Functions
K4A_EXPORT k4a_result_t	k4a_set_debug_message_handler (k4a_logging_message_cb_t message_cb, void message_cb_context, k4a_log_level_t min_level)

K4A_EXPORT k4a_result_t	k4a_set_allocator (k4a_memory_allocate_cb_t allocate, k4a_memory_destroy_cb_t free)

K4ARECORD_EXPORT bool	k4a_playback_check_track_exists (k4a_playback_t playback_handle, const char *track_name)

K4ARECORD_EXPORT size_t	k4a_playback_get_track_count (k4a_playback_t playback_handle)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_get_track_name (k4a_playback_t playback_handle, size_t track_index, char track_name, size_t track_name_size)

K4ARECORD_EXPORT bool	k4a_playback_track_is_builtin (k4a_playback_t playback_handle, const char *track_name)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_track_get_video_settings (k4a_playback_t playback_handle, const char track_name, k4a_record_video_settings_t video_settings)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_track_get_codec_id (k4a_playback_t playback_handle, const char track_name, char codec_id, size_t *codec_id_size)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_track_get_codec_context (k4a_playback_t playback_handle, const char track_name, uint8_t codec_context, size_t *codec_context_size)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_get_attachment (k4a_playback_t playback_handle, const char file_name, uint8_t data, size_t *data_size)

K4A_EXPORT uint32_t	k4a_device_get_installed_count (void)

K4A_EXPORT k4a_result_t	k4a_device_open (uint32_t index, k4a_device_t *device_handle)

K4A_EXPORT void	k4a_device_close (k4a_device_t device_handle)

K4A_EXPORT k4a_wait_result_t	k4a_device_get_capture (k4a_device_t device_handle, k4a_capture_t *capture_handle, int32_t timeout_in_ms)

K4A_EXPORT k4a_wait_result_t	k4a_device_get_imu_sample (k4a_device_t device_handle, k4a_imu_sample_t *imu_sample, int32_t timeout_in_ms)

K4A_EXPORT k4a_result_t	k4a_capture_create (k4a_capture_t *capture_handle)

K4A_EXPORT void	k4a_capture_release (k4a_capture_t capture_handle)

K4A_EXPORT void	k4a_capture_reference (k4a_capture_t capture_handle)

K4A_EXPORT k4a_image_t	k4a_capture_get_color_image (k4a_capture_t capture_handle)

K4A_EXPORT k4a_image_t	k4a_capture_get_depth_image (k4a_capture_t capture_handle)

K4A_EXPORT k4a_image_t	k4a_capture_get_ir_image (k4a_capture_t capture_handle)

K4A_EXPORT void	k4a_capture_set_color_image (k4a_capture_t capture_handle, k4a_image_t image_handle)

K4A_EXPORT void	k4a_capture_set_depth_image (k4a_capture_t capture_handle, k4a_image_t image_handle)

K4A_EXPORT void	k4a_capture_set_ir_image (k4a_capture_t capture_handle, k4a_image_t image_handle)

K4A_EXPORT void	k4a_capture_set_temperature_c (k4a_capture_t capture_handle, float temperature_c)

K4A_EXPORT float	k4a_capture_get_temperature_c (k4a_capture_t capture_handle)

K4A_EXPORT k4a_result_t	k4a_image_create (k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes, k4a_image_t *image_handle)

K4A_EXPORT k4a_result_t	k4a_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, k4a_image_t image_handle)

K4A_EXPORT uint8_t *	k4a_image_get_buffer (k4a_image_t image_handle)

K4A_EXPORT size_t	k4a_image_get_size (k4a_image_t image_handle)

K4A_EXPORT k4a_image_format_t	k4a_image_get_format (k4a_image_t image_handle)

K4A_EXPORT int	k4a_image_get_width_pixels (k4a_image_t image_handle)

K4A_EXPORT int	k4a_image_get_height_pixels (k4a_image_t image_handle)

K4A_EXPORT int	k4a_image_get_stride_bytes (k4a_image_t image_handle)

K4A_DEPRECATED_EXPORT uint64_t	k4a_image_get_timestamp_usec (k4a_image_t image_handle)

K4A_EXPORT uint64_t	k4a_image_get_device_timestamp_usec (k4a_image_t image_handle)

K4A_EXPORT uint64_t	k4a_image_get_system_timestamp_nsec (k4a_image_t image_handle)

K4A_EXPORT uint64_t	k4a_image_get_exposure_usec (k4a_image_t image_handle)

K4A_EXPORT uint32_t	k4a_image_get_white_balance (k4a_image_t image_handle)

K4A_EXPORT uint32_t	k4a_image_get_iso_speed (k4a_image_t image_handle)

K4A_EXPORT void	k4a_image_set_device_timestamp_usec (k4a_image_t image_handle, uint64_t timestamp_usec)

K4A_DEPRECATED_EXPORT void	k4a_image_set_timestamp_usec (k4a_image_t image_handle, uint64_t timestamp_usec)

K4A_EXPORT void	k4a_image_set_system_timestamp_nsec (k4a_image_t image_handle, uint64_t timestamp_nsec)

K4A_EXPORT void	k4a_image_set_exposure_usec (k4a_image_t image_handle, uint64_t exposure_usec)

K4A_DEPRECATED_EXPORT void	k4a_image_set_exposure_time_usec (k4a_image_t image_handle, uint64_t exposure_usec)

K4A_EXPORT void	k4a_image_set_white_balance (k4a_image_t image_handle, uint32_t white_balance)

K4A_EXPORT void	k4a_image_set_iso_speed (k4a_image_t image_handle, uint32_t iso_speed)

K4A_EXPORT void	k4a_image_reference (k4a_image_t image_handle)

K4A_EXPORT void	k4a_image_release (k4a_image_t image_handle)

K4A_EXPORT k4a_result_t	k4a_device_start_cameras (k4a_device_t device_handle, const k4a_device_configuration_t *config)

K4A_EXPORT void	k4a_device_stop_cameras (k4a_device_t device_handle)

K4A_EXPORT k4a_result_t	k4a_device_start_imu (k4a_device_t device_handle)

K4A_EXPORT void	k4a_device_stop_imu (k4a_device_t device_handle)

K4A_EXPORT k4a_buffer_result_t	k4a_device_get_serialnum (k4a_device_t device_handle, char serial_number, size_t serial_number_size)

K4A_EXPORT k4a_result_t	k4a_device_get_version (k4a_device_t device_handle, k4a_hardware_version_t *version)

K4A_EXPORT k4a_result_t	k4a_device_get_color_control_capabilities (k4a_device_t device_handle, k4a_color_control_command_t command, bool supports_auto, int32_t min_value, int32_t max_value, int32_t step_value, int32_t default_value, k4a_color_control_mode_t default_mode)

K4A_EXPORT k4a_result_t	k4a_device_get_color_control (k4a_device_t device_handle, k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value)

K4A_EXPORT k4a_result_t	k4a_device_set_color_control (k4a_device_t device_handle, k4a_color_control_command_t command, k4a_color_control_mode_t mode, int32_t value)

K4A_EXPORT k4a_buffer_result_t	k4a_device_get_raw_calibration (k4a_device_t device_handle, uint8_t data, size_t data_size)

K4A_EXPORT k4a_result_t	k4a_device_get_calibration (k4a_device_t device_handle, const k4a_depth_mode_t depth_mode, const k4a_color_resolution_t color_resolution, k4a_calibration_t *calibration)

K4A_EXPORT k4a_result_t	k4a_device_get_sync_jack (k4a_device_t device_handle, bool sync_in_jack_connected, bool sync_out_jack_connected)

K4A_EXPORT k4a_result_t	k4a_calibration_get_from_raw (char raw_calibration, size_t raw_calibration_size, const k4a_depth_mode_t depth_mode, const k4a_color_resolution_t color_resolution, k4a_calibration_t calibration)

K4A_EXPORT 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)

K4A_EXPORT 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)

K4A_EXPORT 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)

K4A_EXPORT 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)

K4A_EXPORT k4a_result_t	k4a_calibration_color_2d_to_depth_2d (const k4a_calibration_t calibration, const k4a_float2_t source_point2d, const k4a_image_t depth_image, k4a_float2_t target_point2d, int valid)

K4A_EXPORT k4a_transformation_t	k4a_transformation_create (const k4a_calibration_t *calibration)

K4A_EXPORT void	k4a_transformation_destroy (k4a_transformation_t transformation_handle)

K4A_EXPORT k4a_result_t	k4a_transformation_depth_image_to_color_camera (k4a_transformation_t transformation_handle, const k4a_image_t depth_image, k4a_image_t transformed_depth_image)

K4A_EXPORT k4a_result_t	k4a_transformation_depth_image_to_color_camera_custom (k4a_transformation_t transformation_handle, const k4a_image_t depth_image, const k4a_image_t custom_image, k4a_image_t transformed_depth_image, k4a_image_t transformed_custom_image, k4a_transformation_interpolation_type_t interpolation_type, uint32_t invalid_custom_value)

K4A_EXPORT k4a_result_t	k4a_transformation_color_image_to_depth_camera (k4a_transformation_t transformation_handle, const k4a_image_t depth_image, const k4a_image_t color_image, k4a_image_t transformed_color_image)

K4A_EXPORT k4a_result_t	k4a_transformation_depth_image_to_point_cloud (k4a_transformation_t transformation_handle, const k4a_image_t depth_image, const k4a_calibration_type_t camera, k4a_image_t xyz_image)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_open (const char path, k4a_playback_t playback_handle)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_get_raw_calibration (k4a_playback_t playback_handle, uint8_t data, size_t data_size)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_get_calibration (k4a_playback_t playback_handle, k4a_calibration_t *calibration)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_get_record_configuration (k4a_playback_t playback_handle, k4a_record_configuration_t *config)

K4ARECORD_EXPORT k4a_buffer_result_t	k4a_playback_get_tag (k4a_playback_t playback_handle, const char name, char value, size_t *value_size)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_set_color_conversion (k4a_playback_t playback_handle, k4a_image_format_t target_format)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_next_capture (k4a_playback_t playback_handle, k4a_capture_t *capture_handle)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_previous_capture (k4a_playback_t playback_handle, k4a_capture_t *capture_handle)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_next_imu_sample (k4a_playback_t playback_handle, k4a_imu_sample_t *imu_sample)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_previous_imu_sample (k4a_playback_t playback_handle, k4a_imu_sample_t *imu_sample)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_next_data_block (k4a_playback_t playback_handle, const char track_name, k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT k4a_stream_result_t	k4a_playback_get_previous_data_block (k4a_playback_t playback_handle, const char track_name, k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT uint64_t	k4a_playback_data_block_get_device_timestamp_usec (k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT size_t	k4a_playback_data_block_get_buffer_size (k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT uint8_t *	k4a_playback_data_block_get_buffer (k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT void	k4a_playback_data_block_release (k4a_playback_data_block_t data_block_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_playback_seek_timestamp (k4a_playback_t playback_handle, int64_t offset_usec, k4a_playback_seek_origin_t origin)

K4ARECORD_EXPORT uint64_t	k4a_playback_get_recording_length_usec (k4a_playback_t playback_handle)

K4ARECORD_DEPRECATED_EXPORT uint64_t	k4a_playback_get_last_timestamp_usec (k4a_playback_t playback_handle)

K4ARECORD_EXPORT void	k4a_playback_close (k4a_playback_t playback_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_record_create (const char path, k4a_device_t device, const k4a_device_configuration_t device_config, k4a_record_t recording_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_record_add_tag (k4a_record_t recording_handle, const char name, const char value)

K4ARECORD_EXPORT k4a_result_t	k4a_record_add_imu_track (k4a_record_t recording_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_record_add_attachment (const k4a_record_t recording_handle, const char attachment_name, const uint8_t buffer, size_t buffer_size)

K4ARECORD_EXPORT k4a_result_t	k4a_record_add_custom_video_track (const k4a_record_t recording_handle, const char track_name, const char codec_id, const uint8_t codec_context, size_t codec_context_size, const k4a_record_video_settings_t track_settings)

K4ARECORD_EXPORT k4a_result_t	k4a_record_add_custom_subtitle_track (const k4a_record_t recording_handle, const char track_name, const char codec_id, const uint8_t codec_context, size_t codec_context_size, const k4a_record_subtitle_settings_t track_settings)

K4ARECORD_EXPORT k4a_result_t	k4a_record_write_header (k4a_record_t recording_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_record_write_capture (k4a_record_t recording_handle, k4a_capture_t capture_handle)

K4ARECORD_EXPORT k4a_result_t	k4a_record_write_imu_sample (k4a_record_t recording_handle, k4a_imu_sample_t imu_sample)

K4ARECORD_EXPORT k4a_result_t	k4a_record_write_custom_track_data (const k4a_record_t recording_handle, const char track_name, uint64_t device_timestamp_usec, uint8_t custom_data, size_t custom_data_size)

K4ARECORD_EXPORT k4a_result_t	k4a_record_flush (k4a_record_t recording_handle)

K4ARECORD_EXPORT void	k4a_record_close (k4a_record_t recording_handle)

Detailed Description

Public functions of the API

Function Documentation

◆ k4a_calibration_2d_to_2d()

K4A_EXPORT 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
	)

Parameters

calibration	Location to read the camera calibration obtained by k4a_device_get_calibration().
source_point2d	The 2D pixel in `source_camera` coordinates.
source_depth_mm	The depth of `source_point2d` in millimeters. One way to derive the depth value in the color camera geometry is to use the function k4a_transformation_depth_image_to_color_camera().
source_camera	The current camera.
target_camera	The target camera.
target_point2d	The 2D pixel in `target_camera` coordinates.
valid	The output parameter returns a value of 1 if the `source_point2d` is a valid coordinate in the `target_camera` coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns: K4A_RESULT_SUCCEEDED if target_point2d was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Remarks: This function maps a pixel between the coordinate systems of the depth and color cameras. It is equivalent to calling k4a_calibration_2d_to_3d() to compute the 3D point corresponding to source_point2d and then using k4a_calibration_3d_to_2d() to map the 3D point into the coordinate system of the target_camera.; If source_camera and target_camera are identical, the function immediately sets target_point2d to source_point2d and returns without computing any transformations.; If source_point2d does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

◆ k4a_calibration_2d_to_3d()

K4A_EXPORT 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
	)

Parameters

calibration	Location to read the camera calibration obtained by k4a_device_get_calibration().
source_point2d	The 2D pixel in `source_camera` coordinates.
source_depth_mm	The depth of `source_point2d` in millimeters. One way to derive the depth value in the color camera geometry is to use the function k4a_transformation_depth_image_to_color_camera().
source_camera	The current camera.
target_camera	The target camera.
target_point3d_mm	Pointer to the output where the 3D coordinates of the input pixel in the coordinate system of `target_camera` is stored in millimeters.
valid	The output parameter returns a value of 1 if the `source_point2d` is a valid coordinate, and will return 0 if the coordinate is not valid in the calibration model.

Returns: K4A_RESULT_SUCCEEDED if target_point3d_mm was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point3d_mm are outside of the range of valid calibration and should be ignored.

Remarks: This function applies the intrinsic calibration of source_camera to compute the 3D ray from the focal point of the camera through pixel source_point2d. The 3D point on this ray is then found using source_depth_mm. If target_camera is different from source_camera, the 3D point is transformed to target_camera using k4a_calibration_3d_to_3d(). In practice, source_camera and target_camera will often be identical. In this case, no 3D to 3D transformation is applied.; If source_point2d is not considered as valid pixel coordinate according to the intrinsic camera model, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point3d_mm if valid was set to 0.

◆ k4a_calibration_3d_to_2d()

K4A_EXPORT 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
	)

Parameters

calibration	Location to read the camera calibration obtained by k4a_device_get_calibration().
source_point3d_mm	The 3D coordinates in millimeters representing a point in `source_camera`
source_camera	The current camera.
target_camera	The target camera.
target_point2d	Pointer to the output where the 2D pixel in `target_camera` coordinates is stored.
valid	The output parameter returns a value of 1 if the `source_point3d_mm` is a valid coordinate in the `target_camera` coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns: K4A_RESULT_SUCCEEDED if target_point2d was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Remarks: If target_camera is different from source_camera, source_point3d_mm is transformed to target_camera using k4a_calibration_3d_to_3d(). In practice, source_camera and target_camera will often be identical. In this case, no 3D to 3D transformation is applied. The 3D point in the coordinate system of target_camera is then projected onto the image plane using the intrinsic calibration of target_camera.; If source_point3d_mm does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

◆ k4a_calibration_3d_to_3d()

K4A_EXPORT 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
	)

Parameters

calibration	Location to read the camera calibration data.
source_point3d_mm	The 3D coordinates in millimeters representing a point in `source_camera`.
source_camera	The current camera.
target_camera	The target camera.
target_point3d_mm	Pointer to the output where the new 3D coordinates of the input point in the coordinate space of `target_camera` is stored in millimeters.

Returns: K4A_RESULT_SUCCEEDED if target_point3d_mm was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters.

Remarks: This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D rotation and a 3D translation. If source_camera and target_camera are the same, then target_point3d_mm will be identical to source_point3d_mm.

◆ k4a_calibration_color_2d_to_depth_2d()

K4A_EXPORT k4a_result_t k4a_calibration_color_2d_to_depth_2d	(	const k4a_calibration_t *	calibration,
		const k4a_float2_t *	source_point2d,
		const k4a_image_t	depth_image,
		k4a_float2_t *	target_point2d,
		int *	valid
	)

Parameters

calibration	Location to read the camera calibration obtained by k4a_device_get_calibration().
source_point2d	The 2D pixel in `color` camera coordinates.
depth_image	Handle to input depth image.
target_point2d	The 2D pixel in `depth` camera coordinates.
valid	The output parameter returns a value of 1 if the `source_point2d` is a valid coordinate in the `target_camera` coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns: K4A_RESULT_SUCCEEDED if target_point2d was successfully written. K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Remarks: This function represents an alternative to k4a_calibration_2d_to_2d() if the number of pixels that need to be transformed is small. This function searches along an epipolar line in the depth image to find the corresponding depth pixel. If a larger number of pixels need to be transformed, it might be computationally cheaper to call k4a_transformation_depth_image_to_color_camera() to get correspondence depth values for these color pixels, then call the function k4a_calibration_2d_to_2d().; If source_point2d does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

◆ k4a_calibration_get_from_raw()

K4A_EXPORT k4a_result_t k4a_calibration_get_from_raw	(	char *	raw_calibration,
		size_t	raw_calibration_size,
		const k4a_depth_mode_t	depth_mode,
		const k4a_color_resolution_t	color_resolution,
		k4a_calibration_t *	calibration
	)

Parameters

raw_calibration	Raw calibration blob obtained from a device or recording. The raw calibration must be NULL terminated.
raw_calibration_size	The size, in bytes, of raw_calibration including the NULL termination.
depth_mode	Mode in which depth camera is operated.
color_resolution	Resolution in which color camera is operated.
calibration	Location to write the calibration.

Returns: K4A_RESULT_SUCCEEDED if calibration was successfully written. K4A_RESULT_FAILED otherwise.

Remarks: The calibration represents the data needed to transform between the camera views and is different for each operating depth_mode and color_resolution the device is configured to operate in.; The calibration output is used as input to all transformation functions.

See also: k4a_calibration_2d_to_2d(); k4a_calibration_2d_to_3d(); k4a_calibration_3d_to_2d(); k4a_calibration_3d_to_3d()

◆ k4a_capture_create()

K4A_EXPORT k4a_result_t k4a_capture_create ( k4a_capture_t * capture_handle )

Parameters

capture_handle Pointer to a location to store the handle.

Remarks: Call this function to create a k4a_capture_t handle for a new capture. Release it with k4a_capture_release().

The new capture is created with a reference count of 1.

Returns: Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with K4A_RESULT_FAILED and error specific data can be found in the log.

◆ k4a_capture_get_color_image()

K4A_EXPORT k4a_image_t k4a_capture_get_color_image ( k4a_capture_t capture_handle )

Parameters

capture_handle Capture handle containing the image.

Remarks: Call this function to access the color image part of this capture. Release the k4a_image_t with k4a_image_release();

◆ k4a_capture_get_depth_image()

K4A_EXPORT k4a_image_t k4a_capture_get_depth_image ( k4a_capture_t capture_handle )

Parameters

capture_handle Capture handle containing the image.

Remarks: Call this function to access the depth image part of this capture. Release the k4a_image_t with k4a_image_release();

◆ k4a_capture_get_ir_image()

K4A_EXPORT k4a_image_t k4a_capture_get_ir_image ( k4a_capture_t capture_handle )

Parameters

capture_handle Capture handle containing the image.

Remarks: Call this function to access the IR image part of this capture. Release the k4a_image_t with k4a_image_release();

◆ k4a_capture_get_temperature_c()

K4A_EXPORT float k4a_capture_get_temperature_c ( k4a_capture_t capture_handle )

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

capture_handle Capture handle to retrieve the temperature from.

Returns: This function returns the temperature of the device at the time of the capture in Celsius. If the temperature is unavailable, the function will return NAN.

◆ k4a_capture_reference()

K4A_EXPORT void k4a_capture_reference ( k4a_capture_t capture_handle )

Parameters

capture_handle Capture to add a reference to.

Remarks: Call this function to add an additional reference to a capture. This reference must be removed with k4a_capture_release().

◆ k4a_capture_release()

K4A_EXPORT void k4a_capture_release ( k4a_capture_t capture_handle )

Parameters

capture_handle Capture to release.

Remarks: Call this function when finished using the capture.

◆ k4a_capture_set_color_image()

K4A_EXPORT void k4a_capture_set_color_image	(	k4a_capture_t	capture_handle,
		k4a_image_t	image_handle
	)

Parameters

capture_handle	Capture handle to hold the image.
image_handle	Image handle containing the image.

Remarks: When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.; If there is already a color image contained in the capture, the existing image will be dereferenced and replaced with the new image.; To remove a color image to the capture without adding a new image, this function can be called with a NULL image_handle.; Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

◆ k4a_capture_set_depth_image()

K4A_EXPORT void k4a_capture_set_depth_image	(	k4a_capture_t	capture_handle,
		k4a_image_t	image_handle
	)

Parameters

capture_handle	Capture handle to hold the image.
image_handle	Image handle containing the image.

Remarks: When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.; If there is already an image depth image contained in the capture, the existing image will be dereferenced and replaced with the new image.; To remove a depth image to the capture without adding a new image, this function can be called with a NULL image_handle.; Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

◆ k4a_capture_set_ir_image()

K4A_EXPORT void k4a_capture_set_ir_image	(	k4a_capture_t	capture_handle,
		k4a_image_t	image_handle
	)

Parameters

capture_handle	Capture handle to hold the image.
image_handle	Image handle containing the image.

Remarks: When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.; If there is already an IR image contained in the capture, the existing image will be dereferenced and replaced with the new image.; To remove a IR image to the capture without adding a new image, this function can be called with a NULL image_handle.; Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

◆ k4a_capture_set_temperature_c()

K4A_EXPORT void k4a_capture_set_temperature_c	(	k4a_capture_t	capture_handle,
		float	temperature_c
	)

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

capture_handle	Capture handle to set the temperature on.
temperature_c	Temperature in Celsius to store.

◆ k4a_device_close()

K4A_EXPORT void k4a_device_close ( k4a_device_t device_handle )

Parameters

device_handle Handle obtained by k4a_device_open().

Remarks: Once closed, the handle is no longer valid.; Before closing the handle to the device, ensure that all k4a_capture_t captures have been released with k4a_capture_release().

◆ k4a_device_get_calibration()

K4A_EXPORT k4a_result_t k4a_device_get_calibration	(	k4a_device_t	device_handle,
		const k4a_depth_mode_t	depth_mode,
		const k4a_color_resolution_t	color_resolution,
		k4a_calibration_t *	calibration
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
depth_mode	Mode in which depth camera is operated.
color_resolution	Resolution in which color camera is operated.
calibration	Location to write the calibration

Returns: K4A_RESULT_SUCCEEDED if calibration was successfully written. K4A_RESULT_FAILED otherwise.

Remarks: The calibration represents the data needed to transform between the camera views and may be different for each operating depth_mode and color_resolution the device is configured to operate in.; The calibration output is used as input to all calibration and transformation functions.

See also: k4a_calibration_2d_to_2d(); k4a_calibration_2d_to_3d(); k4a_calibration_3d_to_2d(); k4a_calibration_3d_to_3d()

◆ k4a_device_get_capture()

K4A_EXPORT k4a_wait_result_t k4a_device_get_capture	(	k4a_device_t	device_handle,
		k4a_capture_t *	capture_handle,
		int32_t	timeout_in_ms
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
capture_handle	If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using this capture.
timeout_in_ms	Specifies the time in milliseconds the function should block waiting for the capture. If set to 0, the function will return without blocking. Passing a value of K4A_WAIT_INFINITE will block indefinitely until data is available, the device is disconnected, or another error occurs.

Returns: K4A_WAIT_RESULT_SUCCEEDED if a capture is returned. If a capture is not available before the timeout elapses, the function will return K4A_WAIT_RESULT_TIMEOUT. All other failures will return K4A_WAIT_RESULT_FAILED.

Remarks: Gets the next capture in the streamed sequence of captures from the camera. If a new capture is not currently available, this function will block until the timeout is reached. The SDK will buffer at least two captures worth of data before dropping the oldest capture. Callers needing to capture all data need to ensure they read the data as fast as the data is being produced on average.; Upon successfully reading a capture this function will return success and populate capture. If a capture is not available in the configured timeout_in_ms, then the API will return K4A_WAIT_RESULT_TIMEOUT.; If the call is successful and a capture is returned, callers must call k4a_capture_release() to return the allocated memory.; This function needs to be called while the device is in a running state; after k4a_device_start_cameras() is called and before k4a_device_stop_cameras() is called.; This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of streaming data, and caller should stop the stream using k4a_device_stop_cameras().; If this function is waiting for data (non-zero timeout) when k4a_device_stop_cameras() or k4a_device_close() is called on another thread, this function will return an error.

Returns: K4A_WAIT_RESULT_SUCCEEDED if a capture is returned. If a capture is not available before the timeout elapses, the function will return K4A_WAIT_RESULT_TIMEOUT. All other failures will return K4A_WAIT_RESULT_FAILED.

◆ k4a_device_get_color_control()

K4A_EXPORT k4a_result_t k4a_device_get_color_control	(	k4a_device_t	device_handle,
		k4a_color_control_command_t	command,
		k4a_color_control_mode_t *	mode,
		int32_t *	value
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
command	Color sensor control command.
mode	Location to store the color sensor's control mode. This mode represents whether the command is in automatic or manual mode.
value	Location to store the color sensor's control value. This value is always written, but is only valid when the `mode` returned is K4A_COLOR_CONTROL_MODE_MANUAL for the current `command`.

Returns: K4A_RESULT_SUCCEEDED if the value was successfully returned, K4A_RESULT_FAILED if an error occurred

Remarks: Each control command may be set to manual or automatic. See the definition of k4a_color_control_command_t on how to interpret the value for each command.; Some control commands are only supported in manual mode. When a command is in automatic mode, the value for that command is not valid.; 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.

◆ k4a_device_get_color_control_capabilities()

K4A_EXPORT k4a_result_t k4a_device_get_color_control_capabilities	(	k4a_device_t	device_handle,
		k4a_color_control_command_t	command,
		bool *	supports_auto,
		int32_t *	min_value,
		int32_t *	max_value,
		int32_t *	step_value,
		int32_t *	default_value,
		k4a_color_control_mode_t *	default_mode
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
command	Color sensor control command.
supports_auto	Location to store whether the color sensor's control support auto mode or not. true if it supports auto mode, otherwise false.
min_value	Location to store the color sensor's control minimum value of /p command.
max_value	Location to store the color sensor's control maximum value of /p command.
step_value	Location to store the color sensor's control step value of /p command.
default_value	Location to store the color sensor's control default value of /p command.
default_mode	Location to store the color sensor's control default mode of /p command.

Returns: K4A_RESULT_SUCCEEDED if the value was successfully returned, K4A_RESULT_FAILED if an error occurred

◆ k4a_device_get_imu_sample()

K4A_EXPORT k4a_wait_result_t k4a_device_get_imu_sample	(	k4a_device_t	device_handle,
		k4a_imu_sample_t *	imu_sample,
		int32_t	timeout_in_ms
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
imu_sample	Pointer to the location for the API to write the IMU sample.
timeout_in_ms	Specifies the time in milliseconds the function should block waiting for the sample. If set to 0, the function will return without blocking. Passing a value of K4A_WAIT_INFINITE will block indefinitely until data is available, the device is disconnected, or another error occurs.

Returns: K4A_WAIT_RESULT_SUCCEEDED if a sample is returned. If a sample is not available before the timeout elapses, the function will return K4A_WAIT_RESULT_TIMEOUT. All other failures will return K4A_WAIT_RESULT_FAILED.

Remarks: Gets the next sample in the streamed sequence of IMU samples from the device. If a new sample is not currently available, this function will block until the timeout is reached. The API will buffer at least two camera capture intervals worth of samples before dropping the oldest sample. Callers needing to capture all data need to ensure they read the data as fast as the data is being produced on average.; Upon successfully reading a sample this function will return success and populate imu_sample. If a sample is not available in the configured timeout_in_ms, then the API will return K4A_WAIT_RESULT_TIMEOUT.; This function needs to be called while the device is in a running state; after k4a_device_start_imu() is called and before k4a_device_stop_imu() is called.; This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of streaming data, and caller should stop the stream using k4a_device_stop_imu().; If this function is waiting for data (non-zero timeout) when k4a_device_stop_imu() or k4a_device_close() is called on another thread, this function will return an error.; The memory the IMU sample is written to is allocated and owned by the caller, so there is no need to call an Azure Kinect API to free or release the sample.

◆ k4a_device_get_installed_count()

K4A_EXPORT uint32_t k4a_device_get_installed_count ( void )

Returns: Number of sensors connected to the PC.

Remarks: This API counts the number of Azure Kinect devices connected to the host PC.

◆ k4a_device_get_raw_calibration()

K4A_EXPORT k4a_buffer_result_t k4a_device_get_raw_calibration	(	k4a_device_t	device_handle,
		uint8_t *	data,
		size_t *	data_size
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
data	Location to write the calibration data to. This field may optionally be set to NULL for the caller to query for the needed data size.
data_size	On passing `data_size` into the function this variable represents the available size of the `data` buffer. On return this variable is updated with the amount of data actually written to the buffer, or the size required to store the calibration buffer if `data` is NULL.

Returns: K4A_BUFFER_RESULT_SUCCEEDED if data was successfully written. If data_size points to a buffer size that is too small to hold the output or data is NULL, K4A_BUFFER_RESULT_TOO_SMALL is returned and data_size is updated to contain the minimum buffer size needed to capture the calibration data.

◆ k4a_device_get_serialnum()

K4A_EXPORT k4a_buffer_result_t k4a_device_get_serialnum	(	k4a_device_t	device_handle,
		char *	serial_number,
		size_t *	serial_number_size
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
serial_number	Location to write the serial number to. If the function returns K4A_BUFFER_RESULT_SUCCEEDED, this will be a NULL terminated string of ASCII characters. If this input is NULL `serial_number_size` will still be updated to return the size of the buffer needed to store the string.
serial_number_size	On input, the size of the `serial_number` buffer if that pointer is not NULL. On output, this value is set to the actual number of bytes in the serial number (including the null terminator).

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the serial_number has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the size of the serial number is returned in the serial_number_size parameter. All other failures return K4A_BUFFER_RESULT_FAILED.

Remarks: Queries the device for its serial number. If the caller needs to know the size of the serial number to allocate memory, the function should be called once with a NULL serial_number to get the needed size in the serial_number_size output, and then again with the allocated buffer.; Only a complete serial number will be returned. If the caller's buffer is too small, the function will return K4A_BUFFER_RESULT_TOO_SMALL without returning any data in serial_number.

◆ k4a_device_get_sync_jack()

K4A_EXPORT k4a_result_t k4a_device_get_sync_jack	(	k4a_device_t	device_handle,
		bool *	sync_in_jack_connected,
		bool *	sync_out_jack_connected
	)

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

Parameters

device_handle	Handle obtained by k4a_device_open().
sync_in_jack_connected	Upon successful return this value will be set to true if a cable is connected to this sync in jack.
sync_out_jack_connected	Upon successful return this value will be set to true if a cable is connected to this sync out jack.

Returns: K4A_RESULT_SUCCEEDED if the connector status was successfully read.

Remarks: If sync_out_jack_connected is true then k4a_device_configuration_t wired_sync_mode mode can be set to K4A_WIRED_SYNC_MODE_STANDALONE or K4A_WIRED_SYNC_MODE_MASTER. If sync_in_jack_connected is true then k4a_device_configuration_t wired_sync_mode mode can be set to K4A_WIRED_SYNC_MODE_STANDALONE or K4A_WIRED_SYNC_MODE_SUBORDINATE.

See also: k4a_device_start_cameras()

◆ k4a_device_get_version()

K4A_EXPORT k4a_result_t k4a_device_get_version	(	k4a_device_t	device_handle,
		k4a_hardware_version_t *	version
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
version	Location to write the version info to.

Returns: A return of K4A_RESULT_SUCCEEDED means that the version structure has been filled in. All other failures return K4A_RESULT_FAILED.

◆ k4a_device_open()

K4A_EXPORT k4a_result_t k4a_device_open	(	uint32_t	index,
		k4a_device_t *	device_handle
	)

Parameters

index	The index of the device to open, starting with 0. Optionally pass in K4A_DEVICE_DEFAULT.
device_handle	Output parameter which on success will return a handle to the device.

Returns: K4A_RESULT_SUCCEEDED if the device was opened successfully.

Remarks: If successful, k4a_device_open() will return a device handle in the device_handle parameter. This handle grants exclusive access to the device and may be used in the other Azure Kinect API calls.; When done with the device, close the handle with k4a_device_close()

◆ k4a_device_set_color_control()

K4A_EXPORT k4a_result_t k4a_device_set_color_control	(	k4a_device_t	device_handle,
		k4a_color_control_command_t	command,
		k4a_color_control_mode_t	mode,
		int32_t	value
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
command	Color sensor control command.
mode	Color sensor control mode to set. This mode represents whether the command is in automatic or manual mode.
value	Value to set the color sensor's control to. The value is only valid if `mode` is set to K4A_COLOR_CONTROL_MODE_MANUAL, and is otherwise ignored.

Returns: K4A_RESULT_SUCCEEDED if the value was successfully set, K4A_RESULT_FAILED if an error occurred

Remarks: Each control command may be set to manual or automatic. See the definition of k4a_color_control_command_t on how to interpret the value for each command.; Some control commands are only supported in manual mode. When a command is in automatic mode, the value for that command is not valid.; 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.

◆ k4a_device_start_cameras()

K4A_EXPORT k4a_result_t k4a_device_start_cameras	(	k4a_device_t	device_handle,
		const k4a_device_configuration_t *	config
	)

Parameters

device_handle	Handle obtained by k4a_device_open().
config	The configuration we want to run the device in. This can be initialized with K4A_DEVICE_CONFIG_INIT_DISABLE_ALL.

Returns: K4A_RESULT_SUCCEEDED is returned on success.

Remarks: Individual sensors configured to run will now start to stream captured data.; It is not valid to call k4a_device_start_cameras() a second time on the same k4a_device_t until k4a_device_stop_cameras() has been called.

◆ k4a_device_start_imu()

K4A_EXPORT k4a_result_t k4a_device_start_imu ( k4a_device_t device_handle )

Parameters

device_handle Handle obtained by k4a_device_open().

Returns: K4A_RESULT_SUCCEEDED is returned on success. K4A_RESULT_FAILED if the sensor is already running or a failure is encountered

Remarks: Call this API to start streaming IMU data. It is not valid to call this function a second time on the same k4a_device_t until k4a_device_stop_imu() has been called.; This function is dependent on the state of the cameras. The color or depth camera must be started before the IMU. K4A_RESULT_FAILED will be returned if one of the cameras is not running.

◆ k4a_device_stop_cameras()

K4A_EXPORT void k4a_device_stop_cameras ( k4a_device_t device_handle )

Parameters

device_handle Handle obtained by k4a_device_open().

Remarks: The streaming of individual sensors stops as a result of this call. Once called, k4a_device_start_cameras() may be called again to resume sensor streaming.; This function may be called while another thread is blocking in k4a_device_get_capture(). Calling this function while another thread is in that function will result in that function returning a failure.

◆ k4a_device_stop_imu()

K4A_EXPORT void k4a_device_stop_imu ( k4a_device_t device_handle )

Parameters

device_handle Handle obtained by k4a_device_open().

Remarks: The streaming of the IMU stops as a result of this call. Once called, k4a_device_start_imu() may be called again to resume sensor streaming, so long as the cameras are running.; This function may be called while another thread is blocking in k4a_device_get_imu_sample(). Calling this function while another thread is in that function will result in that function returning a failure.

◆ k4a_image_create()

K4A_EXPORT k4a_result_t k4a_image_create	(	k4a_image_format_t	format,
		int	width_pixels,
		int	height_pixels,
		int	stride_bytes,
		k4a_image_t *	image_handle
	)

Parameters

format	The format of the image that will be stored in this image container.
width_pixels	Width in pixels.
height_pixels	Height in pixels.
stride_bytes	The number of bytes per horizontal line of the image. If set to 0, the stride will be set to the minimum size given the `format` and `width_pixels`.
image_handle	Pointer to store image handle in.

Remarks: This function is used to create images of formats that have consistent stride. The function is not suitable for compressed formats that may not be represented by the same number of bytes per line.; For most image formats, the function will allocate an image buffer of size height_pixels * stride_bytes. Buffers K4A_IMAGE_FORMAT_COLOR_NV12 format will allocate an additional height_pixels / 2 set of lines (each of stride_bytes). This function cannot be used to allocate K4A_IMAGE_FORMAT_COLOR_MJPG buffers.; To create an image object without the API allocating memory, or to represent an image that has a non-deterministic stride, use k4a_image_create_from_buffer().; The k4a_image_t is created with a reference count of 1.; When finished using the created image, release it with k4a_image_release.

Returns: Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with K4A_RESULT_FAILED.

◆ k4a_image_create_from_buffer()

K4A_EXPORT k4a_result_t k4a_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,
		k4a_image_t *	image_handle
	)

Parameters

format	The format of the image that will be stored in this image container.
width_pixels	Width in pixels.
height_pixels	Height in pixels.
stride_bytes	The number of bytes per horizontal line of the image.
buffer	Pointer to a pre-allocated image buffer.
buffer_size	Size in bytes of the pre-allocated image buffer.
buffer_release_cb	Callback to the buffer free function, called when all references to the buffer have been released. This parameter is optional.
buffer_release_cb_context	Context for the buffer free function. This value will be called as a parameter to `buffer_release_cb` when the callback is invoked.
image_handle	Pointer to store image handle in.

Remarks: This function creates a k4a_image_t from a pre-allocated buffer. When all references to this object reach zero the provided buffer_release_cb callback function is called so that the memory can be released. If this function fails, the API will not use the memory provided in buffer, and the API will not call buffer_release_cb.; The k4a_image_t is created with a reference count of 1.; Release the reference on this function with k4a_image_release().

Returns: Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with K4A_RESULT_FAILED and error specific data can be found in the log.

◆ k4a_image_get_buffer()

K4A_EXPORT uint8_t * k4a_image_get_buffer ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Use this buffer to access the raw image data.

Returns: The function will return NULL if there is an error, and will normally return a pointer to the image buffer. Since all k4a_image_t instances are created with an image buffer, this function should only return NULL if the image_handle is invalid.

◆ k4a_image_get_device_timestamp_usec()

K4A_EXPORT uint64_t k4a_image_get_device_timestamp_usec ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Returns the device timestamp of the image, as captured by the hardware. Timestamps are recorded by the device and represent the mid-point of exposure. They may be used for relative comparison, but their absolute value has no defined meaning.

Returns: If the image_handle is invalid or if no timestamp was set for the image, this function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

◆ k4a_image_get_exposure_usec()

K4A_EXPORT uint64_t k4a_image_get_exposure_usec ( k4a_image_t image_handle )

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Returns an exposure time in microseconds. This is only supported on color image formats.

Returns: If the image_handle is invalid, or no exposure was set on the image, the function will return 0. Otherwise, it will return the image exposure time in microseconds.

◆ k4a_image_get_format()

K4A_EXPORT k4a_image_format_t k4a_image_get_format ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Use this function to determine the format of the image buffer.

Returns: This function is not expected to fail, all k4a_image_t's are created with a known format. If the image_handle is invalid, the function will return K4A_IMAGE_FORMAT_CUSTOM.

◆ k4a_image_get_height_pixels()

K4A_EXPORT int k4a_image_get_height_pixels ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Returns: This function is not expected to fail, all k4a_image_t's are created with a known height. If the image_handle is invalid, the function will return 0.

◆ k4a_image_get_iso_speed()

K4A_EXPORT uint32_t k4a_image_get_iso_speed ( k4a_image_t image_handle )

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: This function is only valid for color captures, and not for depth or IR captures.

Returns: Returns the ISO speed of the image. 0 indicates the ISO speed was not available or an error occurred.

◆ k4a_image_get_size()

K4A_EXPORT size_t k4a_image_get_size ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Use this function to know what the size of the image buffer is returned by k4a_image_get_buffer().

Returns: The function will return 0 if there is an error, and will normally return the image size. Since all k4a_image_t instances are created with an image buffer, this function should only return 0 if the image_handle is invalid.

◆ k4a_image_get_stride_bytes()

K4A_EXPORT int k4a_image_get_stride_bytes ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Returns: This function is not expected to fail, all k4a_image_t's are created with a known stride. If the image_handle is invalid, or the image's format does not have a stride, the function will return 0.

◆ k4a_image_get_system_timestamp_nsec()

K4A_EXPORT uint64_t k4a_image_get_system_timestamp_nsec ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Returns the system timestamp of the image. Timestamps are recorded by the host. They may be used for relative comparision, as they are relative to the corresponding system clock. The absolute value is a monotonic count from an arbitrary point in the past.; The system timestamp is captured at the moment host PC finishes receiving the image.; On Linux the system timestamp is read from clock_gettime(CLOCK_MONOTONIC), which measures realtime and is not impacted by adjustments to the system clock. It starts from an arbitrary point in the past. On Windows the system timestamp is read from QueryPerformanceCounter(), it also measures realtime and is not impacted by adjustments to the system clock. It also starts from an arbitrary point in the past.

Returns: If the image_handle is invalid or if no timestamp was set for the image, this function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

◆ k4a_image_get_timestamp_usec()

K4A_DEPRECATED_EXPORT uint64_t k4a_image_get_timestamp_usec ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Returns the device timestamp of the image. Timestamps are recorded by the device and represent the mid-point of exposure. They may be used for relative comparison, but their absolute value has no defined meaning.

Returns: If the image_handle is invalid or if no timestamp was set for the image, this function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

Deprecated:: Deprecated starting in 1.2.0. Please use k4a_image_get_device_timestamp_usec().

◆ k4a_image_get_white_balance()

K4A_EXPORT uint32_t k4a_image_get_white_balance ( k4a_image_t image_handle )

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: Returns the image's white balance. This function is only valid for color captures, and not for depth or IR captures.

Returns: Returns the image white balance in Kelvin. If image_handle is invalid, or the white balance was not set or not applicable to the image, the function will return 0.

◆ k4a_image_get_width_pixels()

K4A_EXPORT int k4a_image_get_width_pixels ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Returns: This function is not expected to fail, all k4a_image_t's are created with a known width. If the image_handle is invalid, the function will return 0.

◆ k4a_image_reference()

K4A_EXPORT void k4a_image_reference ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must not access the object after its reference is released.

◆ k4a_image_release()

K4A_EXPORT void k4a_image_release ( k4a_image_t image_handle )

Parameters

image_handle Handle of the image for which the get operation is performed on.

Remarks: References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must not access the object after its reference is released.

◆ k4a_image_set_device_timestamp_usec()

K4A_EXPORT void k4a_image_set_device_timestamp_usec	(	k4a_image_t	image_handle,
		uint64_t	timestamp_usec
	)

Parameters

image_handle	Handle of the image to set the timestamp on.
timestamp_usec	Device timestamp of the image in microseconds.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.; The device timestamp represents the mid-point of exposure of the image, as captured by the hardware.

◆ k4a_image_set_exposure_time_usec()

K4A_DEPRECATED_EXPORT void k4a_image_set_exposure_time_usec	(	k4a_image_t	image_handle,
		uint64_t	exposure_usec
	)

Parameters

image_handle	Handle of the image to set the exposure time on.
exposure_usec	Exposure time of the image in microseconds.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid exposure time.

Deprecated:: Deprecated starting in 1.2.0. Please use k4a_image_set_exposure_usec().

◆ k4a_image_set_exposure_usec()

K4A_EXPORT void k4a_image_set_exposure_usec	(	k4a_image_t	image_handle,
		uint64_t	exposure_usec
	)

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle	Handle of the image to set the exposure time on.
exposure_usec	Exposure time of the image in microseconds.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid exposure time.

◆ k4a_image_set_iso_speed()

K4A_EXPORT void k4a_image_set_iso_speed	(	k4a_image_t	image_handle,
		uint32_t	iso_speed
	)

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle	Handle of the image to set the ISO speed on.
iso_speed	ISO speed of the image.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An ISO speed of 0 is considered invalid. Only color images are expected to have a valid ISO speed.

◆ k4a_image_set_system_timestamp_nsec()

K4A_EXPORT void k4a_image_set_system_timestamp_nsec	(	k4a_image_t	image_handle,
		uint64_t	timestamp_nsec
	)

Parameters

image_handle	Handle of the image to set the timestamp on.
timestamp_nsec	Timestamp of the image in nanoseconds.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.; The system timestamp is a high performance and increasing clock (from boot). The timestamp represents the time immediately after the image buffer was read by the host PC.

◆ k4a_image_set_timestamp_usec()

K4A_DEPRECATED_EXPORT void k4a_image_set_timestamp_usec	(	k4a_image_t	image_handle,
		uint64_t	timestamp_usec
	)

Parameters

image_handle	Handle of the image to set the timestamp on.
timestamp_usec	Device timestamp of the image in microseconds.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.; The device timestamp represents the mid-point of exposure of the image, as captured by the hardware.

Deprecated:: Deprecated starting in 1.2.0. Please use k4a_image_set_device_timestamp_usec().

◆ k4a_image_set_white_balance()

K4A_EXPORT void k4a_image_set_white_balance	(	k4a_image_t	image_handle,
		uint32_t	white_balance
	)

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

image_handle	Handle of the image to set the white balance on.
white_balance	White balance of the image in degrees Kelvin.

Remarks: Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. A white balance of 0 is considered invalid. White balance is only meaningful for color images, and not expected on depth or IR images.

◆ k4a_playback_check_track_exists()

K4ARECORD_EXPORT bool k4a_playback_check_track_exists	(	k4a_playback_t	playback_handle,
		const char *	track_name
	)

Checks whether a track with the given track name exists in the playback file.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The track name to be checked to see whether it exists or not.

Returns: true if the track exists.

◆ k4a_playback_close()

K4ARECORD_EXPORT void k4a_playback_close ( k4a_playback_t playback_handle )

Parameters

playback_handle Handle obtained by k4a_playback_open().

◆ k4a_playback_data_block_get_buffer()

K4ARECORD_EXPORT uint8_t * k4a_playback_data_block_get_buffer ( k4a_playback_data_block_t data_block_handle )

Parameters

data_block_handle Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().

Remarks: Use this buffer to access the data written to a custom recording track.

Returns: Returns a pointer to the data block buffer, or NULL if the data block is invalid.

◆ k4a_playback_data_block_get_buffer_size()

K4ARECORD_EXPORT size_t k4a_playback_data_block_get_buffer_size ( k4a_playback_data_block_t data_block_handle )

Parameters

data_block_handle Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().

Returns: Returns the buffer size of the data block, or 0 if the data block is invalid.

◆ k4a_playback_data_block_get_device_timestamp_usec()

K4ARECORD_EXPORT uint64_t k4a_playback_data_block_get_device_timestamp_usec ( k4a_playback_data_block_t data_block_handle )

Parameters

data_block_handle Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().

Returns: Returns the device timestamp of the data block. If the data_block_handle is invalid this function will return 0. It is also possible for 0 to be a valid timestamp originating from when a device was first powered on.

◆ k4a_playback_data_block_release()

K4ARECORD_EXPORT void k4a_playback_data_block_release ( k4a_playback_data_block_t data_block_handle )

Parameters

data_block_handle Handle obtained by k4a_playback_get_next_data_block() or k4a_playback_get_previous_data_block().

Remarks: Release the memory of a data block. The caller must not access the object after it is released.

◆ k4a_playback_get_attachment()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_attachment	(	k4a_playback_t	playback_handle,
		const char *	file_name,
		uint8_t *	data,
		size_t *	data_size
	)

Reads an attachment file from a recording.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
file_name	The attachment file name.
data	Location to write the attachment data. If a NULL buffer is specified, `data_size` will be set to the size of buffer needed to store the data.
data_size	On input, the size of the `data` buffer. On output, this is set to the length of the attachment data.

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the data has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the data buffer is returned in the data_size parameter. K4A_BUFFER_RESULT_FAILED is returned if the attachment file_name does not exist. All other failures return K4A_BUFFER_RESULT_FAILED.

◆ k4a_playback_get_calibration()

K4ARECORD_EXPORT k4a_result_t k4a_playback_get_calibration	(	k4a_playback_t	playback_handle,
		k4a_calibration_t *	calibration
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
calibration	Location to write the calibration.

Returns: K4A_RESULT_SUCCEEDED if calibration was successfully written. K4A_RESULT_FAILED otherwise.

Remarks: The calibration may not exist if the device was not specified during recording.

◆ k4a_playback_get_last_timestamp_usec()

K4ARECORD_DEPRECATED_EXPORT uint64_t k4a_playback_get_last_timestamp_usec ( k4a_playback_t playback_handle )

Parameters

playback_handle Handle obtained by k4a_playback_open().

Returns: The file timestamp of the last capture image or IMU sample in microseconds.

Remarks: This function returns a file timestamp, not an absolute device timestamp, meaning it is relative to the start of the recording. This function is equivalent to the length of the recording.

Deprecated:: Deprecated starting in 1.2.0. Please use k4a_playback_get_recording_length_usec().

◆ k4a_playback_get_next_capture()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_capture	(	k4a_playback_t	playback_handle,
		k4a_capture_t *	capture_handle
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
capture_handle	If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using this capture

Returns: K4A_STREAM_RESULT_SUCCEEDED if a capture is returned, or K4A_STREAM_RESULT_EOF if the end of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_next_capture() always returns the next capture in sequence after the most recently returned capture.; The first call to k4a_playback_get_next_capture() after k4a_playback_seek_timestamp() will return the capture in the recording closest to the seek time with an image timestamp greater than or equal to the seek time.; If a call was made to k4a_playback_get_previous_capture() that returned K4A_STREAM_RESULT_EOF, the playback position is at the beginning of the stream and k4a_playback_get_next_capture() will return the first capture in the recording.; Capture objects returned by the playback API will always contain at least one image, but may have images missing if frames were dropped in the original recording. When calling k4a_capture_get_color_image(), k4a_capture_get_depth_image(), or k4a_capture_get_ir_image(), the image should be checked for NULL.

◆ k4a_playback_get_next_data_block()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_data_block	(	k4a_playback_t	playback_handle,
		const char *	track_name,
		k4a_playback_data_block_t *	data_block_handle
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The name of the track to read the next data block from.
data_block_handle	The location to write the data block handle.

Returns: K4A_STREAM_RESULT_SUCCEEDED if a data block is returned, or K4A_STREAM_RESULT_EOF if the end of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_next_data_block() always returns the data block after the most recently returned data block for a particular track.; If a call was made to k4a_playback_get_previous_data_block() which returned K4A_STREAM_RESULT_EOF, then the playback position is at the beginning of the recording and calling k4a_playback_get_next_data_block() with the same track will return the first data block in the track.; The first call to k4a_playback_get_next_data_block() after k4a_playback_seek_timestamp() will return the data block in the recording closest to the seek time with a timestamp greater than or equal to the seek time.; k4a_playback_get_next_data_block() cannot be used with the built-in tracks: "COLOR", "DEPTH", etc... k4a_playback_track_is_builtin() can be used to determine if a track is a built-in track.; If the call is successful, callers must call k4a_playback_data_block_release() to return the allocated memory for data_block_handle.

◆ k4a_playback_get_next_imu_sample()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_next_imu_sample	(	k4a_playback_t	playback_handle,
		k4a_imu_sample_t *	imu_sample
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
imu_sample	The location to write the IMU sample.

