#include <k4a/k4a.hpp>

Public Member Functions
	device (k4a_device_t handle=nullptr) noexcept

	device (device &&dev) noexcept

	device (const device &)=delete

device &	operator= (const device &)=delete

device &	operator= (device &&dev) noexcept

	operator bool () const noexcept

bool	is_valid () const noexcept

k4a_device_t	handle () const noexcept

void	close () noexcept

bool	get_capture (capture *cap, std::chrono::milliseconds timeout)

bool	get_capture (capture *cap)

bool	get_imu_sample (k4a_imu_sample_t *imu_sample, std::chrono::milliseconds timeout)

bool	get_imu_sample (k4a_imu_sample_t *imu_sample)

void	start_cameras (const k4a_device_configuration_t *configuration)

void	stop_cameras () noexcept

void	start_imu ()

void	stop_imu () noexcept

std::string	get_serialnum () const

void	get_color_control (k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value) const

void	set_color_control (k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value)

std::vector< uint8_t >	get_raw_calibration () const

calibration	get_calibration (k4a_depth_mode_t depth_mode, k4a_color_resolution_t color_resolution) const

bool	is_sync_in_connected () const

bool	is_sync_out_connected () const

k4a_hardware_version_t	get_version () const

Static Public Member Functions
static device	open (uint32_t index)

static uint32_t	get_installed_count () noexcept

Detailed Description

Wrapper for k4a_device_t

Wraps a handle for a device.

Definition at line 1104 of file k4a.hpp.

Constructor & Destructor Documentation

◆ device() [1/2]

k4a::device::device ( k4a_device_t handle = nullptr )

inlinenoexcept

Creates a device from a k4a_device_t Takes ownership of the handle, i.e. you should not call k4a_device_close on the handle after giving it to the device; the device will take care of that.

Definition at line 1112 of file k4a.hpp.

◆ device() [2/2]

k4a::device::device ( device && dev )

inlinenoexcept

Moves another device into a new device

Definition at line 1116 of file k4a.hpp.

◆ ~device()

k4a::device::~device ( )

inline

Definition at line 1123 of file k4a.hpp.

Member Function Documentation

◆ close()

void k4a::device::close ( )

inlinenoexcept

Closes a k4a device.

See also: k4a_device_close

Definition at line 1171 of file k4a.hpp.

◆ get_calibration()

calibration k4a::device::get_calibration	(	k4a_depth_mode_t	depth_mode,
		k4a_color_resolution_t	color_resolution
	)		const

inline

Get the camera calibration for the entire K4A device, which is used for all transformation functions. Throws error on failure.

See also: k4a_device_get_calibration

Definition at line 1380 of file k4a.hpp.

◆ get_capture() [1/2]

bool k4a::device::get_capture ( capture * cap )

inline

Reads a sensor capture into cap. Returns true if a capture was read, false if the read timed out. Throws error on failure. This API assumes an inifinate timeout.

See also: k4a_device_get_capture

Definition at line 1208 of file k4a.hpp.

◆ get_capture() [2/2]

bool k4a::device::get_capture	(	capture *	cap,
		std::chrono::milliseconds	timeout
	)

inline

Reads a sensor capture into cap. Returns true if a capture was read, false if the read timed out. Throws error on failure.

See also: k4a_device_get_capture

Definition at line 1185 of file k4a.hpp.

◆ get_color_control()

void k4a::device::get_color_control	(	k4a_color_control_command_t	command,
		k4a_color_control_mode_t *	mode,
		int32_t *	value
	)		const

inline

Get the K4A color sensor control value Throws error on failure.

See also: k4a_device_get_color_control

Definition at line 1327 of file k4a.hpp.

◆ get_imu_sample() [1/2]

bool k4a::device::get_imu_sample ( k4a_imu_sample_t * imu_sample )

inline

Reads an IMU sample. Returns true if a sample was read, false if the read timed out. Throws error on failure. This API assumes an infinate timeout.

See also: k4a_device_get_imu_sample

Definition at line 1239 of file k4a.hpp.

◆ get_imu_sample() [2/2]

bool k4a::device::get_imu_sample	(	k4a_imu_sample_t *	imu_sample,
		std::chrono::milliseconds	timeout
	)

inline

Reads an IMU sample. Returns true if a sample was read, false if the read timed out. Throws error on failure.

See also: k4a_device_get_imu_sample

Definition at line 1218 of file k4a.hpp.

◆ get_installed_count()

static uint32_t k4a::device::get_installed_count ( )

inlinestaticnoexcept

Gets the number of connected devices

See also: k4a_device_get_installed_count

Definition at line 1470 of file k4a.hpp.

◆ get_raw_calibration()

std::vector< uint8_t > k4a::device::get_raw_calibration ( ) const

inline

Get the raw calibration blob for the entire K4A device. Throws error on failure.

See also: k4a_device_get_raw_calibration

Definition at line 1355 of file k4a.hpp.

◆ get_serialnum()

std::string k4a::device::get_serialnum ( ) const

inline

Get the K4A device serial number Throws error on failure.

See also: k4a_device_get_serialnum

Definition at line 1295 of file k4a.hpp.

◆ get_version()

k4a_hardware_version_t k4a::device::get_version ( ) const

inline

Get the version numbers of the K4A subsystems' firmware Throws error on failure.

See also: k4a_device_get_version

Definition at line 1437 of file k4a.hpp.

◆ handle()

k4a_device_t k4a::device::handle ( ) const

inlinenoexcept

Returns the underlying k4a_device_t handle

Note the k4a_device_t handle does not have a reference count will be destroyed when the C++ object is destroyed. The caller is responsible for ensuring the C++ object outlives this handle.

Definition at line 1162 of file k4a.hpp.

◆ is_sync_in_connected()

bool k4a::device::is_sync_in_connected ( ) const

inline

Get the device jack status for the synchronization in connector Throws error on failure.

Attention: The Orbbec device does not support retrieving the jack connection status, so this function will always return false (disconnected).

See also: k4a_device_get_sync_jack

Definition at line 1400 of file k4a.hpp.

◆ is_sync_out_connected()

bool k4a::device::is_sync_out_connected ( ) const

inline

Get the device jack status for the synchronization out connector Throws error on failure.

Attention: The Orbbec device does not support retrieving the jack connection status, so this function will always return false (disconnected).

See also: k4a_device_get_sync_jack

Definition at line 1420 of file k4a.hpp.

◆ is_valid()

bool k4a::device::is_valid ( ) const

inlinenoexcept

Returns true if the device is valid, false otherwise

Definition at line 1152 of file k4a.hpp.

◆ open()

static device k4a::device::open ( uint32_t index )

inlinestatic

Open a k4a device. Throws error on failure.

See also: k4a_device_open

Definition at line 1454 of file k4a.hpp.

◆ operator bool()

k4a::device::operator bool ( ) const

inlineexplicitnoexcept

Returns true if the device is valid, false otherwise

Definition at line 1145 of file k4a.hpp.

◆ operator=()

device & k4a::device::operator= ( device && dev )

inlinenoexcept

Moves another device into this device; other is set to invalid

Definition at line 1132 of file k4a.hpp.

◆ set_color_control()

void k4a::device::set_color_control	(	k4a_color_control_command_t	command,
		k4a_color_control_mode_t	mode,
		int32_t	value
	)

inline

Set the K4A color sensor control value Throws error on failure.

See also: k4a_device_set_color_control

Definition at line 1341 of file k4a.hpp.

◆ start_cameras()

void k4a::device::start_cameras ( const k4a_device_configuration_t * configuration )

inline

Starts the K4A device's cameras Throws error on failure.

See also: k4a_device_start_cameras

Definition at line 1249 of file k4a.hpp.

◆ start_imu()

void k4a::device::start_imu ( )

inline

Starts the K4A IMU Throws error on failure

See also: k4a_device_start_imu

Definition at line 1272 of file k4a.hpp.

◆ stop_cameras()

void k4a::device::stop_cameras ( )

inlinenoexcept

Stops the K4A device's cameras

See also: k4a_device_stop_cameras

Definition at line 1262 of file k4a.hpp.

◆ stop_imu()

void k4a::device::stop_imu ( )

inlinenoexcept

Stops the K4A IMU

See also: k4a_device_stop_imu

Definition at line 1285 of file k4a.hpp.

The documentation for this class was generated from the following file:

k4a.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ device() [1/2]

◆ device() [2/2]

◆ ~device()

Member Function Documentation

◆ close()

◆ get_calibration()

◆ get_capture() [1/2]

◆ get_capture() [2/2]

◆ get_color_control()

◆ get_imu_sample() [1/2]

◆ get_imu_sample() [2/2]

◆ get_installed_count()

◆ get_raw_calibration()

◆ get_serialnum()

◆ get_version()

◆ handle()

◆ is_sync_in_connected()

◆ is_sync_out_connected()

◆ is_valid()

◆ open()

◆ operator bool()

◆ operator=()

◆ set_color_control()

◆ start_cameras()

◆ start_imu()

◆ stop_cameras()

◆ stop_imu()