Unigine::Plugins::Kinect Class
| Header: | #include <plugins/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 (UnigineScript)
#ifdef HAS_KINECT
// engine.kinect functions
#endifThe Unigine Kinect plugin works in the foolowing way: when engine.kinect.isBodyTracked(body) returns 0, engine.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 (UnigineScript)
vec3 wrist;
int update() {
if(engine.kinect.isBodyTracked(0)) {
wrist = engine.kinect.getBonePosition(0,KINECT_BONE_WRIST_LEFT);
}
engine.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
Members
int getBodyLeanState ( int body ) #
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;KINECT_NUM_BODIES - 1 ].
Return value
One of the KINECT_TRACKING_STATE_* constants specifying the tracking state. If the KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_TRACKING_STATE_NOT_TRACKED will be returned.quat getBoneOrientation ( int body, int bone ) #
Returns orientation of the given bone of the given body relative to the parent bone.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
- int bone - Bone number in range [0;KINECT_NUM_BONES - 1 ].
Return value
Bone orientation relative to the parent bone. If the KINECT_STREAM_BODY is not specified on sensor initialization, zero quat will be returned.vec3 getBonePosition ( int body, int bone ) #
Returns position of the given bone of the given body relative to the sensor.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
- int bone - Bone number in range [0;KINECT_NUM_BONES - 1 ].
Return value
Bone position relative to the sensor. If the KINECT_STREAM_BODY is not specified on sensor initialization, zero vector will be returned.int getBoneState ( int body, int bone ) #
Returns the current tracking state of the given bone of the given body.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
- int bone - Bone number in range [0;KINECT_NUM_BONES - 1 ].
Return value
One of the KINECT_TRACKING_STATE_* constants specifying the tracking state. If the KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_TRACKING_STATE_NOT_TRACKED will be returned.Image getColorBuffer ( ) #
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 KINECT_STREAM_COLOR is not specified on sensor initialization, NULL will be returned.Image getDepthBuffer ( ) #
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 KINECT_STREAM_DEPTH is not specified on sensor initialization, NULL will be returned.ivec4 getFaceBoundsInColorSpace ( int face ) #
Returns bounds of the given face relative to the size of the color buffer.Arguments
- int face - Face number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
Face bounds in the format (Left,Top,Right,Bottom). If the KINECT_STREAM_BODY is not specified on sensor initialization, zero vector will be returned.ivec4 getFaceBoundsInInfraredSpace ( int face ) #
Returns bounds of the given face relative to the size of the infrared buffer.Arguments
- int face - Face number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
Face bounds in the format (Left,Top,Right,Bottom). If the KINECT_STREAM_BODY is not specified on sensor initialization, zero vector will be returned.quat getFaceOrientation ( int face ) #
Returns orientation of the given face relative to the sensor.Arguments
- int face - Face number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
Face orientation. If the KINECT_STREAM_BODY is not specified on sensor initialization, zero quat will be returned.vec3 getFacePointInColorSpace ( int face, int point ) #
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;KINECT_NUM_BODIES - 1 ].
- int point - Face point number in range [0;KINECT_NUM_FACE_POINTS - 1 ].
Return value
Face point coordinates. If the KINECT_STREAM_BODY is not specified on sensor initialization, zero vector will be returned.vec3 getFacePointInInfraredSpace ( int face, int point ) #
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;KINECT_NUM_BODIES - 1 ].
- int point - Face point number in range [0;KINECT_NUM_FACE_POINTS - 1 ].
Return value
Face point coordinates. If the KINECT_STREAM_BODY is not specified on sensor initialization, zero vector will be returned.int getFaceProperty ( int face, int property ) #
Returns a value indicating how accurate the property of the given face was tracked.Arguments
- int face - Face number in range [0;KINECT_NUM_BODIES - 1 ].
- int property - Face property number in range [0;KINECT_NUM_FACE_PROPERTIES - 1 ].
Return value
One of the KINECT_FACE_DETECTION_RESULT_* constants. If The KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_FACE_DETECTION_RESULT_UNKNOWN will be returned.Image getInfraredBuffer ( ) #
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 KINECT_STREAM_INFRARED is not specified on sensor initialization, NULL will be returned.int getLeftHandConfidence ( int body ) #
Returns the confidence level for the tracked left hand of the given body.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
One of the KINECT_TRACKING_CONFIDENCE_*. If The KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_TRACKING_CONFIDENCE_LOW will be returned.int getLeftHandState ( int body ) #
Returns the current state of the left hand of the given body.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
One of the KINECT_HAND_STATE_*. If The KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_HAND_STATE_UNKNOWN will be returned.int getRightHandConfidence ( int body ) #
Returns the confidence level for the tracked right hand of the given body.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
One of the KINECT_TRACKING_CONFIDENCE_*. If The KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_TRACKING_CONFIDENCE_LOW will be returned.int getRightHandState ( int body ) #
Returns the current state of the right hand of the given body.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
One of the KINECT_HAND_STATE_*. If The KINECT_STREAM_BODY is not specified on sensor initialization, KINECT_HAND_STATE_UNKNOWN will be returned.int init ( int flags ) #
Kinect2 sensor initialization. The KINECT_STREAM_* constants specify which data streams should be initialized.Arguments
- int flags - A bit mask represented by one of or combination of the KINECT_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);int isBodyTracked ( int body ) #
Returns a value indicating if the body with the given number was tracked by the sensor.Arguments
- int body - Body number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
1 if the body was tracked; otherwise, 0. If the KINECT_STREAM_BODY is not specified on sensor initialization, 0 will be returned.int isFaceTracked ( int face ) #
Returns a value indicating whether the face with the given number was tracked or not.Arguments
- int face - Face number in range [0;KINECT_NUM_BODIES - 1 ].
Return value
1 if the given face is tracked; otherwise, 0. If the KINECT_STREAM_BODY is not specified on sensor initialization, 0 will be returned.void shutdown ( ) #
Kinect2 sensor shutdown.Last update:
2020-07-31
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