33 class error :
public std::runtime_error
36 using runtime_error::runtime_error;
51 template<
typename output_type,
typename input_type> output_type clamp_cast(input_type input)
53 static_assert(std::is_arithmetic<input_type>::value,
"clamp_cast only supports arithmetic types");
54 static_assert(std::is_arithmetic<output_type>::value,
"clamp_cast only supports arithmetic types");
55 const input_type min_value = std::is_signed<input_type>() ?
56 static_cast<input_type>(std::numeric_limits<output_type>::min()) :
59 input_type max_value =
static_cast<input_type
>(std::numeric_limits<output_type>::max());
64 max_value = std::numeric_limits<input_type>::max();
66 input = std::min(input, max_value);
67 input = std::max(input, min_value);
68 return static_cast<output_type
>(input);
92 image(
const image &other) noexcept : m_handle(other.m_handle)
94 if (m_handle !=
nullptr)
96 k4a_image_reference(m_handle);
104 other.m_handle =
nullptr;
119 m_handle = other.m_handle;
120 if (m_handle !=
nullptr)
122 k4a_image_reference(m_handle);
135 m_handle = other.m_handle;
136 other.m_handle =
nullptr;
153 return m_handle == other.m_handle;
160 return m_handle ==
nullptr;
167 return m_handle != other.m_handle;
174 return m_handle !=
nullptr;
179 operator bool() const noexcept
181 return m_handle !=
nullptr;
195 if (m_handle !=
nullptr)
197 k4a_image_release(m_handle);
210 k4a_result_t result = k4a_image_create(format, width_pixels, height_pixels, stride_bytes, &handle);
213 throw error(
"Failed to create image!");
215 return image(handle);
230 void *buffer_release_cb_context)
233 k4a_result_t result = k4a_image_create_from_buffer(format,
240 buffer_release_cb_context,
244 throw error(
"Failed to create image from buffer");
246 return image(handle);
255 return k4a_image_get_buffer(m_handle);
264 return k4a_image_get_buffer(m_handle);
273 return k4a_image_get_size(m_handle);
282 return k4a_image_get_format(m_handle);
291 return k4a_image_get_width_pixels(m_handle);
300 return k4a_image_get_height_pixels(m_handle);
309 return k4a_image_get_stride_bytes(m_handle);
318 return std::chrono::microseconds(k4a_image_get_device_timestamp_usec(m_handle));
327 return std::chrono::nanoseconds(k4a_image_get_system_timestamp_nsec(m_handle));
336 return std::chrono::microseconds(k4a_image_get_exposure_usec(m_handle));
345 return k4a_image_get_white_balance(m_handle);
354 return k4a_image_get_iso_speed(m_handle);
363 k4a_image_set_device_timestamp_usec(m_handle, internal::clamp_cast<uint64_t>(timestamp.count()));
372 k4a_image_set_exposure_usec(m_handle, internal::clamp_cast<uint64_t>(exposure.count()));
381 k4a_image_set_white_balance(m_handle, white_balance);
390 k4a_image_set_iso_speed(m_handle, iso_speed);
416 if (m_handle !=
nullptr)
418 k4a_capture_reference(m_handle);
426 other.m_handle =
nullptr;
441 m_handle = other.m_handle;
442 if (m_handle !=
nullptr)
444 k4a_capture_reference(m_handle);
457 m_handle = other.m_handle;
458 other.m_handle =
nullptr;
475 return m_handle == other.m_handle;
482 return m_handle ==
nullptr;
489 return m_handle != other.m_handle;
496 return m_handle !=
nullptr;
501 operator bool() const noexcept
503 return m_handle !=
nullptr;
510 if (m_handle !=
nullptr)
512 k4a_capture_release(m_handle);
523 return image(k4a_capture_get_color_image(m_handle));
532 return image(k4a_capture_get_depth_image(m_handle));
541 return image(k4a_capture_get_ir_image(m_handle));
550 k4a_capture_set_color_image(m_handle, color_image.handle());
559 k4a_capture_set_depth_image(m_handle, depth_image.handle());
568 k4a_capture_set_ir_image(m_handle, ir_image.handle());
577 k4a_capture_set_temperature_c(m_handle, temperature_c);
586 return k4a_capture_get_temperature_c(m_handle);
600 throw error(
"Failed to create capture!");
631 throw error(
"Calibration contained invalid transformation parameters!");
633 return target_point3d;
652 this, &source_point2d, source_depth, source_camera, target_camera, target_point3d, &valid);
656 throw error(
"Calibration contained invalid transformation parameters!");
658 return static_cast<bool>(valid);
679 throw error(
"Calibration contained invalid transformation parameters!");
