Image source providing ToF images. Interface for filters provided in ToFProcessing module. More...

#include <mitkToFImageGrabber.h>

Inheritance diagram for mitk::ToFImageGrabber:

Public Member Functions
	mitkClassMacro (ToFImageGrabber, ImageSource)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

void	ShowDebugImage (float *distances)

virtual bool	ConnectCamera ()
	Establish a connection to the ToF camera.

virtual bool	DisconnectCamera ()
	Disconnects the ToF 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 bool	IsCameraActive ()
	Returns true if the camera is connected and started.

virtual bool	IsCameraConnected ()
	Returns true if the camera is connected.

void	SetCameraDevice (ToFCameraDevice *aToFCameraDevice)
	Sets the ToF device, the image grabber is grabbing the images from.

ToFCameraDevice *	GetCameraDevice ()
	Get the currently set ToF camera device.

int	SetModulationFrequency (int modulationFrequency)
	Set the modulation frequency used by the ToF camera. For default values see the corresponding device classes.

int	GetModulationFrequency ()
	Get the modulation frequency used by the ToF camera.

int	SetIntegrationTime (int integrationTime)
	Set the integration time used by the ToF camera. For default values see the corresponding device classes.

int	GetIntegrationTime ()
	Get the integration time in used by the ToF camera.

int	GetCaptureWidth ()
	Get the dimension in x direction of the ToF image.

int	GetCaptureHeight ()
	Get the dimension in y direction of the ToF image.

int	GetPixelNumber ()
	Get the number of pixel in the ToF image.

int	GetRGBImageWidth ()
	Get the dimension in x direction of the ToF image.

int	GetRGBImageHeight ()
	Get the dimension in y direction of the ToF image.

int	GetRGBPixelNumber ()
	Get the number of pixel in the ToF image.

void	SetBoolProperty (const char *propertyKey, bool boolValue)

void	SetIntProperty (const char *propertyKey, int intValue)

void	SetFloatProperty (const char *propertyKey, float floatValue)

void	SetStringProperty (const char propertyKey, const char stringValue)

void	SetProperty (const char propertyKey, BaseProperty propertyValue)

bool	GetBoolProperty (const char *propertyKey)

int	GetIntProperty (const char *propertyKey)

float	GetFloatProperty (const char *propertyKey)

const char *	GetStringProperty (const char *propertyKey)

BaseProperty *	GetProperty (const char *propertyKey)

Public Member Functions inherited from mitk::ToFImageSource
	mitkClassMacro (ToFImageSource, ImageSource)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

Protected Member Functions
void	OnToFCameraDeviceModified ()

virtual void	CleanUpImageArrays ()
	clean up memory allocated for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray

virtual void	AllocateImageArrays ()
	Allocate memory for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray.

void	InitializeImages ()
	InitializeImages Initialze the geometries of the images according to the device properties.

	ToFImageGrabber ()

	~ToFImageGrabber () override

void	GenerateData () override
	Method generating the outputs of this filter. Called in the updated process of the pipeline. 0: distance image 1: amplitude image 2: intensity image 3: RGB image.

Protected Member Functions inherited from mitk::ToFImageSource
	ToFImageSource ()

	~ToFImageSource () override

Protected Attributes
ToFCameraDevice::Pointer	m_ToFCameraDevice
	Device allowing access to ToF image data.

int	m_CaptureWidth
	Width of the captured ToF image.

int	m_CaptureHeight
	Height of the captured ToF image.

int	m_PixelNumber
	Number of pixels in the image.

int	m_RGBImageWidth
	Width of the captured RGB image.

int	m_RGBImageHeight
	Height of the captured RGB image.

int	m_RGBPixelNumber
	Number of pixels in the RGB image.

int	m_ImageSequence
	counter for currently acquired images

int	m_SourceDataSize
	size of the source data in bytes

float *	m_IntensityArray
	member holding the current intensity array

float *	m_DistanceArray
	member holding the current distance array

float *	m_AmplitudeArray
	member holding the current amplitude array

char *	m_SourceDataArray
	member holding the current source data array

unsigned char *	m_RgbDataArray
	member holding the current rgb data array

unsigned long	m_DeviceObserverTag
	tag of the observer for the ToFCameraDevice

Protected Attributes inherited from mitk::ToFImageSource
us::ServiceRegistration< Self >	m_ServiceRegistration

Detailed Description

Image source providing ToF images. Interface for filters provided in ToFProcessing module.

Documentation

This class internally holds a ToFCameraDevice to access the images acquired by a ToF camera.

Provided images include: distance image (output 0), amplitude image (output 1), intensity image (output 2)

Definition at line 34 of file mitkToFImageGrabber.h.

Constructor & Destructor Documentation

◆ ToFImageGrabber()

mitk::ToFImageGrabber::ToFImageGrabber ( )

protected

Definition at line 19 of file mitkToFImageGrabber.cpp.

◆ ~ToFImageGrabber()

mitk::ToFImageGrabber::~ToFImageGrabber ( )

overrideprotected

Definition at line 49 of file mitkToFImageGrabber.cpp.

Member Function Documentation

◆ AllocateImageArrays()

void mitk::ToFImageGrabber::AllocateImageArrays ( )

protectedvirtual

Allocate memory for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray.

Definition at line 317 of file mitkToFImageGrabber.cpp.

◆ CleanUpImageArrays()

void mitk::ToFImageGrabber::CleanUpImageArrays ( )

protectedvirtual

clean up memory allocated for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray

Definition at line 287 of file mitkToFImageGrabber.cpp.

◆ ConnectCamera()

bool mitk::ToFImageGrabber::ConnectCamera ( )

virtual

Establish a connection to the ToF camera.

Definition at line 103 of file mitkToFImageGrabber.cpp.

◆ DisconnectCamera()

bool mitk::ToFImageGrabber::DisconnectCamera ( )

virtual

Disconnects the ToF camera.

Definition at line 123 of file mitkToFImageGrabber.cpp.

◆ GenerateData()

void mitk::ToFImageGrabber::GenerateData ( )

overrideprotected

Method generating the outputs of this filter. Called in the updated process of the pipeline. 0: distance image 1: amplitude image 2: intensity image 3: RGB image.

Definition at line 62 of file mitkToFImageGrabber.cpp.

◆ GetBoolProperty()

bool mitk::ToFImageGrabber::GetBoolProperty ( const char * propertyKey )

Definition at line 252 of file mitkToFImageGrabber.cpp.

◆ GetCameraDevice()

ToFCameraDevice * mitk::ToFImageGrabber::GetCameraDevice ( )

Get the currently set ToF camera device.

Returns: device currently used for grabbing images from the camera

Definition at line 162 of file mitkToFImageGrabber.cpp.

◆ GetCaptureHeight()

int mitk::ToFImageGrabber::GetCaptureHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

Definition at line 172 of file mitkToFImageGrabber.cpp.

◆ GetCaptureWidth()

int mitk::ToFImageGrabber::GetCaptureWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

Definition at line 167 of file mitkToFImageGrabber.cpp.

◆ GetFloatProperty()

float mitk::ToFImageGrabber::GetFloatProperty ( const char * propertyKey )

Definition at line 265 of file mitkToFImageGrabber.cpp.

◆ GetIntegrationTime()

int mitk::ToFImageGrabber::GetIntegrationTime ( )

Get the integration time in used by the ToF camera.

Returns: integration time in ms

Definition at line 213 of file mitkToFImageGrabber.cpp.

◆ GetIntProperty()

int mitk::ToFImageGrabber::GetIntProperty ( const char * propertyKey )

Definition at line 259 of file mitkToFImageGrabber.cpp.

◆ GetModulationFrequency()

int mitk::ToFImageGrabber::GetModulationFrequency ( )

Get the modulation frequency used by the ToF camera.

Returns: modulation frequency in MHz

Definition at line 220 of file mitkToFImageGrabber.cpp.

◆ GetPixelNumber()

int mitk::ToFImageGrabber::GetPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

Definition at line 177 of file mitkToFImageGrabber.cpp.

◆ GetProperty()

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

Definition at line 277 of file mitkToFImageGrabber.cpp.

◆ GetRGBImageHeight()

int mitk::ToFImageGrabber::GetRGBImageHeight ( )

Get the dimension in y direction of the ToF image.

Returns: height of the image

Definition at line 187 of file mitkToFImageGrabber.cpp.

◆ GetRGBImageWidth()

int mitk::ToFImageGrabber::GetRGBImageWidth ( )

Get the dimension in x direction of the ToF image.

