freenect Namespace Reference

Functions
def	_load_numpy
def	_populate_namespace
def	_setup_shared_library
def	_try_load
def	_try_load_np
def	depth_cb_decorator
def	depth_cb_np
def	mks_accel
def	raw_accel
def	rgb_cb_decorator
def	rgb_cb_np
def	runloop
Variables
int	FORMAT_10_BIT = 1
int	FORMAT_11_BIT = 0
int	FORMAT_BAYER = 1
int	FORMAT_RGB = 0
int	LED_BLINK_GREEN = 5
int	LED_BLINK_RED_YELLOW = 6
int	LED_BLINK_YELLOW = 4
int	LED_GREEN = 1
int	LED_OFF = 0
int	LED_RED = 2
int	LED_YELLOW = 3

Function Documentation

def freenect::_load_numpy ( ) [private]

Definition at line 206 of file freenect.py.

def freenect::_populate_namespace ( ) [private]

Definition at line 136 of file freenect.py.

def freenect::_setup_shared_library ( ) [private]

Types all of the shared library functions

These headers are copied directly from libfreenect.h in order to simplify
updating

Returns:
    (fn, freenect_depth_cb, freenect_rgb_cb) where
    fn: freenect dynamic library updated with type info
    freenect_depth_cb: ctypes callback wrapper for depth
    freenect_rgb_cb: ctypes callback wrapper for rgb

Definition at line 65 of file freenect.py.

def freenect::_try_load	(	paths,
		names,
		extensions
	)		`[private]`

Definition at line 40 of file freenect.py.

def freenect::_try_load_np	(	paths,
		names,
		extensions
	)		`[private]`

Definition at line 57 of file freenect.py.

def freenect::depth_cb_decorator ( func )

Converts the raw depth data into a python string

Args:
    func: A function that takes (dev, data, timestamp), corresponding to C function
        except that data is a python string corresponding to the data.

Returns:
    Function that takes (dev, depth, timestamp) that returns output of func

Definition at line 215 of file freenect.py.

def freenect::depth_cb_np	(	dev,
		string,
		timestamp
	)

Converts the raw depth data into a numpy array for your function

 Args:
     dev: DevPtr object
     string: A python string with the depth data
     timestamp: An int representing the time

 Returns:
     (dev, data, timestamp) where data is a 2D numpy array

Definition at line 250 of file freenect.py.

def freenect::mks_accel ( dev )

Convenience wrapper for mks accelerometers

Args:
    dev: ctypes dev pointer

Returns:
    Tuple of (x, y, z) as ctype.c_double values

Definition at line 160 of file freenect.py.

def freenect::raw_accel ( dev )

Convenience wrapper for raw accelerometers

Args:
    dev: ctypes dev pointer

Returns:
    Tuple of (x, y, z) as ctype.c_int16 values

Definition at line 145 of file freenect.py.

def freenect::rgb_cb_decorator ( func )

Converts the raw RGB data into a python string

Args:
    func: A function that takes (dev, data, timestamp), corresponding to C function
        except that data is a python string corresponding to the data.

Returns:
    Function that takes (dev, rgb, timestamp) that returns output of func

Definition at line 232 of file freenect.py.

def freenect::rgb_cb_np	(	dev,
		string,
		timestamp
	)

Converts the raw depth data into a numpy array for your function

 Args:
     dev: DevPtr object
     string: A python string with the RGB data
     timestamp: An int representing the time

 Returns:
     (dev, data, timestamp) where data is a 2D numpy array

Definition at line 268 of file freenect.py.

def freenect::runloop	(	depth = `None`,
		rgb = `None`
	)

Sets up the kinect and maintains a runloop

This is where most of the action happens.  You can get the dev pointer from the callback
and let this function do all of the setup for you.  You may want to use threads to perform
computation externally as the callbacks should really just be used for copying data.

Args:
    depth: A function that takes (dev, depth, timestamp), corresponding to C function.
        If None (default), then you won't get a callback for depth.
    rgb: A function that takes (dev, rgb, timestamp), corresponding to C function.
        If None (default), then you won't get a callback for rgb.

Definition at line 175 of file freenect.py.