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
 * ("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:
 * Kinect example.
 *
 * Authors:
 * Celine Teuliere
 *
 *****************************************************************************/


#include <visp3/core/vpConfig.h>
#include <iostream>
#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/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/sensor/vpKinect.h>
#include <visp3/core/vpTime.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);

      vpDisplay::display(Idmap);
      vpDisplay::flush(Idmap);
      vpDisplay::display(Irgb);
      vpDisplay::flush(Irgb);

      //Warped RGB image:
      kinect.warpRGBFrame(Irgb,dmap, Iwarped);
      vpDisplay::display(Iwarped);
      vpDisplay::flush(Iwarped);
    }
    std::cout << "Stop acquisition" << std::endl;
    kinect.stop(); // Stop acquisition thread
    return 0;
  }
  catch(vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
  catch(...) {
    std::cout << "Catch an exception " << std::endl;
    return 1;
  }
}

#else

int
main()
{
  std::cout << "You should install a video device (X11, GTK, OpenCV, GDI) to run this example" << std::endl;
}
#endif

#else
int
main()
{
  std::cout << "You should install libfreenect to run this example" << std::endl;
}

#endif