vpKinect.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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:
 * API for using a Microsoft Kinect device
 * Requires libfreenect as a third party library
 *
 * Authors:
 * Celine Teuliere
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

// Note that libfreenect needs libusb-1.0 and libpthread 
#if defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES)

#include <limits>   // numeric_limits

#include <visp3/sensor/vpKinect.h>
#include <visp3/core/vpXmlParserCamera.h>

vpKinect::vpKinect(freenect_context *ctx, int index)
  : Freenect::FreenectDevice(ctx, index),
    m_rgb_mutex(), m_depth_mutex(), RGBcam(), IRcam(),
    rgbMir(), irMrgb(), DMres(DMAP_LOW_RES),
    hd(240), wd(320),
    dmap(), IRGB(),
    m_new_rgb_frame(false),
    m_new_depth_map(false),
    m_new_depth_image(false),
    height(480), width(640)
{
  dmap.resize(height, width);
  IRGB.resize(height, width);
  vpPoseVector r(-0.0266,-0.0047,-0.0055,0.0320578,0.0169041,-0.0076519 );
  rgbMir.buildFrom(r);
  irMrgb = rgbMir.inverse();
}

vpKinect::~vpKinect()
{

}

void vpKinect::start(vpKinect::vpDMResolution res)
{
  DMres = res;
    height = 480;
    width = 640;
    if (DMres == DMAP_LOW_RES){
        std::cout << "vpKinect::start LOW depth map resolution 240x320" << std::endl;
        //      IRcam.setparameters(IRcam.get_px()/2, IRcam.get_py()/2, IRcam.get_u0()/2, IRcam.get_v0()/2);
        //IRcam.initPersProjWithoutDistortion(303.06,297.89,160.75,117.9);
        IRcam.initPersProjWithDistortion(303.06, 297.89, 160.75, 117.9, -0.27, 0);
        hd = 240;
        wd = 320;
    }
    else
    {
        std::cout << "vpKinect::start MEDIUM depth map resolution 480x640" << std::endl;

        //IRcam.initPersProjWithoutDistortion(606.12,595.78,321.5,235.8);
        IRcam.initPersProjWithDistortion(606.12, 595.78, 321.5, 235.8, -0.27, 0);
        //      Idmap.resize(height, width);
        hd = 480;
        wd = 640;
    }

#if defined(VISP_HAVE_ACCESS_TO_NAS) && defined(VISP_HAVE_XML2)
    vpXmlParserCamera cameraParser;
    char cameraXmlFile[FILENAME_MAX];
    sprintf(cameraXmlFile, "/udd/fspindle/robot/Viper850/Viper850-code/include/const_camera_Viper850.xml");
    cameraParser.parse(RGBcam, cameraXmlFile, "Generic-camera", vpCameraParameters::perspectiveProjWithDistortion, width, height);
#else
//  RGBcam.initPersProjWithoutDistortion(525.53, 524.94, 309.9, 282.8);//old
//  RGBcam.initPersProjWithDistortion(536.76, 537.25, 313.45, 273.27,0.04,-0.04);//old
//  RGBcam.initPersProjWithoutDistortion(512.0559503505,511.9352058050,310.6693938678,267.0673901049);//new
    RGBcam.initPersProjWithDistortion(522.5431816996,522.7191431808,311.4001982614,267.4283562142,0.0477365207,-0.0462326418);//new
#endif

  this->startVideo();
  this->startDepth();
}

void vpKinect::stop()
{
  this->stopVideo();
  this->stopDepth();
}


void vpKinect::VideoCallback(void* rgb, uint32_t /* timestamp */)
{
//      std::cout << "vpKinect Video callback" << std::endl;
  vpMutex::vpScopedLock lock(m_rgb_mutex);
  uint8_t* rgb_ = static_cast<uint8_t*>(rgb);
  for (unsigned i = 0; i< height;i++){
    for (unsigned j = 0 ; j < width ; j++)
    {
      IRGB[i][j].R = rgb_[3*(width*i +j)+0];
      IRGB[i][j].G = rgb_[3*(width*i +j)+1];
      IRGB[i][j].B = rgb_[3*(width*i +j)+2];
    }
  }

  m_new_rgb_frame = true;
}

void vpKinect::DepthCallback(void* depth, uint32_t /* timestamp */)
{
//  std::cout << "vpKinect Depth callback" << std::endl;
  vpMutex::vpScopedLock lock(m_depth_mutex);
  uint16_t* depth_ = static_cast<uint16_t*>(depth);
  for (unsigned i = 0; i< height;i++){
    for (unsigned j = 0 ; j < width ; j++)
    {
      dmap[i][j] = 0.1236f * tan(depth_[width*i +j] / 2842.5f + 1.1863f);//formula from http://openkinect.org/wiki/Imaging_Information
      if(depth_[width*i +j]>1023){//Depth cannot be computed
        dmap[i][j] = -1;
      }
    }
  }
  m_new_depth_map = true;
  m_new_depth_image = true;
}


