Depth Sensor

Functions
VF EXPORT_SYM int	depth_open ()
VF EXPORT_SYM int	depth_close ()
VF EXPORT_SYM DepthResolution	get_depth_resolution ()
VF EXPORT_SYM int	set_depth_resolution (DepthResolution resolution)
VF EXPORT_SYM int	set_depth_orientation (int orientation)
VF EXPORT_SYM int	get_depth_orientation ()
VF EXPORT_SYM int	depth_update ()
VF EXPORT_SYM int	get_depth_image_height ()
VF EXPORT_SYM int	get_depth_image_width ()
VF EXPORT_SYM int	get_depth_value (int row, int column)
VF EXPORT_SYM point3	get_depth_world_point (int row, int column)
VF EXPORT_SYM int	get_depth_world_point_x (int row, int column)
VF EXPORT_SYM int	get_depth_world_point_y (int row, int column)
VF EXPORT_SYM int	get_depth_world_point_z (int row, int column)
VF EXPORT_SYM int	depth_scanline_update (int row)
VF EXPORT_SYM int	get_depth_scanline_object_count ()
VF EXPORT_SYM point3	get_depth_scanline_object_center (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_center_x (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_center_y (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_center_z (int object_num)
VF EXPORT_SYM point3	get_depth_scanline_object_nearest (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_nearest_x (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_nearest_y (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_nearest_z (int object_num)
VF EXPORT_SYM point3	get_depth_scanline_object_farthest (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_farthest_x (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_farthest_y (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_farthest_z (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_size (int object_num)
VF EXPORT_SYM int	get_depth_scanline_object_angle (int object_num)

Detailed Description

Function Documentation

VF EXPORT_SYM int depth_close

(

)

Closes the depth sensor

Returns

1 on success, 0 otherwise

VF EXPORT_SYM int depth_open

(

)

Opens the depth sensor. This is the first function which has to be called before any other function!

Returns

1 on success, 0 otherwise

VF EXPORT_SYM int depth_scanline_update

(

int

row

)

Selects a row for further processing by get_depth_scanline functions.

Returns

1 on success, 0 otherwise

Note

the row/column index starts with 0

Calls the depth_update() will invalidate the scanline selection.

VF EXPORT_SYM int depth_update

(

)

Pulls a new depth image from the depth sensor for future processing.

Returns

1 on success, 0 otherwise

VF EXPORT_SYM int get_depth_image_height

(

)

Returns the height of the depth image stored by depth_update in pixel

Returns

Height of the depth image in pixel or 0 if no depth image was saved

See also

depth_update

VF EXPORT_SYM int get_depth_image_width

(

)

Returns the width of the depth image stored by depth_update in pixel

Returns

Width of the depth image in pixel or 0 if no depth image was saved

See also

depth_update

VF EXPORT_SYM int get_depth_orientation

(

)

Gets the depth image orientation

Returns

Depth image orientation or 0xFFFF in case of an error

VF EXPORT_SYM DepthResolution get_depth_resolution

(

)

Get the current depth image resolution

Returns

The current depth image resolution

See also

set_depth_resolution

depth_update

VF EXPORT_SYM int get_depth_scanline_object_angle

(

int

object_num

)

Retrieve the given object's angle in degrees.

Returns

The object's angle from the camera, or -1 on error.

Note

An object angle of 0 degrees is parallel to the camera.

VF EXPORT_SYM point3 get_depth_scanline_object_center

(

int

object_num

)

Retrieve the given object's center x offset from the camera.

Returns

The offset from the center of the Xtion sensor, or (-1, -1, -1) on error.

VF EXPORT_SYM int get_depth_scanline_object_center_x

(

int

object_num

)

Retrieve the given object's center x offset from the camera.

Returns

The x offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_center_y

(

int

object_num

)

Retrieve the given object's center y offset from the camera.

Returns

The object's center y offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_center_z

(

int

object_num

)

Retrieve the given object's center z offset from the camera.

Returns

The object's center z offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_count

(

)

Retrieve the number of objects detected on the selected scanline.

