Freenect2 Class Reference

Library context to find and open devices. More...

#include <libfreenect2/libfreenect2.hpp>

Public Member Functions
	Freenect2 (void *usb_context=0)
virtual	~Freenect2 ()
int	enumerateDevices ()
	Must be called before doing anything else.
std::string	getDeviceSerialNumber (int idx)
std::string	getDefaultDeviceSerialNumber ()
bool	waitForDevice (const std::string &serial, uint32_t timeout_ms, uint32_t poll_ms=250)
	Wait until a device with serial appears in enumeration.
Freenect2Device *	openDevice (int idx)
	Open device by index with default pipeline.
Freenect2Device *	openDevice (int idx, const PacketPipeline *factory)
	Open device by index.
Freenect2Device *	openDevice (const std::string &serial)
	Open device by serial number with default pipeline.
Freenect2Device *	openDevice (const std::string &serial, const PacketPipeline *factory)
	Open device by serial number.
Freenect2Device *	openDefaultDevice ()
	Open the first device with default pipeline.
Freenect2Device *	openDefaultDevice (const PacketPipeline *factory)
	Open the first device.

Detailed Description

Library context to find and open devices.

You will first find existing devices by calling enumerateDevices().

Then you can openDevice() and control the devices with returned Freenect2Device object.

You may open devices with custom PacketPipeline. After passing a PacketPipeline object to libfreenect2 do not use or free the object, libfreenect2 will take care. If openDevice() fails the PacketPipeline object will get deleted. A new PacketPipeline object has to be created each time a device is opened.

Constructor & Destructor Documentation

Freenect2()

Freenect2

(

void *

usb_context = 0

)

Parameters

usb_context

If the libusb context is provided, Freenect2 will use it instead of creating one.

Referenced by openDefaultDevice().

~Freenect2()

virtual ~Freenect2 ( )

virtual

Member Function Documentation

enumerateDevices()

int enumerateDevices

(

)

Must be called before doing anything else.

Returns

Number of devices, 0 if none

getDeviceSerialNumber()

std::string getDeviceSerialNumber

(

int

idx

)

Parameters

idx	Device index

Returns

Device serial number, or empty if the index is invalid.

getDefaultDeviceSerialNumber()

std::string getDefaultDeviceSerialNumber

(

)

Returns

Device serial number, or empty if no device exists.

waitForDevice()

bool waitForDevice	(	const std::string &	serial,
		uint32_t	timeout_ms,
		uint32_t	poll_ms = 250 )

Wait until a device with serial appears in enumeration.

This does not revive a closed or disconnected device object. After it returns true, call openDevice(serial) to obtain a fresh object.

Parameters

serial	Device serial number to find.
timeout_ms	Maximum monotonic wait in milliseconds.
poll_ms	Delay between enumeration attempts.

openDevice() [1/4]

Freenect2Device * openDevice

(

int

idx

)

Open device by index with default pipeline.

Parameters

idx	Index number. Index numbers are not determinstic during enumeration.

Returns

New device object, or NULL on failure

openDevice() [2/4]

Freenect2Device * openDevice	(	int	idx,
		const PacketPipeline *	factory )

Open device by index.

Parameters

idx	Index number. Index numbers are not determinstic during enumeration.
factory	New PacketPipeline instance. This is always automatically freed.

Returns

New device object, or NULL on failure

openDevice() [3/4]

Freenect2Device * openDevice

(

const std::string &

serial

)

Open device by serial number with default pipeline.

Parameters

serial

Serial number

Returns

New device object, or NULL on failure

openDevice() [4/4]

Freenect2Device * openDevice	(	const std::string &	serial,
		const PacketPipeline *	factory )

Open device by serial number.

Parameters

serial	Serial number
factory	New PacketPipeline instance. This is always automatically freed.

Returns

New device object, or NULL on failure

openDefaultDevice() [1/2]

Freenect2Device * openDefaultDevice

(

)

Open the first device with default pipeline.

Returns

New device object, or NULL on failure

openDefaultDevice() [2/2]

Freenect2Device * openDefaultDevice

(

const PacketPipeline *

factory

)

Open the first device.

Parameters

factory

New PacketPipeline instance. This is always automatically freed.

Returns

New device object, or NULL on failure

References Freenect2().