Returns: K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or K4A_STREAM_RESULT_EOF if the end of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_next_imu_sample() always returns the IMU sample after the most recently returned sample.; If a call was made to k4a_playback_get_previous_imu_sample() which returned K4A_STREAM_RESULT_EOF, then the playback position is at the beginning of the recording and k4a_playback_get_next_imu_sample() will return the first IMU sample in the recording.; The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the IMU sample in the recording closest to the seek time with a timestamp greater than or equal to the seek time.

◆ k4a_playback_get_previous_capture()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_capture	(	k4a_playback_t	playback_handle,
		k4a_capture_t *	capture_handle
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
capture_handle	If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using this capture.

Returns: K4A_STREAM_RESULT_SUCCEEDED if a capture is returned, or K4A_STREAM_RESULT_EOF if the start of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_previous_capture() always returns the previous capture in the sequence before the most recently returned capture.; If a call was made to k4a_playback_get_next_capture() that returned K4A_STREAM_RESULT_EOF, the playback position is at the end of the stream and k4a_playback_get_previous_capture() will return the last capture in the recording.; The first call to k4a_playback_get_previous_capture() after k4a_playback_seek_timestamp() will return the capture in the recording closest to the seek time with all image timestamps less than the seek time.; Capture objects returned by this API will always contain at least one image, but may have images missing if frames were dropped in the original recording. When calling k4a_capture_get_color_image(), k4a_capture_get_depth_image(), or k4a_capture_get_ir_image(), the image should be checked for NULL.

◆ k4a_playback_get_previous_data_block()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_data_block	(	k4a_playback_t	playback_handle,
		const char *	track_name,
		k4a_playback_data_block_t *	data_block_handle
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The name of the track to read the previous data block from.
data_block_handle	The location to write the data block.

Returns: K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or K4A_STREAM_RESULT_EOF if the start of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_previous_data_block() always returns the data block before the most recently returned data block for a particular track.; If a call was made to to k4a_playback_get_next_data_block() which returned K4A_STREAM_RESULT_EOF, then the playback position is at the end of the recording and calling k4a_playback_get_previous_data_block() with the same track will return the last data block in the track.; The first call to k4a_playback_get_previous_data_block() after k4a_playback_seek_timestamp() will return the data block closest to the seek time with a timestamp less than the seek time.; If the call is successful, callers must call k4a_playback_data_block_release() to return the allocated memory for data_block_handle.; k4a_playback_get_previous_data_block() cannot be used with the built-in tracks: "COLOR", "DEPTH", etc... k4a_playback_track_is_builtin() can be used to determine if a track is a built-in track.

◆ k4a_playback_get_previous_imu_sample()

K4ARECORD_EXPORT k4a_stream_result_t k4a_playback_get_previous_imu_sample	(	k4a_playback_t	playback_handle,
		k4a_imu_sample_t *	imu_sample
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
imu_sample	[OUT] The location to write the IMU sample.

Returns: K4A_STREAM_RESULT_SUCCEEDED if a sample is returned, or K4A_STREAM_RESULT_EOF if the start of the recording is reached. All other failures will return K4A_STREAM_RESULT_FAILED.

Remarks: k4a_playback_get_previous_imu_sample() always returns the IMU sample before the most recently returned sample.; If a call was made to to k4a_playback_get_next_imu_sample() which returned K4A_STREAM_RESULT_EOF, then the playback position is at the end of the recording and k4a_playback_get_previous_imu_sample() will return the last IMU sample in the recording.; The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the IMU sample closest to the seek time with a timestamp less than the seek time.

◆ k4a_playback_get_raw_calibration()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_raw_calibration	(	k4a_playback_t	playback_handle,
		uint8_t *	data,
		size_t *	data_size
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
data	Location to write the calibration data to. This field may optionally be set to NULL if the caller wants to query for the needed data size.
data_size	On passing `data_size` into the function this variable represents the available size to write the raw data to. On return this variable is updated with the amount of data actually written to the buffer.

Returns: K4A_BUFFER_RESULT_SUCCEEDED if data was successfully written. If data_size points to a buffer size that is too small to hold the output, K4A_BUFFER_RESULT_TOO_SMALL is returned and data_size is updated to contain the minimum buffer size needed to capture the calibration data.

Remarks: The raw calibration may not exist if the device was not specified during recording.

◆ k4a_playback_get_record_configuration()

K4ARECORD_EXPORT k4a_result_t k4a_playback_get_record_configuration	(	k4a_playback_t	playback_handle,
		k4a_record_configuration_t *	config
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
config	Location to write the recording configuration.

Returns: K4A_RESULT_SUCCEEDED if config was successfully written. K4A_RESULT_FAILED otherwise.

◆ k4a_playback_get_recording_length_usec()

K4ARECORD_EXPORT uint64_t k4a_playback_get_recording_length_usec ( k4a_playback_t playback_handle )

Parameters

playback_handle Handle obtained by k4a_playback_open().

Returns: The recording length, calculated as the difference between the first and last timestamp in the file.

Remarks: The recording length may be longer than an individual track if, for example, the IMU continues to run after the last color image is recorded.

◆ k4a_playback_get_tag()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_tag	(	k4a_playback_t	playback_handle,
		const char *	name,
		char *	value,
		size_t *	value_size
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
name	The name of the tag to read.
value	Location to write the tag value. This will be a UTF8 null terminated string. If a NULL buffer is specified, `value_size` will be set to the size of buffer needed to store the string.
value_size	On input, the size of the `value` buffer. On output, this is set to the length of the tag value (including the null terminator).

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the value has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the value buffer is returned in the value_size parameter. K4A_BUFFER_RESULT_FAILED is returned if the tag does not exist. All other failures return K4A_BUFFER_RESULT_FAILED.

Remarks: Tags are global to a file, and should store data related to the entire recording, such as camera configuration or recording location.

◆ k4a_playback_get_track_count()

K4ARECORD_EXPORT size_t k4a_playback_get_track_count ( k4a_playback_t playback_handle )

Get the number of tracks in a playback file.

Parameters

playback_handle Handle obtained by k4a_playback_open().

Returns: the number of tracks in the playback file.

◆ k4a_playback_get_track_name()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_get_track_name	(	k4a_playback_t	playback_handle,
		size_t	track_index,
		char *	track_name,
		size_t *	track_name_size
	)

Gets the name of a track at a specific index.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_index	The index of the track to read the name form.
track_name	Location to write the track name. This will be a UTF8 null terminated string. If a NULL buffer is specified, `track_name_size` will be set to the size of buffer needed to store the string.
track_name_size	On input, the size of the `track_name` buffer. On output, this is set to the length of the track_name value (including the null terminator).

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the track_name has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the track_name buffer is returned in the track_name_size parameter. K4A_BUFFER_RESULT_FAILED is returned if the track index does not exist. All other failures return K4A_BUFFER_RESULT_FAILED.

Remarks: When used along with k4a_playback_get_track_count(), this function can be used to enumerate all the available tracks in a playback file. Additionally k4a_playback_track_is_builtin() can be used to filter custom tracks.

◆ k4a_playback_open()

K4ARECORD_EXPORT k4a_result_t k4a_playback_open	(	const char *	path,
		k4a_playback_t *	playback_handle
	)

Parameters

path	Filesystem path of the existing recording.
playback_handle	If successful, this contains a pointer to the recording handle. Caller must call k4a_playback_close() when finished with the recording.

Returns: K4A_RESULT_SUCCEEDED is returned on success

◆ k4a_playback_seek_timestamp()

K4ARECORD_EXPORT k4a_result_t k4a_playback_seek_timestamp	(	k4a_playback_t	playback_handle,
		int64_t	offset_usec,
		k4a_playback_seek_origin_t	origin
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
offset_usec	The timestamp offset to seek to, relative to `origin`
origin	Specifies how the given timestamp should be interpreted. Seek can be done relative to the beginning or end of the recording, or using an absolute device timestamp.

Returns: K4A_RESULT_SUCCEEDED if the seek operation was successful, or K4A_RESULT_FAILED if an error occurred. The current seek position is left unchanged if a failure is returned.

Remarks: The first device timestamp in a recording is usually non-zero. The recording file starts at the device timestamp defined by start_timestamp_offset_usec, which is accessible via k4a_playback_get_record_configuration().; The first call to k4a_playback_get_next_capture() after k4a_playback_seek_timestamp() will return the first capture containing an image timestamp greater than or equal to the seek time.; The first call to k4a_playback_get_previous_capture() after k4a_playback_seek_timestamp() will return the first capture with all image timestamps less than the seek time.; The first call to k4a_playback_get_next_imu_sample() after k4a_playback_seek_timestamp() will return the first imu sample with a timestamp greter than or equal to the seek time.; The first call to k4a_playback_get_previous_imu_sample() after k4a_playback_seek_timestamp() will return the first imu sample with a timestamp less than the seek time.

◆ k4a_playback_set_color_conversion()

K4ARECORD_EXPORT k4a_result_t k4a_playback_set_color_conversion	(	k4a_playback_t	playback_handle,
		k4a_image_format_t	target_format
	)

Parameters

playback_handle	Handle obtained by k4a_playback_open().
target_format	The target image format to be returned in captures.

Returns: K4A_RESULT_SUCCEEDED if the format conversion is supported. K4A_RESULT_FAILED otherwise.

Remarks: After the color conversion format is set, all k4a_capture_t objects returned from the playback handle will have their color images converted to the target_format.; Color format conversion occurs in the user-thread, so setting target_format to anything other than the format stored in the file may significantly increase the latency of k4a_playback_get_next_capture() and k4a_playback_get_previous_capture().

◆ k4a_playback_track_get_codec_context()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_track_get_codec_context	(	k4a_playback_t	playback_handle,
		const char *	track_name,
		uint8_t *	codec_context,
		size_t *	codec_context_size
	)

Gets the codec context for a particular track.

The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the codec. It is mapped to the matroska Codec Private field.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The track name to read the codec context from.
codec_context	Location to write the codec context data. If a NULL buffer is specified, `codec_context_size` will be set to the size of buffer needed to store the data.
codec_context_size	On input, the size of the `codec_context` buffer. On output, this is set to the length of the codec_context data.

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the codec_context has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the codec_context buffer is returned in the codec_context_size parameter. K4A_BUFFER_RESULT_FAILED is returned if the track_name does not exist. All other failures return K4A_BUFFER_RESULT_FAILED.

◆ k4a_playback_track_get_codec_id()

K4ARECORD_EXPORT k4a_buffer_result_t k4a_playback_track_get_codec_id	(	k4a_playback_t	playback_handle,
		const char *	track_name,
		char *	codec_id,
		size_t *	codec_id_size
	)

Gets the codec id string for a particular track.

