diff --git a/Modules/CameraCalibration/mitkCameraIntrinsics.cpp b/Modules/CameraCalibration/mitkCameraIntrinsics.cpp
index 895fc24211..d08e191844 100644
--- a/Modules/CameraCalibration/mitkCameraIntrinsics.cpp
+++ b/Modules/CameraCalibration/mitkCameraIntrinsics.cpp
@@ -1,514 +1,516 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #include "mitkCameraIntrinsics.h"
 #include <itkMutexLockHolder.h>
 #include <mitkEndoMacros.h>
 #include <mitkEndoDebug.h>
 
 mitk::CameraIntrinsics::CameraIntrinsics()
   : m_Valid(false), m_Mutex(itk::FastMutexLock::New())
 {
   m_CameraMatrix = cv::Mat::zeros(3, 3, cv::DataType<double>::type);
   m_CameraMatrix.at<double>(2,2) = 1.0;
   m_DistorsionCoeffs = cv::Mat::zeros(1, 5, cv::DataType<double>::type);
 }
 
 mitk::CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics& other)
   : itk::Object()
   , mitk::XMLSerializable()
+  , m_Valid(false)
+  , m_Mutex(itk::FastMutexLock::New())
 {
   this->Copy(&other);
 }
 
 mitk::CameraIntrinsics::~CameraIntrinsics()
 {
 
 }
 
 bool mitk::CameraIntrinsics::Equals( const CameraIntrinsics* other ) const
 {
   return other->GetDistorsionCoeffsAsPoint4D()==
       this->GetDistorsionCoeffsAsPoint4D() &&
     other->GetFocalPoint()==
       this->GetFocalPoint() &&
     other->GetPrincipalPoint()
       == this->GetPrincipalPoint();
 }
 
 void mitk::CameraIntrinsics::Copy(const CameraIntrinsics* other)
 {
   this->SetIntrinsics( other->GetCameraMatrix().clone()
     , other->GetDistorsionCoeffs().clone() );
   this->SetValid(other->m_Valid);
 }
 
 bool mitk::CameraIntrinsics::IsValid() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   return m_Valid;
 }
 
 vnl_matrix_fixed<mitk::ScalarType, 3, 3>
     mitk::CameraIntrinsics::GetVnlCameraMatrix() const
 {
   vnl_matrix_fixed<mitk::ScalarType, 3, 3> mat;
   mat.set_identity();
 
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     mat(0,0) = m_CameraMatrix.at<double>(0,0);
     mat(1,1) = m_CameraMatrix.at<double>(1,1);
 
     mat(0,2) = m_CameraMatrix.at<double>(0,2);
     mat(1,2) = m_CameraMatrix.at<double>(1,2);
   }
 
   return mat;
 }
 
 void mitk::CameraIntrinsics::SetCameraMatrix(
     const vnl_matrix_fixed<mitk::ScalarType, 3, 3>& _CameraMatrix )
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   m_CameraMatrix.at<double>(0,0) = _CameraMatrix(0,0);
   m_CameraMatrix.at<double>(1,1) = _CameraMatrix(1,1);
 
   m_CameraMatrix.at<double>(0,2) = _CameraMatrix(0,2);
   m_CameraMatrix.at<double>(1,2) = _CameraMatrix(1,2);
 }
 
 vnl_matrix_fixed<mitk::ScalarType, 3, 4>
     mitk::CameraIntrinsics::GetVnlCameraMatrix3x4() const
 {
   vnl_matrix_fixed<mitk::ScalarType, 3, 4> mat;
   mat.fill(0);
   mat.update( this->GetVnlCameraMatrix().as_matrix() );
 
   return mat;
 }
 
 void mitk::CameraIntrinsics::SetIntrinsics( const cv::Mat& _CameraMatrix
                         , const cv::Mat& _DistorsionCoeffs)
 {
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     if( _CameraMatrix.cols != 3 || _CameraMatrix.rows != 3)
       throw std::invalid_argument("Wrong format of camera matrix. Should be 3x3"
                                   " double.");
 
     endoAssertMsg( (_DistorsionCoeffs.cols == 5) &&
       _DistorsionCoeffs.rows == 1, "Wrong format of distorsion coefficients"
                                   " vector. Should be 5x1 double.");
 
     m_CameraMatrix = _CameraMatrix.clone();
     m_DistorsionCoeffs = _DistorsionCoeffs.clone();
 
     m_Valid = true;
   }
   this->Modified();
 }
 
 void mitk::CameraIntrinsics::SetIntrinsics( const mitk::Point3D& focalPoint,
                     const mitk::Point3D& principalPoint,
                     const mitk::Point4D& distortionCoefficients)
 
 {
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     m_CameraMatrix.at<double>(0,0) = focalPoint[0];
     m_CameraMatrix.at<double>(1,1) = focalPoint[1];
 
     m_CameraMatrix.at<double>(0,2) = principalPoint[0];
     m_CameraMatrix.at<double>(1,2) = principalPoint[1];
 
     m_DistorsionCoeffs.at<double>(0,0) = distortionCoefficients[0];
     m_DistorsionCoeffs.at<double>(0,1) = distortionCoefficients[1];
     m_DistorsionCoeffs.at<double>(0,2) = distortionCoefficients[2];
     m_DistorsionCoeffs.at<double>(0,3) = distortionCoefficients[3];
   }
   this->Modified();
 }
 
 void mitk::CameraIntrinsics::SetFocalLength( double x, double y )
 {
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     m_CameraMatrix.at<double>(0,0) = x;
     m_CameraMatrix.at<double>(1,1) = y;
   }
   this->Modified();
 }
 
 void mitk::CameraIntrinsics::SetPrincipalPoint( double x, double y )
 {
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     m_CameraMatrix.at<double>(0,2) = x;
     m_CameraMatrix.at<double>(1,2) = y;
   }
   this->Modified();
 }
 
 void mitk::CameraIntrinsics::SetDistorsionCoeffs( double k1, double k2,
                                                  double p1, double p2 )
 {
 
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
 
     m_DistorsionCoeffs.at<double>(0,0) = k1;
     m_DistorsionCoeffs.at<double>(0,1) = k2;
     m_DistorsionCoeffs.at<double>(0,2) = p1;
     m_DistorsionCoeffs.at<double>(0,3) = p2;
   }
   this->Modified();
 }
 
 cv::Mat mitk::CameraIntrinsics::GetCameraMatrix() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   return m_CameraMatrix.clone(); // return a copy of this small matrix
 }
 
 cv::Mat mitk::CameraIntrinsics::GetDistorsionCoeffs() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   return m_DistorsionCoeffs.clone(); // return a copy of this small matrix
 }
 
 cv::Mat mitk::CameraIntrinsics::GetDistorsionCoeffs()
 {
   const CameraIntrinsics* intrinsics = this;
   return intrinsics->GetDistorsionCoeffs();
 }
 
 std::string mitk::CameraIntrinsics::ToString() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   std::ostringstream s; s.precision(12);
   const cv::Mat& CameraMatrix = m_CameraMatrix;
   const cv::Mat& DistorsionCoeffs = m_DistorsionCoeffs;
 
   s.str(""); s << this->GetNameOfClass() << ": ";
   s << "fx = " << CameraMatrix.at<double>(0,0);
   s << ", fy = " << CameraMatrix.at<double>(1,1);
   s << ", cx = " << CameraMatrix.at<double>(0,2);
   s << ", cy = " << CameraMatrix.at<double>(1,2);
 
   s << ", k1 = " << DistorsionCoeffs.at<double>(0,0);
   s << ", k2 = " << DistorsionCoeffs.at<double>(0,1);
   s << ", p1 = " << DistorsionCoeffs.at<double>(0,2);
   s << ", p2 = " << DistorsionCoeffs.at<double>(0,3);
   //s << ", k3 = " << DistorsionCoeffs.at<double>(0,4);
 
