Device control. More...

#include <libfreenect2/libfreenect2.hpp>

Classes
struct	ColorCameraParams
	Color camera calibration parameters. More...
struct	IrCameraParams
	IR camera intrinsic calibration parameters. More...
struct	Config
	Configuration of depth processing. More...

Public Member Functions
virtual	~Freenect2Device ()
virtual std::string	getSerialNumber ()=0
virtual std::string	getFirmwareVersion ()=0
virtual std::string	getPacketPipelineName ()=0
virtual DeviceState	getState () const =0
	Return a thread-safe snapshot of the current lifecycle state.
virtual std::string	getLastError () const =0
	Return a thread-safe snapshot of the most recent lifecycle error.
virtual DeviceRuntimeStatistics	getRuntimeStatistics () const
	Return monotonic counters for the lifetime of this device object.
virtual bool	getCalibrationData (CalibrationData &calibration) const
	Copy the immutable calibration captured during successful initialization.
virtual bool	getCalibrationProfile (CalibrationProfile &profile) const
	Copy an optional user profile attached to a durable recording.
virtual ColorCameraParams	getColorCameraParams ()=0
	Get current color parameters.
virtual IrCameraParams	getIrCameraParams ()=0
	Get current depth parameters.
virtual void	setColorCameraParams (const ColorCameraParams &params)=0
	Replace factory preset color camera parameters.
virtual void	setIrCameraParams (const IrCameraParams &params)=0
	Replace factory preset depth camera parameters.
virtual void	setConfiguration (const Config &config)=0
	Configure depth processing.
virtual void	setColorFrameListener (FrameListener *rgb_frame_listener)=0
	Provide your listener to receive color frames.
virtual void	setIrAndDepthFrameListener (FrameListener *ir_frame_listener)=0
	Provide your listener to receive IR and depth frames.
virtual void	setColorAutoExposure (float exposure_compensation=0)=0
	Sets the RGB camera to fully automatic exposure setting.
virtual void	setColorSemiAutoExposure (float pseudo_exposure_time_ms)=0
	Sets a flicker-free exposure time of the RGB camera in pseudo-ms, value in range [0.0, 640] ms.
virtual void	setColorManualExposure (float integration_time_ms, float analog_gain)=0
	Manually set true exposure time and analog gain of the RGB camera.
virtual void	setColorSetting (ColorSettingCommandType cmd, uint32_t value)=0
	Set/get an individual setting value of the RGB camera.
virtual void	setColorSetting (ColorSettingCommandType cmd, float value)=0
virtual uint32_t	getColorSetting (ColorSettingCommandType cmd)=0
virtual float	getColorSettingFloat (ColorSettingCommandType cmd)=0
virtual void	setLedStatus (LedSettings led)=0
	Set the settings of a Kinect LED.
virtual bool	start ()=0
	Start data processing with both RGB and depth streams.
virtual bool	startStreams (bool rgb, bool depth)=0
	Start data processing with or without some streams.
virtual bool	stop ()=0
	Stop data processing.
virtual bool	close ()=0
	Shut down the device.

Static Public Attributes
static const unsigned int	VendorId = 0x045E
static const unsigned int	ProductId = 0x02D8
static const unsigned int	ProductIdPreview = 0x02C4

Detailed Description

Device control.

Constructor & Destructor Documentation

◆ ~Freenect2Device()

virtual ~Freenect2Device ( )

virtual

Member Function Documentation

◆ getSerialNumber()

virtual std::string getSerialNumber ( )

pure virtual

◆ getFirmwareVersion()

virtual std::string getFirmwareVersion ( )

pure virtual

◆ getPacketPipelineName()

virtual std::string getPacketPipelineName ( )

pure virtual

◆ getState()

virtual DeviceState getState ( ) const

pure virtual

Return a thread-safe snapshot of the current lifecycle state.

◆ getLastError()

virtual std::string getLastError ( ) const

pure virtual

Return a thread-safe snapshot of the most recent lifecycle error.

◆ getRuntimeStatistics()

virtual DeviceRuntimeStatistics getRuntimeStatistics ( ) const

virtual

Return monotonic counters for the lifetime of this device object.

◆ getCalibrationData()

virtual bool getCalibrationData ( CalibrationData & calibration ) const

virtual

Copy the immutable calibration captured during successful initialization.

Returns false until calibration is available.

◆ getCalibrationProfile()

virtual bool getCalibrationProfile ( CalibrationProfile & profile ) const

virtual

Copy an optional user profile attached to a durable recording.

Live devices and legacy recordings return false.

◆ getColorCameraParams()

virtual ColorCameraParams getColorCameraParams ( )

pure virtual

Get current color parameters.

Kinect v2 includes factory preset values for these parameters. They are used in Registration.

◆ getIrCameraParams()

virtual IrCameraParams getIrCameraParams ( )

pure virtual

Get current depth parameters.

Kinect v2 includes factory preset values for these parameters. They are used in depth image decoding, and Registration.

◆ setColorCameraParams()

virtual void setColorCameraParams ( const ColorCameraParams & params )

pure virtual

Replace factory preset color camera parameters.

We do not have a clear understanding of the meaning of the parameters right now. You probably want to leave it as it is.

