Enumerations

Enumerations
enum	k4a_result_t { K4A_RESULT_SUCCEEDED = 0 , K4A_RESULT_FAILED }
enum	k4a_buffer_result_t { K4A_BUFFER_RESULT_SUCCEEDED = 0 , K4A_BUFFER_RESULT_FAILED , K4A_BUFFER_RESULT_TOO_SMALL }
enum	k4a_wait_result_t { K4A_WAIT_RESULT_SUCCEEDED = 0 , K4A_WAIT_RESULT_FAILED , K4A_WAIT_RESULT_TIMEOUT }
enum	k4a_log_level_t {   K4A_LOG_LEVEL_CRITICAL = 0 , K4A_LOG_LEVEL_ERROR , K4A_LOG_LEVEL_WARNING , K4A_LOG_LEVEL_INFO ,   K4A_LOG_LEVEL_TRACE , K4A_LOG_LEVEL_OFF }
enum	k4a_depth_mode_t {   K4A_DEPTH_MODE_OFF = 0 , K4A_DEPTH_MODE_NFOV_2X2BINNED , K4A_DEPTH_MODE_NFOV_UNBINNED , K4A_DEPTH_MODE_WFOV_2X2BINNED ,   K4A_DEPTH_MODE_WFOV_UNBINNED , K4A_DEPTH_MODE_PASSIVE_IR }
enum	k4a_color_resolution_t {   K4A_COLOR_RESOLUTION_OFF = 0 , K4A_COLOR_RESOLUTION_720P , K4A_COLOR_RESOLUTION_1080P , K4A_COLOR_RESOLUTION_1440P ,   K4A_COLOR_RESOLUTION_1536P , K4A_COLOR_RESOLUTION_2160P , K4A_COLOR_RESOLUTION_3072P }
enum	k4a_image_format_t {   K4A_IMAGE_FORMAT_COLOR_MJPG = 0 , K4A_IMAGE_FORMAT_COLOR_NV12 , K4A_IMAGE_FORMAT_COLOR_YUY2 , K4A_IMAGE_FORMAT_COLOR_BGRA32 ,   K4A_IMAGE_FORMAT_DEPTH16 , K4A_IMAGE_FORMAT_IR16 , K4A_IMAGE_FORMAT_CUSTOM8 , K4A_IMAGE_FORMAT_CUSTOM16 ,   K4A_IMAGE_FORMAT_CUSTOM }
enum	k4a_transformation_interpolation_type_t { K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST = 0 , K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR }
enum	k4a_fps_t { K4A_FRAMES_PER_SECOND_5 = 0 , K4A_FRAMES_PER_SECOND_15 , K4A_FRAMES_PER_SECOND_30 , K4A_FRAMES_PER_SECOND_25 }
enum	k4a_color_control_command_t {   K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE = 0 , K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY , K4A_COLOR_CONTROL_BRIGHTNESS , K4A_COLOR_CONTROL_CONTRAST ,   K4A_COLOR_CONTROL_SATURATION , K4A_COLOR_CONTROL_SHARPNESS , K4A_COLOR_CONTROL_WHITEBALANCE , K4A_COLOR_CONTROL_BACKLIGHT_COMPENSATION ,   K4A_COLOR_CONTROL_GAIN , K4A_COLOR_CONTROL_POWERLINE_FREQUENCY }
enum	k4a_color_control_mode_t { K4A_COLOR_CONTROL_MODE_AUTO = 0 , K4A_COLOR_CONTROL_MODE_MANUAL }
enum	k4a_wired_sync_mode_t { K4A_WIRED_SYNC_MODE_STANDALONE , K4A_WIRED_SYNC_MODE_MASTER , K4A_WIRED_SYNC_MODE_SUBORDINATE }
enum	k4a_calibration_type_t {   K4A_CALIBRATION_TYPE_UNKNOWN = -1 , K4A_CALIBRATION_TYPE_DEPTH , K4A_CALIBRATION_TYPE_COLOR , K4A_CALIBRATION_TYPE_GYRO ,   K4A_CALIBRATION_TYPE_ACCEL , K4A_CALIBRATION_TYPE_NUM }
enum	k4a_calibration_model_type_t {   K4A_CALIBRATION_LENS_DISTORTION_MODEL_UNKNOWN = 0 , K4A_CALIBRATION_LENS_DISTORTION_MODEL_THETA , K4A_CALIBRATION_LENS_DISTORTION_MODEL_POLYNOMIAL_3K , K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT ,   K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY }
enum	k4a_firmware_build_t { K4A_FIRMWARE_BUILD_RELEASE , K4A_FIRMWARE_BUILD_DEBUG }
enum	k4a_firmware_signature_t { K4A_FIRMWARE_SIGNATURE_MSFT , K4A_FIRMWARE_SIGNATURE_TEST , K4A_FIRMWARE_SIGNATURE_UNSIGNED }
enum	k4a_stream_result_t { K4A_STREAM_RESULT_SUCCEEDED = 0 , K4A_STREAM_RESULT_FAILED , K4A_STREAM_RESULT_EOF }
enum	k4a_playback_seek_origin_t { K4A_PLAYBACK_SEEK_BEGIN , K4A_PLAYBACK_SEEK_END , K4A_PLAYBACK_SEEK_DEVICE_TIME }

Detailed Description

Enumeration types used by APIs.

Enumeration Type Documentation

k4a_buffer_result_t

enum k4a_buffer_result_t

Result code returned by Azure Kinect APIs.

Enumerator
K4A_BUFFER_RESULT_SUCCEEDED	The result was successful
K4A_BUFFER_RESULT_FAILED	The result was a failure
K4A_BUFFER_RESULT_TOO_SMALL	The input buffer was too small

Definition at line 231 of file k4atypes.h.

k4a_calibration_model_type_t

enum k4a_calibration_model_type_t

Calibration model type.

The model used interpret the calibration parameters.

Remarks

Azure Kinect devices are calibrated with Brown Conrady.

Enumerator
K4A_CALIBRATION_LENS_DISTORTION_MODEL_UNKNOWN	Calibration model is unknown
K4A_CALIBRATION_LENS_DISTORTION_MODEL_THETA	Deprecated (not supported). Calibration model is Theta (arctan).
K4A_CALIBRATION_LENS_DISTORTION_MODEL_POLYNOMIAL_3K	Deprecated (not supported). Calibration model is Polynomial 3K.
K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT	Deprecated (only supported early internal devices). Calibration model is Rational 6KT.
K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY	Calibration model is Brown Conrady (compatible with OpenCV)

Definition at line 684 of file k4atypes.h.

k4a_calibration_type_t

enum k4a_calibration_type_t

Calibration types.

Specifies a type of calibration.

Enumerator
K4A_CALIBRATION_TYPE_UNKNOWN	Calibration type is unknown
K4A_CALIBRATION_TYPE_DEPTH	Depth sensor
K4A_CALIBRATION_TYPE_COLOR	Color sensor
K4A_CALIBRATION_TYPE_GYRO	Gyroscope sensor
K4A_CALIBRATION_TYPE_ACCEL	Accelerometer sensor
K4A_CALIBRATION_TYPE_NUM	Number of types excluding unknown type

Definition at line 661 of file k4atypes.h.

k4a_color_control_command_t

enum k4a_color_control_command_t

Color sensor control commands

Remarks

The current settings can be read with k4a_device_get_color_control(). The settings can be set with k4a_device_set_color_control().

Control values set on a device are reset only when the device is power cycled. The device will retain the settings even if the k4a_device_t is closed or the application is restarted.

