Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
kinectAcquisition.cpp

Example that shows how to acquire depth map and RGB images from a kinect device, and show the warped RGB frame

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Kinect example.
*
* Authors:
* Celine Teuliere
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpKinect.h>
int main()
{
try {
// Init Kinect
#ifdef VISP_HAVE_LIBFREENECT_OLD
// This is the way to initialize Freenect with an old version of
// libfreenect packages 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
// Set tilt angle in degrees
if (0) {
float angle = -3;
kinect.setTiltDegrees(angle);
}
// Init display
#if 1
kinect.start(vpKinect::DMAP_MEDIUM_RES); // Start acquisition thread with
// a depth map resolution of
// 480x640
vpImage<unsigned char> Idmap(480, 640); // for medium resolution
vpImage<float> dmap(480, 640); // for medium resolution
#else
kinect.start(vpKinect::DMAP_LOW_RES); // Start acquisition thread with a
// depth map resolution of 240x320
// (default resolution)
vpImage<unsigned char> Idmap(240, 320); // for low resolution
vpImage<float> dmap(240, 320); // for low resolution
#endif
vpImage<vpRGBa> Irgb(480, 640), Iwarped(480, 640);
#if defined VISP_HAVE_X11
vpDisplayX display, displayRgb, displayRgbWarped;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display;
vpDisplayGTK displayRgb;
vpDisplayGTK displayRgbWarped;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV display;
vpDisplayOpenCV displayRgb;
vpDisplayOpenCV displayRgbWarped;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display;
vpDisplayGDI displayRgb;
vpDisplayGDI displayRgbWarped;
#endif
display.init(Idmap, 100, 200, "Depth map");
displayRgb.init(Irgb, 900, 200, "Color Image");
displayRgbWarped.init(Iwarped, 900, 700, "Warped Color Image");
// A click to stop acquisition
std::cout << "Click in one image to stop acquisition" << std::endl;
while (!vpDisplay::getClick(Idmap, false) && !vpDisplay::getClick(Irgb, false)) {
kinect.getDepthMap(dmap);
kinect.getDepthMap(dmap, Idmap);
kinect.getRGB(Irgb);
// Warped RGB image:
kinect.warpRGBFrame(Irgb, dmap, Iwarped);
vpDisplay::flush(Iwarped);
}
std::cout << "Stop acquisition" << std::endl;
kinect.stop(); // Stop acquisition thread
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
} catch (...) {
std::cout << "Catch an exception " << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have X11, or GDI (Graphical Device Interface), or GTK, or OpenCV functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif
#else
int main()
{
std::cout << "You do not have Freenect functionality enabled" << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install libfreenect, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif