ofxKinect

class methods

variables

Documentation from code comments


wrapper for a freenect kinect device

references:http://openkinect.org/wiki/Main_Pagehttps://github.com/OpenKinect/libfreenect/blob/master/include/libfreenect.h

ofxKinect()

ofxKinect::ofxKinect()

~ofxKinect()

ofxKinect::~ofxKinect()

clear()

void ofxKinect::clear()

Documentation from code comments


clear resources, do not call this while ofxKinect is running!

close()

void ofxKinect::close()

Documentation from code comments


close the connection and stop grabbing images

draw(...)

void ofxKinect::draw(const ofPoint &point)

draw(...)

void ofxKinect::draw(const ofRectangle &rect)

draw(...)

void ofxKinect::draw(float x, float y)

draw(...)

void ofxKinect::draw(float x, float y, float w, float h)

Documentation from code comments


draw the video texture

drawDepth(...)

void ofxKinect::drawDepth(const ofPoint &point)

drawDepth(...)

void ofxKinect::drawDepth(const ofRectangle &rect)

drawDepth(...)

void ofxKinect::drawDepth(float x, float y)

drawDepth(...)

void ofxKinect::drawDepth(float x, float y, float w, float h)

Documentation from code comments


draw the grayscale depth texture

enableDepthNearValueWhite(...)

void ofxKinect::enableDepthNearValueWhite(bool bEnabled=true)

getAccelPitch()

float ofxKinect::getAccelPitch()

Documentation from code comments


get the current pitch (x axis) & roll (z axis) of the kinect in degrees

useful to correct the 3d scene based on the camera inclination

getAccelRoll()

float ofxKinect::getAccelRoll()

getColorAt(...)

ofColor ofxKinect::getColorAt(const ofPoint &p)

getColorAt(...)

ofColor ofxKinect::getColorAt(int x, int y)

getCurrentCameraTiltAngle()

float ofxKinect::getCurrentCameraTiltAngle()

Documentation from code comments


get the current angle

getDepthPixels()

unsigned char * ofxKinect::getDepthPixels()

Documentation from code comments


get the pixels of the most recent depth frame

grayscale values

getDepthPixelsRef()

ofPixels & ofxKinect::getDepthPixelsRef()

Documentation from code comments


get the pixels of the most recent depth frame

grayscale values

getDepthTextureReference()

ofTexture & ofxKinect::getDepthTextureReference()

Documentation from code comments


get the grayscale depth texture

getDeviceId()

int ofxKinect::getDeviceId()

getDistanceAt(...)

float ofxKinect::getDistanceAt(const ofPoint &p)

getDistanceAt(...)

float ofxKinect::getDistanceAt(int x, int y)

Documentation from code comments


get the calulated distance for a depth point

getDistancePixels()

float * ofxKinect::getDistancePixels()

Documentation from code comments


get the distance in millimeters to a given point as a float array

getDistancePixelsRef()

ofFloatPixels & ofxKinect::getDistancePixelsRef()

Documentation from code comments


get the distance in millimeters to a given point as a float array

getFarClipping()

float ofxKinect::getFarClipping()

getHeight()

float ofxKinect::getHeight()

getMksAccel()

ofPoint ofxKinect::getMksAccel()

Documentation from code comments


axis-based gravity adjusted accelerometer values

from libfreeenect:

as laid out via the accelerometer data sheet, which is available at

http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf

getNearClipping()

float ofxKinect::getNearClipping()

getPixels()

unsigned char * ofxKinect::getPixels()

getPixelsRef()

ofPixels & ofxKinect::getPixelsRef()

Documentation from code comments


get the video pixels reference

getRawAccel()

ofPoint ofxKinect::getRawAccel()

Documentation from code comments


raw axis values

getRawDepthPixels()

unsigned short * ofxKinect::getRawDepthPixels()

Documentation from code comments


raw 11 bit values

getRawDepthPixelsRef()

ofShortPixels & ofxKinect::getRawDepthPixelsRef()

Documentation from code comments


raw 11 bit values

getSensorCameraDistance()

float ofxKinect::getSensorCameraDistance()

Documentation from code comments


get the distance between the IR sensor and the RGB camera in cm

getSensorEmitterDistance()

float ofxKinect::getSensorEmitterDistance()

Documentation from code comments


get the distance between the IR sensor and IR emitter in cm

getSerial()

string ofxKinect::getSerial()

Documentation from code comments


get the unique serial number returns an empty string "" if not connected

NOTE: currently, libfreenect returns a serial number with all 0s for kinect models > 1414, so this will only work with the original xbox kinect

getTargetCameraTiltAngle()

float ofxKinect::getTargetCameraTiltAngle()