See also

k4a_color_control_mode_t

Enumerator
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE	Exposure time setting. May be set to K4A_COLOR_CONTROL_MODE_AUTO or K4A_COLOR_CONTROL_MODE_MANUAL. The Azure Kinect supports a limited number of fixed expsore settings. When setting this, expect the exposure to be rounded up to the nearest setting. Exceptions are 1) The last value in the table is the upper limit, so a value larger than this will be overridden to the largest entry in the table. 2) The exposure time cannot be larger than the equivelent FPS. So expect 100ms exposure time to be reduced to 30ms or 33.33ms when the camera is started. The most recent copy of the table 'device_exposure_mapping' is in https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/src/color/color_priv.h Exposure time is measured in microseconds.
K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY	Exposure or Framerate priority setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL. Value of 0 means framerate priority. Value of 1 means exposure priority. Using exposure priority may impact the framerate of both the color and depth cameras. Deprecated starting in 1.2.0. Please discontinue usage, firmware does not support this.
K4A_COLOR_CONTROL_BRIGHTNESS	Brightness setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL. The valid range is 0 to 100. The default value is 50.
K4A_COLOR_CONTROL_CONTRAST	Contrast setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL.
K4A_COLOR_CONTROL_SATURATION	Saturation setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL.
K4A_COLOR_CONTROL_SHARPNESS	Sharpness setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL.
K4A_COLOR_CONTROL_WHITEBALANCE	White balance setting. May be set to K4A_COLOR_CONTROL_MODE_AUTO or K4A_COLOR_CONTROL_MODE_MANUAL. The unit is degrees Kelvin. The setting must be set to a value evenly divisible by 10 degrees.
K4A_COLOR_CONTROL_BACKLIGHT_COMPENSATION	Backlight compensation setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL. Value of 0 means backlight compensation is disabled. Value of 1 means backlight compensation is enabled.
K4A_COLOR_CONTROL_GAIN	Gain setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL.
K4A_COLOR_CONTROL_POWERLINE_FREQUENCY	Powerline frequency setting. May only be set to K4A_COLOR_CONTROL_MODE_MANUAL. Value of 1 sets the powerline compensation to 50 Hz. Value of 2 sets the powerline compensation to 60 Hz.

Definition at line 506 of file k4atypes.h.

k4a_color_control_mode_t

enum k4a_color_control_mode_t

Color sensor control mode

Remarks

The current settings can be read with k4a_device_get_color_control(). The settings can be set with k4a_device_set_color_control().

See also

k4a_color_control_command_t

Enumerator
K4A_COLOR_CONTROL_MODE_AUTO	set the associated k4a_color_control_command_t to auto
K4A_COLOR_CONTROL_MODE_MANUAL	set the associated k4a_color_control_command_t to manual

Definition at line 625 of file k4atypes.h.

k4a_color_resolution_t

enum k4a_color_resolution_t

Color sensor resolutions.

Enumerator
K4A_COLOR_RESOLUTION_OFF	Color camera will be turned off with this setting
K4A_COLOR_RESOLUTION_720P	1280 * 720 16:9
K4A_COLOR_RESOLUTION_1080P	1920 * 1080 16:9
K4A_COLOR_RESOLUTION_1440P	2560 * 1440 16:9
K4A_COLOR_RESOLUTION_1536P	2048 * 1536 4:3
K4A_COLOR_RESOLUTION_2160P	3840 * 2160 16:9
K4A_COLOR_RESOLUTION_3072P	4096 * 3072 4:3

Definition at line 309 of file k4atypes.h.

k4a_depth_mode_t

enum k4a_depth_mode_t

Depth sensor capture modes.

Remarks

See the hardware specification for additional details on the field of view, and supported frame rates for each mode.

NFOV and WFOV denote Narrow and Wide Field Of View configurations.

Binned modes reduce the captured camera resolution by combining adjacent sensor pixels into a bin.

Enumerator
K4A_DEPTH_MODE_OFF	Depth sensor will be turned off with this setting.
K4A_DEPTH_MODE_NFOV_2X2BINNED	Depth captured at 320x288. Passive IR is also captured at 320x288.
K4A_DEPTH_MODE_NFOV_UNBINNED	Depth captured at 640x576. Passive IR is also captured at 640x576.
K4A_DEPTH_MODE_WFOV_2X2BINNED	Depth captured at 512x512. Passive IR is also captured at 512x512.
K4A_DEPTH_MODE_WFOV_UNBINNED	Depth captured at 1024x1024. Passive IR is also captured at 1024x1024.
K4A_DEPTH_MODE_PASSIVE_IR	Passive IR only, captured at 1024x1024.

Definition at line 290 of file k4atypes.h.

k4a_firmware_build_t

enum k4a_firmware_build_t

Firmware build type.

Enumerator
K4A_FIRMWARE_BUILD_RELEASE	Production firmware.
K4A_FIRMWARE_BUILD_DEBUG	Pre-production firmware.

Definition at line 705 of file k4atypes.h.

k4a_firmware_signature_t

enum k4a_firmware_signature_t

Firmware signature type.

Enumerator
K4A_FIRMWARE_SIGNATURE_MSFT	Microsoft signed firmware.
K4A_FIRMWARE_SIGNATURE_TEST	Test signed firmware.
K4A_FIRMWARE_SIGNATURE_UNSIGNED	Unsigned firmware.

Definition at line 719 of file k4atypes.h.

k4a_fps_t

enum k4a_fps_t

Color and depth sensor frame rate.

Remarks

This enumeration is used to select the desired frame rate to operate the cameras. The actual frame rate may vary slightly due to dropped data, synchronization variation between devices, clock accuracy, or if the camera exposure priority mode causes reduced frame rate.

Enumerator
K4A_FRAMES_PER_SECOND_5	5 FPS
K4A_FRAMES_PER_SECOND_15	15 FPS
K4A_FRAMES_PER_SECOND_30	30 FPS
K4A_FRAMES_PER_SECOND_25	25 FPS

Definition at line 478 of file k4atypes.h.

k4a_image_format_t

enum k4a_image_format_t

Image format type.

Remarks

The image format indicates how the k4a_image_t buffer data is interpreted.

Enumerator
K4A_IMAGE_FORMAT_COLOR_MJPG	Color image type MJPG. The buffer for each image is encoded as a JPEG and can be decoded by a JPEG decoder. Because the image is compressed, the stride parameter for the k4a_image_t is not applicable. Each MJPG encoded image in a stream may be of differing size depending on the compression efficiency.
K4A_IMAGE_FORMAT_COLOR_NV12	Color image type NV12. NV12 images separate the luminance and chroma data such that all the luminance is at the beginning of the buffer, and the chroma lines follow immediately after. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory. Chroma has half as many lines of height and half the width in pixels of the luminance. Each chroma line has the same width in bytes as a luminance line.
K4A_IMAGE_FORMAT_COLOR_YUY2	Color image type YUY2. YUY2 stores chroma and luminance data in interleaved pixels. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory.
K4A_IMAGE_FORMAT_COLOR_BGRA32	Color image type BGRA32. Each pixel of BGRA32 data is four bytes. The first three bytes represent Blue, Green, and Red data. The fourth byte is the alpha channel and is unused in the Azure Kinect APIs. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory. The Azure Kinect device does not natively capture in this format. Requesting images of this format requires additional computation in the API.
K4A_IMAGE_FORMAT_DEPTH16	Depth image type DEPTH16. Each pixel of DEPTH16 data is two bytes of little endian unsigned depth data. The unit of the data is in millimeters from the origin of the camera. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory.
K4A_IMAGE_FORMAT_IR16	Image type IR16. Each pixel of IR16 data is two bytes of little endian unsigned depth data. The value of the data represents brightness. This format represents infrared light and is captured by the depth camera. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory.
K4A_IMAGE_FORMAT_CUSTOM8	Single channel image type CUSTOM8. Each pixel of CUSTOM8 is a single channel one byte of unsigned data. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory.
K4A_IMAGE_FORMAT_CUSTOM16	Single channel image type CUSTOM16. Each pixel of CUSTOM16 is a single channel two bytes of little endian unsigned data. Stride indicates the length of each line in bytes and should be used to determine the start location of each line of the image in memory.
K4A_IMAGE_FORMAT_CUSTOM	Custom image format. Used in conjunction with user created images or images packing non-standard data. See the originator of the custom formatted image for information on how to interpret the data.

Definition at line 332 of file k4atypes.h.

k4a_log_level_t

enum k4a_log_level_t

Verbosity levels of debug messaging

Enumerator
K4A_LOG_LEVEL_CRITICAL	Most severe level of debug messaging.
K4A_LOG_LEVEL_ERROR	2nd most severe level of debug messaging.
K4A_LOG_LEVEL_WARNING	3nd most severe level of debug messaging.
K4A_LOG_LEVEL_INFO	2nd least severe level of debug messaging.
K4A_LOG_LEVEL_TRACE	Least severe level of debug messaging.
K4A_LOG_LEVEL_OFF	No logging is performed

Definition at line 261 of file k4atypes.h.

k4a_playback_seek_origin_t

enum k4a_playback_seek_origin_t

Playback seeking positions.

Enumerator
K4A_PLAYBACK_SEEK_BEGIN	Seek relative to the beginning of a recording.
K4A_PLAYBACK_SEEK_END	Seek relative to the end of a recording.
K4A_PLAYBACK_SEEK_DEVICE_TIME	Seek to an absolute device timestamp.

Definition at line 143 of file types.h.

k4a_result_t

enum k4a_result_t

Result code returned by Azure Kinect APIs.

Enumerator
K4A_RESULT_SUCCEEDED	The result was successful
K4A_RESULT_FAILED	The result was a failure

Definition at line 217 of file k4atypes.h.

k4a_stream_result_t

enum k4a_stream_result_t

Return codes returned by Azure Kinect playback API.

Enumerator
K4A_STREAM_RESULT_SUCCEEDED	The result was successful.
K4A_STREAM_RESULT_FAILED	The result was a failure.
K4A_STREAM_RESULT_EOF	The end of the data stream was reached.

Definition at line 128 of file types.h.

k4a_transformation_interpolation_type_t

enum k4a_transformation_interpolation_type_t

Transformation interpolation type.

Remarks

Interpolation type used with k4a_transformation_depth_image_to_color_camera_custom.

Enumerator
K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST	Nearest neighbor interpolation
K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR	Linear interpolation

Definition at line 459 of file k4atypes.h.

k4a_wait_result_t

enum k4a_wait_result_t

Result code returned by Azure Kinect APIs.

Enumerator
K4A_WAIT_RESULT_SUCCEEDED	The result was successful
K4A_WAIT_RESULT_FAILED	The result was a failure
K4A_WAIT_RESULT_TIMEOUT	The operation timed out

Definition at line 246 of file k4atypes.h.

k4a_wired_sync_mode_t

enum k4a_wired_sync_mode_t

Synchronization mode when connecting two or more devices together.

Enumerator
K4A_WIRED_SYNC_MODE_STANDALONE	Neither 'Sync In' or 'Sync Out' connections are used.
K4A_WIRED_SYNC_MODE_MASTER	The 'Sync Out' jack is enabled and synchronization data it driven out the connected wire. While in master mode the color camera must be enabled as part of the multi device sync signalling logic. Even if the color image is not needed, the color camera must be running.
K4A_WIRED_SYNC_MODE_SUBORDINATE	The 'Sync In' jack is used for synchronization and 'Sync Out' is driven for the next device in the chain. 'Sync Out' is a mirror of 'Sync In' for this mode.

Definition at line 639 of file k4atypes.h.