Interface for all representations of Microsoft Kinect V2 devices. Kinect2Device internally holds an instance of Kinect2Controller 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 <mitkKinectV2Device.h>

Inheritance diagram for mitk::KinectV2Device:

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Collaboration diagram for mitk::KinectV2Device:

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Public Member Functions
	mitkClassMacro (KinectV2Device, ToFCameraDevice)

Pointer	Clone () const

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

virtual bool	DisconnectCamera ()
	closes the connection to the camera More...

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 More...

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

virtual void	UpdateCamera ()
	updates the camera for image acquisition More...

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

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 More...

virtual void	GetIntensities (float *intensityArray, int &imageSequence)
	Does nothing for Kinect V2 as there is no intensity data provided by the device. More...

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. More...

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

KinectV2Controller::Pointer	GetController ()
	returns the corresponding camera controller More...

int	GetRGBCaptureWidth ()
	returns the width of the RGB image More...

int	GetRGBCaptureHeight ()
	returns the height of the RGB image More...

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

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

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

virtual int	GetCaptureWidth ()
	get the currently set capture width More...

virtual int	GetCaptureHeight ()
	get the currently set capture height More...

virtual int	GetSourceDataSize ()
	get the currently set source data size More...

virtual int	GetBufferSize ()
	get the currently set buffer size More...

virtual int	GetMaxBufferSize ()
	get the currently set max buffer size More...

void	SetBoolProperty (const char *propertyKey, bool boolValue)
	set a bool property in the property list More...

void	SetIntProperty (const char *propertyKey, int intValue)
	set an int property in the property list More...

void	SetFloatProperty (const char *propertyKey, float floatValue)
	set a float property in the property list More...

void	SetStringProperty (const char propertyKey, const char stringValue)
	set a string property in the property list More...

virtual void	SetProperty (const char propertyKey, BaseProperty propertyValue)
	set a BaseProperty property in the property list More...

virtual BaseProperty *	GetProperty (const char *propertyKey)
	get a BaseProperty from the property list More...

bool	GetBoolProperty (const char *propertyKey, bool &boolValue)
	get a bool from the property list More...

bool	GetStringProperty (const char *propertyKey, std::string &string)
	get a string from the property list More...

bool	GetIntProperty (const char *propertyKey, int &integer)
	get an int from the property list More...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	KinectV2Device ()

	~KinectV2Device ()

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

	~ToFCameraDevice ()

virtual void	AllocatePixelArrays ()
	method for allocating memory for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray More...

virtual void	CleanupPixelArrays ()
	method for cleanup memory allocated for pixel arrays m_IntensityArray, m_DistanceArray and m_AmplitudeArray More...

Static Protected Member Functions
static ITK_THREAD_RETURN_TYPE	Acquire (void *pInfoStruct)
	Thread method continuously acquiring images from the ToF hardware. More...

Protected Attributes
KinectV2Controller::Pointer	m_Controller
	corresponding CameraController More...

float **	m_DistanceDataBuffer
	buffer holding the last distance images More...

float **	m_AmplitudeDataBuffer
	buffer holding the last amplitude images More...

unsigned char **	m_RGBDataBuffer
	buffer holding the last RGB image More...

vcl_size_t	m_DepthBufferSize
	Size of depth buffer (i.e. memory size of depth and infrared image) More...

vcl_size_t	m_RGBBufferSize
	Size of RGB buffer (i.e. memory size of RGB image) More...

vtkSmartPointer< vtkPolyData >	m_PolyData
	Surface generated via the Kinect V2 SDK with default/unknown calibration. More...

Protected Attributes inherited from mitk::ToFCameraDevice
float *	m_IntensityArray
	float array holding the intensity image More...

float *	m_DistanceArray
	float array holding the distance image More...

float *	m_AmplitudeArray
	float array holding the amplitude image More...

int	m_BufferSize
	buffer size of the image buffer needed for loss-less acquisition of range data More...

int	m_MaxBufferSize
	maximal buffer size needed for initialization of data arrays. Default value is 100. More...

int	m_CurrentPos
	current position in the buffer which will be retrieved by the Get methods More...

int	m_FreePos
	current position in the buffer which will be filled with data acquired from the hardware More...

int	m_CaptureWidth
	width of the range image (x dimension) More...

int	m_CaptureHeight
	height of the range image (y dimension) More...

int	m_PixelNumber
	number of pixels in the range image (m_CaptureWidth*m_CaptureHeight) More...

int	m_RGBImageWidth
	width of the RGB image (x dimension) More...

int	m_RGBImageHeight
	height of the RGB image (y dimension) More...

int	m_RGBPixelNumber
	number of pixels in the range image (m_RGBImageWidth*m_RGBImageHeight) More...

int	m_SourceDataSize
	size of the PMD source data More...

itk::MultiThreader::Pointer	m_MultiThreader
	itk::MultiThreader used for thread handling More...

itk::FastMutexLock::Pointer	m_ImageMutex
	mutex for images provided by the range camera More...

itk::FastMutexLock::Pointer	m_CameraActiveMutex
	mutex for the cameraActive flag More...

int	m_ThreadID
	ID of the started thread. More...

bool	m_CameraActive
	flag indicating if the camera is currently active or not. Caution: thread safe access only! More...

bool	m_CameraConnected
	flag indicating if the camera is successfully connected or not. Caution: thread safe access only! More...

int	m_ImageSequence
	counter for acquired images More...

PropertyList::Pointer	m_PropertyList
	a list of the corresponding properties More...

Detailed Description

Interface for all representations of Microsoft Kinect V2 devices. Kinect2Device internally holds an instance of Kinect2Controller 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.

Exceptions

mitkException In case of no connection, an exception is thrown!

Definition at line 45 of file mitkKinectV2Device.h.

Constructor & Destructor Documentation

mitk::KinectV2Device::KinectV2Device ( )

protected

Definition at line 30 of file mitkKinectV2Device.cpp.

References m_Controller, m_PolyData, mitk::KinectV2Controller::New(), and mitk::New().

mitk::KinectV2Device::~KinectV2Device ( )

protected

Definition at line 41 of file mitkKinectV2Device.cpp.

Member Function Documentation

ITK_THREAD_RETURN_TYPE mitk::KinectV2Device::Acquire ( void * pInfoStruct )

staticprotected

Thread method continuously acquiring images from the ToF hardware.

Definition at line 179 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::GetBoolProperty(), mitk::ToFCameraDevice::GetProperty(), IsCameraActive(), m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, m_PolyData, m_RGBDataBuffer, MITK_INFO, mitk::RealTimeClock::New(), and UpdateCamera().

Referenced by StartCamera().

Pointer mitk::KinectV2Device::Clone ( ) const

bool mitk::KinectV2Device::DisconnectCamera ( )

virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 94 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_AmplitudeArray, m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_CameraConnected, m_Controller, mitk::ToFCameraDevice::m_DistanceArray, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_MaxBufferSize, and m_RGBDataBuffer.

void mitk::KinectV2Device::GetAllImages	(	float *	distanceArray,
		float *	amplitudeArray,
		float *	intensityArray,
		char *	sourceDataArray,
		int	requiredImageSequence,
		int &	capturedImageSequence,
		unsigned char *	rgbDataArray = `NULL`
	)

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 distance data as an array.
amplitudeArray	Contains the infrared image.
intensityArray	Does nothing for Kinect V2.
sourceDataArray	Does nothing for Kinect V2.
requiredImageSequence	The required image sequence number.
capturedImageSequence	Does nothing for Kinect V2.

Implements mitk::ToFCameraDevice.

Definition at line 287 of file mitkKinectV2Device.cpp.

References m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CurrentPos, m_DepthBufferSize, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, m_PolyData, m_RGBBufferSize, m_RGBDataBuffer, MITK_WARN, mitk::Surface::New(), mitk::SmartPointerProperty::New(), mitk::New(), and mitk::ToFCameraDevice::SetProperty().

void mitk::KinectV2Device::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.

Definition at line 253 of file mitkKinectV2Device.cpp.

References m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CurrentPos, m_DepthBufferSize, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and MITK_WARN.

KinectV2Controller::Pointer mitk::KinectV2Device::GetController ( )

returns the corresponding camera controller

Definition at line 340 of file mitkKinectV2Device.cpp.

References m_Controller.

void mitk::KinectV2Device::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.

Definition at line 272 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CurrentPos, m_DepthBufferSize, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, and MITK_WARN.

void mitk::KinectV2Device::GetIntensities	(	float *	intensityArray,
		int &	imageSequence
	)

virtual

Does nothing for Kinect V2 as there is no intensity data provided by the device.

The method is an empty implementation, because the interface (ToFCameraDevice) requires it.

Implements mitk::ToFCameraDevice.

Definition at line 268 of file mitkKinectV2Device.cpp.

int mitk::KinectV2Device::GetRGBCaptureHeight ( )

virtual

returns the height of the RGB image

Reimplemented from mitk::ToFCameraDevice.

Definition at line 350 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_RGBImageHeight.

int mitk::KinectV2Device::GetRGBCaptureWidth ( )

virtual

returns the width of the RGB image

Reimplemented from mitk::ToFCameraDevice.

Definition at line 345 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_RGBImageWidth.

bool mitk::KinectV2Device::IsCameraActive ( )

virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

Definition at line 163 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_CameraActive, and mitk::ToFCameraDevice::m_CameraActiveMutex.

Referenced by Acquire().

mitk::KinectV2Device::mitkClassMacro	(	KinectV2Device	,
		ToFCameraDevice
	)

static Pointer mitk::KinectV2Device::New ( )

static

bool mitk::KinectV2Device::OnConnectCamera ( )

virtual

opens a connection to the ToF camera

Exceptions

mitkException In case of no connection, an exception is thrown!

Implements mitk::ToFCameraDevice.

Definition at line 50 of file mitkKinectV2Device.cpp.

References mitk::ToFCameraDevice::m_AmplitudeArray, m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_CameraConnected, mitk::ToFCameraDevice::m_CaptureHeight, mitk::ToFCameraDevice::m_CaptureWidth, m_Controller, mitk::ToFCameraDevice::m_DistanceArray, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_MaxBufferSize, mitk::ToFCameraDevice::m_PixelNumber, m_RGBDataBuffer, mitk::ToFCameraDevice::m_RGBImageHeight, mitk::ToFCameraDevice::m_RGBImageWidth, and mitk::ToFCameraDevice::m_RGBPixelNumber.

void mitk::KinectV2Device::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

Exceptions

mitkException In case of no connection, an exception is thrown!

Implements mitk::ToFCameraDevice.

Definition at line 123 of file mitkKinectV2Device.cpp.

References Acquire(), m_AmplitudeDataBuffer, mitk::ToFCameraDevice::m_BufferSize, mitk::ToFCameraDevice::m_CameraActive, mitk::ToFCameraDevice::m_CameraActiveMutex, mitk::ToFCameraDevice::m_CameraConnected, m_Controller, mitk::ToFCameraDevice::m_CurrentPos, m_DistanceDataBuffer, mitk::ToFCameraDevice::m_FreePos, mitk::ToFCameraDevice::m_ImageMutex, mitk::ToFCameraDevice::m_ImageSequence, mitk::ToFCameraDevice::m_MultiThreader, m_RGBDataBuffer, mitk::ToFCameraDevice::m_ThreadID, and MITK_WARN.