cppKinect

A very user-friendly and fast way to use Microsoft Kinect (first version) with C++. Microsoft SDK is an extremely useful tool to create programmes with Kinect devices, but it is not so ready-to-use with C++ programming language. With cppKinect you can start programming and acquire RGB and depth images just in 5 minutes. Then, when you have time and desire, you could check the open source code to understand all the details about Microsoft device. You can consider cppKinect as a wrapper of Microsoft SDK 1.8! Enjoy! Please, contact me for any suggestion or questions.

Prerequisites:

OpenCV (tested with 2.4.13)
Microsoft Kinect SDK (v1.8)

How to use:

Import all files (.cpp, .h) in your project. Acquisitionkinect2 is the acquisition from Microsoft Kinect One, frameset.h is the container for all data extracted from the device;
Create a loop and call the method getframe(frameset);
Get the data from the frameset
That's all!

Code sample

int main(){

 ...
 
 Acquisition *_pkinect = nullptr;
 FrameSet frame;

 _pkinect = new AcquisitionKinect1();

 while(1){
   _pkinect->getFrame(frame);
}

Data inside frameset:

Kinect version (int kinectVersion)
RGB (cv::Mat RGB)
Depth with skeleton (cv::Mat depth)
Depth without skeleton 3 channels (cv::Mat depthWithoutSkeleton)
Depth without skeleton 1 channels (cv::Mat depthWithoutSkeleton1ch)
Joint Real (std::vector<tripletPoint> bodyJoint)
Joint RGB (std::vector<tripletPoint> bodyJointRGB)
Joint Depth (std::vector<tripletPoint> bodyJointDepth)
Head Pitch (int pitch)
Head Roll (int roll)
Head Yaw (int yaw)

Skeleton Joint names:

enum jointNames{
    FS_head,
    FS_neck,
    FS_shoulderCenter,
    FS_spineShoulder,
    FS_shoulderRight,
    FS_elbowRight,
    FS_wristRight,
    FS_handRight,
    FS_thumbRight,
    FS_shoulderLeft,
    FS_elbowLeft,
    FS_wristLeft,
    FS_handLeft,
    FS_thumbLeft,
    FS_spineMid,
    FS_spine,
    FS_spineBase,
    FS_hipCenter,
    FS_hipRight,
    FS_kneeRight,
    FS_ankleRight,
    FS_footRight,
    FS_hipLeft,
    FS_kneeLeft,
    FS_ankleLeft,
    FS_footLeft,
    FS_handTipRight,
    FS_handTipLeft
};

gdubrg/cppKinect

cppKinect