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:

Public Member Functions
	mitkClassMacro (KinectV2Device, ToFCameraDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self) itkSetMacro(PrintFrameRate

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

virtual bool	DisconnectCamera ()
	closes the connection to the 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 void	UpdateCamera ()
	updates the camera for image acquisition

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

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

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

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.

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.

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

int	GetRGBCaptureWidth ()
	returns the width of the RGB image

int	GetRGBCaptureHeight ()
	returns the height of the RGB image

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

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

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

	itkGetMacro (CaptureWidth, int)
	get the currently set capture width

	itkGetMacro (CaptureHeight, int)
	get the currently set capture height

	itkGetMacro (SourceDataSize, int)
	get the currently set source data size

	itkGetMacro (BufferSize, int)
	get the currently set buffer size

	itkGetMacro (MaxBufferSize, int)
	get the currently set max buffer size

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

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

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

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

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

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

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

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

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

Public Attributes
	bool

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

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

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

Protected Attributes
KinectV2Controller::Pointer	m_Controller
	corresponding CameraController

float **	m_DistanceDataBuffer
	buffer holding the last distance images

float **	m_AmplitudeDataBuffer
	buffer holding the last amplitude images

unsigned char **	m_RGBDataBuffer
	buffer holding the last RGB image

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

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

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

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

float *	m_DistanceArray
	float array holding the distance image

float *	m_AmplitudeArray
	float array holding the amplitude image

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

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

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

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

int	m_CaptureWidth
	width of the range image (x dimension)

int	m_CaptureHeight
	height of the range image (y dimension)

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

int	m_RGBImageWidth
	width of the RGB image (x dimension)

int	m_RGBImageHeight
	height of the RGB image (y dimension)

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

int	m_SourceDataSize
	size of the PMD source data

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

std::mutex	m_CameraActiveMutex
	mutex for the cameraActive flag

std::thread	m_Thread

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

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

int	m_ImageSequence
	counter for acquired images

PropertyList::Pointer	m_PropertyList
	a list of the corresponding properties

Static Protected Attributes
static bool	m_PrintFrameRate = false
	prints the framerate to the console every 100 frames, deactivated by default

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

Definition at line 27 of file mitkKinectV2Device.cpp.

◆ ~KinectV2Device()

mitk::KinectV2Device::~KinectV2Device ( )

protected

Definition at line 38 of file mitkKinectV2Device.cpp.

Member Function Documentation

◆ Acquire()

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

staticprotected

Thread method continuously acquiring images from the ToF hardware.

Definition at line 176 of file mitkKinectV2Device.cpp.

◆ DisconnectCamera()

bool mitk::KinectV2Device::DisconnectCamera ( )

virtual

closes the connection to the camera

Implements mitk::ToFCameraDevice.

Definition at line 91 of file mitkKinectV2Device.cpp.

◆ GetAllImages()

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.

Definition at line 288 of file mitkKinectV2Device.cpp.

◆ GetAmplitudes()

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 254 of file mitkKinectV2Device.cpp.

◆ GetController()

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

returns the corresponding camera controller

Definition at line 339 of file mitkKinectV2Device.cpp.

◆ GetDistances()

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 273 of file mitkKinectV2Device.cpp.

◆ GetIntensities()

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 269 of file mitkKinectV2Device.cpp.

◆ GetRGBCaptureHeight()

int mitk::KinectV2Device::GetRGBCaptureHeight ( )

virtual

returns the height of the RGB image

Reimplemented from mitk::ToFCameraDevice.

Definition at line 349 of file mitkKinectV2Device.cpp.

◆ GetRGBCaptureWidth()

int mitk::KinectV2Device::GetRGBCaptureWidth ( )

virtual

returns the width of the RGB image

Reimplemented from mitk::ToFCameraDevice.

Definition at line 344 of file mitkKinectV2Device.cpp.

◆ IsCameraActive()

bool mitk::KinectV2Device::IsCameraActive ( )

virtual

returns whether the camera is currently active or not

Reimplemented from mitk::ToFCameraDevice.

Definition at line 160 of file mitkKinectV2Device.cpp.

◆ itkCloneMacro()

mitk::KinectV2Device::itkCloneMacro ( Self )

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.

◆ itkFactorylessNewMacro()

mitk::KinectV2Device::itkFactorylessNewMacro ( Self )

◆ mitkClassMacro()

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

◆ OnConnectCamera()

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 47 of file mitkKinectV2Device.cpp.

◆ StartCamera()

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 120 of file mitkKinectV2Device.cpp.

◆ StopCamera()

void mitk::KinectV2Device::StopCamera ( )

virtual

stops the continuous updating of the camera

Reimplemented from mitk::ToFCameraDevice.

Definition at line 146 of file mitkKinectV2Device.cpp.

◆ UpdateCamera()

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.

Definition at line 168 of file mitkKinectV2Device.cpp.

Member Data Documentation

◆ bool

mitk::KinectV2Device::bool

Definition at line 53 of file mitkKinectV2Device.h.

◆ 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 = false

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 files:

Modules/ToFHardware/KinectV2/mitkKinectV2Device.h
Modules/ToFHardware/KinectV2/mitkKinectV2Device.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KinectV2Device()

◆ ~KinectV2Device()

Member Function Documentation

◆ Acquire()

◆ DisconnectCamera()

◆ GetAllImages()

◆ GetAmplitudes()

◆ GetController()

◆ GetDistances()

◆ GetIntensities()

◆ GetRGBCaptureHeight()

◆ GetRGBCaptureWidth()

◆ IsCameraActive()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ mitkClassMacro()

◆ OnConnectCamera()

◆ StartCamera()

◆ StopCamera()

◆ UpdateCamera()

Member Data Documentation

◆ bool

◆ m_AmplitudeDataBuffer

◆ m_Controller

◆ m_DepthBufferSize

◆ m_DistanceDataBuffer

◆ m_PolyData

◆ m_PrintFrameRate

◆ m_RGBBufferSize

◆ m_RGBDataBuffer