Medical Imaging Interaction Toolkit  2021.02.99-89548602
Medical Imaging Interaction Toolkit
mitk::KinectV2Device Class Reference

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:
Collaboration diagram for mitk::KinectV2Device:

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 BasePropertyGetProperty (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...
 
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...
 

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
mitkExceptionIn 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
distanceArrayContains the distance data as an array.
amplitudeArrayContains the infrared image.
intensityArrayDoes nothing for Kinect V2.
sourceDataArrayDoes nothing for Kinect V2.
requiredImageSequenceThe required image sequence number.
capturedImageSequenceDoes 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
imageSequencethe actually captured image sequence number
amplitudeArraycontains 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
distanceArraycontains the returned distances data as an array.
imageSequencethe 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
mitkExceptionIn 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
mitkExceptionIn 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
mitkExceptionIn 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

vcl_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

vcl_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: