Classes
class	HandState
	Structure holding the position, rotational frame and other information relevant to the state of the hand. More...

class	ParseException
	Exception thrown when parsing a message fails. More...

class	HandTrackingMessage

class	BasicMessage

class	PinchMessage
	Messages relating to pressing, releasing, dragging and moving of each hand. More...

class	BimanualPinchMessage
	Messages relating to simultaneous or individual pinching. More...

class	PointMessage

class	PoseMessage

class	WelcomeMessage

class	UserMessage
	Message that exposes the user name and skinning information for the user's calibrated hands. More...

class	CalibrationMessage
	Message that indicates the progress of calibrating the user's hand scale. More...

struct	OpenCVCamera
	A class representing the intrinsic/extrinsic parameters of the depth camera. More...

class	Vector3
	A minimal 3-vector class. More...

class	Quaternion
	A minimal quaternion class. More...

class	Transform

class	Matrix4

Typedefs
typedef JointFrameIndex	JointIndex
	Included for backwards compatibility.

typedef Vector3< float >	Vector3f

typedef Vector3< double >	Vector3d

typedef Quaternion< float >	Quaternionf

typedef Quaternion< double >	Quaterniond

typedef Transform< float >	Transformf

typedef Transform< double >	Transformd

typedef Matrix4< float >	Matrix4f

typedef Matrix4< double >	Matrix4d

Enumerations
enum	JointFrameIndex { ROOT_JOINT = 0, WRIST_JOINT = 1, THUMB_PROXIMAL = 2, THUMB_INTERMEDIATE = 3, THUMB_DISTAL = 4, INDEX_PROXIMAL = 5, INDEX_INTERMEDIATE = 6, INDEX_DISTAL = 7, MIDDLE_PROXIMAL = 8, MIDDLE_INTERMEDIATE = 9, MIDDLE_DISTAL = 10, RING_PROXIMAL = 11, RING_INTERMEDIATE = 12, RING_DISTAL = 13, PINKY_PROXIMAL = 14, PINKY_INTERMEDIATE = 15, PINKY_DISTAL = 16 }
	Joint frames used for skinning. More...

enum	FingerDOF { THUMB_CMC_AA = 0, THUMB_CMC_FE = 1, THUMB_MCP = 2, THUMB_IP = 3, INDEX_MCP_AA = 4, INDEX_MCP_FE = 5, INDEX_PIP = 6, MIDDLE_MCP_AA = 7, MIDDLE_MCP_FE = 8, MIDDLE_PIP = 9, RING_MCP_AA = 10, RING_MCP_FE = 11, RING_PIP = 12, PINKY_MCP_AA = 13, PINKY_MCP_FE = 14, PINKY_PIP = 15 }
	Degrees of freedom of the hand model, as reported by the HandTrackingClient::PoseMessage::getFingerDOFs function. More...

enum	Hand { LEFT_HAND = 0, RIGHT_HAND = 1, BOTH_HANDS = 2, INVALID_HAND = 10000 }

Functions
std::string	lastSocketError ()

const char *	handToString (Hand hand)

Hand	stringToHand (const std::string &str)

BasicMessage *	parseBasicMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

WelcomeMessage *	parseWelcomeMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

UserMessage *	parseUserMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

CalibrationMessage *	parseCalibrationMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

PoseMessage *	parsePoseMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

PinchMessage *	parsePinchMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

BimanualPinchMessage *	parseBimanualPinchMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

PointMessage *	parsePointMessage (TokenStream &stream, HandTrackingMessage::MessageType messageType)

template<typename T >
std::ostream &	operator<< (std::ostream &os, const Vector3< T > &rhs)
	Prints a vector to the output stream in the format "v.x v.y v.z".

template<typename T >
std::ostream &	operator<< (std::ostream &os, const Quaternion< T > &rhs)
	Prints a quaternion to the output stream in the format "v.x v.y v.z w".

template std::ostream &	operator<< (std::ostream &os, const Vector3< float > &rhs)

template std::ostream &	operator<< (std::ostream &os, const Vector3< double > &rhs)

template std::ostream &	operator<< (std::ostream &os, const Quaternion< float > &rhs)

template std::ostream &	operator<< (std::ostream &os, const Quaternion< double > &rhs)

template<typename T >
Vector3< T >	operator* (const T lhs, const Vector3< T > &rhs)
	Multiplies a vector by a scalar.

template<typename T >
Vector3< T >	operator* (const Vector3< T > &lhs, const T rhs)
	Multiplies a vector by a scalar.

template<typename T >
Vector3< T >	operator/ (const Vector3< T > &lhs, const T rhs)
	Divides a vector by a scalar.

template<typename T >
Vector3< T >	operator+ (const Vector3< T > &lhs, const Vector3< T > &rhs)
	Adds two vectors together.

template<typename T >
Vector3< T >	operator- (const Vector3< T > &lhs, const Vector3< T > &rhs)
	Subtracts the second vector from the first.

template<typename T >
Quaternion< T >	operator* (const Quaternion< T > &a, const Quaternion< T > &b)
	Multiplies two quaternions.

template<typename T >
Transform< T >	operator* (const Transform< T > &lhs, const Transform< T > &rhs)

template<typename T >
Vector3< T >	operator* (const Transform< T > &lhs, const Vector3< T > &rhs)

Variables
const int	INVALID_SOCKET = -1

const int	SOCKET_ERROR = -1

const size_t	QVGA_WIDTH = 320

const size_t	QVGA_HEIGHT = 240

const double	KINECT_FOCAL_LENGTH = 575.815753

Detailed Description

The HandTrackingClient has been namespaced to avoid conflicts with other libraries.

