Freenect2Device Class Reference

Device control. More...

#include <libfreenect2/libfreenect2.hpp>

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

Public Member Functions
virtual	~Freenect2Device ()
virtual std::string	getSerialNumber ()=0
virtual std::string	getFirmwareVersion ()=0
virtual ColorCameraParams	getColorCameraParams ()=0
	Get current color parameters. More...
virtual IrCameraParams	getIrCameraParams ()=0
	Get current depth parameters. More...
virtual void	setColorCameraParams (const ColorCameraParams &params)=0
	Replace factory preset color camera parameters. More...
virtual void	setIrCameraParams (const IrCameraParams &params)=0
	Replace factory preset depth camera parameters. More...
virtual void	setConfiguration (const Config &config)=0
	Configure depth processing. More...
virtual void	setColorFrameListener (FrameListener *rgb_frame_listener)=0
	Provide your listener to receive color frames. More...
virtual void	setIrAndDepthFrameListener (FrameListener *ir_frame_listener)=0
	Provide your listener to receive IR and depth frames. More...
virtual bool	start ()=0
	Start data processing with both RGB and depth streams. More...
virtual bool	startStreams (bool rgb, bool depth)=0
	Start data processing with or without some streams. More...
virtual bool	stop ()=0
	Stop data processing. More...
virtual bool	close ()=0
	Shut down the device. More...

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

virtual ~Freenect2Device ( )

virtual

Member Function Documentation

virtual std::string getSerialNumber ( )

pure virtual

virtual std::string getFirmwareVersion ( )

pure virtual

virtual ColorCameraParams getColorCameraParams ( )

pure virtual

Get current color parameters.

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

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.

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.

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.

virtual void setConfiguration ( const Config &  config )

pure virtual

Configure depth processing.

virtual void setColorFrameListener ( FrameListener *  rgb_frame_listener )

pure virtual

Provide your listener to receive color frames.

virtual void setIrAndDepthFrameListener ( FrameListener *  ir_frame_listener )

pure virtual

Provide your listener to receive IR and depth frames.

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.

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.

virtual bool stop ( )

pure virtual

Stop data processing.

Returns

true if ok, false if error.

virtual bool close ( )

pure virtual

Shut down the device.

Returns

true if ok, false if error.

Member Data Documentation

const unsigned int VendorId = 0x045E

static

const unsigned int ProductId = 0x02D8

static

const unsigned int ProductIdPreview = 0x02C4

static