Documentation from code comments


get the target angle (if the camera is currently moving)

getTextureReference()

ofTexture & ofxKinect::getTextureReference()

Documentation from code comments


get the video (ir or rgb) texture

getWidth()

float ofxKinect::getWidth()

getWorldCoordinateAt(...)

ofVec3f ofxKinect::getWorldCoordinateAt(float cx, float cy, float wz)

getWorldCoordinateAt(...)

ofVec3f ofxKinect::getWorldCoordinateAt(int cx, int cy)

Documentation from code comments


calculates the coordinate in the world for the depth point (perspective calculation)

center of image is (0.0)

getZeroPlaneDistance()

float ofxKinect::getZeroPlaneDistance()

Documentation from code comments


get the focal length of the IR sensor in mm

getZeroPlanePixelSize()

float ofxKinect::getZeroPlanePixelSize()

Documentation from code comments


get the size of a single pixel on the zero plane in mm

hasAccelControl()

bool ofxKinect::hasAccelControl()

hasCamTiltControl()

bool ofxKinect::hasCamTiltControl()

hasLedControl()

bool ofxKinect::hasLedControl()

init(...)

bool ofxKinect::init(bool infrared=false, bool video=true, bool texture=true)

isConnected()

bool ofxKinect::isConnected()

Documentation from code comments


is the connection currently open?

isDepthNearValueWhite()

bool ofxKinect::isDepthNearValueWhite()

isDeviceConnected(...)

bool ofxKinect::isDeviceConnected(int id)

Documentation from code comments


is a device already connected?

isDeviceConnected(...)

bool ofxKinect::isDeviceConnected(string serial)

isFrameNew()

bool ofxKinect::isFrameNew()

Documentation from code comments


is the current frame new?

isFrameNewDepth()

bool ofxKinect::isFrameNewDepth()

isFrameNewVideo()

bool ofxKinect::isFrameNewVideo()

listDevices()

void ofxKinect::listDevices()

Documentation from code comments


print the device list

nextAvailableId()

int ofxKinect::nextAvailableId()

Documentation from code comments


get the id of the next available device, returns -1 if nothing found

nextAvailableSerial()

string ofxKinect::nextAvailableSerial()

Documentation from code comments


get the serial number of the next available device, returns an empty string "" if nothing found

numAvailableDevices()

int ofxKinect::numAvailableDevices()

Documentation from code comments


get the number of available devices (not connected)

numConnectedDevices()

int ofxKinect::numConnectedDevices()

Documentation from code comments


get the number of currently connected devices

numTotalDevices()

int ofxKinect::numTotalDevices()

Documentation from code comments


get the total number of devices

open(...)

bool ofxKinect::open(int id=-1)

Documentation from code comments


open the connection and start grabbing images

set the id to choose a kinect, see numAvailableDevices() if you don't set the id (ie id=-1), the first available kinect will be used

note: this is the freenct bus id and may change each time the app is run

open(...)

bool ofxKinect::open(string serial)

Documentation from code comments


open using a kinect unique serial number

NOTE: currently, libfreenect returns a serial number with all 0s for kinect models > 1414, so this will only work with the original xbox kinect

setCameraTiltAngle(...)

bool ofxKinect::setCameraTiltAngle(float angleInDegrees)

setDepthClipping(...)

void ofxKinect::setDepthClipping(float nearClip=500, float farClip=4000)

Documentation from code comments


set the clipping planes for the depth calculations in millimeters

these are used for the depth value (12bit) -> grayscale (1 byte) conversion ie setting a short range will give you greater sensitivity from 0-255

default is 50cm - 4m note: you won't get any data < 50cm and distances > 4m start to get noisy

setLed(...)

void ofxKinect::setLed(ofxKinect::LedMode mode)

Documentation from code comments


set the current led color and/or blink mode, only applied while the kinect is open

setRegistration(...)

void ofxKinect::setRegistration(bool bUseRegistration=false)

Documentation from code comments


calibrates the depth image to align with the rgb image, disabled by default

call this before open(), has no effect while the connection is running

note: this calculation uses some cpu, leave off if not needed

setUseTexture(...)

void ofxKinect::setUseTexture(bool bUse)

Documentation from code comments


enable/disable frame loading into textures on update()

update()

void ofxKinect::update()

Documentation from code comments


updates the pixel buffers and textures

make sure to call this to update to the latest incoming frames

const int height

const int ofxKinect::height

const int width

const int ofxKinect::width

If you have any doubt about the usage of this module you can ask in the forum.

If you want to contribute better documentation or start documenting this section you can do so here

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