Enumeration Type Documentation

enum HandTrackingClient::FingerDOF

Degrees of freedom of the hand model, as reported by the HandTrackingClient::PoseMessage::getFingerDOFs function.

Each of these is a rotation in radians that measures how far the corresponding finger is bent from its rest pose. For flexion/extension joints, positive angles indicate flexion while negative angles indicate extension.

We recommend using these joint angles for detecting gestures of the form "finger X is bending." If you need to know the global position/orientation of the hand, you'll need to use the joint frames returned by HandTrackingClient::PoseMessage::getJointFrames instead.

For more details on the hand model, consult the hand model docs.

Enumerator
THUMB_CMC_AA	Thumb carpal-metacarpal joint, adduction/abduction.
THUMB_CMC_FE	Thumb carpal-metacarpal joint, flexion/extension.
THUMB_MCP	Thumb metacarpal-phalangeal joint, flexion/extension.
THUMB_IP	Thumb interphalangeal joint, flexion/extension.
INDEX_MCP_AA	Index finger metacarpal-phalangeal joint, adduction/abduction.
INDEX_MCP_FE	Index finger metacarpal-phalangeal joint, flexion/extension.
INDEX_PIP	Index finger proximal interphalangeal joint, flexion/extension.
MIDDLE_MCP_AA	Middle finger metacarpal-phalangeal joint, adduction/abduction.
MIDDLE_MCP_FE	Middle finger metacarpal-phalangeal joint, flexion/extension.
MIDDLE_PIP	Middle finger proximal interphalangeal joint, flexion/extension.
RING_MCP_AA	Ring finger metacarpal-phalangeal joint, adduction/abduction.
RING_MCP_FE	Ring finger metacarpal-phalangeal joint, flexion/extension.
RING_PIP	Ring finger proximal interphalangeal joint, flexion/extension.
PINKY_MCP_AA	Pinky finger metacarpal-phalangeal joint, adduction/abduction.
PINKY_MCP_FE	Pinky finger metacarpal-phalangeal joint, flexion/extension.
PINKY_PIP	Pinky finger proximal interphalangeal joint, flexion/extension.

enum HandTrackingClient::Hand

Most events (like click events) only apply to one hand at a time, but simultaneous click and release events will have the BOTH_HANDS identifier set.

Enumerator
LEFT_HAND	Message applies only to the left hand.
RIGHT_HAND	Message applies only to the right hand.
BOTH_HANDS	Message applies to both hands (e.g. a simultaneous click).
INVALID_HAND	You should never see this in callback messages; it is used internally when network deserialization fails.

enum HandTrackingClient::JointFrameIndex

Joint frames used for skinning.

These are the frames returned by PoseMessage::getJointFrames, and used for skinning. We recommend using these if you need to locate points in 3D space or define 3D frames; if you want to recognize gestures of the form "finger X is bending" we recommend using the FingerDOF instead.

The most stable frame is the one defined by the metacarpals (here, the WRIST_JOINT). If you need a 3D frame for something, we recommend using this one.

For more details on the hand model, consult the hand model docs.

Enumerator
ROOT_JOINT	The frame of the user's forearm (this is where the hand model is rooted).
WRIST_JOINT	The frame of the back of the hand (anatomically, this is the frame of the carpals).
THUMB_PROXIMAL	Thumb proximal frame, refers to the thumb metacarpal bone.
THUMB_INTERMEDIATE	Thumb intermediate frame, refers to the thumb proximal phalange.
THUMB_DISTAL	Thumb distal frame, refers to the thumb distal phalange.
INDEX_PROXIMAL	Index finger proximal frame, refers to the proximal phalange.
INDEX_INTERMEDIATE	Index finger intermediate frame, refers to the intermediate phalange.
INDEX_DISTAL	Index finger distal frame, refers to the distal phalange.
MIDDLE_PROXIMAL	Middle finger proximal frame, refers to the proximal phalange.
MIDDLE_INTERMEDIATE	Middle finger intermediate frame, refers to the intermediate phalange.
MIDDLE_DISTAL	Middle finger distal frame, refers to the distal phalange.
RING_PROXIMAL	Ring finger proximal frame, refers to the proximal phalange.
RING_INTERMEDIATE	Ring finger intermediate frame, refers to the intermediate phalange.
RING_DISTAL	Ring finger distal frame, refers to the distal phalange.
PINKY_PROXIMAL	Pinky finger proximal frame, refers to the proximal phalange.
PINKY_INTERMEDIATE	Pinky finger intermediate frame, refers to the intermediate phalange.
PINKY_DISTAL	Pinky finger distal frame, refers to the distal phalange.

Function Documentation

const char * HandTrackingClient::handToString ( Hand hand )

Returns a string representation for the Hand enum. Used for serializing and deserializing from the network.

Hand HandTrackingClient::stringToHand ( const std::string & str )

Given a string ("left" or "right"), returns the correct Hand. Used for serializing and deserializing from the network.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation