diff --git a/Modules/ToFHardware/KinectV2/mitkKinectV2Device.cpp b/Modules/ToFHardware/KinectV2/mitkKinectV2Device.cpp
index e46a1ec996..4af2d4c843 100644
--- a/Modules/ToFHardware/KinectV2/mitkKinectV2Device.cpp
+++ b/Modules/ToFHardware/KinectV2/mitkKinectV2Device.cpp
@@ -1,354 +1,357 @@
 /*===================================================================
 
 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 "mitkKinectV2Device.h"
 
 
 #include <mitkRealTimeClock.h>
 #include <mitkSmartPointerProperty.h>
 #include <mitkSurface.h>
 
 #include <itkMultiThreader.h>
 #include <itksys/SystemTools.hxx>
 
 
 namespace mitk
 {
+  bool KinectV2Device::m_PrintFrameRate = false;
 
   KinectV2Device::KinectV2Device():
     m_DistanceDataBuffer(NULL),
     m_AmplitudeDataBuffer(NULL),
     m_RGBDataBuffer(NULL),
     m_DepthBufferSize(sizeof(float)*512*424),
     m_RGBBufferSize(3*1920*1080)
   {
     m_Controller = mitk::KinectV2Controller::New();
     m_PolyData = vtkSmartPointer<vtkPolyData>::New();
   }
 
   KinectV2Device::~KinectV2Device()
   {
   }
 
   std::string GetDeviceName()
   {
     return "Microsoft Kinect 2 Device ";
   }
 
   bool KinectV2Device::OnConnectCamera()
   {
     bool ok = false;
     if (m_Controller)
     {
       ok = m_Controller->OpenCameraConnection();
       if (ok)
       {
         this->m_CaptureWidth = m_Controller->GetDepthCaptureWidth();
         this->m_CaptureHeight = m_Controller->GetDepthCaptureHeight();
         this->m_PixelNumber = this->m_CaptureWidth * this->m_CaptureHeight;
 
         this->m_RGBImageWidth = m_Controller->GetRGBCaptureWidth();
         this->m_RGBImageHeight = m_Controller->GetRGBCaptureHeight();
         this->m_RGBPixelNumber = this->m_RGBImageWidth * this->m_RGBImageHeight;
 
         // allocate buffer
         this->m_DistanceArray = new float[this->m_PixelNumber];
         for(int i=0; i<this->m_PixelNumber; i++) {this->m_DistanceArray[i]=0.0;}
         this->m_AmplitudeArray = new float[this->m_PixelNumber];
         for(int i=0; i<this->m_PixelNumber; i++) {this->m_AmplitudeArray[i]=0.0;}
 
         this->m_DistanceDataBuffer = new float*[this->m_MaxBufferSize];
         for(int i=0; i<this->m_MaxBufferSize; i++)
         {
           this->m_DistanceDataBuffer[i] = new float[this->m_PixelNumber];
         }
         this->m_AmplitudeDataBuffer = new float*[this->m_MaxBufferSize];
         for(int i=0; i<this->m_MaxBufferSize; i++)
         {
           this->m_AmplitudeDataBuffer[i] = new float[this->m_PixelNumber];
         }
         this->m_RGBDataBuffer = new unsigned char*[this->m_MaxBufferSize];
         for (int i=0; i<this->m_MaxBufferSize; i++)
         {
           this->m_RGBDataBuffer[i] = new unsigned char[this->m_RGBPixelNumber*3];
         }
 
         m_CameraConnected = true;
       }
     }
     return ok;
   }
 
   bool KinectV2Device::DisconnectCamera()
   {
     bool ok = false;
     if (m_Controller)
     {
       ok =  m_Controller->CloseCameraConnection();
 
       // clean-up only if camera was connected
       if (m_CameraConnected)
       {
         delete [] m_DistanceArray;
         delete [] m_AmplitudeArray;
 
         for(int i=0; i<this->m_MaxBufferSize; i++)
         {
           delete[] this->m_DistanceDataBuffer[i];
           delete[] this->m_AmplitudeDataBuffer[i];
           delete[] this->m_RGBDataBuffer[i];
         }
         delete[] this->m_DistanceDataBuffer;
         delete[] this->m_AmplitudeDataBuffer;
         delete[] this->m_RGBDataBuffer;
 
         m_CameraConnected = false;
       }
     }
     return ok;
   }
 
   void KinectV2Device::StartCamera()
   {
     if (m_CameraConnected)
     {
       // get the first image
       this->m_Controller->UpdateCamera();
       this->m_ImageMutex->Lock();
       this->m_Controller->GetAllData(this->m_DistanceDataBuffer[this->m_FreePos],this->m_AmplitudeDataBuffer[this->m_FreePos],this->m_RGBDataBuffer[this->m_FreePos]);
       this->m_FreePos = (this->m_FreePos+1) % this->m_BufferSize;
       this->m_CurrentPos = (this->m_CurrentPos+1) % this->m_BufferSize;
       this->m_ImageSequence++;
       this->m_ImageMutex->Unlock();
 
       this->m_CameraActiveMutex->Lock();
       this->m_CameraActive = true;
       this->m_CameraActiveMutex->Unlock();
       this->m_ThreadID = this->m_MultiThreader->SpawnThread(this->Acquire, this);
       // wait a little to make sure that the thread is started
       itksys::SystemTools::Delay(10);
     }
     else
     {
       MITK_WARN << "Camera not connected";
     }
   }
 
   void KinectV2Device::StopCamera()
   {
     m_CameraActiveMutex->Lock();
     m_CameraActive = false;
     m_CameraActiveMutex->Unlock();
     itksys::SystemTools::Delay(100);
     if (m_MultiThreader.IsNotNull())
     {
       m_MultiThreader->TerminateThread(m_ThreadID);
     }
     // wait a little to make sure that the thread is terminated
     itksys::SystemTools::Delay(10);
   }
 
   bool KinectV2Device::IsCameraActive()
   {
     m_CameraActiveMutex->Lock();
     bool ok = m_CameraActive;
     m_CameraActiveMutex->Unlock();
     return ok;
   }
 
   void KinectV2Device::UpdateCamera()
   {
     if (m_Controller)
     {
       m_Controller->UpdateCamera();
     }
   }
 
   ITK_THREAD_RETURN_TYPE KinectV2Device::Acquire(void* pInfoStruct)
   {
     /* extract this pointer from Thread Info structure */
     struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct;
     if (pInfo == NULL)
     {
       return ITK_THREAD_RETURN_VALUE;
     }
     if (pInfo->UserData == NULL)
     {
       return ITK_THREAD_RETURN_VALUE;
     }
     KinectV2Device* toFCameraDevice = (KinectV2Device*)pInfo->UserData;
     if (toFCameraDevice!=NULL)
     {
       mitk::RealTimeClock::Pointer realTimeClock;
       realTimeClock = mitk::RealTimeClock::New();
       double t1, t2;
       t1 = realTimeClock->GetCurrentStamp();
       int n = 100;
       bool overflow = false;
       bool printStatus = false;
       while (toFCameraDevice->IsCameraActive())
       {
         // update the ToF camera
         toFCameraDevice->UpdateCamera();
         // get the image data from the camera and write it at the next free position in the buffer
         toFCameraDevice->m_ImageMutex->Lock();
         toFCameraDevice->m_Controller->GetAllData(toFCameraDevice->m_DistanceDataBuffer[toFCameraDevice->m_FreePos],toFCameraDevice->m_AmplitudeDataBuffer[toFCameraDevice->m_FreePos],toFCameraDevice->m_RGBDataBuffer[toFCameraDevice->m_FreePos]);
         //Here we get also the PolyData, because the kinect V2 SDK offers an excellent
         //default calibration and generates very nice, textured surfaces. The method
         //GetAllData of MITK-ToF does not allow for passing the surface.
         toFCameraDevice->m_PolyData = toFCameraDevice->m_Controller->GetVtkPolyData();
         toFCameraDevice->m_ImageMutex->Unlock();
 
         // call modified to indicate that cameraDevice was modified
         toFCameraDevice->Modified();
 
         bool generateTriangularMesh = false;
         toFCameraDevice->GetBoolProperty("GenerateTriangularMesh", generateTriangularMesh);
         toFCameraDevice->m_Controller->SetGenerateTriangularMesh(generateTriangularMesh);
 
         float triangulationThreshold = static_cast<mitk::FloatProperty*>(toFCameraDevice->GetProperty("TriangulationThreshold"))->GetValue();
         toFCameraDevice->m_Controller->SetTriangulationThreshold(triangulationThreshold);
 
         toFCameraDevice->m_FreePos = (toFCameraDevice->m_FreePos+1) % toFCameraDevice->m_BufferSize;
         toFCameraDevice->m_CurrentPos = (toFCameraDevice->m_CurrentPos+1) % toFCameraDevice->m_BufferSize;
         toFCameraDevice->m_ImageSequence++;
         if (toFCameraDevice->m_FreePos == toFCameraDevice->m_CurrentPos)
         {
           overflow = true;
         }
-        if (toFCameraDevice->m_ImageSequence % n == 0)
-        {
-          printStatus = true;
-        }
+
         if (overflow)
         {
           overflow = false;
         }
 
