mitkToFCameraPMDDevice.cpp

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
#include "mitkToFCameraPMDDevice.h"
#include "mitkRealTimeClock.h"
 
#include "itkMultiThreader.h"
#include <itksys/SystemTools.hxx>
 
namespace mitk
{
  ToFCameraPMDDevice::ToFCameraPMDDevice() :
    m_SourceDataBuffer(nullptr), m_SourceDataArray(nullptr)
  {
  }
 
  ToFCameraPMDDevice::~ToFCameraPMDDevice()
  {
    this->CleanUpSourceData();
    CleanupPixelArrays();
  }
 
  bool ToFCameraPMDDevice::OnConnectCamera()
  {
    bool ok = false;
    if (m_Controller)
    {
      ok = m_Controller->OpenCameraConnection();
      if (ok)
      {
        this->m_CaptureWidth = m_Controller->GetInternalCaptureWidth();
        this->m_CaptureHeight = m_Controller->GetInternalCaptureHeight();
        this->m_SourceDataSize = m_Controller->GetSourceDataStructSize();
        this->m_PixelNumber = this->m_CaptureWidth * this->m_CaptureHeight;
 
        // allocate buffers
        this->AllocatePixelArrays();
        this->AllocateSourceData();
 
        this->m_CameraConnected = true;
      }
    }
    return ok;
  }
 
  bool ToFCameraPMDDevice::DisconnectCamera()
  {
    bool ok = false;
    if (m_Controller)
    {
      ok =  m_Controller->CloseCameraConnection();
 
      if (ok)
      {
        m_CameraConnected = false;
      }
 
    }
    return ok;
  }
 
  void ToFCameraPMDDevice::StartCamera()
  {
    if (m_CameraConnected)
    {
      // get the first image
      this->m_Controller->UpdateCamera();
      this->m_ImageMutex->Lock();
      //this->m_Controller->GetSourceData(this->m_SourceDataArray);
      this->m_Controller->GetSourceData(this->m_SourceDataBuffer[this->m_FreePos]);
      this->m_FreePos = (this->m_FreePos+1) % this->m_BufferSize;
      this->m_CurrentPos = (this->m_CurrentPos+1) % this->m_BufferSize;
      this->m_ImageSequence++;
      this->m_ImageMutex->Unlock();
 
      this->m_CameraActiveMutex->Lock();
      this->m_CameraActive = true;
      this->m_CameraActiveMutex->Unlock();
      this->m_ThreadID = this->m_MultiThreader->SpawnThread(this->Acquire, this);
      // wait a little to make sure that the thread is started
      itksys::SystemTools::Delay(10);
    }
    else
    {
      MITK_INFO<<"Camera not connected";
    }
  }
 
  void ToFCameraPMDDevice::UpdateCamera()
  {
    if (m_Controller)
    {
      m_Controller->UpdateCamera();
    }
  }
 
  ITK_THREAD_RETURN_TYPE ToFCameraPMDDevice::Acquire(void* pInfoStruct)
  {
    /* extract this pointer from Thread Info structure */
    struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct;
    if (pInfo == nullptr)
    {
      return ITK_THREAD_RETURN_VALUE;
    }
    if (pInfo->UserData == nullptr)
    {
      return ITK_THREAD_RETURN_VALUE;
    }
    ToFCameraPMDDevice* toFCameraDevice = (ToFCameraPMDDevice*)pInfo->UserData;
    if (toFCameraDevice!=nullptr)
    {
      mitk::RealTimeClock::Pointer realTimeClock;
      realTimeClock = mitk::RealTimeClock::New();
      double t1, t2;
      t1 = realTimeClock->GetCurrentStamp();
      int n = 100;
      bool overflow = false;
      bool printStatus = false;
      while (toFCameraDevice->IsCameraActive())
      {
        // update the ToF camera
        toFCameraDevice->UpdateCamera();
        // get the source data from the camera and write it at the next free position in the buffer
        toFCameraDevice->m_ImageMutex->Lock();
        toFCameraDevice->m_Controller->GetSourceData(toFCameraDevice->m_SourceDataBuffer[toFCameraDevice->m_FreePos]);
 
 
        toFCameraDevice->m_ImageMutex->Unlock();
        // call modified to indicate that cameraDevice was modified
        toFCameraDevice->Modified();
 
