kinectAcquisition.cpp

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

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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);

      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 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