Returns

The number of objects detected, or -1 on error

VF EXPORT_SYM point3 get_depth_scanline_object_farthest

(

int

object_num

)

Retrieve the given object's farthest x offset from the camera.

Returns

The object's farthest x offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_farthest_x

(

int

object_num

)

Retrieve the given object's farthest x offset from the camera.

Returns

The object's farthest x offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_farthest_y

(

int

object_num

)

Retrieve the given object's farthest y offset from the camera.

Returns

The object's farthest y offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_farthest_z

(

int

object_num

)

Retrieve the given object's farthest z offset from the camera.

Returns

The object's farthest z offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM point3 get_depth_scanline_object_nearest

(

int

object_num

)

Retrieve the given object's nearest offset from the camera.

Returns

The object's nearest offset from the center of the Xtion sensor, or (-1, -1, -1) on error.

VF EXPORT_SYM int get_depth_scanline_object_nearest_x

(

int

object_num

)

Retrieve the given object's nearest x offset from the camera.

Returns

The object's nearest x offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_nearest_y

(

int

object_num

)

Retrieve the given object's nearest y offset from the camera.

Returns

The object's nearest y offset from the center of the Xtion sensor, or -1 on error.

VF EXPORT_SYM int get_depth_scanline_object_nearest_z

(

int

object_num

)

Retrieve the given object's nearest offset from the camera.

Returns

The object's nearest offset from the center of the Xtion sensor, or (-1, -1, -1) on error.

VF EXPORT_SYM int get_depth_scanline_object_size

(

int

object_num

)

Retrieve the given object's size in mm.

Returns

The object's size in mm, or -1 on error.

VF EXPORT_SYM int get_depth_value	(	int	row,
		int	column
	)

Returns the depth value of a depth pixel.

Parameters

row	Row index of the depth pixel
column	Column index of the depth pixel

Returns

The depth value in millimeters or INVALID_COORDINATE if no depth image was saved or if the depth value is not visible by the depth sensor

Note

the row/column index starts with 0

See also

depth_image_get_height

depth_image_get_width

VF EXPORT_SYM point3 get_depth_world_point	(	int	row,
		int	column
	)

Returns the world coordinates of the specified point.

Parameters

row	Row index of the depth pixel
column	Column index of the depth pixel

Returns

The world coordinates in millimeters or (-1, -1, -1) if no depth image was saved or if the depth value is not visible by the depth sensor

Note

the row/column index starts with 0

VF EXPORT_SYM int get_depth_world_point_x	(	int	row,
		int	column
	)

Returns the x world coordinate of the specified point.

Parameters

row	Row index of the depth pixel
column	Column index of the depth pixel

Returns

The x world coordinate in millimeters or -1 if no depth image was saved or if the depth value is not visible by the depth sensor

Note

the row/column index starts with 0

VF EXPORT_SYM int get_depth_world_point_y	(	int	row,
		int	column
	)

Returns the y world coordinate of the specified point.

Parameters

row	Row index of the depth pixel
column	Column index of the depth pixel

Returns

The y world coordinate in millimeters or -1 if no depth image was saved or if the depth value is not visible by the depth sensor

Note

the row/column index starts with 0

VF EXPORT_SYM int get_depth_world_point_z	(	int	row,
		int	column
	)

Returns the z world coordinate of the specified point.

Parameters

row	Row index of the depth pixel
column	Column index of the depth pixel

Returns

The z world coordinate in millimeters or -1 if no depth image was saved or if the depth value is not visible by the depth sensor

Note

the row/column index starts with 0

VF EXPORT_SYM int set_depth_orientation

(

int

orientation

)

Sets the depth image orientation

Parameters

orientation

Depth image orientation

Returns

1 on success, 0 otherwise

Note

Only 0 and 180 degree are supported yet

VF EXPORT_SYM int set_depth_resolution

(

DepthResolution

resolution

)

Set the current depth image resolution.

Parameters

resolution

New depth image resolution

Returns

1 on success, 0 otherwise

See also

get_depth_resolution

depth_update