Accelerometer data?

[iamnotnader]

Was wondering if accelerometer data is/will be made available and, if so, when?

Looking at libfreenect, it looks like it's available through a separate endpoint, which they alias to "usb_motor":
https://github.com/OpenKinect/libfreenect/blob/da2d8ba28d6f1eb39c4841781355b48ca1b25259/src/freenect_internal.h#L213

Here is the function they appear to use to get the data:
https://github.com/OpenKinect/libfreenect/blob/da2d8ba28d6f1eb39c4841781355b48ca1b25259/src/tilt.c#L153

I know literally nothing about usb's (didn't know what libusb was until today) so please excuse any ignorance. Love this lib, by the way!

[iamnotnader]

This is where they open the device:
https://github.com/OpenKinect/libfreenect/blob/da2d8ba28d6f1eb39c4841781355b48ca1b25259/src/usb_libusb10.c#L417

This looks like the endpoint for the motor. But maybe it's different for v2?
https://github.com/OpenKinect/libfreenect/blob/da2d8ba28d6f1eb39c4841781355b48ca1b25259/src/freenect_internal.h#L140

[iamnotnader]

Uh-oh.. I see the "protocol" section of the libfreenect documentation is empty-- not a good sign I suppose:

http://openkinect.org/wiki/Kinect_2

[gaborpapp]

The Kinect v2 has no tilt motor. It is not really needed because of the bigger field of view.

[iamnotnader]

Ah, I see.

Do you know if anyone's documented all of the endpoints that ARE available for the v2, similar to the way they did for the v1 below?

http://openkinect.org/wiki/USB_Devices

[xlz]

It is possible there is indeed accelerometer data. KinectService.exe has a dedicated function that does something and uses a string literal "SensorAccelerometerData". If there is, the most likely place is in DepthSubPacketFooter.

[DCaviedesV]

Hello guys.
I was just wondering if there is anything new on this? I realize the thread is over a year old. Nonetheless, I haven't found any solutions on how to read the accelerometer data. I have read somewhere that best chance is to stay within the MS SDK... that is, of course, not a good solution at this point. So, any news?

[floe]

This shouldn't be too difficult to figure out. As @xlz suggested, maybe just add a bit of code to hexdump the unknown fields in DepthSubPacketFooter (

libfreenect2/include/internal/libfreenect2/depth_packet_stream_parser.h

Line 45 in 83f88b4

LIBFREENECT2_PACK(struct DepthSubPacketFooter

), record that data while holding the Kinect in different orientations, and compare the results. That should give us an idea where the data is actually hidden.

[remmel]

I've spend 15min trying to understand the data, tilting the kinect by 90° without success :

footer: m0:0 m1:11 s:57 ss:3 fields: 275249 1634861113 4093624308 49140 2147516416 0 467 0 1270480916 167248331 1013778692 211 511 0 0 0 
footer: m0:0 m1:11 s:58 ss:3 fields: 275249 2274951226 438747162 49179 2147516416 0 464 0 1270480916 167313867 1013778691 211 511 0 0 0 
footer: m0:0 m1:11 s:59 ss:3 fields: 275249 2914975803 1078771776 49217 2147516416 0 467 0 1270480916 167313867 1013778691 211 511 0 0 0 
**I tilt the kinect ~90°**
footer: m0:0 m1:11 s:388 ss:3 fields: 275249 3041264004 1205072199 61768 2147516416 0 473 0 1270480916 166986187 1013778691 211 511 0 0 0 
footer: m0:0 m1:11 s:389 ss:3 fields: 275249 3681354117 1845162349 61806 2147516416 0 468 0 1270480916 167051723 1013778691 211 511 0 0 0 
footer: m0:0 m1:11 s:390 ss:3 fields: 275249 26411398 2485186964 61844 2147516416 0 472 0 1270480916 167051723 1013778691 211 511 0 0 0 

Add in

libfreenect2/src/depth_packet_stream_parser.cpp

Line 102 in fd64c5d

if(footer->length != wb.length)

:

        if(footer->subsequence == 3)
        std::cout << "footer: m0:" << footer->magic0 << " m1:" << footer->magic1 << " s:" << footer-> sequence << " ss:" << footer->subsequence
        << " fields: " << footer->fields[0] << " " << footer->fields[1] << " "<< footer->fields[2] << " "<< footer->fields[3] << " "
                << footer->fields[4] << " "<< footer->fields[5] << " "<< footer->fields[6] << " "<< footer->fields[7] << " "
                << footer->fields[8] << " "<< footer->fields[9] << " "<< footer->fields[10] << " "<< footer->fields[11] << " "
                << footer->fields[12] << " "<< footer->fields[13] << " "<< footer->fields[14] << " "<< footer->fields[15] << " "
                << std::endl;