line 329 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetTextureImageHeight()

void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageHeight ( int height )

Set height of the scalar image used for texturing the surface.

Parameters

height height (y-dimension) of the texture image

Definition at line 345 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetTextureImageWidth()

void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageWidth ( int width )

Set width of the scalar image used for texturing the surface.

Parameters

width width (x-dimension) of the texture image

Definition at line 340 of file mitkToFDistanceImageToSurfaceFilter.cpp.

◆ SetTriangulationThreshold()

void mitk::ToFDistanceImageToSurfaceFilter::SetTriangulationThreshold ( double triangulationThreshold )

SetTriangulationThreshold Sets a triangulation threshold in order to remove unusually huge faces from the surface. If this value is set, the filter will check whether the distance between two neighboring vertices exceeds the triangulation threshold. If yes, there vertices will not be triangulated (connected with lines). The vertices will still be added to the surface, but only as single point (if they have no other neighbors).

Parameters

triangulationThreshold The triangulationThreshold in mm. (not mm*mm!)

Note: vtkMath::Distance2BetweenPoints returns the squared distance between two points and hence we square m_TriangulationThreshold in order to save run-time.

Definition at line 351 of file mitkToFDistanceImageToSurfaceFilter.cpp.

Member Data Documentation

◆ m_CameraIntrinsics

mitk::CameraIntrinsics::Pointer mitk::ToFDistanceImageToSurfaceFilter::m_CameraIntrinsics

protected

Specifies the intrinsic parameters.

Definition at line 175 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_GenerateTriangularMesh

bool mitk::ToFDistanceImageToSurfaceFilter::m_GenerateTriangularMesh

protected

Definition at line 182 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_InterPixelDistance

ToFProcessingCommon::ToFPoint2D mitk::ToFDistanceImageToSurfaceFilter::m_InterPixelDistance

protected

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

Definition at line 179 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_IplScalarImage

IplImage* mitk::ToFDistanceImageToSurfaceFilter::m_IplScalarImage

protected

Scalar image used for surface texturing.

Definition at line 173 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_ReconstructionMode

ReconstructionModeType mitk::ToFDistanceImageToSurfaceFilter::m_ReconstructionMode

protected

The ReconstructionModeType enum: Defines the reconstruction mode, if using no interpixeldistances and focal lenghts in pixel units or interpixeldistances and focal length in mm. The Kinect option defines a special reconstruction mode for the kinect.

Definition at line 184 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_TextureImageHeight

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureImageHeight

protected

Height (y-dimension) of the texture image.

Definition at line 178 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_TextureImageWidth

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureImageWidth

protected

Width (x-dimension) of the texture image.

Definition at line 177 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_TextureIndex

int mitk::ToFDistanceImageToSurfaceFilter::m_TextureIndex

protected

Index of the input used as texture image when no scalar image was set via SetIplScalarImage(). 0 = Distance, 1 = Amplitude, 2 = Intensity.

Definition at line 181 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_TriangulationThreshold

double mitk::ToFDistanceImageToSurfaceFilter::m_TriangulationThreshold

protected

Definition at line 188 of file mitkToFDistanceImageToSurfaceFilter.h.

◆ m_VertexIdList

vtkSmartPointer<vtkIdList> mitk::ToFDistanceImageToSurfaceFilter::m_VertexIdList

protected

Make a vtkIdList to save the ID's of the polyData corresponding to the image pixel ID's. This can be accessed after generate data to obtain the mapping.

Definition at line 186 of file mitkToFDistanceImageToSurfaceFilter.h.

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

Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.h
Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ReconstructionModeType

Constructor & Destructor Documentation

◆ ToFDistanceImageToSurfaceFilter()

◆ ~ToFDistanceImageToSurfaceFilter()

Member Function Documentation

◆ CreateOutputsForAllInputs()

◆ GenerateData()

◆ GenerateOutputInformation()

◆ GetInput() [1/2]

◆ GetInput() [2/2]

◆ GetScalarImage()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetEnumMacro()

◆ itkGetMacro() [1/5]

◆ itkGetMacro() [2/5]

◆ itkGetMacro() [3/5]

◆ itkGetMacro() [4/5]

◆ itkGetMacro() [5/5]

◆ itkSetEnumMacro()

◆ itkSetMacro() [1/5]

◆ itkSetMacro() [2/5]

◆ itkSetMacro() [3/5]

◆ itkSetMacro() [4/5]

◆ itkSetMacro() [5/5]

◆ mitkClassMacro()

◆ SetInput() [1/4]

◆ SetInput() [2/4]

◆ SetInput() [3/4]

◆ SetInput() [4/4]

◆ SetScalarImage()

◆ SetTextureImageHeight()

◆ SetTextureImageWidth()

◆ SetTriangulationThreshold()

Member Data Documentation

◆ m_CameraIntrinsics

◆ m_GenerateTriangularMesh

◆ m_InterPixelDistance

◆ m_IplScalarImage

◆ m_ReconstructionMode

◆ m_TextureImageHeight

◆ m_TextureImageWidth

◆ m_TextureIndex

◆ m_TriangulationThreshold

◆ m_VertexIdList