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<unsigned char> I(480,640);
  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

vpDMResolution

enum vpKinect::vpDMResolution

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::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::~vpKinect ( )

virtual

Destructor.

Definition at line 71 of file vpKinect.cpp.

Member Function Documentation

getDepthMap() [1/2]

bool vpKinect::getDepthMap

(

vpImage< float > &

map

)

Get metric depth map (float).

Examples:

kinectAcquisition.cpp.

Definition at line 173 of file vpKinect.cpp.

getDepthMap() [2/2]

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.

getIRCamParameters()

void vpKinect::getIRCamParameters ( vpCameraParameters &  cam ) const

inline

Definition at line 140 of file vpKinect.h.

getRGB()

bool vpKinect::getRGB

(

vpImage< vpRGBa > &

I_RGB

)

Get RGB image

Examples:

kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 231 of file vpKinect.cpp.

getRGBCamParameters()

void vpKinect::getRGBCamParameters ( vpCameraParameters &  cam ) const

inline

Definition at line 141 of file vpKinect.h.

setIRCamParameters()

void vpKinect::setIRCamParameters ( const vpCameraParameters &  cam )

inline

Definition at line 142 of file vpKinect.h.

setRGBCamParameters()

void vpKinect::setRGBCamParameters ( const vpCameraParameters &  cam )

inline

Definition at line 143 of file vpKinect.h.

start()

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.

stop()

void vpKinect::stop

(

)

Examples:

kinectAcquisition.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 116 of file vpKinect.cpp.

warpRGBFrame()

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.