Unigine::Plugins::Kinect Class
| Header: | #include <plugins/Unigine/Kinect/UnigineKinect.h> |
This set of functions is available when the Kinect2 plugin is loaded. This plugin is used for receiving already detected data from a Kinect2 sensor.
Notice
Kinect SDK 2.0+ must be installed on your computer.
If the plugin is loaded together with the engine, the HAS_KINECT definition is set. This definition can be used, for example, to avoid errors if the plugin is not loaded: the code in which the plugin functions are executed can be wrapped around as follows:
Source code (C++)
#ifdef HAS_KINECT
// kinect functions
#endifThe Unigine Kinect plugin works in the following way: when kinect::isBodyTracked(body) returns 0, kinect::getBonePosition(body, bone) will return vec3_zero. Kinect has its own framerate, so the body tracking information is not available each engine frame. Wrist tracking can be achieved via:
Source code (C++)
vec3 wrist;
int update() {
if(kinect::isBodyTracked(0)) {
wrist = kinect::getBonePosition(0,KINECT::BONE_WRIST_LEFT);
}
visualizer->renderSphere(0.05f,translate(wrist),vec4_one);
return 1;
}See Also#
- Article on Kinect2 Plugin
- A set of UnigineScript API samples located in the <UnigineSDK>/data/samples/plugins/ folder:
- kinect_00
- kinect_01
- kinect_02
Kinect Class
Перечисления (Enums)
FACE_PROPERTY#
FACE_POINT#
FACE_DETECTION_RESULT#
BONE#
HAND_STATE#
TRACKING_CONFIDENCE#
TRACKING_STATE#
NUM#
STREAM#
| Имя | Описание |
|---|---|
| STREAM_COLOR = 1 | A color stream. If this constant isn't specified on sensor initialization, there will be no access to the color stream. |
| STREAM_INFRARED = 2 | An infrared stream. If this constant isn't specified on sensor initialization, there will be no access to the infrared stream. |
| STREAM_DEPTH = 8 | A depth stream. If this constant isn't specified on sensor initialization, there will be no access to the depth stream. |
| STREAM_BODY = 32 | A body. If this constant isn't specified on sensor initialization, bodies won't be tracked. |
| STREAM_ALL = 43 | The STREAM_COLOR, STREAM_INFRARED, STREAM_DEPTH, STREAM_BODY constants combined by using logical OR. |
Members
Kinect::TRACKING_STATE getBodyLeanState ( int body ) const#
Returns a value indicating whether the body with the given number was tracked as lean or not.Arguments
- int body - Body index in range [0;NUM_BODIES - 1 ].
Return value
One of the TRACKING_STATE_* constants specifying the tracking state. If the STREAM_BODY is not specified on sensor initialization, TRACKING_STATE_NOT_TRACKED will be returned.Math::quat getBoneOrientation ( int body, Kinect::BONE bone ) const#
Returns orientation of the given bone of the given body relative to the parent bone.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
- Kinect::BONE bone - Bone number in range [0;NUM_BONES - 1 ].
Return value
Bone orientation relative to the parent bone. If the STREAM_BODY is not specified on sensor initialization, zero quat will be returned.Math::vec3 getBonePosition ( int body, Kinect::BONE bone ) const#
Returns position of the given bone of the given body relative to the sensor.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
- Kinect::BONE bone - Bone number in range [0;NUM_BONES - 1 ].
Return value
Bone position relative to the sensor. If the STREAM_BODY is not specified on sensor initialization, zero vector will be returned.Kinect::TRACKING_STATE getBoneState ( int body, Kinect::BONE bone ) const#
Returns the current tracking state of the given bone of the given body.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
- Kinect::BONE bone - Bone number in range [0;NUM_BONES - 1 ].
Return value
One of the TRACKING_STATE_* constants specifying the tracking state. If the STREAM_BODY is not specified on sensor initialization, TRACKING_STATE_NOT_TRACKED will be returned.Ptr<Image> getColorBuffer ( ) const#
Returns an image representing the current color buffer in the RGBA8 format.Notice
The image in the color buffer is deleted each frame. However, the data isn't sent to the buffer each frame, so the function may return NULL.
Return value
An image representing the current color buffer. If the STREAM_COLOR is not specified on sensor initialization, NULL will be returned.Ptr<Image> getDepthBuffer ( ) const#
Returns an image representing the current depth buffer in the R16 format.Notice
The image in the depth buffer is deleted each frame. However, the data isn't sent to the buffer each frame, so the function may return NULL.
Return value
An image representing the current depth buffer. If the STREAM_DEPTH is not specified on sensor initialization, NULL will be returned.Math::ivec4 getFaceBoundsInColorSpace ( int face ) const#
Returns bounds of the given face relative to the size of the color buffer.Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
Return value
Face bounds in the format (Left,Top,Right,Bottom). If the STREAM_BODY is not specified on sensor initialization, zero vector will be returned.Math::ivec4 getFaceBoundsInInfraredSpace ( int face ) const#
Returns bounds of the given face relative to the size of the infrared buffer.Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
Return value
Face bounds in the format (Left,Top,Right,Bottom). If the STREAM_BODY is not specified on sensor initialization, zero vector will be returned.Math::quat getFaceOrientation ( int face ) const#
Returns orientation of the given face relative to the sensor.Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
Return value
Face orientation. If the STREAM_BODY is not specified on sensor initialization, zero quat will be returned.Math::vec3 getFacePointInColorSpace ( int face, Kinect::FACE_POINT point ) const#
Returns coordinates of the given point on the given face relative to the size of the color buffer.Notice
Only X and Y components of the returned vector are used, Z component should be ignored.
Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
- Kinect::FACE_POINT point - Face point number in range [0;NUM_FACE_POINTS - 1 ].
Return value
Face point coordinates. If the STREAM_BODY is not specified on sensor initialization, zero vector will be returned.Math::vec3 getFacePointInInfraredSpace ( int face, Kinect::FACE_POINT point ) const#
Returns coordinates of the given point on the given face relative to the size of the infrared buffer.Notice
Only X and Y components of the returned vector are used, Z component should be ignored.
Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
- Kinect::FACE_POINT point - Face point number in range [0;NUM_FACE_POINTS - 1 ].
Return value
Face point coordinates. If the STREAM_BODY is not specified on sensor initialization, zero vector will be returned.Kinect::FACE_DETECTION_RESULT getFaceProperty ( int face, Kinect::FACE_PROPERTY property ) const#
Returns a value indicating how accurate the property of the given face was tracked.Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
- Kinect::FACE_PROPERTY property - Face property number in range [0;NUM_FACE_PROPERTIES - 1 ].
Return value
One of the KINECT_FACE_DETECTION_RESULT_* constants. If The STREAM_BODY is not specified on sensor initialization, KINECT_FACE_DETECTION_RESULT_UNKNOWN will be returned.Ptr<Image> getInfraredBuffer ( ) const#
Returns an image representing the current infrared buffer in the R16 format.Notice
The image in the infrared buffer is deleted each frame. However, the data isn't sent to the buffer each frame, so the function may return NULL.
Return value
An image representing the current infrared buffer. If the STREAM_INFRARED is not specified on sensor initialization, NULL will be returned.Kinect::TRACKING_CONFIDENCE getLeftHandConfidence ( int body ) const#
Returns the confidence level for the tracked left hand of the given body.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
Return value
One of the TRACKING_CONFIDENCE_*. If The STREAM_BODY is not specified on sensor initialization, TRACKING_CONFIDENCE_LOW will be returned.Kinect::HAND_STATE getLeftHandState ( int body ) const#
Returns the current state of the left hand of the given body.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
Return value
One of the HAND_STATE_*. If The STREAM_BODY is not specified on sensor initialization, HAND_STATE_UNKNOWN will be returned.Kinect::TRACKING_CONFIDENCE getRightHandConfidence ( int body ) const#
Returns the confidence level for the tracked right hand of the given body.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
Return value
One of the TRACKING_CONFIDENCE_*. If The STREAM_BODY is not specified on sensor initialization, TRACKING_CONFIDENCE_LOW will be returned.Kinect::HAND_STATE getRightHandState ( int body ) const#
Returns the current state of the right hand of the given body.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
Return value
One of the HAND_STATE_*. If The STREAM_BODY is not specified on sensor initialization, HAND_STATE_UNKNOWN will be returned.int init ( unsigned int stream_flags ) #
Kinect2 sensor initialization. The STREAM_* constants specify which data streams should be initialized.Arguments
- unsigned int stream_flags - A bit mask represented by one of or combination of the STREAM_* constants.
Return value
1 if the sensor was initialized successfully; otherwise, 0.Examples
For example, there will be access to the color and depth buffers if you initialize the sensor as follows:
Source code (UnigineScript)
engine.kinect.init(KINECT_STREAM_COLOR | KINECT_STREAM_DEPTH);bool isBodyTracked ( int body ) const#
Returns a value indicating if the body with the given number was tracked by the sensor.Arguments
- int body - Body number in range [0;NUM_BODIES - 1 ].
Return value
true if the body was tracked; otherwise, false. If the STREAM_BODY is not specified on sensor initialization, fals will be returned.bool isFaceTracked ( int face ) const#
Returns a value indicating whether the face with the given number was tracked or not.Arguments
- int face - Face number in range [0;NUM_BODIES - 1 ].
Return value
true if the given face is tracked; otherwise, false. If the STREAM_BODY is not specified on sensor initialization, false will be returned.void shutdown ( ) #
Kinect2 sensor shutdown.Last update:
16.08.2024
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