   return s.str();
 }
 
 void mitk::CameraIntrinsics::ToXML(TiXmlElement* elem) const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   elem->SetValue(this->GetNameOfClass());
   std::ostringstream s; s.precision(12);
   const cv::Mat& CameraMatrix = m_CameraMatrix;
   s.str(""); s << CameraMatrix.at<double>(0,0);
   elem->SetAttribute( "fx", s.str() );
   s.str(""); s << CameraMatrix.at<double>(1,1);
   elem->SetAttribute( "fy", s.str() );
   s.str(""); s << CameraMatrix.at<double>(0,2);
   elem->SetAttribute( "cx", s.str() );
   s.str(""); s << CameraMatrix.at<double>(1,2);
   elem->SetAttribute( "cy", s.str() );
 
   const cv::Mat& DistorsionCoeffs = m_DistorsionCoeffs;
   s.str(""); s << DistorsionCoeffs.at<double>(0,0);
   elem->SetAttribute( "k1", s.str() );
   s.str(""); s << DistorsionCoeffs.at<double>(0,1);
   elem->SetAttribute( "k2", s.str() );
   s.str(""); s << DistorsionCoeffs.at<double>(0,2);
   elem->SetAttribute( "p1", s.str() );
   s.str(""); s << DistorsionCoeffs.at<double>(0,3);
   elem->SetAttribute( "p2", s.str() );
   elem->SetAttribute("Valid", m_Valid);
   //s.str(""); s << DistorsionCoeffs.at<double>(4,0);
   //elem->SetAttribute( "k3", s.str() );
 }
 
 void mitk::CameraIntrinsics::FromGMLCalibrationXML(TiXmlElement* elem)
 {
   assert( elem );
   assert( elem->ValueStr() == "results" );
   cv::Mat CameraMatrix = cv::Mat::zeros(3, 3, cv::DataType<double>::type);
   CameraMatrix.at<double>(2,2) = 1.0;
   cv::Mat DistorsionCoeffs = cv::Mat::zeros(1, 5, cv::DataType<double>::type);
 
   TiXmlElement* focus_lenXElem = elem->FirstChildElement("focus_lenX");
   endoAssert( focus_lenXElem != 0 );
   CameraMatrix.at<double>(0,0) = atof( focus_lenXElem->GetText() );
 
   TiXmlElement* focus_lenYElem = elem->FirstChildElement("focus_lenY");
   endoAssert( focus_lenYElem != 0 );
   CameraMatrix.at<double>(1,1) = atof( focus_lenYElem->GetText() );
 
   TiXmlElement* PrincipalXElem = elem->FirstChildElement("PrincipalX");
   endoAssert( PrincipalXElem != 0 );
   CameraMatrix.at<double>(0,2) = atof( PrincipalXElem->GetText() );
 
   TiXmlElement* PrincipalYElem = elem->FirstChildElement("PrincipalY");
   endoAssert( PrincipalYElem != 0 );
   CameraMatrix.at<double>(1,2) = atof( PrincipalYElem->GetText() );
 
   // DISTORSION COEFFS
 
   TiXmlElement* Dist1Elem = elem->FirstChildElement("Dist1");
   endoAssert( Dist1Elem != 0 );
   DistorsionCoeffs.at<double>(0,0) = atof( Dist1Elem->GetText() );
 
   TiXmlElement* Dist2Elem = elem->FirstChildElement("Dist2");
   endoAssert( Dist2Elem != 0 );
   DistorsionCoeffs.at<double>(0,1) = atof( Dist2Elem->GetText() );
 
   TiXmlElement* Dist3Elem = elem->FirstChildElement("Dist3");
   endoAssert( Dist3Elem != 0 );
   DistorsionCoeffs.at<double>(0,2) = atof( Dist3Elem->GetText() );
 
