Visual Servoing Platform  version 3.2.0 under development (2018-12-09)
vpKinect Class Reference

#include <visp3/sensor/vpKinect.h>

+ Inheritance diagram for vpKinect:

Public Types

enum  vpDMResolution { DMAP_LOW_RES, DMAP_MEDIUM_RES }
 

Public Member Functions

 vpKinect (freenect_context *ctx, int index)
 
virtual ~vpKinect ()
 
void start (vpKinect::vpDMResolution res=DMAP_LOW_RES)
 
void stop ()
 
bool getDepthMap (vpImage< float > &map)
 
bool getDepthMap (vpImage< float > &map, vpImage< unsigned char > &Imap)
 
bool getRGB (vpImage< vpRGBa > &IRGB)
 
void getIRCamParameters (vpCameraParameters &cam) const
 
void getRGBCamParameters (vpCameraParameters &cam) const
 
void setIRCamParameters (const vpCameraParameters &cam)
 
void setRGBCamParameters (const vpCameraParameters &cam)
 
void warpRGBFrame (const vpImage< vpRGBa > &Irgb, const vpImage< float > &Idepth, vpImage< vpRGBa > &IrgbWarped)
 

Detailed Description

Driver for the Kinect-1 device.

To be enabled this class requires libfreenect 3rd party. Installation instructions are provided here https://visp.inria.fr/3rd_freenect.

The following example shows how to use this class to acquire data (depth map and color image) from a Kinect.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/sensor/vpKinect.h>
int main() {
#ifdef VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES
// Init Kinect device
#ifdef VISP_HAVE_LIBFREENECT_OLD
// This is the way to initialize Freenect with an old version of libfreenect
// package under ubuntu lucid 10.04
Freenect::Freenect<vpKinect> freenect;
vpKinect * kinect = &freenect.createDevice(0);
#else
Freenect::Freenect freenect;
vpKinect * kinect = &freenect.createDevice<vpKinect>(0);
#endif
kinect->start(); // Start acquisition thread
// Set tilt angle
float angle = -5;
kinect->setTiltDegrees(angle);
vpImage<vpRGBa> Irgb(480,640);
vpImage<float> dmap(480,640);
// Acquisition loop
for (int i=0; i<100; i++)
{
kinect->getDepthMap(dmap,I);
kinect->getRGB(Irgb);
}
kinect->stop(); // Stop acquisition thread
#endif
return 0;
}
Examples:
kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 110 of file vpKinect.h.

Member Enumeration Documentation

Depth map resolution.

Enumerator
DMAP_LOW_RES 

Depth map has a resolution of 320 by 240.

DMAP_MEDIUM_RES 

Depth map has a resolution of 640 by 480.

Definition at line 125 of file vpKinect.h.

Constructor & Destructor Documentation

vpKinect::vpKinect ( freenect_context *  ctx,
int  index 
)

Default constructor.

Those are the parameters found for our Kinect device. Note that they can differ from one device to another.

Definition at line 53 of file vpKinect.cpp.

References vpHomogeneousMatrix::buildFrom(), vpHomogeneousMatrix::inverse(), and vpImage< Type >::resize().

vpKinect::~vpKinect ( )
virtual

Destructor.

Definition at line 71 of file vpKinect.cpp.

Member Function Documentation

bool vpKinect::getDepthMap ( vpImage< float > &  map)

Get metric depth map (float).

Examples:
kinectAcquisition.cpp.

Definition at line 173 of file vpKinect.cpp.

bool vpKinect::getDepthMap ( vpImage< float > &  map,
vpImage< unsigned char > &  Imap 
)

Get metric depth map (float) and corresponding image.

Definition at line 186 of file vpKinect.cpp.

References DMAP_LOW_RES, vpImage< Type >::getHeight(), vpMutex::lock(), vpMutex::unlock(), and vpERROR_TRACE.

void vpKinect::getIRCamParameters ( vpCameraParameters cam) const
inline

Definition at line 140 of file vpKinect.h.

bool vpKinect::getRGB ( vpImage< vpRGBa > &  I_RGB)

Get RGB image

Examples:
kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 231 of file vpKinect.cpp.

void vpKinect::getRGBCamParameters ( vpCameraParameters cam) const
inline

Definition at line 141 of file vpKinect.h.

void vpKinect::setIRCamParameters ( const vpCameraParameters cam)
inline

Definition at line 142 of file vpKinect.h.

void vpKinect::setRGBCamParameters ( const vpCameraParameters cam)
inline

Definition at line 143 of file vpKinect.h.

void vpKinect::start ( vpKinect::vpDMResolution  res = DMAP_LOW_RES)

Calibration parameters are the parameters found for our Kinect device. Note that they can differ from one device to another.

Examples:
kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 73 of file vpKinect.cpp.

References DMAP_LOW_RES, vpCameraParameters::initPersProjWithDistortion(), vpXmlParserCamera::parse(), and vpCameraParameters::perspectiveProjWithDistortion.

void vpKinect::stop ( )
Examples:
kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 116 of file vpKinect.cpp.

void vpKinect::warpRGBFrame ( const vpImage< vpRGBa > &  Irgb,
const vpImage< float > &  Idepth,
vpImage< vpRGBa > &  IrgbWarped 
)

Warp the RGB frame to the depth camera frame. The size of the resulting IrgbWarped frame is the same as the size of the depth map Idepth

Compute metric coordinates in the ir camera Frame :

Change frame :

compute pixel coordinates of the corresponding point in the depth image

Fill warped image value

Examples:
kinectAcquisition.cpp.

Definition at line 245 of file vpKinect.cpp.

References vpPixelMeterConversion::convertPoint(), vpMeterPixelConversion::convertPoint(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpImage< Type >::resize(), and vpERROR_TRACE.