#include <stdint.h>
#include <sys/time.h>

Include dependency graph for libfreenect.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	freenect_device_attributes

struct	freenect_frame_mode

struct	freenect_raw_tilt_state
	Data from the tilt motor and accelerometer. More...

Macros
#define	FREENECT_COUNTS_PER_G 819

#define	FREENECT_DEPTH_MM_MAX_VALUE 10000
	Maximum value that a uint16_t pixel will take on in the buffer of any of the FREENECT_DEPTH_MM or FREENECT_DEPTH_REGISTERED frame callbacks. More...

#define	FREENECT_DEPTH_MM_NO_VALUE 0
	Value indicating that this pixel has no data, when using FREENECT_DEPTH_MM or FREENECT_DEPTH_REGISTERED depth modes. More...

#define	FREENECT_DEPTH_RAW_MAX_VALUE 2048
	Maximum value that a uint16_t pixel will take on in the buffer of any of the FREENECT_DEPTH_11BIT, FREENECT_DEPTH_10BIT, FREENECT_DEPTH_11BIT_PACKED, or FREENECT_DEPTH_10BIT_PACKED frame callbacks. More...

#define	FREENECT_DEPTH_RAW_NO_VALUE 2047
	Value indicating that this pixel has no data, when using FREENECT_DEPTH_11BIT, FREENECT_DEPTH_10BIT, FREENECT_DEPTH_11BIT_PACKED, or FREENECT_DEPTH_10BIT_PACKED. More...

#define	FREENECTAPI
	If Win32, export all functions for DLL usage. More...

Typedefs
typedef void(*	freenect_chunk_cb) (void buffer, void pkt_data, int pkt_num, int datalen, void *user_data)
	Typedef for stream chunk processing callbacks. More...

typedef struct _freenect_context	freenect_context

typedef void(*	freenect_depth_cb) (freenect_device dev, void depth, uint32_t timestamp)
	Typedef for depth image received event callbacks. More...

typedef struct _freenect_device	freenect_device

typedef void(*	freenect_log_cb) (freenect_context dev, freenect_loglevel level, const char msg)
	Typedef for logging callback functions. More...

typedef void	freenect_usb_context

typedef void(*	freenect_video_cb) (freenect_device dev, void video, uint32_t timestamp)
	Typedef for video image received event callbacks. More...

Enumerations
enum	freenect_depth_format { FREENECT_DEPTH_11BIT = 0, FREENECT_DEPTH_10BIT = 1, FREENECT_DEPTH_11BIT_PACKED = 2, FREENECT_DEPTH_10BIT_PACKED = 3, FREENECT_DEPTH_REGISTERED = 4, FREENECT_DEPTH_MM = 5, FREENECT_DEPTH_DUMMY = 2147483647 }

enum	freenect_device_flags { FREENECT_DEVICE_MOTOR = 0x01, FREENECT_DEVICE_CAMERA = 0x02, FREENECT_DEVICE_AUDIO = 0x04 }

enum	freenect_flag { FREENECT_AUTO_EXPOSURE = 1 << 14, FREENECT_AUTO_WHITE_BALANCE = 1 << 1, FREENECT_RAW_COLOR = 1 << 4, FREENECT_MIRROR_DEPTH = 1 << 16, FREENECT_MIRROR_VIDEO = 1 << 17 }
	Enumeration of flags to toggle features with freenect_set_flag() More...

enum	freenect_flag_value { FREENECT_OFF = 0, FREENECT_ON = 1 }
	Possible values for setting each `freenect_flag` More...

enum	freenect_led_options { LED_OFF = 0, LED_GREEN = 1, LED_RED = 2, LED_YELLOW = 3, LED_BLINK_GREEN = 4, LED_BLINK_RED_YELLOW = 6 }

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...

enum	freenect_resolution { FREENECT_RESOLUTION_LOW = 0, FREENECT_RESOLUTION_MEDIUM = 1, FREENECT_RESOLUTION_HIGH = 2, FREENECT_RESOLUTION_DUMMY = 2147483647 }

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_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, FREENECT_VIDEO_DUMMY = 2147483647 }

Functions
FREENECTAPI int	freenect_close_device (freenect_device *dev)

FREENECTAPI freenect_device_flags	freenect_enabled_subdevices (freenect_context *ctx)

FREENECTAPI freenect_frame_mode	freenect_find_depth_mode (freenect_resolution res, freenect_depth_format fmt)

FREENECTAPI freenect_frame_mode	freenect_find_video_mode (freenect_resolution res, freenect_video_format fmt)

FREENECTAPI void	freenect_free_device_attributes (struct freenect_device_attributes *attribute_list)

FREENECTAPI freenect_frame_mode	freenect_get_current_depth_mode (freenect_device *dev)

FREENECTAPI freenect_frame_mode	freenect_get_current_video_mode (freenect_device *dev)

FREENECTAPI freenect_frame_mode	freenect_get_depth_mode (int mode_num)

FREENECTAPI int	freenect_get_depth_mode_count ()

FREENECTAPI void	freenect_get_mks_accel (freenect_raw_tilt_state state, double x, double y, double z)

FREENECTAPI double	freenect_get_tilt_degs (freenect_raw_tilt_state *state)

FREENECTAPI freenect_raw_tilt_state *	freenect_get_tilt_state (freenect_device *dev)

FREENECTAPI freenect_tilt_status_code	freenect_get_tilt_status (freenect_raw_tilt_state *state)

FREENECTAPI void *	freenect_get_user (freenect_device *dev)

FREENECTAPI freenect_frame_mode	freenect_get_video_mode (int mode_num)

FREENECTAPI int	freenect_get_video_mode_count ()

FREENECTAPI int	freenect_init (freenect_context *ctx, freenect_usb_context usb_ctx)

FREENECTAPI int	freenect_list_device_attributes (freenect_context ctx, struct freenect_device_attributes *attribute_list)

FREENECTAPI int	freenect_num_devices (freenect_context *ctx)

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

FREENECTAPI int	freenect_open_device_by_camera_serial (freenect_context ctx, freenect_device dev, const char camera_serial)

FREENECTAPI int	freenect_process_events (freenect_context *ctx)

FREENECTAPI int	freenect_process_events_timeout (freenect_context ctx, struct timeval timeout)

FREENECTAPI void	freenect_select_subdevices (freenect_context *ctx, freenect_device_flags subdevs)

FREENECTAPI int	freenect_set_depth_buffer (freenect_device dev, void buf)

FREENECTAPI void	freenect_set_depth_callback (freenect_device *dev, freenect_depth_cb cb)

FREENECTAPI void	freenect_set_depth_chunk_callback (freenect_device *dev, freenect_chunk_cb cb)

FREENECTAPI int	freenect_set_depth_mode (freenect_device *dev, const freenect_frame_mode mode)

FREENECTAPI int	freenect_set_flag (freenect_device *dev, freenect_flag flag, freenect_flag_value value)

FREENECTAPI void	freenect_set_fw_address_k4w (freenect_context ctx, unsigned char fw_ptr, unsigned int num_bytes)

FREENECTAPI void	freenect_set_fw_address_nui (freenect_context ctx, unsigned char fw_ptr, unsigned int num_bytes)

FREENECTAPI int	freenect_set_led (freenect_device *dev, freenect_led_options option)

FREENECTAPI void	freenect_set_log_callback (freenect_context *ctx, freenect_log_cb cb)

FREENECTAPI void	freenect_set_log_level (freenect_context *ctx, freenect_loglevel level)

FREENECTAPI int	freenect_set_tilt_degs (freenect_device *dev, double angle)

FREENECTAPI void	freenect_set_user (freenect_device dev, void user)

FREENECTAPI int	freenect_set_video_buffer (freenect_device dev, void buf)

FREENECTAPI void	freenect_set_video_callback (freenect_device *dev, freenect_video_cb cb)

FREENECTAPI void	freenect_set_video_chunk_callback (freenect_device *dev, freenect_chunk_cb cb)

FREENECTAPI int	freenect_set_video_mode (freenect_device *dev, freenect_frame_mode mode)

FREENECTAPI int	freenect_shutdown (freenect_context *ctx)

FREENECTAPI int	freenect_start_depth (freenect_device *dev)

FREENECTAPI int	freenect_start_video (freenect_device *dev)

FREENECTAPI int	freenect_stop_depth (freenect_device *dev)

FREENECTAPI int	freenect_stop_video (freenect_device *dev)

FREENECTAPI int	freenect_supported_subdevices (void)

FREENECTAPI int	freenect_update_tilt_state (freenect_device *dev)

Macro Definition Documentation

#define FREENECT_COUNTS_PER_G 819

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

Definition at line 42 of file libfreenect.h.

#define FREENECT_DEPTH_MM_MAX_VALUE 10000

Maximum value that a uint16_t pixel will take on in the buffer of any of the FREENECT_DEPTH_MM or FREENECT_DEPTH_REGISTERED frame callbacks.

Definition at line 45 of file libfreenect.h.

#define FREENECT_DEPTH_MM_NO_VALUE 0

Value indicating that this pixel has no data, when using FREENECT_DEPTH_MM or FREENECT_DEPTH_REGISTERED depth modes.

Definition at line 47 of file libfreenect.h.

#define FREENECT_DEPTH_RAW_MAX_VALUE 2048

Maximum value that a uint16_t pixel will take on in the buffer of any of the FREENECT_DEPTH_11BIT, FREENECT_DEPTH_10BIT, FREENECT_DEPTH_11BIT_PACKED, or FREENECT_DEPTH_10BIT_PACKED frame callbacks.

Definition at line 49 of file libfreenect.h.

#define FREENECT_DEPTH_RAW_NO_VALUE 2047

Value indicating that this pixel has no data, when using FREENECT_DEPTH_11BIT, FREENECT_DEPTH_10BIT, FREENECT_DEPTH_11BIT_PACKED, or FREENECT_DEPTH_10BIT_PACKED.

Definition at line 51 of file libfreenect.h.

#define FREENECTAPI

If Win32, export all functions for DLL usage.

DLLExport information for windows, set to nothing on other platforms

Definition at line 187 of file libfreenect.h.

Typedef Documentation

typedef void(* freenect_chunk_cb) (void *buffer, void *pkt_data, int pkt_num, int datalen, void *user_data)

Typedef for stream chunk processing callbacks.

Definition at line 389 of file libfreenect.h.

typedef struct _freenect_context freenect_context

Holds information about the usb context.

Definition at line 176 of file libfreenect.h.

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

Typedef for depth image received event callbacks.

Definition at line 385 of file libfreenect.h.

typedef struct _freenect_device freenect_device

Holds device information.

Definition at line 179 of file libfreenect.h.

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

Typedef for logging callback functions.

Definition at line 232 of file libfreenect.h.

typedef void freenect_usb_context

Holds libusb-1.0 context

Definition at line 182 of file libfreenect.h.

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

Typedef for video image received event callbacks.

Definition at line 387 of file libfreenect.h.

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 uint16_t/pixel
FREENECT_DEPTH_10BIT	10 bit depth information in one uint16_t/pixel
FREENECT_DEPTH_11BIT_PACKED	11 bit packed depth information
FREENECT_DEPTH_10BIT_PACKED	10 bit packed depth information
FREENECT_DEPTH_REGISTERED	processed depth data in mm, aligned to 640x480 RGB
FREENECT_DEPTH_MM	depth to each pixel in mm, but left unaligned to RGB image
FREENECT_DEPTH_DUMMY	Dummy value to force enum to be 32 bits wide

Definition at line 99 of file libfreenect.h.

enum freenect_device_flags

Flags representing devices to open when freenect_open_device() is called. In particular, this allows libfreenect to grab only a subset of the devices in the Kinect, so you could (for instance) use libfreenect to handle audio and motor support while letting OpenNI have access to the cameras. If a device is not supported on a particular platform, its flag will be ignored.