◆ setIrCameraParams()

virtual void setIrCameraParams ( const IrCameraParams & params )

pure virtual

Replace factory preset depth camera parameters.

This decides accuracy in depth images. You are recommended to provide calibrated values.

◆ setConfiguration()

virtual void setConfiguration ( const Config & config )

pure virtual

Configure depth processing.

◆ setColorFrameListener()

virtual void setColorFrameListener ( FrameListener * rgb_frame_listener )

pure virtual

Provide your listener to receive color frames.

◆ setIrAndDepthFrameListener()

virtual void setIrAndDepthFrameListener ( FrameListener * ir_frame_listener )

pure virtual

Provide your listener to receive IR and depth frames.

◆ setColorAutoExposure()

virtual void setColorAutoExposure ( float exposure_compensation = 0 )

pure virtual

Sets the RGB camera to fully automatic exposure setting.

Exposure compensation: negative value gives an underexposed image, positive gives an overexposed image.

Parameters

exposure_compensation Exposure compensation, range [-2.0, 2.0]

◆ setColorSemiAutoExposure()

virtual void setColorSemiAutoExposure ( float pseudo_exposure_time_ms )

pure virtual

Sets a flicker-free exposure time of the RGB camera in pseudo-ms, value in range [0.0, 640] ms.

The actual frame integration time is set to a multiple of fluorescent light period that is shorter than the requested time e.g. requesting 16 ms will set 10 ms in Australia (100Hz light flicker), 8.33 ms in USA (120Hz light flicker). The gain is automatically set to compensate for the reduced integration time, as if the gain was set to 1.0 and the integration time was the requested value.

Requesting less than a single fluorescent light period will set the integration time to the requested value, so the image brightness will flicker.

To set the shortest non-flickering integration period for any country, simply set a pseudo-exposure time of between (10.0, 16.667) ms, which will automatically drop the integration time to 10 or 8.3 ms depending on country, while setting the analog gain control to a brighter value.

Parameters

pseudo_exposure_time_ms Pseudo-exposure time in milliseconds, range (0.0, 66.0+]

◆ setColorManualExposure()

virtual void setColorManualExposure	(	float	integration_time_ms,
		float	analog_gain )

pure virtual

Manually set true exposure time and analog gain of the RGB camera.

Parameters

integration_time_ms	True shutter time in milliseconds, range (0.0, 66.0]
analog_gain	Analog gain, range [1.0, 4.0]

◆ setColorSetting() [1/2]

virtual void setColorSetting	(	ColorSettingCommandType	cmd,
		uint32_t	value )

pure virtual

Set/get an individual setting value of the RGB camera.

◆ setColorSetting() [2/2]

virtual void setColorSetting	(	ColorSettingCommandType	cmd,
		float	value )

pure virtual

◆ getColorSetting()

virtual uint32_t getColorSetting ( ColorSettingCommandType cmd )

pure virtual

◆ getColorSettingFloat()

virtual float getColorSettingFloat ( ColorSettingCommandType cmd )

pure virtual

◆ setLedStatus()

virtual void setLedStatus ( LedSettings led )

pure virtual

Set the settings of a Kinect LED.

Parameters

led	Settings for a single LED.

◆ start()

virtual bool start ( )

pure virtual

Start data processing with both RGB and depth streams.

All above configuration must only be called before start() or after stop().

FrameListener will receive frames when the device is running.

Returns: true if ok, false if error.

◆ startStreams()

virtual bool startStreams	(	bool	rgb,
		bool	depth )

pure virtual

Start data processing with or without some streams.

FrameListener will receive enabled frames when the device is running.

Parameters

rgb	Whether to enable RGB stream.
depth	Whether to enable depth stream.

Returns: true if ok, false if error.

◆ stop()

virtual bool stop ( )

pure virtual

Stop data processing.

Returns: true if ok, false if error.

◆ close()

virtual bool close ( )

pure virtual

Shut down the device.

Returns: true if ok, false if error.

Member Data Documentation

◆ VendorId

const unsigned int VendorId = 0x045E

static

◆ ProductId

const unsigned int ProductId = 0x02D8

static

◆ ProductIdPreview

const unsigned int ProductIdPreview = 0x02C4

static

Classes

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~Freenect2Device()

Member Function Documentation

◆ getSerialNumber()

◆ getFirmwareVersion()

◆ getPacketPipelineName()

◆ getState()

◆ getLastError()

◆ getRuntimeStatistics()

◆ getCalibrationData()

◆ getCalibrationProfile()

◆ getColorCameraParams()

◆ getIrCameraParams()

◆ setColorCameraParams()

◆ setIrCameraParams()

◆ setConfiguration()

◆ setColorFrameListener()

◆ setIrAndDepthFrameListener()

◆ setColorAutoExposure()

◆ setColorSemiAutoExposure()

◆ setColorManualExposure()

◆ setColorSetting() [1/2]

◆ setColorSetting() [2/2]

◆ getColorSetting()

◆ getColorSettingFloat()

◆ setLedStatus()

◆ start()

◆ startStreams()

◆ stop()

◆ close()

Member Data Documentation

◆ VendorId

◆ ProductId

◆ ProductIdPreview