Returns: width of the image

Definition at line 182 of file mitkToFImageGrabber.cpp.

◆ GetRGBPixelNumber()

int mitk::ToFImageGrabber::GetRGBPixelNumber ( )

Get the number of pixel in the ToF image.

Returns: number of pixel

Definition at line 192 of file mitkToFImageGrabber.cpp.

◆ GetStringProperty()

const char * mitk::ToFImageGrabber::GetStringProperty ( const char * propertyKey )

Definition at line 271 of file mitkToFImageGrabber.cpp.

◆ InitializeImages()

void mitk::ToFImageGrabber::InitializeImages ( )

protected

InitializeImages Initialze the geometries of the images according to the device properties.

Definition at line 329 of file mitkToFImageGrabber.cpp.

◆ IsCameraActive()

bool mitk::ToFImageGrabber::IsCameraActive ( )

virtual

Returns true if the camera is connected and started.

Definition at line 144 of file mitkToFImageGrabber.cpp.

◆ IsCameraConnected()

bool mitk::ToFImageGrabber::IsCameraConnected ( )

virtual

Returns true if the camera is connected.

Definition at line 148 of file mitkToFImageGrabber.cpp.

◆ itkCloneMacro()

mitk::ToFImageGrabber::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ToFImageGrabber::itkFactorylessNewMacro ( Self )

◆ mitkClassMacro()

mitk::ToFImageGrabber::mitkClassMacro	(	ToFImageGrabber	,
		ImageSource	)

◆ OnToFCameraDeviceModified()

void mitk::ToFImageGrabber::OnToFCameraDeviceModified ( )

protected

called when the ToFCameraDevice was modified

Definition at line 282 of file mitkToFImageGrabber.cpp.

◆ SetBoolProperty()

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

Definition at line 227 of file mitkToFImageGrabber.cpp.

◆ SetCameraDevice()

void mitk::ToFImageGrabber::SetCameraDevice ( ToFCameraDevice * aToFCameraDevice )

Sets the ToF device, the image grabber is grabbing the images from.

Parameters

aToFCameraDevice device internally used for grabbing the images from the camera

Definition at line 153 of file mitkToFImageGrabber.cpp.

◆ SetFloatProperty()

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

Definition at line 237 of file mitkToFImageGrabber.cpp.

◆ SetIntegrationTime()

int mitk::ToFImageGrabber::SetIntegrationTime ( int integrationTime )

Set the integration time used by the ToF camera. For default values see the corresponding device classes.

Parameters

integrationTime integration time in ms

Definition at line 205 of file mitkToFImageGrabber.cpp.

◆ SetIntProperty()

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

Definition at line 232 of file mitkToFImageGrabber.cpp.

◆ SetModulationFrequency()

int mitk::ToFImageGrabber::SetModulationFrequency ( int modulationFrequency )

Set the modulation frequency used by the ToF camera. For default values see the corresponding device classes.

Parameters

modulationFrequency modulation frequency in Hz

Definition at line 197 of file mitkToFImageGrabber.cpp.

◆ SetProperty()

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

Definition at line 247 of file mitkToFImageGrabber.cpp.

◆ SetStringProperty()

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

Definition at line 242 of file mitkToFImageGrabber.cpp.

◆ ShowDebugImage()

void mitk::ToFImageGrabber::ShowDebugImage ( float * distances )

◆ StartCamera()

void mitk::ToFImageGrabber::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.

Definition at line 128 of file mitkToFImageGrabber.cpp.

◆ StopCamera()

void mitk::ToFImageGrabber::StopCamera ( )

virtual

Stops the continuous updating of the camera.

Definition at line 137 of file mitkToFImageGrabber.cpp.

Member Data Documentation

◆ m_AmplitudeArray

float* mitk::ToFImageGrabber::m_AmplitudeArray

protected

member holding the current amplitude array

Definition at line 187 of file mitkToFImageGrabber.h.

◆ m_CaptureHeight

int mitk::ToFImageGrabber::m_CaptureHeight

protected

Height of the captured ToF image.

Definition at line 178 of file mitkToFImageGrabber.h.

◆ m_CaptureWidth

int mitk::ToFImageGrabber::m_CaptureWidth

protected

Width of the captured ToF image.

Definition at line 177 of file mitkToFImageGrabber.h.