The codec ID is a string that corresponds to the codec of the track's data. Some of the existing formats are listed here: https://www.matroska.org/technical/specs/codecid/index.html. It can also be custom defined by the user.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The track name to read the codec id from.
codec_id	Location to write the codec id. This will be a UTF8 null terminated string. If a NULL buffer is specified, `codec_id_size` will be set to the size of buffer needed to store the string.
codec_id_size	On input, the size of the `codec_id` buffer. On output, this is set to the length of the codec_id value (including the null terminator).

Returns: A return of K4A_BUFFER_RESULT_SUCCEEDED means that the codec_id has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the needed size of the codec_id buffer is returned in the codec_id_size parameter. K4A_BUFFER_RESULT_FAILED is returned if the track_name does not exist. All other failures return K4A_BUFFER_RESULT_FAILED.

◆ k4a_playback_track_get_video_settings()

K4ARECORD_EXPORT k4a_result_t k4a_playback_track_get_video_settings	(	k4a_playback_t	playback_handle,
		const char *	track_name,
		k4a_record_video_settings_t *	video_settings
	)

Gets the video-specific track information for a particular video track.

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The track name to read video settings from.
video_settings	Location to write the track's video settings.

Returns: K4A_RESULT_SUCCEEDED is returned on success, K4A_RESULT_FAILED is returned if the specified track does not exist or is not a video track.

◆ k4a_playback_track_is_builtin()

K4ARECORD_EXPORT bool k4a_playback_track_is_builtin	(	k4a_playback_t	playback_handle,
		const char *	track_name
	)

Checks whether a track is one of the built-in tracks: "COLOR", "DEPTH", etc...

Parameters

playback_handle	Handle obtained by k4a_playback_open().
track_name	The track name to be checked to see whether it is a built-in track.

Returns: true if the track is built-in. If the provided track name does not exist, false will be returned.

◆ k4a_record_add_attachment()

K4ARECORD_EXPORT k4a_result_t k4a_record_add_attachment	(	const k4a_record_t	recording_handle,
		const char *	attachment_name,
		const uint8_t *	buffer,
		size_t	buffer_size
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
attachment_name	The name of the attachment to be stored in the recording file. This name should be a valid filename with an extension.
buffer	The attachment data buffer.
buffer_size	The size of the attachment data buffer.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: All attachments need to be added before the recording header is written.

◆ k4a_record_add_custom_subtitle_track()

K4ARECORD_EXPORT k4a_result_t k4a_record_add_custom_subtitle_track	(	const k4a_record_t	recording_handle,
		const char *	track_name,
		const char *	codec_id,
		const uint8_t *	codec_context,
		size_t	codec_context_size,
		const k4a_record_subtitle_settings_t *	track_settings
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
track_name	The name of the custom subtitle track to be added.
codec_id	A UTF8 null terminated string containing the codec ID of the track. Some of the existing formats are listed here: https://www.matroska.org/technical/specs/codecid/index.html. The codec ID can also be custom defined by the user. Subtitle codec ID's should start with 'S_'.
codec_context	The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the codec. It is mapped to the matroska 'CodecPrivate' element.
codec_context_size	The size of the codec context buffer.
track_settings	Additional metadata for the subtitle track. If NULL, the default settings will be used.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: Built-in subtitle tracks like the IMU track will be created automatically when the k4a_record_add_imu_track() API is called. This API can be used to add additional subtitle tracks to save custom data.; Track names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.; All tracks need to be added before the recording header is written.; Call k4a_record_write_custom_track_data() with the same track_name to write data to this track.

◆ k4a_record_add_custom_video_track()

K4ARECORD_EXPORT k4a_result_t k4a_record_add_custom_video_track	(	const k4a_record_t	recording_handle,
		const char *	track_name,
		const char *	codec_id,
		const uint8_t *	codec_context,
		size_t	codec_context_size,
		const k4a_record_video_settings_t *	track_settings
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
track_name	The name of the custom video track to be added.
codec_id	A UTF8 null terminated string containing the codec ID of the track. Some of the existing formats are listed here: https://www.matroska.org/technical/specs/codecid/index.html. The codec ID can also be custom defined by the user. Video codec ID's should start with 'V_'.
codec_context	The codec context is a codec-specific buffer that contains any required codec metadata that is only known to the codec. It is mapped to the matroska 'CodecPrivate' element.
codec_context_size	The size of the codec context buffer.
track_settings	Additional metadata for the video track such as resolution and framerate.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: Built-in video tracks like the DEPTH, IR, and COLOR tracks will be created automatically when the k4a_record_create() API is called. This API can be used to add additional video tracks to save custom data.; Track names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.; All tracks need to be added before the recording header is written.; Call k4a_record_write_custom_track_data() with the same track_name to write data to this track.

◆ k4a_record_add_imu_track()

K4ARECORD_EXPORT k4a_result_t k4a_record_add_imu_track ( k4a_record_t recording_handle )

Parameters

recording_handle The handle of a new recording, obtained by k4a_record_create().

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: The track needs to be added before the recording header is written.

◆ k4a_record_add_tag()

K4ARECORD_EXPORT k4a_result_t k4a_record_add_tag	(	k4a_record_t	recording_handle,
		const char *	name,
		const char *	value
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
name	The name of the tag to write.
value	The string value to store in the tag.

Returns: K4A_RESULT_SUCCEEDED is returned on success.

Remarks: Tags are global to a file, and should store data related to the entire recording, such as camera configuration or recording location.; Tag names must be ALL CAPS and may only contain A-Z, 0-9, '-' and '_'.; All tags need to be added before the recording header is written.

◆ k4a_record_close()

K4ARECORD_EXPORT void k4a_record_close ( k4a_record_t recording_handle )

Parameters

recording_handle Handle obtained by k4a_record_create().

Remarks: If there is any unwritten data it will be flushed to disk before closing the recording.

◆ k4a_record_create()

K4ARECORD_EXPORT k4a_result_t k4a_record_create	(	const char *	path,
		k4a_device_t	device,
		const k4a_device_configuration_t	device_config,
		k4a_record_t *	recording_handle
	)

Parameters

path	Filesystem path for the new recording.
device	The Azure Kinect device that is being recorded. The device handle is used to store device calibration and serial number information. May be NULL if recording user-generated data.
device_config	The configuration the Azure Kinect device was started with.
recording_handle	If successful, this contains a pointer to the new recording handle. Caller must call k4a_record_close() when finished with recording.

Remarks: The file will be created if it doesn't exist, or overwritten if an existing file is specified.; Streaming does not need to be started on the device at the time this function is called, but when it is started it should be started with the same configuration provided in device_config.; Subsequent calls to k4a_record_write_capture() will need to have images in the resolution and format defined in device_config.

Returns: K4A_RESULT_SUCCEEDED is returned on success

◆ k4a_record_flush()

K4ARECORD_EXPORT k4a_result_t k4a_record_flush ( k4a_record_t recording_handle )

Parameters

recording_handle Handle obtained by k4a_record_create().

Returns: K4A_RESULT_SUCCEEDED is returned on success, or K4A_RESULT_FAILED if an error occurred.

Remarks: k4a_record_flush() ensures that all data passed to the recording API prior to calling flush is written to disk. If continuing to write recording data, care must be taken to ensure no new timestamps are added from before the flush.; If an error occurs, best effort is made to flush as much data to disk as possible, but the integrity of the file is not guaranteed.

◆ k4a_record_write_capture()

K4ARECORD_EXPORT k4a_result_t k4a_record_write_capture	(	k4a_record_t	recording_handle,
		k4a_capture_t	capture_handle
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
capture_handle	The handle of a capture to write to file.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: Captures must be written in increasing order of timestamp, and the file's header must already be written.; k4a_record_write_capture() will write all images in the capture to the corresponding tracks in the recording file. If any of the images fail to write, other images will still be written before a failure is returned.

◆ k4a_record_write_custom_track_data()

K4ARECORD_EXPORT k4a_result_t k4a_record_write_custom_track_data	(	const k4a_record_t	recording_handle,
		const char *	track_name,
		uint64_t	device_timestamp_usec,
		uint8_t *	custom_data,
		size_t	custom_data_size
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
track_name	The name of the custom track that the data is going to be written to.
device_timestamp_usec	The timestamp in microseconds for the custom track data. This timestamp should be in the same time domain as the device timestamp used for recording.
custom_data	The buffer of custom track data.
custom_data_size	The size of the custom track data buffer.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: Custom track data must be written in increasing order of timestamp, and the file's header must already be written. When writing custom track data at the same time as captures or IMU data, the custom data should be within 1 second of the most recently written timestamp.

◆ k4a_record_write_header()

K4ARECORD_EXPORT k4a_result_t k4a_record_write_header ( k4a_record_t recording_handle )

Parameters

recording_handle The handle of a new recording, obtained by k4a_record_create().

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: This must be called before captures or any track data can be written.

◆ k4a_record_write_imu_sample()

K4ARECORD_EXPORT k4a_result_t k4a_record_write_imu_sample	(	k4a_record_t	recording_handle,
		k4a_imu_sample_t	imu_sample
	)

Parameters

recording_handle	The handle of a new recording, obtained by k4a_record_create().
imu_sample	A structure containing the imu sample data and timestamps.

Returns: K4A_RESULT_SUCCEEDED is returned on success

Remarks: Samples must be written in increasing order of timestamp, and the file's header must already be written.; When writing imu samples at the same time as captures, the samples should be within 1 second of the most recently written capture.

◆ k4a_set_allocator()

K4A_EXPORT k4a_result_t k4a_set_allocator	(	k4a_memory_allocate_cb_t	allocate,
		k4a_memory_destroy_cb_t	free
	)

Sets the callback functions for the SDK allocator

Attention: For the Orbbec SDK K4A wrapper, this function is not yet supported.

Parameters

allocate	The callback function to allocate memory. When the SDK requires memory allocation this callback will be called and the application can provide a buffer and a context.
free	The callback function to free memory. The SDK will call this function when memory allocated by `allocate` is no longer needed.

Returns: K4A_RESULT_SUCCEEDED if the callback function was set or cleared successfully. K4A_RESULT_FAILED if an error is encountered or the callback function has already been set.

Remarks: Call this function to hook memory allocation by the SDK. Calling with both allocate and free as NULL will clear the hook and reset to the default allocator.; If this function is called after memory has been allocated, the previous version of free function may still be called in the future. The SDK will always call the free function that was set at the time that the memory was allocated.; Not all memory allocation by the SDK is performed by this allocate function. Small allocations or allocations from special pools may come from other sources.

◆ k4a_set_debug_message_handler()

K4A_EXPORT k4a_result_t k4a_set_debug_message_handler	(	k4a_logging_message_cb_t *	message_cb,
		void *	message_cb_context,
		k4a_log_level_t	min_level
	)

Sets and clears the callback function to receive debug messages from the Azure Kinect device.

Parameters

message_cb	The callback function to receive messages from. Set to NULL to unregister the callback function.
message_cb_context	The callback functions context.
min_level	The least critical error the user wants to be notified about.

Returns: K4A_RESULT_SUCCEEDED if the callback function was set or cleared successfully. K4A_RESULT_FAILED if an error is encountered or the callback function has already been set.

Remarks: Call this function to set or clear the callback function that is used to deliver debug messages to the caller. This callback may be called concurrently, it is up to the implementation of the callback function to ensure the parallelization is handled.; Clearing the callback function will block until all pending calls to the callback function have completed.; To update min_level, k4a_set_debug_message_handler can be called with the same value message_cb and by specifying a new min_level.; Logging provided via this API is independent of the logging controlled by the environmental variable controls K4A_ENABLE_LOG_TO_STDOUT, K4A_ENABLE_LOG_TO_A_FILE, and K4A_LOG_LEVEL. However there is a slight change in default behavior when using this function. By default, when k4a_set_debug_message_handler() has not been used to register a message callback, the default for environmental variable controls is to send debug messages as if K4A_ENABLE_LOG_TO_STDOUT=1 were set. If k4a_set_debug_message_handler registers a callback function before k4a_device_open() is called, then the default for environmental controls is as if K4A_ENABLE_LOG_TO_STDOUT=0 was specified. Physically specifying the environmental control will override the default.

min_level

◆ k4a_transformation_color_image_to_depth_camera()

K4A_EXPORT k4a_result_t k4a_transformation_color_image_to_depth_camera	(	k4a_transformation_t	transformation_handle,
		const k4a_image_t	depth_image,
		const k4a_image_t	color_image,
		k4a_image_t	transformed_color_image
	)

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
color_image	Handle to input color image.
transformed_color_image	Handle to output transformed color image.

Remarks: This produces a color image for which each pixel matches the corresponding pixel coordinates of the depth camera.; depth_image and color_image need to represent the same moment in time. The depth data will be applied to the color image to properly warp the color data to the perspective of the depth camera.; depth_image must be of type K4A_IMAGE_FORMAT_DEPTH16. color_image must be of format K4A_IMAGE_FORMAT_COLOR_BGRA32.; transformed_color_image image must be of format K4A_IMAGE_FORMAT_COLOR_BGRA32. transformed_color_image must have the width and height of the depth camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().; transformed_color_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Returns: K4A_RESULT_SUCCEEDED if transformed_color_image was successfully written and K4A_RESULT_FAILED otherwise.

◆ k4a_transformation_create()

K4A_EXPORT k4a_transformation_t k4a_transformation_create ( const k4a_calibration_t * calibration )

Parameters

calibration A calibration structure obtained by k4a_device_get_calibration().

Returns: A transformation handle. A NULL is returned if creation fails.

Remarks: The transformation handle is used to transform images from the coordinate system of one camera into the other. Each transformation handle requires some pre-computed resources to be allocated, which are retained until the handle is destroyed.; The transformation handle must be destroyed with k4a_transformation_destroy() when it is no longer to be used.

◆ k4a_transformation_depth_image_to_color_camera()

K4A_EXPORT k4a_result_t k4a_transformation_depth_image_to_color_camera	(	k4a_transformation_t	transformation_handle,
		const k4a_image_t	depth_image,
		k4a_image_t	transformed_depth_image
	)

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
transformed_depth_image	Handle to output transformed depth image.

Remarks: This produces a depth image for which each pixel matches the corresponding pixel coordinates of the color camera.; depth_image and transformed_depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.; transformed_depth_image must have a width and height matching the width and height of the color camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().; The contents transformed_depth_image will be filled with the depth values derived from depth_image in the color camera's coordinate space.; transformed_depth_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Returns: K4A_RESULT_SUCCEEDED if transformed_depth_image was successfully written and K4A_RESULT_FAILED otherwise.

◆ k4a_transformation_depth_image_to_color_camera_custom()

K4A_EXPORT k4a_result_t k4a_transformation_depth_image_to_color_camera_custom	(	k4a_transformation_t	transformation_handle,
		const k4a_image_t	depth_image,
		const k4a_image_t	custom_image,
		k4a_image_t	transformed_depth_image,
		k4a_image_t	transformed_custom_image,
		k4a_transformation_interpolation_type_t	interpolation_type,
		uint32_t	invalid_custom_value
	)

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
custom_image	Handle to input custom image.
transformed_depth_image	Handle to output transformed depth image.
transformed_custom_image	Handle to output transformed custom image.
interpolation_type	Parameter that controls how pixels in `custom_image` should be interpolated when transformed to color camera space. K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR if linear interpolation should be used. K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST if nearest neighbor interpolation should be used.
invalid_custom_value	Defines the custom image pixel value that should be written to `transformed_custom_image` in case the corresponding depth pixel can not be transformed into the color camera space.

Remarks: This produces a depth image and a corresponding custom image for which each pixel matches the corresponding pixel coordinates of the color camera.; depth_image and transformed_depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.; custom_image and transformed_custom_image must be of format K4A_IMAGE_FORMAT_CUSTOM8 or K4A_IMAGE_FORMAT_CUSTOM16.; transformed_depth_image and transformed_custom_image must have a width and height matching the width and height of the color camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().; custom_image must have a width and height matching the width and height of depth_image.; The contents transformed_depth_image will be filled with the depth values derived from depth_image in the color camera's coordinate space.; The contents transformed_custom_image will be filled with the values derived from custom_image in the color camera's coordinate space.; transformed_depth_image and transformed_custom_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().; Using K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR for interpolation_type could create new values to transformed_custom_image which do no exist in custom_image. Using K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST will prevent this from happenning but will result in a less smooth image.

Returns: K4A_RESULT_SUCCEEDED if transformed_depth_image and transformed_custom_image were successfully written and K4A_RESULT_FAILED otherwise.

◆ k4a_transformation_depth_image_to_point_cloud()

K4A_EXPORT k4a_result_t k4a_transformation_depth_image_to_point_cloud	(	k4a_transformation_t	transformation_handle,
		const k4a_image_t	depth_image,
		const k4a_calibration_type_t	camera,
		k4a_image_t	xyz_image
	)

Parameters

transformation_handle	Transformation handle.
depth_image	Handle to input depth image.
camera	Geometry in which depth map was computed.
xyz_image	Handle to output xyz image.

Remarks: depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.; The camera parameter tells the function what the perspective of the depth_image is. If the depth_image was captured directly from the depth camera, the value should be K4A_CALIBRATION_TYPE_DEPTH. If the depth_image is the result of a transformation into the color camera's coordinate space using k4a_transformation_depth_image_to_color_camera(), the value should be K4A_CALIBRATION_TYPE_COLOR.; The format of xyz_image must be K4A_IMAGE_FORMAT_CUSTOM. The width and height of xyz_image must match the width and height of depth_image. xyz_image must have a stride in bytes of at least 6 times its width in pixels.; Each pixel of the xyz_image consists of three int16_t values, totaling 6 bytes. The three int16_t values are the X, Y, and Z values of the point.; xyz_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Returns: K4A_RESULT_SUCCEEDED if xyz_image was successfully written and K4A_RESULT_FAILED otherwise.

◆ k4a_transformation_destroy()

K4A_EXPORT void k4a_transformation_destroy ( k4a_transformation_t transformation_handle )

Parameters

transformation_handle Transformation handle to destroy.

Functions

Detailed Description

Function Documentation

◆ k4a_calibration_2d_to_2d()

◆ k4a_calibration_2d_to_3d()

◆ k4a_calibration_3d_to_2d()

◆ k4a_calibration_3d_to_3d()

◆ k4a_calibration_color_2d_to_depth_2d()

◆ k4a_calibration_get_from_raw()

◆ k4a_capture_create()

◆ k4a_capture_get_color_image()

◆ k4a_capture_get_depth_image()

◆ k4a_capture_get_ir_image()

◆ k4a_capture_get_temperature_c()

◆ k4a_capture_reference()

◆ k4a_capture_release()

◆ k4a_capture_set_color_image()

◆ k4a_capture_set_depth_image()

◆ k4a_capture_set_ir_image()

◆ k4a_capture_set_temperature_c()

◆ k4a_device_close()

◆ k4a_device_get_calibration()

◆ k4a_device_get_capture()

◆ k4a_device_get_color_control()

◆ k4a_device_get_color_control_capabilities()

◆ k4a_device_get_imu_sample()

◆ k4a_device_get_installed_count()

◆ k4a_device_get_raw_calibration()

◆ k4a_device_get_serialnum()

◆ k4a_device_get_sync_jack()

◆ k4a_device_get_version()

◆ k4a_device_open()

◆ k4a_device_set_color_control()

◆ k4a_device_start_cameras()

◆ k4a_device_start_imu()

◆ k4a_device_stop_cameras()

◆ k4a_device_stop_imu()

◆ k4a_image_create()

◆ k4a_image_create_from_buffer()

◆ k4a_image_get_buffer()

◆ k4a_image_get_device_timestamp_usec()

◆ k4a_image_get_exposure_usec()

◆ k4a_image_get_format()

◆ k4a_image_get_height_pixels()

◆ k4a_image_get_iso_speed()

◆ k4a_image_get_size()

◆ k4a_image_get_stride_bytes()

◆ k4a_image_get_system_timestamp_nsec()

◆ k4a_image_get_timestamp_usec()

◆ k4a_image_get_white_balance()

◆ k4a_image_get_width_pixels()

◆ k4a_image_reference()

◆ k4a_image_release()

◆ k4a_image_set_device_timestamp_usec()

◆ k4a_image_set_exposure_time_usec()

◆ k4a_image_set_exposure_usec()

◆ k4a_image_set_iso_speed()

◆ k4a_image_set_system_timestamp_nsec()

◆ k4a_image_set_timestamp_usec()

◆ k4a_image_set_white_balance()

◆ k4a_playback_check_track_exists()

◆ k4a_playback_close()

◆ k4a_playback_data_block_get_buffer()

◆ k4a_playback_data_block_get_buffer_size()

◆ k4a_playback_data_block_get_device_timestamp_usec()

◆ k4a_playback_data_block_release()

◆ k4a_playback_get_attachment()

◆ k4a_playback_get_calibration()

◆ k4a_playback_get_last_timestamp_usec()

◆ k4a_playback_get_next_capture()

◆ k4a_playback_get_next_data_block()

◆ k4a_playback_get_next_imu_sample()

◆ k4a_playback_get_previous_capture()

◆ k4a_playback_get_previous_data_block()

◆ k4a_playback_get_previous_imu_sample()

◆ k4a_playback_get_raw_calibration()

◆ k4a_playback_get_record_configuration()

◆ k4a_playback_get_recording_length_usec()

◆ k4a_playback_get_tag()

◆ k4a_playback_get_track_count()