-        // print current framerate
-        if (printStatus)
+        if(m_PrintFrameRate)
         {
-          t2 = realTimeClock->GetCurrentStamp() - t1;
-          MITK_INFO << " Framerate (fps): " << n / (t2/1000) << " Sequence: " << toFCameraDevice->m_ImageSequence;
-          t1 = realTimeClock->GetCurrentStamp();
-          printStatus = false;
+          if (toFCameraDevice->m_ImageSequence % n == 0)
+          {
+             printStatus = true;
+          }
+          // print current framerate
+          if (printStatus)
+          {
+            t2 = realTimeClock->GetCurrentStamp() - t1;
+            MITK_INFO << " Framerate (fps): " << n / (t2/1000) << " Sequence: " << toFCameraDevice->m_ImageSequence;
+            t1 = realTimeClock->GetCurrentStamp();
+            printStatus = false;
+          }
         }
       }  // end of while loop
     }
     return ITK_THREAD_RETURN_VALUE;
   }
 
   void KinectV2Device::GetAmplitudes(float* amplitudeArray, int& imageSequence)
   {
     m_ImageMutex->Lock();
     if (m_CameraActive)
     {
       memcpy(amplitudeArray, this->m_AmplitudeDataBuffer[this->m_CurrentPos], this->m_DepthBufferSize);
       imageSequence = this->m_ImageSequence;
     }
     else
     {
       MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
     }
     m_ImageMutex->Unlock();
   }
 
   void KinectV2Device::GetIntensities(float*, int&)
   {
   }
 
   void KinectV2Device::GetDistances(float* distanceArray, int& imageSequence)
   {
     m_ImageMutex->Lock();
     if (m_CameraActive)
     {
       memcpy(distanceArray, this->m_DistanceDataBuffer[this->m_CurrentPos], this->m_DepthBufferSize);
       imageSequence = this->m_ImageSequence;
     }
     else
     {
       MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
     }
     m_ImageMutex->Unlock();
   }
 
   void KinectV2Device::GetAllImages(float* distanceArray, float* amplitudeArray, float* intensityArray, char* sourceDataArray,
     int requiredImageSequence, int& capturedImageSequence, unsigned char* rgbDataArray)
   {
     if (m_CameraActive)
     {
       // check for empty buffer
       if (this->m_ImageSequence < 0)
       {
         // buffer empty
         MITK_WARN << "Buffer empty!! ";
         capturedImageSequence = this->m_ImageSequence;
         return;
       }
       // determine position of image in buffer
       int pos = 0;
       if ((requiredImageSequence < 0) || (requiredImageSequence > this->m_ImageSequence))
       {
         capturedImageSequence = this->m_ImageSequence;
         pos = this->m_CurrentPos;
       }
       else if (requiredImageSequence <= this->m_ImageSequence - this->m_BufferSize)
       {
         capturedImageSequence = (this->m_ImageSequence - this->m_BufferSize) + 1;
         pos = (this->m_CurrentPos + 1) % this->m_BufferSize;
       }
       else // (requiredImageSequence > this->m_ImageSequence - this->m_BufferSize) && (requiredImageSequence <= this->m_ImageSequence)
       {
         capturedImageSequence = requiredImageSequence;
         pos = (this->m_CurrentPos + (10-(this->m_ImageSequence - requiredImageSequence))) % this->m_BufferSize;
       }
       // write image data to arrays
       m_ImageMutex->Lock();
       memcpy(distanceArray, this->m_DistanceDataBuffer[pos], this->m_DepthBufferSize);
       memcpy(amplitudeArray, this->m_AmplitudeDataBuffer[pos], this->m_DepthBufferSize);
       memcpy(rgbDataArray, this->m_RGBDataBuffer[pos], this->m_RGBBufferSize);
-      vtkSmartPointer<vtkPolyData> deepCopyOfPoly = vtkSmartPointer<vtkPolyData>::New();
-      deepCopyOfPoly->DeepCopy(this->m_PolyData);
       m_ImageMutex->Unlock();
 
       //Since the standard method GetAllImages does not allow transfering a surface,
       //we use a property to pass the surface to the workbench.
       mitk::Surface::Pointer surface = mitk::Surface::New();
-      surface->SetVtkPolyData( deepCopyOfPoly );
+      surface->SetVtkPolyData(this->m_PolyData);
       this->SetProperty("ToFSurface", mitk::SmartPointerProperty::New( surface ));
 
       this->Modified();
     }
     else
     {
       MITK_WARN("ToF") << "Warning: Data can only be acquired if camera is active.";
     }
   }
 
