34 #define K4A_DECLARE_HANDLE(_handle_name_) \ 35 typedef struct _##_handle_name_ \ 740 #define K4A_SUCCEEDED(_result_) (_result_ == K4A_RESULT_SUCCEEDED) 750 #define K4A_FAILED(_result_) (!K4A_SUCCEEDED(_result_)) 843 const char *message);
914 typedef struct _k4a_device_configuration_t
998 typedef struct _k4a_calibration_extrinsics_t
1001 float translation[3];
1062 typedef struct _k4a_calibration_intrinsics_t
1079 typedef struct _k4a_calibration_camera_t
1096 typedef struct _k4a_calibration_t
1122 typedef struct _k4a_version_t
1138 typedef struct _k4a_hardware_version_t
1196 typedef struct _k4a_imu_sample_t
1227 #define K4A_DEVICE_DEFAULT (0) 1237 #define K4A_WAIT_INFINITE (-1) Calibration model Brown Conrady (compatible with OpenCV)
Definition: k4atypes.h:687
Depth sensor will be turned off with this setting.
Definition: k4atypes.h:292
k4a_color_resolution_t color_resolution
Color camera resolution for which calibration was obtained.
Definition: k4atypes.h:1111
Calibration type representing device calibration.
Definition: k4atypes.h:1096
The result was successful.
Definition: k4atypes.h:248
The result was successful.
Definition: k4atypes.h:233
uint64_t gyro_timestamp_usec
Timestamp of the gyroscope in microseconds.
Definition: k4atypes.h:1202
float k1
k1 radial distortion coefficient
Definition: k4atypes.h:1030
2nd most severe level of debug messaging.
Definition: k4atypes.h:264
k4a_fps_t
Color and depth sensor frame rate.
Definition: k4atypes.h:478
Saturation setting.
Definition: k4atypes.h:561
k4a_calibration_model_type_t type
Type of calibration model used.
Definition: k4atypes.h:1064
Number of types excluding unknown type.
Definition: k4atypes.h:665
Gain setting.
Definition: k4atypes.h:595
k4a_depth_mode_t depth_mode
Depth camera mode for which calibration was obtained.
Definition: k4atypes.h:1110
int resolution_height
Resolution height of the calibration sensor.
Definition: k4atypes.h:1084
individual parameter or array representation of intrinsic model.
Definition: k4atypes.h:1024
float y
Y component of a vector.
Definition: k4atypes.h:1182
Color image type BGRA32.
Definition: k4atypes.h:386
3nd most severe level of debug messaging.
Definition: k4atypes.h:265
float k6
k6 radial distortion coefficient
Definition: k4atypes.h:1035
k4a_image_format_t color_format
Image format to capture with the color camera.
Definition: k4atypes.h:920
k4a_float3_t acc_sample
Accelerometer sample in meters per second squared.
Definition: k4atypes.h:1199
Calibration model is Theta (arctan)
Definition: k4atypes.h:684
Structure to define hardware version.
Definition: k4atypes.h:1138
k4a_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:217
The result was a failure.
Definition: k4atypes.h:234
Color image type NV12.
Definition: k4atypes.h:358
Calibration type is unknown.
Definition: k4atypes.h:660
float metric_radius
Max FOV of the camera.
Definition: k4atypes.h:1085
k4a_depth_mode_t
Depth sensor capture modes.
Definition: k4atypes.h:290
2560 * 1440 16:9
Definition: k4atypes.h:314
Brightness setting.
Definition: k4atypes.h:547
5 FPS
Definition: k4atypes.h:480
Handle to an Azure Kinect capture.
Definition: k4atypes.h:122
Powerline frequency setting.
Definition: k4atypes.h:605
set the associated k4a_color_control_command_t to auto
Definition: k4atypes.h:624
k4a_buffer_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:231
k4a_version_t audio
Audio device firmware version.
Definition: k4atypes.h:1142
Depth captured at 1024x1024.
Definition: k4atypes.h:296
Most severe level of debug messaging.
Definition: k4atypes.h:263
k4a_calibration_model_type_t
Calibration model type.
Definition: k4atypes.h:681
k4a_wired_sync_mode_t wired_sync_mode
The external synchronization mode.
Definition: k4atypes.h:963
k4a_calibration_intrinsic_parameters_t parameters
Calibration parameters.
Definition: k4atypes.h:1066
Contrast setting.
Definition: k4atypes.h:554
Nearest neighbor interpolation.
Definition: k4atypes.h:461
Production firmware.
Definition: k4atypes.h:701
White balance setting.
Definition: k4atypes.h:578
The operation timed out.
Definition: k4atypes.h:250
No logging is performed.
Definition: k4atypes.h:268
unsigned int parameter_count
Number of valid entries in parameters.