681 return static_cast<bool>(valid);
700 this, &source_point2d, source_depth, source_camera, target_camera, target_point2d, &valid);
704 throw error(
"Calibration contained invalid transformation parameters!");
706 return static_cast<bool>(valid);
715 size_t raw_calibration_size,
721 k4a_calibration_get_from_raw(raw_calibration, raw_calibration_size, depth_mode, color_resolution, &calib);
725 throw error(
"Failed to load calibration from raw calibration blob!");
736 size_t raw_calibration_size,
740 return get_from_raw(reinterpret_cast<char *>(raw_calibration),
741 raw_calibration_size,
755 return get_from_raw(reinterpret_cast<char *>(raw_calibration.data()),
756 raw_calibration.size(),
787 other.m_handle =
nullptr;
804 m_handle = other.m_handle;
805 other.m_handle =
nullptr;
825 if (m_handle !=
nullptr)
827 k4a_transformation_destroy(m_handle);
839 k4a_result_t result = k4a_transformation_depth_image_to_color_camera(m_handle,
841 transformed_depth_image->
handle());
844 throw error(
"Failed to convert depth map to color camera geometry!");
854 const image &color_image,
855 image *transformed_color_image)
const 857 k4a_result_t result = k4a_transformation_color_image_to_depth_camera(m_handle,
860 transformed_color_image->
handle());
863 throw error(
"Failed to convert color image to depth camera geometry!");
875 k4a_transformation_depth_image_to_point_cloud(m_handle, depth_image.
handle(), camera, xyz_image->
handle());
878 throw error(
"Failed to transform depth image to point cloud!");
905 dev.m_handle =
nullptr;
924 m_handle = dev.m_handle;
925 dev.m_handle =
nullptr;
932 operator bool() const noexcept
934 return m_handle !=
nullptr;
943 if (m_handle !=
nullptr)
945 k4a_device_close(m_handle);
958 int32_t timeout_ms = internal::clamp_cast<int32_t>(timeout.count());
959 k4a_wait_result_t result = k4a_device_get_capture(m_handle, &capture_handle, timeout_ms);
962 throw error(
"Failed to get capture from device!");
969 *cap =
capture(capture_handle);
980 int32_t timeout_ms = internal::clamp_cast<int32_t>(timeout.count());
981 k4a_wait_result_t result = k4a_device_get_imu_sample(m_handle, imu_sample, timeout_ms);
984 throw error(
"Failed to get IMU sample from device!");
1001 k4a_result_t result = k4a_device_start_cameras(m_handle, configuration);
1004 throw error(
"Failed to start cameras!");
1014 k4a_device_stop_cameras(m_handle);
1027 throw error(
"Failed to start IMU!");
1037 k4a_device_stop_imu(m_handle);
1047 std::string serialnum;
1053 serialnum.resize(buffer);
1054 result = k4a_device_get_serialnum(m_handle, &serialnum[0], &buffer);
1060 serialnum.resize(buffer - 1);
1066 throw error(
"Failed to read device serial number!");
1079 k4a_result_t result = k4a_device_get_color_control(m_handle, command, mode, value);
1082 throw error(
"Failed to read color control!");
1093 k4a_result_t result = k4a_device_set_color_control(m_handle, command, mode, value);
1096 throw error(
"Failed to set color control!");
1109 k4a_buffer_result_t result = k4a_device_get_raw_calibration(m_handle, &calibration[0], &buffer);
1113 calibration.resize(buffer);
1114 result = k4a_device_get_raw_calibration(m_handle, &calibration[0], &buffer);
1119 throw error(
"Failed to read raw device calibration!");
1133 k4a_result_t result = k4a_device_get_calibration(m_handle, depth_mode, color_resolution, &calib);
1137 throw error(
"Failed to read device calibration!");
1149 bool sync_in_jack_connected, sync_out_jack_connected;
1150 k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected);
1154 throw error(
"Failed to read sync jack status!");
1156 return sync_in_jack_connected;
1166 bool sync_in_jack_connected, sync_out_jack_connected;
1167 k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected);
1171 throw error(
"Failed to read sync jack status!");
1173 return sync_out_jack_connected;
1184 k4a_result_t result = k4a_device_get_version(m_handle, &version);
1188 throw error(
"Failed to read device firmware information!");
1205 throw error(
"Failed to open device!");
1216 return k4a_device_get_installed_count();
bool is_sync_out_connected() const
Get the device jack status for the synchronization out connector Throws error on failure.
