engine.kinect Functions
This set of functions is available when the Kinect2 plugin add-on is loaded. This plugin is used for receiving already detected data from a Kinect2 sensor.
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. The 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 Add-On
int KINECT_BONE_ANKLE_LEFT
Description
The left ankle.int KINECT_BONE_ANKLE_RIGHT
Description
The right ankle.int KINECT_BONE_ELBOW_LEFT
Description
The left elbow.int KINECT_BONE_FOOT_LEFT
Description
The left foot.int KINECT_BONE_FOOT_RIGHT
Description
The right foot.int KINECT_BONE_HAND_LEFT
Description
The left hand.int KINECT_BONE_HAND_RIGHT
Description
The right hand.int KINECT_BONE_HAND_TIP_LEFT
Description
The tip of the left hand.int KINECT_BONE_HAND_TIP_RIGHT
Description
The tip of the right hand.int KINECT_BONE_HEAD
Description
A head.int KINECT_BONE_HIP_LEFT
Description
The left hip (except the thumb).int KINECT_BONE_HIP_RIGHT
Description
The right hip (except the thumb).int KINECT_BONE_KNEE_LEFT
Description
The left knee.int KINECT_BONE_KNEE_RIGHT
Description
The right knee.int KINECT_BONE_NECK
Description
A neck.int KINECT_BONE_SHOULDER_LEFT
Description
The left shoulder.int KINECT_BONE_SHOULDER_RIGHT
Description
The right shoulder.int KINECT_BONE_SPINE_BASE
Description
Base of the spine.int KINECT_BONE_SPINE_MID
Description
Middle of the spine.int KINECT_BONE_SPINE_SHOULDER
Description
A spine at the shoulder.int KINECT_BONE_THUMB_LEFT
Description
The left thumb.int KINECT_BONE_THUMB_RIGHT
Description
The right thumb.int KINECT_BONE_WRIST_LEFT
Description
The left wrist.int KINECT_BONE_WRIST_RIGHT
Description
The right wrist.int KINECT_FACE_DETECTION_RESULT_MAYBE
Description
A flag indicating that the face property (state) is partially tracked.int KINECT_FACE_DETECTION_RESULT_NO
Description
A flag indicating that the face property (state) is not tracked.int KINECT_FACE_DETECTION_RESULT_UNKNOWN
Description
A flag indicating that the face is in the unknown state.int KINECT_FACE_DETECTION_RESULT_YES
Description
A flag indicating that the face property (state) is tracked.int KINECT_FACE_POINT_EYE_LEFT
Description
The left eye.int KINECT_FACE_POINT_EYE_RIGHT
Description
The right eye.int KINECT_FACE_POINT_MOUTH_CORNER_LEFT
Description
The left corner of the mouse.int KINECT_FACE_POINT_MOUTH_CORNER_RIGHT
Description
The right corner of the mouse.int KINECT_FACE_POINT_NOSE
Description
The nose.int KINECT_FACE_PROPERTY_ENGAGED
Description
The user's face is engaged.int KINECT_FACE_PROPERTY_EYE_LEFT_CLOSED
Description
The user's left eye is closed.int KINECT_FACE_PROPERTY_EYE_RIGHT_CLOSED
Description
The user's right eye is closed.int KINECT_FACE_PROPERTY_GLASSES
Description
There are glasses on the face.int KINECT_FACE_PROPERTY_HAPPY
Description
The user's face is happy (for example, the user is smiling).int KINECT_FACE_PROPERTY_LOOKING_AWAY
Description
The user is looking away.int KINECT_FACE_PROPERTY_MOUTH_MOVED
Description
The user's mouth moved.int KINECT_FACE_PROPERTY_MOUTH_OPEN
Description
The user's mouth is open.int KINECT_HAND_STATE_CLOSED
Description
A flag indicating that the hand is closed (clenched in a fist).int KINECT_HAND_STATE_LASSO
Description
A flag indicating that the hand is in the lasso state (a closed hand with the middle and index fingers both up).int KINECT_HAND_STATE_NOT_TRACKED
Description
A flag indicating that the state of the hand is not tracked.int KINECT_HAND_STATE_OPEN
Description
A flag indicating that the hand is open.int KINECT_HAND_STATE_UNKNOWN
Description
A flag indicating that the state of the hand is unknown.int KINECT_NUM_BODIES
Description
Number of tracked bodies. The maximum value is 6.int KINECT_NUM_BONES
Description
Number of tracked bones. The maximum value is 25.int KINECT_NUM_FACE_POINTS
Description
Number of tracked face points (left and right eyes, nose, left and right mouth corners). The maximum value is 5.int KINECT_NUM_FACE_PROPERTIES
Description
Number of tracked face states (for example, happy, engaged, wearing glasses and so on). The maximum value is 8.int KINECT_STREAM_ALL
Description
The KINECT_STREAM_COLOR, KINECT_STREAM_INFRARED, KINECT_STREAM_DEPTH, KINECT_STREAM_BODY constants combined by usinglogical OR.int KINECT_STREAM_BODY
Description
A body. If this constant isn't specified on sensor initialization, bodies won't be tracked.int KINECT_STREAM_COLOR
Description
A color stream. If this constant isn't specified on sensor initialization, there will be no access to the color stream.int KINECT_STREAM_DEPTH
Description
A depth stream. If this constant isn't specified on sensor initialization, there will be no access to the depth stream.int KINECT_STREAM_INFRARED
Description
An infrared stream. If this constant isn't specified on sensor initialization, there will be no access to the infrared stream.int KINECT_TRACKING_CONFIDENCE_HIGH
Description
A flag indicating that a hand is tracked with the high level of confidence (a hand is fully tracked).int KINECT_TRACKING_CONFIDENCE_LOW
Description
A flag indicating that a hand is tracked with the low level of confidence (perhaps a hand is tracked correctly).int KINECT_TRACKING_STATE_INFERRED
Description
A flag indicating that a body and bones are inferred (Kinect inferring their positions).int KINECT_TRACKING_STATE_NOT_TRACKED
Description
A flag indicating that a body and bones aren't tracked.int KINECT_TRACKING_STATE_TRACKED
Description
A flag indicating that a body and bones are being tracked.int engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 lang="usc" 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 engine.kinect.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 lang="usc" 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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 lang="usc" 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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.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 engine.kinect.shutdown()
Kinect2 sensor shutdown.Last update: 03.07.2017
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