Definition: k4atypes.h:1065
k4a_firmware_build_t firmware_build
Build type reported by the firmware.
Definition: k4atypes.h:1145
k4a_version_t rgb
Color camera firmware version.
Definition: k4atypes.h:1140
Gyroscope sensor.
Definition: k4atypes.h:663
k4a_wired_sync_mode_t
Synchronization mode when connecting two or more devices together.
Definition: k4atypes.h:636
IMU sample.
Definition: k4atypes.h:1196
k4a_depth_mode_t depth_mode
Capture mode for the depth camera.
Definition: k4atypes.h:926
Camera sensor intrinsic calibration data.
Definition: k4atypes.h:1062
Depth captured at 640x576.
Definition: k4atypes.h:294
float y
Y component of a vector.
Definition: k4atypes.h:1163
uint32_t subordinate_delay_off_master_usec
The external synchronization timing.
Definition: k4atypes.h:976
Pre-production firmware.
Definition: k4atypes.h:702
Calibration model is unknown.
Definition: k4atypes.h:683
float cy
Principal point in image, y.
Definition: k4atypes.h:1027
k4a_calibration_extrinsics_t extrinsics
Extrinsic calibration data.
Definition: k4atypes.h:1081
Passive IR only, captured at 1024x1024.
Definition: k4atypes.h:297
k4a_calibration_intrinsics_t intrinsics
Intrinsic calibration data.
Definition: k4atypes.h:1082
30 FPS
Definition: k4atypes.h:482
float x
X component of a vector.
Definition: k4atypes.h:1162
k4a_color_resolution_t color_resolution
Image resolution to capture with the color camera.
Definition: k4atypes.h:923
Camera calibration contains intrinsic and extrinsic calibration information for a camera...
Definition: k4atypes.h:1079
uint32_t major
Major version; represents a breaking change.
Definition: k4atypes.h:1124
float z
Z component of a vector.
Definition: k4atypes.h:1183
k4a_transformation_interpolation_type_t
Transformation interpolation type.
Definition: k4atypes.h:459
Extrinsic calibration data.
Definition: k4atypes.h:998
Test signed firmware.
Definition: k4atypes.h:716
uint8_t *() k4a_memory_allocate_cb_t(int size, void **context)
Callback function for a memory allocation.
Definition: k4atypes.h:889
float cx
Principal point in image, x.
Definition: k4atypes.h:1026
float k3
k3 radial distortion coefficient
Definition: k4atypes.h:1032
float k5
k5 radial distortion coefficient
Definition: k4atypes.h:1034
XYZ or array representation of vector.
Definition: k4atypes.h:1179
float k4
k4 radial distortion coefficient
Definition: k4atypes.h:1033
Image type IR16.
Definition: k4atypes.h:413
float codx
Center of distortion in Z=1 plane, x (only used for Rational6KT)
Definition: k4atypes.h:1036
15 FPS
Definition: k4atypes.h:481
1280 * 720 16:9
Definition: k4atypes.h:312
Linear interpolation.
Definition: k4atypes.h:462
uint64_t acc_timestamp_usec
Timestamp of the accelerometer in microseconds.
Definition: k4atypes.h:1200
Single channel image type CUSTOM16.
Definition: k4atypes.h:435
uint32_t iteration
Reserved.
Definition: k4atypes.h:1127
k4a_calibration_type_t
Calibration types.
Definition: k4atypes.h:658
The 'Sync Out' jack is enabled and synchronization data it driven out the connected wire...
Definition: k4atypes.h:639
float p1
Tangential distortion coefficient 1.
Definition: k4atypes.h:1039
2nd least severe level of debug messaging.
Definition: k4atypes.h:266
k4a_firmware_build_t
Firmware build type.
Definition: k4atypes.h:699
The result was a failure.
Definition: k4atypes.h:220
Color image type YUY2.
Definition: k4atypes.h:369
float cody
Center of distortion in Z=1 plane, y (only used for Rational6KT)
Definition: k4atypes.h:1037
Exposure time setting.
Definition: k4atypes.h:521
float k2
k2 radial distortion coefficient
Definition: k4atypes.h:1031
Microsoft signed firmware.
Definition: k4atypes.h:715
k4a_firmware_signature_t firmware_signature
Signature type of the firmware.
Definition: k4atypes.h:1146
bool synchronized_images_only
Only produce k4a_capture_t objects if they contain synchronized color and depth images.
Definition: k4atypes.h:949
Three dimensional floating point vector.
Definition: k4atypes.h:1176
2048 * 1536 4:3
Definition: k4atypes.h:315
bool disable_streaming_indicator
Streaming indicator automatically turns on when the color or depth camera's are in use...
Definition: k4atypes.h:982
float temperature
Temperature reading of this sample (Celsius).
Definition: k4atypes.h:1198
Exposure or Framerate priority setting.