Definition: k4a.hpp:1164
k4a_color_resolution_t color_resolution
Color camera resolution for which calibration was obtained.
Definition: k4atypes.h:1037
Calibration type representing device calibration.
Definition: k4atypes.h:1022
The result was successful.
Definition: k4atypes.h:233
void reset() noexcept
Releases the underlying k4a_image_t; the image is set to invalid.
Definition: k4a.hpp:193
k4a_float3_t convert_3d_to_3d(const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera) const
Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system...
Definition: k4a.hpp:621
capture & operator=(capture &&other) noexcept
Moves another capture into this capture; other is set to invalid.
Definition: k4a.hpp:452
k4a_image_t handle() const noexcept
Returns the underlying k4a_image_t handle.
Definition: k4a.hpp:186
void set_exposure_time(std::chrono::microseconds exposure) noexcept
Set the image's exposure time in microseconds (color images only)
Definition: k4a.hpp:370
k4a_depth_mode_t depth_mode
Depth camera mode for which calibration was obtained.
Definition: k4atypes.h:1036
const uint8_t * get_buffer() const noexcept
Get the image buffer.
Definition: k4a.hpp:262
Structure to define hardware version.
Definition: k4atypes.h:1064
int get_stride_bytes() const noexcept
Get the image stride in bytes.
Definition: k4a.hpp:307
k4a_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:217
Exception type thrown when a K4A API call fails.
Definition: k4a.hpp:33
void set_color_image(const image &color_image) noexcept
Set / add a color image to the capture.
Definition: k4a.hpp:548
void set_depth_image(const image &depth_image) noexcept
Set / add a depth image to the capture.
Definition: k4a.hpp:557
size_t get_size() const noexcept
Get the image buffer size in bytes.
Definition: k4a.hpp:271
k4a_depth_mode_t
Depth sensor capture modes.
Definition: k4atypes.h:289
Handle to an Azure Kinect capture.
Definition: k4atypes.h:122
bool operator==(std::nullptr_t) const noexcept
Returns false if the capture is valid, true otherwise.
Definition: k4a.hpp:480
uint32_t get_white_balance() const noexcept
Get the image white balance in Kelvin (color images only)
Definition: k4a.hpp:343
k4a_buffer_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:231
static device open(uint32_t index)
Open a k4a device.
Definition: k4a.hpp:1198
capture & operator=(const capture &other) noexcept
Sets capture to a shallow copy of other.
Definition: k4a.hpp:436
The operation timed out.
Definition: k4atypes.h:250
image(k4a_image_t handle=nullptr) noexcept
Creates an image from a k4a_image_t.
Definition: k4a.hpp:88
device & operator=(device &&dev) noexcept
Moves another device into this device; other is set to invalid.
Definition: k4a.hpp:919
std::vector< uint8_t > get_raw_calibration() const
Get the raw calibration blob for the entire K4A device.
Definition: k4a.hpp:1105
int get_width_pixels() const noexcept
Get the image width in pixels.
Definition: k4a.hpp:289
IMU sample.
Definition: k4atypes.h:1122
std::chrono::microseconds get_exposure() const noexcept
Get the image exposure time in microseconds.
Definition: k4a.hpp:334
void start_cameras(const k4a_device_configuration_t *configuration)
Starts the K4A device's cameras Throws error on failure.
Definition: k4a.hpp:999
bool operator!=(const capture &other) const noexcept
Returns true if two captures wrap different k4a_capture_t instances, false otherwise.
Definition: k4a.hpp:487
bool convert_2d_to_2d(const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const
Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel c...
Definition: k4a.hpp:692
std::chrono::microseconds get_device_timestamp() const noexcept
Get the image's device timestamp in microseconds.
Definition: k4a.hpp:316
k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t *calibration, const k4a_float3_t *source_point3d_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d, int *valid)
Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera...
calibration get_calibration(k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution) const
Get the camera calibration for the entire K4A device, which is used for all transformation functions...
