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 void	SetPrintFrameRate (bool _arg)

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=nullptr)
	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 () override

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...

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

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...

std::mutex	m_ImageMutex
	mutex for images provided by the range camera More...

std::mutex	m_CameraActiveMutex
	mutex for the cameraActive flag More...

std::thread	m_Thread

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...

Static Protected Attributes
static bool	m_PrintFrameRate
	prints the framerate to the console every 100 frames, deactivated by default 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 41 of file mitkKinectV2Device.h.

Constructor & Destructor Documentation

◆ KinectV2Device()

mitk::KinectV2Device::KinectV2Device ( )

protected

◆ ~KinectV2Device()

mitk::KinectV2Device::~KinectV2Device ( )

protected

Member Function Documentation

◆ Acquire()

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

staticprotected

Thread method continuously acquiring images from the ToF hardware.

◆ Clone()

Pointer mitk::KinectV2Device::Clone ( ) const

◆ DisconnectCamera()

virtual bool mitk::KinectV2Device::DisconnectCamera ( )

virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

◆ GetAllImages()

virtual void mitk::KinectV2Device::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 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.
rgbDataArray

Implements mitk::ToFCameraDevice.

◆ GetAmplitudes()

virtual 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.

◆ GetController()

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

returns the corresponding camera controller

◆ GetDistances()

virtual 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.

◆ GetIntensities()

virtual 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.

◆ GetRGBCaptureHeight()

int mitk::KinectV2Device::GetRGBCaptureHeight ( )

virtual

returns the height of the RGB image

Reimplemented from mitk::ToFCameraDevice.

◆ GetRGBCaptureWidth()

int mitk::KinectV2Device::GetRGBCaptureWidth ( )

virtual

returns the width of the RGB image

Reimplemented from mitk::ToFCameraDevice.

◆ IsCameraActive()

virtual bool mitk::KinectV2Device::IsCameraActive ( )

virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

◆ mitkClassMacro()

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

◆ New()

static Pointer mitk::KinectV2Device::New ( )

static

◆ OnConnectCamera()

virtual 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.

◆ SetPrintFrameRate()

virtual void mitk::KinectV2Device::SetPrintFrameRate ( bool _arg )

virtual

Prints the framerate to the console every 100 frames. Mainly for debugging, deactivated by default. Refers to a static variable, means it is acivated/deactivated for all instances.

◆ StartCamera()

virtual 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.

◆ StopCamera()

virtual void mitk::KinectV2Device::StopCamera ( )

virtual

stops the continuous updating of the camera

Reimplemented from mitk::ToFCameraDevice.

◆ UpdateCamera()

virtual void mitk::KinectV2Device::UpdateCamera ( )

virtual

updates the camera for image acquisition

Exceptions

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

Implements mitk::ToFCameraDevice.

Member Data Documentation

◆ m_AmplitudeDataBuffer

float** mitk::KinectV2Device::m_AmplitudeDataBuffer

protected

buffer holding the last amplitude images

Definition at line 143 of file mitkKinectV2Device.h.

◆ m_Controller

KinectV2Controller::Pointer mitk::KinectV2Device::m_Controller

protected

corresponding CameraController

Definition at line 140 of file mitkKinectV2Device.h.

◆ m_DepthBufferSize

size_t mitk::KinectV2Device::m_DepthBufferSize

protected

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

Definition at line 148 of file mitkKinectV2Device.h.

◆ m_DistanceDataBuffer

float** mitk::KinectV2Device::m_DistanceDataBuffer

protected

buffer holding the last distance images

Definition at line 142 of file mitkKinectV2Device.h.

◆ m_PolyData

vtkSmartPointer<vtkPolyData> mitk::KinectV2Device::m_PolyData

protected

Surface generated via the Kinect V2 SDK with default/unknown calibration.

Definition at line 151 of file mitkKinectV2Device.h.

◆ m_PrintFrameRate

bool mitk::KinectV2Device::m_PrintFrameRate

staticprotected

prints the framerate to the console every 100 frames, deactivated by default

Definition at line 138 of file mitkKinectV2Device.h.

◆ m_RGBBufferSize

size_t mitk::KinectV2Device::m_RGBBufferSize

protected

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

Definition at line 149 of file mitkKinectV2Device.h.

◆ m_RGBDataBuffer

unsigned char** mitk::KinectV2Device::m_RGBDataBuffer

protected

buffer holding the last RGB image

Definition at line 144 of file mitkKinectV2Device.h.

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

mitkKinectV2Device.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KinectV2Device()

◆ ~KinectV2Device()

Member Function Documentation

◆ Acquire()

◆ Clone()

◆ DisconnectCamera()

◆ GetAllImages()

◆ GetAmplitudes()

◆ GetController()

◆ GetDistances()

◆ GetIntensities()

◆ GetRGBCaptureHeight()

◆ GetRGBCaptureWidth()

◆ IsCameraActive()

◆ mitkClassMacro()

◆ New()

◆ OnConnectCamera()

◆ SetPrintFrameRate()

◆ StartCamera()

◆ StopCamera()

◆ UpdateCamera()

Member Data Documentation

◆ m_AmplitudeDataBuffer

◆ m_Controller

◆ m_DepthBufferSize

◆ m_DistanceDataBuffer

◆ m_PolyData

◆ m_PrintFrameRate

◆ m_RGBBufferSize

◆ m_RGBDataBuffer