Definition: k4atypes.h:537
k4a_color_control_mode_t
Color sensor control mode.
Definition: k4atypes.h:622
Single channel image type CUSTOM8.
Definition: k4atypes.h:424
4096 * 3072 4:3
Definition: k4atypes.h:317
set the associated k4a_color_control_command_t to manual
Definition: k4atypes.h:625
Depth captured at 512x512.
Definition: k4atypes.h:295
Depth image type DEPTH16.
Definition: k4atypes.h:398
k4a_color_resolution_t
Color sensor resolutions.
Definition: k4atypes.h:309
Unsigned firmware.
Definition: k4atypes.h:717
void() k4a_memory_destroy_cb_t(void *buffer, void *context)
Callback function for a memory object being destroyed.
Definition: k4atypes.h:865
3840 * 2160 16:9
Definition: k4atypes.h:316
Color camera will be turned off with this setting.
Definition: k4atypes.h:311
The result was successful.
Definition: k4atypes.h:219
k4a_fps_t camera_fps
Desired frame rate for the color and depth camera.
Definition: k4atypes.h:929
k4a_calibration_camera_t color_camera_calibration
Color camera calibration.
Definition: k4atypes.h:1100
float fy
Focal length y.
Definition: k4atypes.h:1029
1920 * 1080 16:9
Definition: k4atypes.h:313
Accelerometer sensor.
Definition: k4atypes.h:664
float p2
Tangential distortion coefficient 2.
Definition: k4atypes.h:1038
Backlight compensation setting.
Definition: k4atypes.h:588
int32_t depth_delay_off_color_usec
Desired delay between the capture of the color image and the capture of the depth image...
Definition: k4atypes.h:960
Calibration model Polynomial 3K.
Definition: k4atypes.h:685
XY or array representation of vector.
Definition: k4atypes.h:1160
k4a_firmware_signature_t
Firmware signature type.
Definition: k4atypes.h:713
float fx
Focal length x.
Definition: k4atypes.h:1028
int resolution_width
Resolution width of the calibration sensor.
Definition: k4atypes.h:1083
Depth captured at 320x288.
Definition: k4atypes.h:293
k4a_float3_t gyro_sample
Gyro sample in radians per second.
Definition: k4atypes.h:1201
Color sensor.
Definition: k4atypes.h:662
k4a_calibration_camera_t depth_camera_calibration
Depth camera calibration.
Definition: k4atypes.h:1098
float metric_radius
Metric radius.
Definition: k4atypes.h:1040
Handle to an Azure Kinect device.
Definition: k4atypes.h:66
Depth sensor.
Definition: k4atypes.h:661
Two dimensional floating point vector.
Definition: k4atypes.h:1157
void() k4a_logging_message_cb_t(void *context, k4a_log_level_t level, const char *file, const int line, const char *message)
Callback function for debug messages being generated by the Azure Kinect SDK.
Definition: k4atypes.h:839
Handle to an Azure Kinect image.
Definition: k4atypes.h:173
Least severe level of debug messaging.
Definition: k4atypes.h:267
k4a_version_t depth_sensor
Depth sensor firmware version.
Definition: k4atypes.h:1143
Configuration parameters for an Azure Kinect device.
Definition: k4atypes.h:914
The result was a failure.
Definition: k4atypes.h:249
static const k4a_device_configuration_t K4A_DEVICE_CONFIG_INIT_DISABLE_ALL
Initial configuration setting for disabling all sensors.
Definition: k4atypes.h:1250
Neither 'Sync In' or 'Sync Out' connections are used.
Definition: k4atypes.h:638
The input buffer was too small.
Definition: k4atypes.h:235
k4a_log_level_t
Verbosity levels of debug messaging.
Definition: k4atypes.h:261
Calibration model Rational 6KT.
Definition: k4atypes.h:686
k4a_color_control_command_t
Color sensor control commands.
Definition: k4atypes.h:503
Custom image format.
Definition: k4atypes.h:445
The 'Sync In' jack is used for synchronization and 'Sync Out' is driven for the next device in the ch...
Definition: k4atypes.h:643
Sharpness setting.
Definition: k4atypes.h:568
Camera intrinsic calibration data.
Definition: k4atypes.h:1021
uint32_t minor
Minor version; represents additional features, no regression from lower versions with same major vers...
Definition: k4atypes.h:1125
k4a_wait_result_t
Result code returned by Azure Kinect APIs.
Definition: k4atypes.h:246
float x
X component of a vector.
Definition: k4atypes.h:1181
k4a_image_format_t
Image format type.
Definition: k4atypes.h:332
k4a_version_t depth
Depth camera firmware version.
Definition: k4atypes.h:1141
Color image type MJPG.
Definition: k4atypes.h:345
Version information.
Definition: k4atypes.h:1122