#include <stdint.h>
#include <libusb-1.0/libusb.h>

Classes
struct	freenect_raw_tilt_state
	Data from the tilt motor and accelerometer. More...
Defines
#define	FREENECT_FRAME_W 640
#define	FREENECT_FRAME_H 480
#define	FREENECT_FRAME_PIX (FREENECT_FRAME_H*FREENECT_FRAME_W)
#define	FREENECT_IR_FRAME_W 640
#define	FREENECT_IR_FRAME_H 488
#define	FREENECT_IR_FRAME_PIX (FREENECT_IR_FRAME_H*FREENECT_IR_FRAME_W)
#define	FREENECT_VIDEO_RGB_SIZE (FREENECT_FRAME_PIX*3)
#define	FREENECT_VIDEO_BAYER_SIZE (FREENECT_FRAME_PIX)
#define	FREENECT_VIDEO_YUV_RGB_SIZE (FREENECT_VIDEO_RGB_SIZE)
#define	FREENECT_VIDEO_YUV_RAW_SIZE (FREENECT_FRAME_PIX*2)
#define	FREENECT_VIDEO_IR_8BIT_SIZE (FREENECT_IR_FRAME_PIX)
#define	FREENECT_VIDEO_IR_10BIT_SIZE (FREENECT_IR_FRAME_PIX*sizeof(uint16_t))
#define	FREENECT_VIDEO_IR_10BIT_PACKED_SIZE 390400
#define	FREENECT_DEPTH_11BIT_SIZE (FREENECT_FRAME_PIX*sizeof(uint16_t))
#define	FREENECT_DEPTH_10BIT_SIZE FREENECT_DEPTH_11BIT_SIZE
#define	FREENECT_DEPTH_11BIT_PACKED_SIZE 422400
#define	FREENECT_DEPTH_10BIT_PACKED_SIZE 384000
#define	FREENECT_COUNTS_PER_G 819
#define	EXPORT
	If Win32, export all functions for DLL usage.
Typedefs
typedef struct _freenect_context	freenect_context
typedef struct _freenect_device	freenect_device
typedef libusb_context	freenect_usb_context
typedef void(*	freenect_log_cb )(freenect_context dev, freenect_loglevel level, const char msg)
	Typedef for logging callback functions.
typedef void(*	freenect_depth_cb )(freenect_device dev, void depth, uint32_t timestamp)
	Typedef for depth image received event callbacks.
typedef void(*	freenect_video_cb )(freenect_device dev, void video, uint32_t timestamp)
	Typedef for video image received event callbacks.
Enumerations
enum	freenect_video_format { FREENECT_VIDEO_RGB = 0, FREENECT_VIDEO_BAYER = 1, FREENECT_VIDEO_IR_8BIT = 2, FREENECT_VIDEO_IR_10BIT = 3, FREENECT_VIDEO_IR_10BIT_PACKED = 4, FREENECT_VIDEO_YUV_RGB = 5, FREENECT_VIDEO_YUV_RAW = 6 }
enum	freenect_led_options { LED_OFF = 0, LED_GREEN = 1, LED_RED = 2, LED_YELLOW = 3, LED_BLINK_YELLOW = 4, LED_BLINK_GREEN = 5, LED_BLINK_RED_YELLOW = 6 }
enum	freenect_depth_format { FREENECT_DEPTH_11BIT = 0, FREENECT_DEPTH_10BIT = 1, FREENECT_DEPTH_11BIT_PACKED = 2, FREENECT_DEPTH_10BIT_PACKED = 3 }
enum	freenect_tilt_status_code { TILT_STATUS_STOPPED = 0x00, TILT_STATUS_LIMIT = 0x01, TILT_STATUS_MOVING = 0x04 }
	Enumeration of tilt motor status. More...
enum	freenect_loglevel { FREENECT_LOG_FATAL = 0, FREENECT_LOG_ERROR, FREENECT_LOG_WARNING, FREENECT_LOG_NOTICE, FREENECT_LOG_INFO, FREENECT_LOG_DEBUG, FREENECT_LOG_SPEW, FREENECT_LOG_FLOOD }
	Enumeration of message logging levels. More...
Functions
EXPORT int	freenect_init (freenect_context *ctx, freenect_usb_context usb_ctx)
EXPORT int	freenect_shutdown (freenect_context *ctx)
EXPORT void	freenect_set_log_level (freenect_context *ctx, freenect_loglevel level)
EXPORT void	freenect_set_log_callback (freenect_context *ctx, freenect_log_cb cb)
EXPORT int	freenect_process_events (freenect_context *ctx)
EXPORT int	freenect_num_devices (freenect_context *ctx)
EXPORT int	freenect_open_device (freenect_context ctx, freenect_device *dev, int index)
EXPORT int	freenect_close_device (freenect_device *dev)
EXPORT void	freenect_set_user (freenect_device dev, void user)
EXPORT void *	freenect_get_user (freenect_device *dev)
EXPORT void	freenect_set_depth_callback (freenect_device *dev, freenect_depth_cb cb)
EXPORT void	freenect_set_video_callback (freenect_device *dev, freenect_video_cb cb)
EXPORT int	freenect_set_depth_format (freenect_device *dev, freenect_depth_format fmt)
EXPORT int	freenect_set_video_format (freenect_device *dev, freenect_video_format fmt)
EXPORT int	freenect_set_depth_buffer (freenect_device dev, void buf)
EXPORT int	freenect_set_video_buffer (freenect_device dev, void buf)
EXPORT int	freenect_start_depth (freenect_device *dev)
EXPORT int	freenect_start_video (freenect_device *dev)
EXPORT int	freenect_stop_depth (freenect_device *dev)
EXPORT int	freenect_stop_video (freenect_device *dev)
EXPORT int	freenect_update_tilt_state (freenect_device *dev)
EXPORT freenect_raw_tilt_state *	freenect_get_tilt_state (freenect_device *dev)
EXPORT double	freenect_get_tilt_degs (freenect_raw_tilt_state *state)
EXPORT int	freenect_set_tilt_degs (freenect_device *dev, double angle)
EXPORT freenect_tilt_status_code	freenect_get_tilt_status (freenect_raw_tilt_state *state)
EXPORT int	freenect_set_led (freenect_device *dev, freenect_led_options option)
EXPORT void	freenect_get_mks_accel (freenect_raw_tilt_state state, double x, double y, double z)

Define Documentation

#define EXPORT

If Win32, export all functions for DLL usage.

DLLExport information for windows, set to nothing on other platforms

#define FREENECT_COUNTS_PER_G 819

Ticks per G for accelerometer as set per http://www.kionix.com/Product%20Sheets/KXSD9%20Product%20Brief.pdf

#define FREENECT_DEPTH_10BIT_PACKED_SIZE 384000

Size of the packed 10 bit depth frame

#define FREENECT_DEPTH_10BIT_SIZE FREENECT_DEPTH_11BIT_SIZE

Size of the 10 bit depth frame

#define FREENECT_DEPTH_11BIT_PACKED_SIZE 422400

Size of the packed 11 bit depth frame

#define FREENECT_DEPTH_11BIT_SIZE (FREENECT_FRAME_PIX*sizeof(uint16_t))

Size of the 11 bit depth frame

#define FREENECT_FRAME_H 480

Default video frame height

#define FREENECT_FRAME_PIX (FREENECT_FRAME_H*FREENECT_FRAME_W)

Pixel count for default video frame

#define FREENECT_FRAME_W 640

Default video frame width

#define FREENECT_IR_FRAME_H 488

Default depth frame height

#define FREENECT_IR_FRAME_PIX (FREENECT_IR_FRAME_H*FREENECT_IR_FRAME_W)

Pixel count for default depth frame

#define FREENECT_IR_FRAME_W 640

Default depth frame width

#define FREENECT_VIDEO_BAYER_SIZE (FREENECT_FRAME_PIX)

Size of the bayer frame

#define FREENECT_VIDEO_IR_10BIT_PACKED_SIZE 390400

Size of the packed 10 bit IR video frame

#define FREENECT_VIDEO_IR_10BIT_SIZE (FREENECT_IR_FRAME_PIX*sizeof(uint16_t))

Size of the 10 bit IR video frame

#define FREENECT_VIDEO_IR_8BIT_SIZE (FREENECT_IR_FRAME_PIX)

Size of the 8 bit IR video frame

#define FREENECT_VIDEO_RGB_SIZE (FREENECT_FRAME_PIX*3)

Size of the decompressed rgb frame

#define FREENECT_VIDEO_YUV_RAW_SIZE (FREENECT_FRAME_PIX*2)

Size of the raw YUV frame

#define FREENECT_VIDEO_YUV_RGB_SIZE (FREENECT_VIDEO_RGB_SIZE)

Size of the rgb YUV frame

Typedef Documentation

typedef struct _freenect_context freenect_context

Holds information about the usb context.

typedef void(* freenect_depth_cb)(freenect_device *dev, void *depth, uint32_t timestamp)

Typedef for depth image received event callbacks.

typedef struct _freenect_device freenect_device

Holds device information.

typedef void(* freenect_log_cb)(freenect_context *dev, freenect_loglevel level, const char *msg)

Typedef for logging callback functions.

typedef libusb_context freenect_usb_context

Holds libusb-1.0 specific information

typedef void(* freenect_video_cb)(freenect_device *dev, void *video, uint32_t timestamp)

Typedef for video image received event callbacks.

Enumeration Type Documentation

enum freenect_depth_format

Enumeration of depth frame states See http://openkinect.org/wiki/Protocol_Documentation#RGB_Camera for more information.

Enumerator:

FREENECT_DEPTH_11BIT	11 bit depth information in one uint_16t/pixel
FREENECT_DEPTH_10BIT	10 bit depth information in one uint_16t/pixel
FREENECT_DEPTH_11BIT_PACKED	11 bit compressed depth information
FREENECT_DEPTH_10BIT_PACKED	10 bit compressed depth information

enum freenect_led_options

Enumeration of LED states See http://openkinect.org/wiki/Protocol_Documentation#Setting_LED for more information.

Enumerator:

LED_OFF	Turn LED off
LED_GREEN	Turn LED to Green
LED_RED	Turn LED to Red
LED_YELLOW	Turn LED to Yellow
LED_BLINK_YELLOW	Make LED blink Green (Not Yellow)
LED_BLINK_GREEN	Make LED blink Green
LED_BLINK_RED_YELLOW	Make LED blink Red/Yellow

enum freenect_loglevel

Enumeration of message logging levels.

Enumerator:

FREENECT_LOG_FATAL	Log for crashing/non-recoverable errors
FREENECT_LOG_ERROR	Log for major errors
FREENECT_LOG_WARNING	Log for warning messages
FREENECT_LOG_NOTICE	Log for important messages
FREENECT_LOG_INFO	Log for normal messages
FREENECT_LOG_DEBUG	Log for useful development messages
FREENECT_LOG_SPEW	Log for slightly less useful messages
FREENECT_LOG_FLOOD	Log EVERYTHING. May slow performance.

enum freenect_tilt_status_code

Enumeration of tilt motor status.

Enumerator:

TILT_STATUS_STOPPED	Tilt motor is stopped
TILT_STATUS_LIMIT	Tilt motor has reached movement limit
TILT_STATUS_MOVING	Tilt motor is currently moving to new position

enum freenect_video_format

Enumeration of video frame information states. See http://openkinect.org/wiki/Protocol_Documentation#RGB_Camera for more information.

Enumerator:

FREENECT_VIDEO_RGB	Decompressed RGB mode (decompression done by libfreenect)
FREENECT_VIDEO_BAYER	Bayer compressed mode (raw information from camera)
FREENECT_VIDEO_IR_8BIT	8-bit IR mode
FREENECT_VIDEO_IR_10BIT	10-bit IR mode
FREENECT_VIDEO_IR_10BIT_PACKED	10-bit packed IR mode
FREENECT_VIDEO_YUV_RGB	YUV RGB mode
FREENECT_VIDEO_YUV_RAW	YUV Raw mode

Function Documentation

EXPORT int freenect_close_device ( freenect_device * dev )

Closes a device that is currently open

Parameters:

dev	Device to close

Returns:: 0 on success

EXPORT void freenect_get_mks_accel	(	freenect_raw_tilt_state *	state,
		double *	x,
		double *	y,
		double *	z
	)

Get the axis-based gravity adjusted accelerometer state, as laid out via the accelerometer data sheet, which is available at

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

Parameters:

state	State to extract accelerometer data from
x	Stores X-axis accelerometer state
y	Stores Y-axis accelerometer state
z	Stores Z-axis accelerometer state

EXPORT double freenect_get_tilt_degs ( freenect_raw_tilt_state * state )

Return the tilt state, in degrees with respect to the horizon

Parameters:

state The tilt state struct from a device

Returns:: Current degree of tilt of the device

EXPORT freenect_raw_tilt_state* freenect_get_tilt_state ( freenect_device * dev )

Retrieve the tilt state from a device

Parameters:

dev	Device to retrieve tilt state from

Returns:: The tilt state struct of the device

EXPORT freenect_tilt_status_code freenect_get_tilt_status ( freenect_raw_tilt_state * state )

Return the movement state of the tilt motor (moving, stopped, etc...)

Parameters:

state Raw state struct to get the tilt status code from

Returns:: Status code of the tilt device. See freenect_tilt_status_code enum for more info.

EXPORT void* freenect_get_user ( freenect_device * dev )

Retrieve the pointer to user data from the device struct

Parameters:

dev	Device from which to get user data

Returns:: Pointer to user data

EXPORT int freenect_init	(	freenect_context **	ctx,
		freenect_usb_context *	usb_ctx
	)

Initialize a freenect context and do any setup required for platform specific USB libraries.

Parameters:

ctx	Pointer to freenect context struct to initialize
usb_ctx	USB context to initialize. Can be NULL if not using multiple contexts.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_num_devices ( freenect_context * ctx )

Return the number of kinect devices currently connected to the system

Parameters:

ctx	Context to access device count through

Returns:: Number of devices connected, < 0 on error

EXPORT int freenect_open_device	(	freenect_context *	ctx,
		freenect_device **	dev,
		int	index
	)

Opens a kinect device via a context. Index specifies the index of the device on the current state of the bus. Bus resets may cause indexes to shift.

Parameters:

ctx	Context to open device through
dev	Device structure to assign opened device to
index	Index of the device on the bus

Returns:: 0 on success, < 0 on error

EXPORT int freenect_process_events ( freenect_context * ctx )

Calls the platform specific usb event processor

Parameters:

ctx	context to process events for

Returns:: 0 on success, other values on error, platform/library dependant

EXPORT int freenect_set_depth_buffer	(	freenect_device *	dev,
		void *	buf
	)

Set the buffer to store depth information to. Size of buffer is dependant on depth format. See FREENECT_DEPTH_*_SIZE defines for more information.

Parameters:

dev	Device to set depth buffer for.
buf	Buffer to store depth information to.

Returns:: 0 on success, < 0 on error

EXPORT void freenect_set_depth_callback	(	freenect_device *	dev,
		freenect_depth_cb	cb
	)

Set callback for depth information received event

Parameters:

dev	Device to set callback for
cb	Function pointer for processing depth information

EXPORT int freenect_set_depth_format	(	freenect_device *	dev,
		freenect_depth_format	fmt
	)

Set the format for depth information

Parameters:

dev	Device to set depth information format for
fmt	Format of depth information. See freenect_depth_format enum.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_set_led	(	freenect_device *	dev,
		freenect_led_options	option
	)

Set the state of the LED. Uses blocking control message call to update device.

Parameters:

dev	Device to set the LED state
option	LED state to set on device. See freenect_led_options enum.

Returns:: 0 on success, < 0 on error

EXPORT void freenect_set_log_callback	(	freenect_context *	ctx,
		freenect_log_cb	cb
	)

Callback for log messages (i.e. for rerouting to a file instead of stdout)

Parameters:

ctx	context to set log callback for
cb	callback function pointer

EXPORT void freenect_set_log_level	(	freenect_context *	ctx,
		freenect_loglevel	level
	)

Set the log level for the specified freenect context

Parameters:

ctx	context to set log level for
level	log level to use (see freenect_loglevel enum)

EXPORT int freenect_set_tilt_degs	(	freenect_device *	dev,
		double	angle
	)

Set the tilt state of the device, in degrees with respect to the horizon. Uses blocking control message call to update device. Function return does not reflect state of device, device may still be moving to new position after the function returns. Use freenect_get_tilt_status() to find current movement state.

Parameters:

dev	Device to set tilt state
angle	Angle the device should tilt to

Returns:: 0 on success, < 0 on error.

EXPORT void freenect_set_user	(	freenect_device *	dev,
		void *	user
	)

Set the device user data, for passing generic information into callbacks

Parameters:

dev	Device to attach user data to
user	User data to attach

EXPORT int freenect_set_video_buffer	(	freenect_device *	dev,
		void *	buf
	)

Set the buffer to store depth information to. Size of buffer is dependant on video format. See FREENECT_VIDEO_*_SIZE defines for more information.

Parameters:

dev	Device to set video buffer for.
buf	Buffer to store video information to.

Returns:: 0 on success, < 0 on error

EXPORT void freenect_set_video_callback	(	freenect_device *	dev,
		freenect_video_cb	cb
	)

Set callback for video information received event

Parameters:

dev	Device to set callback for
cb	Function pointer for processing video information

EXPORT int freenect_set_video_format	(	freenect_device *	dev,
		freenect_video_format	fmt
	)

Set the format for video information

Parameters:

dev	Device to set video information format for
fmt	Format of video information. See freenect_video_format enum.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_shutdown ( freenect_context * ctx )

Closes the device if it is open, and frees the context

Parameters:

ctx	freenect context to close/free

Returns:: 0 on success

EXPORT int freenect_start_depth ( freenect_device * dev )

Start the depth information stream for a device.

Parameters:

dev	Device to start depth information stream for.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_start_video ( freenect_device * dev )

Start the video information stream for a device.

Parameters:

dev	Device to start video information stream for.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_stop_depth ( freenect_device * dev )

Stop the depth information stream for a device

Parameters:

dev	Device to stop depth information stream on.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_stop_video ( freenect_device * dev )

Stop the video information stream for a device

Parameters:

dev	Device to stop video information stream on.

Returns:: 0 on success, < 0 on error

EXPORT int freenect_update_tilt_state ( freenect_device * dev )

Updates the accelerometer state using a blocking control message call.

Parameters:

dev	Device to get accelerometer data from

Returns:: 0 on success, < 0 on error. Accelerometer data stored to device struct.

/Users/qdot/git-projects/libfreenect/include/libfreenect.h File Reference

Classes

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Typedefs

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Define Documentation

Typedef Documentation

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