kinect-cloud

C++17 library for Kinect v1 depth capture and point cloud generation.

Features

• Live capture from Kinect v1 (Xbox 360) using libfreenect
• Point cloud output (2 color modes)
• Live 3D point cloud visualization
• Record and replay depth frames to/from file

Instructions

Dependencies

• libfreenect
• CMake
• GLFW3 and OpenGL (kc-view only)

Build

cmake -B build
cmake --build build

Builds build/libkc.a and binaries in bin/.

Apps

kc-view

Visualize a point cloud in a window from device or from file.

bin/kc-view [file] [-v]

Controls

Input	Action
Mouse scroll	Zoom
Left-click drag	Orbit camera

kc-record

Record live frames to a .kc file.

bin/kc-record <file> <seconds> [-v]

Library

Device

Header: kc/device.hpp

Call	Description	Return
Device::open()	Open kinect	false on fail
Device::next(Frame&)	Get next frame	false on stop/error
Device::stop()	Stop streaming
Device::close()	Release device

Example

Live capture, with log level set and colors turned off:

#include <kc/cloud.hpp>
#include <kc/device.hpp>

int main() {
    // open device
    kc::Device device;
    if (!device.open())
        return 1;

    kc::Frame frame;
    // get frames from device
    while (device.next(frame)) {
        // build cloud, set ColorMode (DepthGradient, None)
        kc::Cloud cloud = kc::build_cloud(frame, kc::ColorMode::None);
        // ...
    }

    // close device
    device.close();
    return 0;
}

Replay

Header: kc/replay.hpp

Call	Description	Return
Replay::open(path, realtime)	Open file	false on fail
Replay::next(Frame&)	Get next frame	false on EOF/error
Replay::close()	Close file

Example

Replay a file:

#include <kc/cloud.hpp>
#include <kc/replay.hpp>

int main() {
    kc::Replay replay;
    if (!replay.open("capture.kc"))
        return 1;

    kc::Frame frame;
    while (replay.next(frame)) {
        kc::Cloud cloud = kc::build_cloud(frame, kc::ColorMode::None);
        // ...
    }
    return 0;
}

Cloud

Header: kc/cloud.hpp

Call	Description	Return
build_cloud(frame, color)	Build point cloud	Cloud

// Point
struct Point {
    float x, y, z;
    uint8_t r, g, b;
};

// Cloud
struct Cloud {
    std::vector<Point> points;
    uint64_t timestamp;
};

Recorder

Header: kc/recorder.hpp

Call	Description	Return
Recorder::open(path)	Create file	false on fail
Recorder::write(Frame&)	Write frame to file	false on fail
Recorder::close()	Close file

Example

Record to a file:

#include <kc/device.hpp>
#include <kc/recorder.hpp>

int main() {
    kc::Device device;
    kc::Recorder recorder;
    if (!device.open() || !recorder.open("capture.kc"))
        return 1;

    kc::Frame frame;
    while (device.next(frame))
        recorder.write(frame);
    return 0;
}

Log

Header: kc/log.hpp

Call	Description
set_log_level(Level)	Set minimum log level

//#include "kc/log.hpp"

kc::set_log_level(kc::Level::Debug);
kc::set_log_level(kc::Level::Info);
kc::set_log_level(kc::Level::Warn); // default
kc::set_log_level(kc::Level::Error);