Enumerator
FREENECT_DEVICE_MOTOR
FREENECT_DEVICE_CAMERA
FREENECT_DEVICE_AUDIO

Definition at line 58 of file libfreenect.h.

enum freenect_flag

Enumeration of flags to toggle features with freenect_set_flag()

Enumerator
FREENECT_AUTO_EXPOSURE
FREENECT_AUTO_WHITE_BALANCE
FREENECT_RAW_COLOR
FREENECT_MIRROR_DEPTH
FREENECT_MIRROR_VIDEO

Definition at line 110 of file libfreenect.h.

enum freenect_flag_value

Possible values for setting each freenect_flag

Enumerator
FREENECT_OFF
FREENECT_ON

Definition at line 121 of file libfreenect.h.

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_GREEN	Make LED blink Green
LED_BLINK_RED_YELLOW	Make LED blink Red/Yellow

Definition at line 148 of file libfreenect.h.

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.

Definition at line 200 of file libfreenect.h.

enum freenect_resolution

Enumeration of available resolutions. Not all available resolutions are actually supported for all video formats. Frame modes may not perfectly match resolutions. For instance, FREENECT_RESOLUTION_MEDIUM is 640x488 for the IR camera.

Enumerator
FREENECT_RESOLUTION_LOW	QVGA - 320x240
FREENECT_RESOLUTION_MEDIUM	VGA - 640x480
FREENECT_RESOLUTION_HIGH	SXGA - 1280x1024
FREENECT_RESOLUTION_DUMMY	Dummy value to force enum to be 32 bits wide

Definition at line 77 of file libfreenect.h.

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

Definition at line 160 of file libfreenect.h.

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 (demosaicing 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
FREENECT_VIDEO_DUMMY	Dummy value to force enum to be 32 bits wide

Definition at line 86 of file libfreenect.h.

Function Documentation

FREENECTAPI int freenect_close_device ( freenect_device * dev )

Closes a device that is currently open

Parameters

dev	Device to close

Returns: 0 on success

Definition at line 406 of file fakenect.c.

FREENECTAPI freenect_device_flags freenect_enabled_subdevices ( freenect_context * ctx )

Returns the devices that are enabled after calls to freenect_open_device() On newer kinects the motor and audio are automatically disabled for now

Parameters

ctx	Context to set future subdevice selection for

Returns: Flags representing the subdevices that were actually opened (see freenect_device_flags)

Definition at line 138 of file core.c.

FREENECTAPI freenect_frame_mode freenect_find_depth_mode	(	freenect_resolution	res,
		freenect_depth_format	fmt
	)

Convenience function to return a mode descriptor matching the specified resolution and depth camera pixel format, if one exists.

Parameters

res	Resolution desired
fmt	Pixel format desired

Returns: A freenect_frame_mode that matches the arguments specified, if such a valid mode exists; otherwise, an invalid freenect_frame_mode.

Definition at line 284 of file fakenect.c.

FREENECTAPI freenect_frame_mode freenect_find_video_mode	(	freenect_resolution	res,
		freenect_video_format	fmt
	)

Convenience function to return a mode descriptor matching the specified resolution and video camera pixel format, if one exists.

Parameters

res	Resolution desired
fmt	Pixel format desired

Returns: A freenect_frame_mode that matches the arguments specified, if such a valid mode exists; otherwise, an invalid freenect_frame_mode.

Definition at line 260 of file fakenect.c.

FREENECTAPI void freenect_free_device_attributes ( struct freenect_device_attributes * attribute_list )

Free the linked list produced by freenect_list_device_attributes().

Parameters

attribute_list Linked list of attributes to free.

Definition at line 112 of file core.c.

FREENECTAPI freenect_frame_mode freenect_get_current_depth_mode ( freenect_device * dev )

Get the frame descriptor of the current depth mode for the specified freenect device.

Parameters

dev	Which device to return the currently-set depth mode for

Returns: A freenect_frame_mode describing the current depth mode of the specified device

Definition at line 303 of file fakenect.c.

FREENECTAPI freenect_frame_mode freenect_get_current_video_mode ( freenect_device * dev )

Get the frame descriptor of the current video mode for the specified freenect device.

Parameters

dev	Which device to return the currently-set video mode for

Returns: A freenect_frame_mode describing the current video mode of the specified device

Definition at line 279 of file fakenect.c.

FREENECTAPI freenect_frame_mode freenect_get_depth_mode ( int mode_num )

Get the frame descriptor of the nth supported depth mode for the depth camera.

Parameters

mode_num Which of the supported modes to return information about

Returns: A freenect_frame_mode describing the nth depth mode

Definition at line 298 of file fakenect.c.

FREENECTAPI int freenect_get_depth_mode_count ( )

Get the number of depth camera modes supported by the driver. This includes both RGB and IR modes.

Returns: Number of depth modes supported by the driver

Definition at line 293 of file fakenect.c.

FREENECTAPI 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

Definition at line 227 of file fakenect.c.

FREENECTAPI 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

Definition at line 211 of file fakenect.c.

FREENECTAPI 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

Definition at line 217 of file fakenect.c.

FREENECTAPI 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.

Definition at line 222 of file fakenect.c.

FREENECTAPI 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

Definition at line 360 of file fakenect.c.

FREENECTAPI freenect_frame_mode freenect_get_video_mode ( int mode_num )

Get the frame descriptor of the nth supported video mode for the video camera.

Parameters

mode_num Which of the supported modes to return information about

Returns: A freenect_frame_mode describing the nth video mode

Definition at line 274 of file fakenect.c.

FREENECTAPI int freenect_get_video_mode_count ( )

Get the number of video camera modes supported by the driver. This includes both RGB and IR modes.

Returns: Number of video modes supported by the driver

Definition at line 269 of file fakenect.c.

FREENECTAPI 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	Address of pointer to freenect context struct to allocate and initialize
usb_ctx	USB context to initialize. Can be NULL if not using multiple contexts.

Returns: 0 on success, < 0 on error

Definition at line 327 of file fakenect.c.

FREENECTAPI int freenect_list_device_attributes	(	freenect_context *	ctx,
		struct freenect_device_attributes **	attribute_list
	)

Scans for kinect devices and produces a linked list of their attributes (namely, serial numbers), returning the number of devices.

Parameters

ctx	Context to scan for kinect devices with
attribute_list	Pointer to where this function will store the resultant linked list

Returns: Number of devices connected, < 0 on error

Definition at line 107 of file core.c.

FREENECTAPI 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

Definition at line 308 of file fakenect.c.

FREENECTAPI 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

Definition at line 314 of file fakenect.c.

FREENECTAPI int freenect_open_device_by_camera_serial	(	freenect_context *	ctx,
		freenect_device **	dev,
		const char *	camera_serial
	)

Opens a kinect device (via a context) associated with a particular camera subdevice serial number. This function will fail if no device with a matching serial number is found.

Parameters

ctx	Context to open device through
dev	Device structure to assign opened device to
camera_serial	Null-terminated ASCII string containing the serial number of the camera subdevice in the device to open

Returns: 0 on success, < 0 on error

Definition at line 321 of file fakenect.c.

FREENECTAPI 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

Definition at line 140 of file fakenect.c.

FREENECTAPI int freenect_process_events_timeout	(	freenect_context *	ctx,
		struct timeval *	timeout
	)

Calls the platform specific usb event processor until either an event occurs or the timeout parameter time has passed. If a zero timeval is passed, this function will handle any already-pending events, then return immediately.

Parameters

ctx	Context to process events for
timeout	Pointer to a timeval containing the maximum amount of time to block waiting for events, or zero for nonblocking mode

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

Definition at line 206 of file fakenect.c.

FREENECTAPI void freenect_select_subdevices	(	freenect_context *	ctx,
		freenect_device_flags	subdevs
	)

Set which subdevices any subsequent calls to freenect_open_device() should open. This will not affect devices which have already been opened. The default behavior, should you choose not to call this function at all, is to open all supported subdevices - motor, cameras, and audio, if supported on the platform.

Parameters

ctx	Context to set future subdevice selection for
subdevs	Flags representing the subdevices to select

Definition at line 338 of file fakenect.c.

FREENECTAPI 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

Definition at line 343 of file fakenect.c.

FREENECTAPI 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

Definition at line 236 of file fakenect.c.

FREENECTAPI void freenect_set_depth_chunk_callback	(	freenect_device *	dev,
		freenect_chunk_cb	cb
	)

Set callback for depth chunk processing

Parameters

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

Definition at line 1102 of file cameras.c.

FREENECTAPI int freenect_set_depth_mode	(	freenect_device *	dev,
		const freenect_frame_mode	mode
	)

Sets the current depth mode for the specified device. The mode cannot be changed while streaming is active.

Parameters

dev	Device for which to set the depth mode
mode	Frame mode to set

Returns: 0 on success, < 0 if error

Definition at line 253 of file fakenect.c.

FREENECTAPI int freenect_set_flag	(	freenect_device *	dev,
		freenect_flag	flag,
		freenect_flag_value	value
	)

Enables or disables the specified flag.

Parameters

flag	Feature to set
value	`FREENECT_OFF` or `FREENECT_ON`

Returns: 0 on success, < 0 if error

Definition at line 48 of file flags.c.

FREENECTAPI void freenect_set_fw_address_k4w	(	freenect_context *	ctx,
		unsigned char *	fw_ptr,
		unsigned int	num_bytes
	)

Allows the user to specify a pointer to the audio firmware in memory for the K4W Kinect

Parameters

ctx	Context to open device through
fw_ptr	Pointer to audio firmware loaded in memory
num_bytes	The size of the firmware in bytes

Definition at line 292 of file core.c.

FREENECTAPI void freenect_set_fw_address_nui	(	freenect_context *	ctx,
		unsigned char *	fw_ptr,
		unsigned int	num_bytes
	)

Allows the user to specify a pointer to the audio firmware in memory for the Xbox 360 Kinect

Parameters

ctx	Context to open device through
fw_ptr	Pointer to audio firmware loaded in memory
num_bytes	The size of the firmware in bytes

Definition at line 286 of file core.c.

FREENECTAPI 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

Definition at line 414 of file fakenect.c.

FREENECTAPI 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

Definition at line 400 of file fakenect.c.

FREENECTAPI 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)

Definition at line 401 of file fakenect.c.

FREENECTAPI 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.

Definition at line 410 of file fakenect.c.

FREENECTAPI 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

Definition at line 355 of file fakenect.c.

FREENECTAPI 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

Definition at line 349 of file fakenect.c.

FREENECTAPI 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

Definition at line 241 of file fakenect.c.

FREENECTAPI void freenect_set_video_chunk_callback	(	freenect_device *	dev,
		freenect_chunk_cb	cb
	)

Set callback for video chunk processing

Parameters

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

Definition at line 1107 of file cameras.c.

FREENECTAPI int freenect_set_video_mode	(	freenect_device *	dev,
		freenect_frame_mode	mode
	)

Sets the current video mode for the specified device. If the freenect_frame_mode specified is not one provided by the driver e.g. from freenect_get_video_mode() or freenect_find_video_mode() then behavior is undefined. The current video mode cannot be changed while streaming is active.

Parameters

dev	Device for which to set the video mode
mode	Frame mode to set

Returns: 0 on success, < 0 if error

Definition at line 246 of file fakenect.c.

FREENECTAPI 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

Definition at line 402 of file fakenect.c.

FREENECTAPI 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

Definition at line 365 of file fakenect.c.

FREENECTAPI 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

Definition at line 371 of file fakenect.c.

FREENECTAPI 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

Definition at line 377 of file fakenect.c.

FREENECTAPI 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

Definition at line 383 of file fakenect.c.

FREENECTAPI int freenect_supported_subdevices ( void )

Answer which subdevices this library supports. This is most useful for wrappers trying to determine whether the underlying library was built with audio support or not, so the wrapper can avoid calling functions that do not exist.

Returns: Flags representing the subdevices that the library supports opening (see freenect_device_flags)

Definition at line 333 of file fakenect.c.

FREENECTAPI 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.

Definition at line 418 of file fakenect.c.

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