   TiXmlElement* Dist4Elem = elem->FirstChildElement("Dist4");
   endoAssert( Dist4Elem != 0 );
   DistorsionCoeffs.at<double>(0,3) = atof( Dist4Elem->GetText() );
 
   int valid = 0;
   elem->QueryIntAttribute("Valid", &valid);
 
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     m_Valid = static_cast<bool>(valid);
     m_CameraMatrix = CameraMatrix;
     m_DistorsionCoeffs = DistorsionCoeffs;
   }
 
   this->Modified();
 }
 
 void mitk::CameraIntrinsics::FromXML(TiXmlElement* elem)
 {
   endoAssert ( elem );
   MITK_DEBUG << elem->Value();
   std::string filename;
   if(elem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS)
   {
     this->FromXMLFile(filename);
     return;
   }
   else if(strcmp(elem->Value(), "CalibrationProject") == 0)
   {
     this->FromGMLCalibrationXML(elem->FirstChildElement("results"));
     return;
   }
 
   assert ( elem );
   if(strcmp(elem->Value(), this->GetNameOfClass()) != 0)
     elem = elem->FirstChildElement(this->GetNameOfClass());
 
   std::ostringstream err;
   // CAMERA MATRIX
   cv::Mat CameraMatrix = cv::Mat::zeros(3, 3, cv::DataType<double>::type);
   CameraMatrix.at<double>(2,2) = 1.0;
   float val = 0.0f;
   if(elem->QueryFloatAttribute("fx", &val) == TIXML_SUCCESS)
     CameraMatrix.at<double>(0,0) = val;
   else
     err << "fx, ";
 
   if(elem->QueryFloatAttribute("fy", &val) == TIXML_SUCCESS)
     CameraMatrix.at<double>(1,1) = val;
   else
     err << "fy, ";
 
   if(elem->QueryFloatAttribute("cx", &val) == TIXML_SUCCESS)
     CameraMatrix.at<double>(0,2) = val;
   else
     err << "cx, ";
 
   if(elem->QueryFloatAttribute("cy", &val) == TIXML_SUCCESS)
     CameraMatrix.at<double>(1,2) = val;
   else
     err << "cy, ";
 
   // DISTORSION COEFFS
   endodebug( "creating DistorsionCoeffs from XML file")
   cv::Mat DistorsionCoeffs = cv::Mat::zeros(1, 5, cv::DataType<double>::type);
   if(elem->QueryFloatAttribute("k1", &val) == TIXML_SUCCESS)
     DistorsionCoeffs.at<double>(0,0) = val;
   else
     err << "k1, ";
 
   if(elem->QueryFloatAttribute("k2", &val) == TIXML_SUCCESS)
     DistorsionCoeffs.at<double>(0,1) = val;
   else
     err << "k2, ";
 
   if(elem->QueryFloatAttribute("p1", &val) == TIXML_SUCCESS)
     DistorsionCoeffs.at<double>(0,2) = val;
   else
     err << "p1, ";
 
   if(elem->QueryFloatAttribute("p2", &val) == TIXML_SUCCESS)
     DistorsionCoeffs.at<double>(0,3) = val;
   else
     err << "p2, ";
 
   DistorsionCoeffs.at<double>(0,4) = 0.0;
 
   /*if(elem->QueryFloatAttribute("k3", &val) == TIXML_SUCCESS)
     DistorsionCoeffs.at<double>(4,0) = val;
   else
     err << "k3, ";*/
 
   std::string errorStr = err.str();
   int errLength = errorStr.length();
   if(errLength > 0)
   {
     errorStr = errorStr.substr(0, errLength-2);
     errorStr.append(" not found");
     throw std::invalid_argument(err.str());
   }
 
   int valid = 0;
   elem->QueryIntAttribute("Valid", &valid);
 