bool vpKinect::getDepthMap(vpImage<float>& map)
{
  vpMutex::vpScopedLock lock(m_depth_mutex);
  if (!m_new_depth_map)
    return false;
  map = this->dmap;
  m_new_depth_map = false;
  return true;
}


bool vpKinect::getDepthMap(vpImage<float>& map,vpImage<unsigned char>& Imap)
{
    //  vpMutex::vpScopedLock lock(m_depth_mutex);
    vpImage<float> tempMap;
    m_depth_mutex.lock();
    if (!m_new_depth_map && !m_new_depth_image)
    {
        m_depth_mutex.unlock();
        return false;
    }
    tempMap = dmap;

    m_new_depth_map = false;
    m_new_depth_image = false;
    m_depth_mutex.unlock();

    if ((Imap.getHeight()!=hd )||(map.getHeight()!=hd))
      vpERROR_TRACE(1, "Image size does not match vpKinect DM resolution");
    if (DMres == DMAP_LOW_RES){
        for(unsigned int i = 0; i < hd; i++)
          for(unsigned int j = 0; j < wd; j++){
            map[i][j] = tempMap[i<<1][j<<1];
            //if (map[i][j] != -1)
            if (fabs(map[i][j] + 1.f) > std::numeric_limits<float>::epsilon())
              Imap[i][j] = (unsigned char)(255*map[i][j]/5);
            else
              Imap[i][j] = 255;
          }
    }
    else
    {
        for (unsigned i = 0; i< height;i++)
          for (unsigned j = 0 ; j < width ; j++){
            map[i][j] = tempMap[i][j];
            //if (map[i][j] != -1)
            if (fabs(map[i][j] + 1.f) > std::numeric_limits<float>::epsilon())
                Imap[i][j] = (unsigned char)(255*map[i][j]/5);
            else
                Imap[i][j] = 255;
          }
    }

    return true;
}


bool vpKinect::getRGB(vpImage<vpRGBa>& I_RGB)
{
  vpMutex::vpScopedLock lock(m_rgb_mutex);
  if (!m_new_rgb_frame)
    return false;
  I_RGB = this->IRGB;
  m_new_rgb_frame = false;
  return true;
}

void vpKinect::warpRGBFrame(const vpImage<vpRGBa> & Irgb, const vpImage<float> & Idepth, vpImage<vpRGBa> & IrgbWarped)
{
    if ((Idepth.getHeight()!=hd )||(Idepth.getWidth()!=wd)){
          vpERROR_TRACE(1, "Idepth image size does not match vpKinect DM resolution");
    }
    else{
        if((IrgbWarped.getHeight()!=hd )||(IrgbWarped.getWidth()!=wd))
            IrgbWarped.resize(hd, wd);
        IrgbWarped=0;
        double x1=0., y1=0., x2=0., y2=0., Z1, Z2;
        vpImagePoint imgPoint(0,0);
        double u=0., v=0.;
        vpColVector P1(4),P2(4);

//      std::cout <<"rgbMir : "<<rgbMir<<std::endl;

        for (unsigned int i = 0; i< hd;i++)
          for (unsigned int j = 0 ; j < wd ; j++){
              vpPixelMeterConversion::convertPoint(IRcam, j, i, x1, y1);
              Z1 = Idepth[i][j];
              //if (Z1!=-1){
              if (std::fabs(Z1+1) <= std::numeric_limits<double>::epsilon()){
                  P1[0]=x1*Z1;
                  P1[1]=y1*Z1;
                  P1[2]=Z1;
                  P1[3]=1;

                  P2 = rgbMir*P1;
                  Z2 = P2[2];
                  //if (Z2!= 0){
                  if (std::fabs(Z2) > std::numeric_limits<double>::epsilon()){
                      x2 = P2[0]/P2[2];
                      y2 = P2[1]/P2[2];
                  }
                  else
                      std::cout<<"Z2 = 0 !!"<<std::endl;

                  vpMeterPixelConversion::convertPoint(RGBcam, x2, y2, u, v);

                  unsigned int u_ = (unsigned int)u;
                  unsigned int v_ = (unsigned int)v;
                  if ((u_<width)&&(v_<height)){
                    IrgbWarped[i][j] = Irgb[v_][u_];
                  }
                  else
                      IrgbWarped[i][j] = 0;
              }
          }
    }
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_sensor.a(vpKinect.cpp.o) has no symbols
void dummy_vpKinect() {};
#endif // VISP_HAVE_LIBFREENECT