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The Kinect depth camera connects a Kinect to provide depth image data. More...
Classes | |
| struct | Acceleration |
| struct | Collector |
Public Member Functions | |
| KinectDepthCamera (H3D::Inst< H3D::SFNode > _metadata=0, H3D::Inst< H3D::SFVec2f > _fieldOfView=0, H3D::Inst< ViewSize > _viewSize=0, H3D::Inst< H3D::SFBool > _updateBackground=0, H3D::Inst< H3D::SFFloat > _maximumBackgroundDistance=0, H3D::Inst< H3D::SFFloat > _backgroundDepthMargin=0, H3D::Inst< H3D::SFInt32 > _backgroundPixelMargin=0, H3D::Inst< SFImage > _depthData=0, H3D::Inst< SFPositionImage > _positionData=0, H3D::Inst< SFBackgroundImage > _depthDataBackground=0, H3D::Inst< SFPaintTexture > _debugTexture=0, H3D::Inst< H3D::SFInt32 > _deviceId=0, H3D::Inst< H3D::SFFloat > _depthScaleFactor=0, H3D::Inst< H3D::SFFloat > _depthOffsetFactor=0, H3D::Inst< Acceleration > _acceleration=0, H3D::Inst< H3D::SFVec2f > _angleLimits=0, H3D::Inst< H3D::SFFloat > _angle=0, H3D::Inst< Collector > _collector=0) | |
| void | initialize () |
 Public Member Functions inherited from HVR::DepthCamera | |
| DepthCamera (H3D::Inst< H3D::SFNode > _metadata=0, H3D::Inst< H3D::SFVec2f > _fieldOfView=0, H3D::Inst< ViewSize > _viewSize=0, H3D::Inst< H3D::SFBool > _updateBackground=0, H3D::Inst< H3D::SFFloat > _maximumBackgroundDistance=0, H3D::Inst< H3D::SFFloat > _backgroundDepthMargin=0, H3D::Inst< H3D::SFInt32 > _backgroundPixelMargin=0, H3D::Inst< SFImage > _depthData=0, H3D::Inst< SFPositionImage > _positionData=0, H3D::Inst< SFBackgroundImage > _depthDataBackground=0, H3D::Inst< SFPaintTexture > _debugTexture=0) | |
| virtual std::string | defaultXMLContainerField () |
| H3D::Vec3f | pixel2DtoLine (float x, float y) |
| Convert a pixel coordinate on the Kinect image into a 3D line representing that pixels direction from the Kinects point of view. More... | |
| H3D::Vec3f | pixel2Dto3D (float x, float y, float d) |
| Convert a pixel coordinate on the Kinect image and depth value into a 3D position from the Kinects point of view. More... | |
| H3D::Vec3f | pixel2Dto3D (H3D::Vec3f p) |
| Convert a pixel coordinate on the Kinect image (x,y,depth) into a 3D position from the Kinects point of view. More... | |
| H3D::Vec3f | point2DtoLine (float x, float y) |
| Convert a point on the Kinect image into a 3D line representing that pixels direction from the Kinects point of view. More... | |
| H3D::Vec3f | point2Dto3D (float x, float y, float d) |
| Convert a point on the Kinect image into a 3D position from the Kinects point of view. More... | |
| H3D::Vec3f | point2Dto3D (H3D::Vec3f p) |
| Convert a point on the Kinect image into a 3D position from the Kinects point of view. More... | |
| const std::vector< Shape > & | getShapes () |
| H3D::Vec2f | getExtremes () |
| Returns a 2D vector containing the largest and smallest value of the depth in x and y, respectively. More... | |
| const ExtremesMap & | getExtremesMap () |
| Returns a map of extremes. More... | |
Public Attributes | |
| std::auto_ptr< H3D::SFInt32 > | deviceId |
 The Kinect device to read data from. More... | |
| std::auto_ptr< H3D::SFFloat > | depthScaleFactor |
 This field controls the scale factor used when converting the Kinect data converted to metric values. More... | |
| std::auto_ptr< H3D::SFFloat > | depthOffsetFactor |
| This field controls the offset factor used when converting the Kinect data converted to metric values. More... | |
| std::auto_ptr< Acceleration > | acceleration |
 This SFVec3f field reads the acceleration value from the Kinect. More... | |
| std::auto_ptr< H3D::SFVec2f > | angleLimits |
| The limits of the tilt angle of the Kinect. More... | |
| std::auto_ptr< H3D::SFFloat > | angle |
| The tilt angle of the Kinect. More... | |