   {
     itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
     m_Valid = static_cast<bool>(valid);
     m_CameraMatrix = CameraMatrix;
     m_DistorsionCoeffs = DistorsionCoeffs;
   }
 
   this->Modified();
 }
 
 double mitk::CameraIntrinsics::GetFocalLengthX() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   double FocalLengthX = m_CameraMatrix.at<double>(0,0);
 
   return FocalLengthX;
 }
 double mitk::CameraIntrinsics::GetFocalLengthY() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   double FocalLengthY = m_CameraMatrix.at<double>(1,1);;
   return FocalLengthY;
 }
 double mitk::CameraIntrinsics::GetPrincipalPointX() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   double PrincipalPointX = m_CameraMatrix.at<double>(0,2);
   return PrincipalPointX;
 }
 double mitk::CameraIntrinsics::GetPrincipalPointY() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   double PrincipalPointY = m_CameraMatrix.at<double>(1,2);
   return PrincipalPointY;
 }
 mitk::Point4D mitk::CameraIntrinsics::GetDistorsionCoeffsAsPoint4D() const
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   mitk::Point4D coeffs;
 
   coeffs[0] = m_DistorsionCoeffs.at<double>(0,0);
   coeffs[1] = m_DistorsionCoeffs.at<double>(0,1);
   coeffs[2] = m_DistorsionCoeffs.at<double>(0,2);
   coeffs[3] = m_DistorsionCoeffs.at<double>(0,3);
 
   return coeffs;
 }
 
 mitk::Point3D mitk::CameraIntrinsics::GetFocalPoint() const
 {
   mitk::Point3D p;
   p[0] = this->GetFocalLengthX();
   p[1] = this->GetFocalLengthY();
   p[2] = 0;
   return p;
 }
 
 mitk::Point3D mitk::CameraIntrinsics::GetPrincipalPoint() const
 {
   mitk::Point3D p;
   p[0] = this->GetPrincipalPointX();
   p[1] = this->GetPrincipalPointY();
   p[2] = 0;
   return p;
 }
 
 vnl_vector_fixed<mitk::ScalarType, 2>
      mitk::CameraIntrinsics::GetFocalPointAsVnlVector() const
 {
   vnl_vector_fixed<mitk::ScalarType, 2> vec;
   vec[0] = this->GetFocalLengthX();
   vec[1] = this->GetFocalLengthY();
   return vec;
 }
 
 vnl_vector_fixed<mitk::ScalarType, 2>
      mitk::CameraIntrinsics::GetPrincipalPointAsVnlVector() const
 {
   vnl_vector_fixed<mitk::ScalarType, 2> vec;
   vec[0] = this->GetPrincipalPointX();
   vec[1] = this->GetPrincipalPointY();
   return vec;
 }
 
 std::ostream& operator<< (std::ostream& os, mitk::CameraIntrinsics::Pointer p)
 {
   os << p->ToString();
   return os;
 }
 
 std::string mitk::CameraIntrinsics::GetString()
 {
   return this->ToString();
 }
 
 std::string mitk::CameraIntrinsics::ToOctaveString(
     const std::string& varName)
 {
   std::ostringstream s;
   s << varName << " = [" << this->GetFocalLengthX() << " 0 "
       << this->GetPrincipalPointX() << "; 0 " <<
       this->GetFocalLengthY() << " " << this->GetPrincipalPointY() << ";"
       << " 0 0 1 ];";
   return s.str();
 }
 
 void mitk::CameraIntrinsics::SetValid( bool valid )
 {
   itk::MutexLockHolder<itk::FastMutexLock> lock(*m_Mutex);
   m_Valid = valid;
 }
 
 mitk::CameraIntrinsics::Pointer mitk::CameraIntrinsics::Clone() const
 {
   Pointer result = dynamic_cast<Self*>(this->InternalClone().GetPointer());
   return result;
 }
 
 itk::LightObject::Pointer mitk::CameraIntrinsics::InternalClone() const
 {
   itk::LightObject::Pointer result(new Self(*this));
   return result;
 }