Definition: k4a.hpp:1130
void set_iso_speed(uint32_t iso_speed) noexcept
Set the ISO speed of the image (color images only)
Definition: k4a.hpp:388
void set_ir_image(const image &ir_image) noexcept
Set / add an IR image to the capture.
Definition: k4a.hpp:566
image & operator=(const image &other) noexcept
Sets image to a shallow copy of other.
Definition: k4a.hpp:114
static calibration get_from_raw(char *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution)
Get the camera calibration for a device from a raw calibration blob.
Definition: k4a.hpp:714
bool get_imu_sample(k4a_imu_sample_t *imu_sample, std::chrono::milliseconds timeout)
Reads an IMU sample.
Definition: k4a.hpp:978
capture(capture &&other) noexcept
Moves another capture into a new capture.
Definition: k4a.hpp:424
std::chrono::nanoseconds get_system_timestamp() const noexcept
Get the image's system timestamp in nanoseconds.
Definition: k4a.hpp:325
bool is_sync_in_connected() const
Get the device jack status for the synchronization in connector Throws error on failure.
Definition: k4a.hpp:1147
k4a_calibration_type_t
Calibration types.
Definition: k4atypes.h:608
image get_color_image() const noexcept
Get the color image associated with the capture.
Definition: k4a.hpp:521
static uint32_t get_installed_count() noexcept
Gets the number of connected devices.
Definition: k4a.hpp:1214
bool operator!=(std::nullptr_t) const noexcept
Returns true if the capture is valid, false otherwise.
Definition: k4a.hpp:494
void get_color_control(k4a_color_control_command_t command, k4a_color_control_mode_t *mode, int32_t *value) const
Get the K4A color sensor control value Throws error on failure.
Definition: k4a.hpp:1077
static image create_from_buffer(k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes, uint8_t *buffer, size_t buffer_size, k4a_memory_destroy_cb_t *buffer_release_cb, void *buffer_release_cb_context)
Create an image from a pre-allocated buffer Throws error on failure.
Definition: k4a.hpp:223
k4a_result_t k4a_calibration_2d_to_2d(const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d, int *valid)
Transform a 2D pixel coordinate with an associated depth value of the source camera into a 2D pixel c...
void set_timestamp(std::chrono::microseconds timestamp) noexcept
Set the image's timestamp in microseconds.
Definition: k4a.hpp:361
bool convert_3d_to_2d(const k4a_float3_t &source_point3d, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float2_t *target_point2d) const
Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera...
Definition: k4a.hpp:668
Wrapper for k4a_capture_t.
Definition: k4a.hpp:402
k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t *calibration, const k4a_float3_t *source_point3d_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d_mm)
Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system...
Three dimensional floating point vector.
Definition: k4atypes.h:1102
static calibration get_from_raw(std::vector< uint8_t > &raw_calibration, k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution)
Get the camera calibration for a device from a raw calibration blob.
Definition: k4a.hpp:751
bool operator!=(std::nullptr_t) const noexcept
Returns true if the image is valid, false otherwise.
Definition: k4a.hpp:172
capture(k4a_capture_t handle=nullptr) noexcept
Creates a capture from a k4a_capture_t Takes ownership of the handle, i.e.
Definition: k4a.hpp:410
static capture create()
Create an empty capture object.
Definition: k4a.hpp:594
k4a_color_control_mode_t
Color sensor control mode.
Definition: k4atypes.h:572
std::string get_serialnum() const
Get the K4A device serial number Throws error on failure.
Definition: k4a.hpp:1045
bool operator!=(const image &other) const noexcept
Returns true if two images wrap different k4a_image_t instances, false otherwise. ...
Definition: k4a.hpp:165
capture(const capture &other) noexcept
Creates a shallow copy of another capture.
Definition: k4a.hpp:414
k4a_image_format_t get_format() const noexcept
Get the image format of the image.
Definition: k4a.hpp:280
int get_height_pixels() const noexcept
Get the image height in pixels.
Definition: k4a.hpp:298
k4a_color_resolution_t
Color sensor resolutions.
Definition: k4atypes.h:307
float get_temperature_c() const noexcept
Get temperature (in Celsius) associated with the capture.
Definition: k4a.hpp:584
void() k4a_memory_destroy_cb_t(void *buffer, void *context)
Callback function for a memory object being destroyed.