◆ m_DeviceObserverTag

unsigned long mitk::ToFImageGrabber::m_DeviceObserverTag

protected

tag of the observer for the ToFCameraDevice

Definition at line 190 of file mitkToFImageGrabber.h.

◆ m_DistanceArray

float* mitk::ToFImageGrabber::m_DistanceArray

protected

member holding the current distance array

Definition at line 186 of file mitkToFImageGrabber.h.

◆ m_ImageSequence

int mitk::ToFImageGrabber::m_ImageSequence

protected

counter for currently acquired images

Definition at line 183 of file mitkToFImageGrabber.h.

◆ m_IntensityArray

float* mitk::ToFImageGrabber::m_IntensityArray

protected

member holding the current intensity array

Definition at line 185 of file mitkToFImageGrabber.h.

◆ m_PixelNumber

int mitk::ToFImageGrabber::m_PixelNumber

protected

Number of pixels in the image.

Definition at line 179 of file mitkToFImageGrabber.h.

◆ m_RgbDataArray

unsigned char* mitk::ToFImageGrabber::m_RgbDataArray

protected

member holding the current rgb data array

Definition at line 189 of file mitkToFImageGrabber.h.

◆ m_RGBImageHeight

int mitk::ToFImageGrabber::m_RGBImageHeight

protected

Height of the captured RGB image.

Definition at line 181 of file mitkToFImageGrabber.h.

◆ m_RGBImageWidth

int mitk::ToFImageGrabber::m_RGBImageWidth

protected

Width of the captured RGB image.

Definition at line 180 of file mitkToFImageGrabber.h.

◆ m_RGBPixelNumber

int mitk::ToFImageGrabber::m_RGBPixelNumber

protected

Number of pixels in the RGB image.

Definition at line 182 of file mitkToFImageGrabber.h.

◆ m_SourceDataArray

char* mitk::ToFImageGrabber::m_SourceDataArray

protected

member holding the current source data array

Definition at line 188 of file mitkToFImageGrabber.h.

◆ m_SourceDataSize

int mitk::ToFImageGrabber::m_SourceDataSize

protected

size of the source data in bytes

Definition at line 184 of file mitkToFImageGrabber.h.

◆ m_ToFCameraDevice

ToFCameraDevice::Pointer mitk::ToFImageGrabber::m_ToFCameraDevice

protected

Device allowing access to ToF image data.

Definition at line 176 of file mitkToFImageGrabber.h.

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

Modules/ToFHardware/mitkToFImageGrabber.h
Modules/ToFHardware/mitkToFImageGrabber.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ToFImageGrabber()

◆ ~ToFImageGrabber()

Member Function Documentation

◆ AllocateImageArrays()

◆ CleanUpImageArrays()

◆ ConnectCamera()

◆ DisconnectCamera()

◆ GenerateData()

◆ GetBoolProperty()

◆ GetCameraDevice()

◆ GetCaptureHeight()

◆ GetCaptureWidth()

◆ GetFloatProperty()

◆ GetIntegrationTime()

◆ GetIntProperty()

◆ GetModulationFrequency()

◆ GetPixelNumber()

◆ GetProperty()

◆ GetRGBImageHeight()

◆ GetRGBImageWidth()

◆ GetRGBPixelNumber()

◆ GetStringProperty()

◆ InitializeImages()

◆ IsCameraActive()

◆ IsCameraConnected()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ OnToFCameraDeviceModified()

◆ SetBoolProperty()

◆ SetCameraDevice()

◆ SetFloatProperty()

◆ SetIntegrationTime()

◆ SetIntProperty()

◆ SetModulationFrequency()

◆ SetProperty()

◆ SetStringProperty()

◆ ShowDebugImage()

◆ StartCamera()

◆ StopCamera()

Member Data Documentation

◆ m_AmplitudeArray

◆ m_CaptureHeight

◆ m_CaptureWidth

◆ m_DeviceObserverTag

◆ m_DistanceArray

◆ m_ImageSequence

◆ m_IntensityArray

◆ m_PixelNumber

◆ m_RgbDataArray

◆ m_RGBImageHeight

◆ m_RGBImageWidth

◆ m_RGBPixelNumber

◆ m_SourceDataArray

◆ m_SourceDataSize

◆ m_ToFCameraDevice