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 - 2023 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 https://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.
 *
*****************************************************************************/
 
#include <iostream>
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES
 
#if defined(VISP_HAVE_DISPLAY)
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/sensor/vpKinect.h>
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  vpDisplay *display = nullptr;
  vpDisplay *displayRgb = nullptr;
  vpDisplay *displayRgbWarped = nullptr;
#endif
  int exit_status = EXIT_SUCCESS;
  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 (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay();
    std::shared_ptr<vpDisplay> displayRgb = vpDisplayFactory::createDisplay();
    std::shared_ptr<vpDisplay> displayRgbWarped = vpDisplayFactory::createDisplay();
#else
    display = vpDisplayFactory::allocateDisplay();
    displayRgb = vpDisplayFactory::allocateDisplay();
    displayRgbWarped = vpDisplayFactory::allocateDisplay();
#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
 
    exit_status = EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    exit_status = EXIT_FAILURE;
  }
  catch (...) {
    std::cout << "Catch an exception " << std::endl;
    exit_status = EXIT_FAILURE;
  }
 
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
 
  if (displayRgb != nullptr) {
    delete displayRgb;
  }
 
  if (displayRgbWarped != nullptr) {
    delete displayRgbWarped;
  }
#endif
  return exit_status;
}
 
#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