Definition: k4atypes.h:815
void set_white_balance(uint32_t white_balance) noexcept
Set the white balance of the image (color images only)
Definition: k4a.hpp:379
k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t *calibration, const k4a_float2_t *source_point2d, const float source_depth_mm, const k4a_calibration_type_t source_camera, const k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d_mm, int *valid)
Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point o...
The result was successful.
Definition: k4atypes.h:219
device(k4a_device_t handle=nullptr) noexcept
Creates a device from a k4a_device_t Takes ownership of the handle, i.e.
Definition: k4a.hpp:899
void stop_imu() noexcept
Stops the K4A IMU.
Definition: k4a.hpp:1035
uint32_t get_iso_speed() const noexcept
Get the image's ISO speed (color images only)
Definition: k4a.hpp:352
image & operator=(image &&other) noexcept
Moves another image into this image; other is set to invalid.
Definition: k4a.hpp:130
Wrapper for k4a_image_t.
Definition: k4a.hpp:80
void set_temperature_c(float temperature_c) noexcept
Set the temperature associated with the capture in Celsius.
Definition: k4a.hpp:575
image get_ir_image() const noexcept
Get the IR image associated with the capture.
Definition: k4a.hpp:539
bool convert_2d_to_3d(const k4a_float2_t &source_point2d, float source_depth, k4a_calibration_type_t source_camera, k4a_calibration_type_t target_camera, k4a_float3_t *target_point3d) const
Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point o...
Definition: k4a.hpp:644
device(device &&dev) noexcept
Moves another device into a new device.
Definition: k4a.hpp:903
static calibration get_from_raw(uint8_t *raw_calibration, size_t raw_calibration_size, k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution)
Get the camera calibration for a device from a raw calibration blob.
Definition: k4a.hpp:735
image & operator=(std::nullptr_t) noexcept
Invalidates this image.
Definition: k4a.hpp:143
Handle to an Azure Kinect device.
Definition: k4atypes.h:66
uint8_t * get_buffer() noexcept
Get the image buffer.
Definition: k4a.hpp:253
Two dimensional floating point vector.
Definition: k4atypes.h:1083
bool operator==(std::nullptr_t) const noexcept
Returns false if the image is valid, true otherwise.
Definition: k4a.hpp:158
Handle to an Azure Kinect image.
Definition: k4atypes.h:173
image(image &&other) noexcept
Moves another image into a new image.
Definition: k4a.hpp:102
image(const image &other) noexcept
Creates a shallow copy of another image.
Definition: k4a.hpp:92
bool get_capture(capture *cap, std::chrono::milliseconds timeout)
Reads a sensor capture into cap.
Definition: k4a.hpp:955
Wrapper for k4a_device_t.
Definition: k4a.hpp:891
Configuration parameters for an Azure Kinect device.
Definition: k4atypes.h:840
The result was a failure.
Definition: k4atypes.h:249
void stop_cameras() noexcept
Stops the K4A device's cameras.
Definition: k4a.hpp:1012
The input buffer was too small.
Definition: k4atypes.h:235
capture & operator=(std::nullptr_t) noexcept
Invalidates this capture.
Definition: k4a.hpp:465
bool operator==(const capture &other) const noexcept
Returns true if two captures refer to the same k4a_capture_t, false otherwise.
Definition: k4a.hpp:473
void set_color_control(k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value)
Set the K4A color sensor control value Throws error on failure.
Definition: k4a.hpp:1091
bool operator==(const image &other) const noexcept
Returns true if two images refer to the same k4a_image_t, false otherwise.
Definition: k4a.hpp:151
k4a_color_control_command_t
Color sensor control commands.
Definition: k4atypes.h:461
k4a_hardware_version_t get_version() const
Get the version numbers of the K4A subsystems' firmware Throws error on failure.
Definition: k4a.hpp:1181
static image create(k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes)
Create a blank image Throws error on failure.
Definition: k4a.hpp:207
Wrapper for k4a_calibration_t.
Definition: k4a.hpp:614
void start_imu()
Starts the K4A IMU Throws error on failure.
Definition: k4a.hpp:1022
k4a_wait_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:246
k4a_image_format_t
Image format type.
Definition: k4atypes.h:329
void close() noexcept
Closes a k4a device.
Definition: k4a.hpp:941
image get_depth_image() const noexcept
Get the depth image associated with the capture.
Definition: k4a.hpp:530
void reset() noexcept
Releases the underlying k4a_capture_t; the capture is set to invalid.
Definition: k4a.hpp:508