| Public Attributes inherited from HVR::DepthCamera | |
| struct HVR_API | Shape |
| struct HVR_API | ExtremesMap |
| std::auto_ptr< H3D::SFVec2f > | fieldOfView |
| This camera field of view is used when converting coordinates between 2D and 3D. More... | |
| std::auto_ptr< ViewSize > | viewSize |
| This field holds the width and height of the view at the distance of one length unit. More... | |
| std::auto_ptr< H3D::SFBool > | updateBackground |
| The background image (depthDataBackground) will be updated if this field is set to true. More... | |
| std::auto_ptr< H3D::SFFloat > | maximumBackgroundDistance |
| This is the largest distance that the background image may contain. More... | |
| std::auto_ptr< H3D::SFFloat > | backgroundDepthMargin |
| This is a margin removed from the depth when specifying the background, in meters. More... | |
| std::auto_ptr< H3D::SFInt32 > | backgroundPixelMargin |
| This is the margin around object when specifying the background, in pixels. More... | |
| std::auto_ptr< SFImage > | depthData |
| This is the depth data from the depth camera, in meters. More... | |
| std::auto_ptr< SFPositionImage > | positionData |
| This is the 3D pixel position data from the depth camera, in meters and camera coordinates. More... | |
| std::auto_ptr< SFBackgroundImage > | depthDataBackground |
| The depth camera holds a background image to more easily remove uninteresting data. More... | |
| std::auto_ptr< SFPaintTexture > | debugTexture |
| When specified, debug data are drawn to this texture. More... | |
Static Public Attributes | |
| static H3D::H3DNodeDatabase | database |
| Static Public Attributes inherited from HVR::DepthCamera | |
| static H3D::H3DNodeDatabase | database |
Protected Attributes | |
| std::auto_ptr< Collector > | collector |
| Protected Attributes inherited from HVR::DepthCamera | |
| struct HVR_API | ViewSize |
| struct HVR_API | SFBackgroundImage |
| struct HVR_API | SFPositionImage |
Friends | |
| struct | Collector |
| struct | Acceleration |
Additional Inherited Members | |
| Public Types inherited from HVR::DepthCamera | |
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typedef H3D::H3DImageObject::SFImage | SFImage |
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typedef H3D::TypedSFNode < Candy::PaintTexture > | SFPaintTexture |
| typedef std::vector< H3D::Vec3f > | contour_t |
| typedef std::vector< contour_t > | contours_t |
| Protected Member Functions inherited from HVR::DepthCamera | |
| void | update_debug_texture () |
The Kinect depth camera connects a Kinect to provide depth image data.
| std::auto_ptr< Acceleration > HVR::KinectDepthCamera::acceleration |
This SFVec3f field reads the acceleration value from the Kinect.
Since the Kinect is typically stationary, this will be the gravity vector indicating the tilt of the camera, and fairly constant over time. Also, reading this value will lock and synchronize with the Kinect driver, so do not read it unnecessarily.
| std::auto_ptr< H3D::SFFloat > HVR::KinectDepthCamera::angle |
The tilt angle of the Kinect.
| std::auto_ptr< H3D::SFVec2f > HVR::KinectDepthCamera::angleLimits |
The limits of the tilt angle of the Kinect.
| std::auto_ptr< H3D::SFFloat > HVR::KinectDepthCamera::depthOffsetFactor |
This field controls the offset factor used when converting the Kinect data converted to metric values.
This parameter is inserted in the convertion equation D = scale/(offset-value).
| std::auto_ptr< H3D::SFFloat > HVR::KinectDepthCamera::depthScaleFactor |
This field controls the scale factor used when converting the Kinect data converted to metric values.
This parameter is inserted in the convertion equation D = scale/(offset-value).
| std::auto_ptr< H3D::SFInt32 > HVR::KinectDepthCamera::deviceId |
The Kinect device to read data from.
1.8.6