        toFCameraDevice->m_FreePos = (toFCameraDevice->m_FreePos+1) % toFCameraDevice->m_BufferSize;
        toFCameraDevice->m_CurrentPos = (toFCameraDevice->m_CurrentPos+1) % toFCameraDevice->m_BufferSize;
        toFCameraDevice->m_ImageSequence++;
        if (toFCameraDevice->m_FreePos == toFCameraDevice->m_CurrentPos)
        {
          overflow = true;
        }
        if (toFCameraDevice->m_ImageSequence % n == 0)
        {
          printStatus = true;
        }
        if (overflow)
        {
          overflow = false;
        }
        if (printStatus)
        {
          t2 = realTimeClock->GetCurrentStamp() - t1;
          MITK_INFO << " Framerate (fps): " << n / (t2/1000) << " Sequence: " << toFCameraDevice->m_ImageSequence;
          t1 = realTimeClock->GetCurrentStamp();
          printStatus = false;
        }
      }  // end of while loop
    }
    return ITK_THREAD_RETURN_VALUE;
  }
 
  void ToFCameraPMDDevice::GetAmplitudes(float* amplitudeArray, int& imageSequence)
  {
    if (m_CameraActive)
    {
      // 1) copy the image buffer
      // 2) Flip around y- axis (vertical axis)
      m_ImageMutex->Lock();
      this->m_Controller->GetAmplitudes(this->m_SourceDataBuffer[this->m_CurrentPos], this->m_AmplitudeArray);
      m_ImageMutex->Unlock();
 
      for (int i=0; i<this->m_CaptureHeight; i++)
      {
        for (int j=0; j<this->m_CaptureWidth; j++)
        {
          amplitudeArray[i*this->m_CaptureWidth+j] = this->m_AmplitudeArray[(i+1)*this->m_CaptureWidth-1-j];
        }
      }
      imageSequence = this->m_ImageSequence;
    }
    else
    {
      MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
    }
  }
 
  void ToFCameraPMDDevice::GetIntensities(float* intensityArray, int& imageSequence)
  {
    if (m_CameraActive)
    {
    // 1) copy the image buffer
    // 2) Flip around y- axis (vertical axis)
 
    m_ImageMutex->Lock();
    this->m_Controller->GetIntensities(this->m_SourceDataBuffer[this->m_CurrentPos], this->m_IntensityArray);
    m_ImageMutex->Unlock();
 
    for (int i=0; i<this->m_CaptureHeight; i++)
    {
      for (int j=0; j<this->m_CaptureWidth; j++)
      {
        intensityArray[i*this->m_CaptureWidth+j] = this->m_IntensityArray[(i+1)*this->m_CaptureWidth-1-j];
      }
    }
    imageSequence = this->m_ImageSequence;
    }
    else
    {
      MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
    }
    m_ImageMutex->Unlock();
  }
 
  void ToFCameraPMDDevice::GetDistances(float* distanceArray, int& imageSequence)
  {
    if (m_CameraActive)
    {
      // 1) copy the image buffer
      // 2) convert the distance values from m to mm
      // 3) Flip around y- axis (vertical axis)
      m_ImageMutex->Lock();
      this->m_Controller->GetDistances(this->m_SourceDataBuffer[this->m_CurrentPos], this->m_DistanceArray);
      m_ImageMutex->Unlock();
 
      for (int i=0; i<this->m_CaptureHeight; i++)
      {
        for (int j=0; j<this->m_CaptureWidth; j++)
        {
          distanceArray[i*this->m_CaptureWidth+j] = this->m_DistanceArray[(i+1)*this->m_CaptureWidth-1-j];
        }
      }
      imageSequence = this->m_ImageSequence;
    }
    else
    {
      MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
    }
  }
 
  void ToFCameraPMDDevice::GetAllImages(float* distanceArray, float* amplitudeArray, float* intensityArray, char* sourceDataArray,
                                        int requiredImageSequence, int& capturedImageSequence, unsigned char* rgbDataArray)
  {
    if (m_CameraActive)
    {
      // 1) copy the image buffer
      // 2) convert the distance values from m to mm
      // 3) Flip around y- axis (vertical axis)
 
      // check for empty buffer
      if (this->m_ImageSequence < 0)
      {
        // buffer empty
        MITK_INFO << "Buffer empty!! ";
        capturedImageSequence = this->m_ImageSequence;
        return;
      }
      // determine position of image in buffer
      int pos = 0;
      if ((requiredImageSequence < 0) || (requiredImageSequence > this->m_ImageSequence))
      {
        capturedImageSequence = this->m_ImageSequence;
        pos = this->m_CurrentPos;
      }
      else if (requiredImageSequence <= this->m_ImageSequence - this->m_BufferSize)
      {
        capturedImageSequence = (this->m_ImageSequence - this->m_BufferSize) + 1;
        pos = (this->m_CurrentPos + 1) % this->m_BufferSize;
      }
      else // (requiredImageSequence > this->m_ImageSequence - this->m_BufferSize) && (requiredImageSequence <= this->m_ImageSequence)
 
      {
        capturedImageSequence = requiredImageSequence;
        pos = (this->m_CurrentPos + (10-(this->m_ImageSequence - requiredImageSequence))) % this->m_BufferSize;
      }
 
      m_ImageMutex->Lock();
      this->m_Controller->GetDistances(this->m_SourceDataBuffer[pos], this->m_DistanceArray);
      this->m_Controller->GetAmplitudes(this->m_SourceDataBuffer[pos], this->m_AmplitudeArray);
      this->m_Controller->GetIntensities(this->m_SourceDataBuffer[pos], this->m_IntensityArray);
      memcpy(sourceDataArray, this->m_SourceDataBuffer[this->m_CurrentPos], this->m_SourceDataSize);
      m_ImageMutex->Unlock();
 
      memcpy(distanceArray, this->m_DistanceArray, this->m_CaptureWidth*this->m_CaptureHeight*sizeof(float));
      memcpy(intensityArray, this->m_IntensityArray, this->m_CaptureWidth*this->m_CaptureHeight*sizeof(float));
      memcpy(amplitudeArray, this->m_AmplitudeArray, this->m_CaptureWidth*this->m_CaptureHeight*sizeof(float));
    }
    else
    {
      MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
    }
  }
 
  ToFCameraPMDController::Pointer ToFCameraPMDDevice::GetController()
  {
    return this->m_Controller;
  }
 
  void ToFCameraPMDDevice::SetProperty( const char *propertyKey, BaseProperty* propertyValue )
  {
    ToFCameraDevice::SetProperty(propertyKey,propertyValue);
    if (strcmp(propertyKey, "ModulationFrequency") == 0)
    {
      int modulationFrequency = 0;
      GetIntProperty(propertyKey, modulationFrequency);
     modulationFrequency = m_Controller->SetModulationFrequency(modulationFrequency);
     static_cast<mitk::IntProperty*>(propertyValue)->SetValue(modulationFrequency);
     this->m_PropertyList->SetProperty(propertyKey, propertyValue );
    }
    else if (strcmp(propertyKey, "IntegrationTime") == 0)
    {
      int integrationTime = 0;
      GetIntProperty(propertyKey, integrationTime);
      integrationTime = m_Controller->SetIntegrationTime(integrationTime);
      static_cast<mitk::IntProperty*>(propertyValue)->SetValue(integrationTime);
      this->m_PropertyList->SetProperty(propertyKey, propertyValue );
 
    }
  }
 
  void ToFCameraPMDDevice::AllocateSourceData()
  {
    // clean up if array and data have already been allocated
    CleanUpSourceData();
    // (re-) allocate memory
    this->m_SourceDataArray = new char[this->m_SourceDataSize];
    for(int i=0; i<this->m_SourceDataSize; i++) {this->m_SourceDataArray[i]=0;}
 
    this->m_SourceDataBuffer = new char*[this->m_MaxBufferSize];
    for(int i=0; i<this->m_MaxBufferSize; i++)
    {
      this->m_SourceDataBuffer[i] = new char[this->m_SourceDataSize];
    }
  }
 
  void ToFCameraPMDDevice::CleanUpSourceData()
  {
    if (m_SourceDataArray)
    {
      delete[] m_SourceDataArray;
    }
    if (m_SourceDataBuffer)
    {
      for(int i=0; i<this->m_MaxBufferSize; i++)
      {
        delete[] this->m_SourceDataBuffer[i];
      }
      delete[] this->m_SourceDataBuffer;
    }
  }
}