   KinectV2Controller::Pointer KinectV2Device::GetController()
   {
     return this->m_Controller;
   }
 
   int KinectV2Device::GetRGBCaptureWidth()
   {
     return this->m_RGBImageWidth;
   }
 
   int KinectV2Device::GetRGBCaptureHeight()
   {
     return this->m_RGBImageHeight;
   }
 }
diff --git a/Modules/ToFHardware/KinectV2/mitkKinectV2Device.h b/Modules/ToFHardware/KinectV2/mitkKinectV2Device.h
index 17eb39bd69..a4c3b6817a 100644
--- a/Modules/ToFHardware/KinectV2/mitkKinectV2Device.h
+++ b/Modules/ToFHardware/KinectV2/mitkKinectV2Device.h
@@ -1,148 +1,157 @@
 /*===================================================================
 
 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.
 
 ===================================================================*/
 #ifndef __mitkKinectV2Device_h
 #define __mitkKinectV2Device_h
 
 #include <mitkCommon.h>
 #include <MitkKinectV2Exports.h>
 #include "mitkToFCameraDevice.h"
 #include "mitkKinectV2Controller.h"
 
 #include <itkObject.h>
 #include <itkObjectFactory.h>
 #include <itkMultiThreader.h>
 #include <itkFastMutexLock.h>
 
 #include <vtkSmartPointer.h>
 #include <vtkPolyData.h>
 
 
 namespace mitk
 {
   /**
   * @brief 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.
   *
   * \throws mitkException In case of no connection, an exception is thrown!
   *
   * @ingroup ToFHardware
   */
   class MITKKINECTV2_EXPORT KinectV2Device : public ToFCameraDevice
   {
   public:
 
     mitkClassMacro( KinectV2Device , ToFCameraDevice );
     itkFactorylessNewMacro(Self)
     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.
+     */
+    itkSetMacro(PrintFrameRate, bool);
 
     /*!
     \brief opens a connection to the ToF camera
     \throws mitkException In case of no connection, an exception is thrown!
     */
     virtual bool OnConnectCamera();
     /*!
     \brief closes the connection to the camera
     */
     virtual bool DisconnectCamera();
     /*!
     \brief 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
     \throws mitkException In case of no connection, an exception is thrown!
     */
     virtual void StartCamera();
     /*!
     \brief stops the continuous updating of the camera
     */
     virtual void StopCamera();
     /*!
     \brief updates the camera for image acquisition
     \throws mitkException In case of no connection, an exception is thrown!
     */
     virtual void UpdateCamera();
     /*!
     \brief returns whether the camera is currently active or not
     */
     virtual bool IsCameraActive();
     /*!
     \brief 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
     \param imageSequence the actually captured image sequence number
     \param amplitudeArray contains the returned amplitude data as an array.
     */
     virtual void GetAmplitudes(float* amplitudeArray, int& imageSequence);
     /*!
     \brief 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.
     */
     virtual void GetIntensities(float* intensityArray, int& imageSequence);
     /*!
     \brief 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.
     \param distanceArray contains the returned distances data as an array.
     \param imageSequence the actually captured image sequence number
     */
     virtual void GetDistances(float* distanceArray, int& imageSequence);
     /*!
     \brief gets the 3 images (distance, amplitude, intensity) from the ToF camera. Caution! The user is responsible for allocating and deleting the images.
     \param distanceArray Contains the distance data as an array.
     \param amplitudeArray Contains the infrared image.
     \param intensityArray Does nothing for Kinect V2.
     \param sourceDataArray Does nothing for Kinect V2.
     \param requiredImageSequence The required image sequence number.
     \param capturedImageSequence Does nothing for Kinect V2.
     */
     virtual void GetAllImages(float* distanceArray, float* amplitudeArray, float* intensityArray, char* sourceDataArray,
       int requiredImageSequence, int& capturedImageSequence, unsigned char* rgbDataArray=NULL);
     /*!
     \brief returns the corresponding camera controller
     */
     KinectV2Controller::Pointer GetController();
 
     /*!
     \brief returns the width of the RGB image
     */
     int GetRGBCaptureWidth();
     /*!
     \brief returns the height of the RGB image
     */
     int GetRGBCaptureHeight();
 
   protected:
 
     KinectV2Device();
 
     ~KinectV2Device();
 
     /*!
     \brief Thread method continuously acquiring images from the ToF hardware
     */
     static ITK_THREAD_RETURN_TYPE Acquire(void* pInfoStruct);
+    static bool m_PrintFrameRate; ///< prints the framerate to the console every 100 frames, deactivated by default
 
     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.
   };
 } //END mitk namespace
 #endif