Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpKinect.h
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30  *
31  * Description:
32  * API for using a Microsoft Kinect device
33  * Requires libfreenect as a third party library
34  *
35  * Authors:
36  * Celine Teuliere
37  *
38  *****************************************************************************/
39 
40 #ifndef _vpKinect_h_
41 #define _vpKinect_h_
42 
43 #include <visp3/core/vpConfig.h>
44 // Note that libfreenect needs libusb-1.0 and libpthread
45 #if defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES)
46 
47 #include <iostream>
48 #include <libfreenect.hpp>
49 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpImage.h>
53 #include <visp3/core/vpMeterPixelConversion.h>
54 #include <visp3/core/vpMutex.h> // need pthread
55 #include <visp3/core/vpPixelMeterConversion.h>
56 
109 class VISP_EXPORT vpKinect : public Freenect::FreenectDevice
110 {
111  // private:
112  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
113  // vpKinect(const vpKinect &); // Not implemented!
114  // vpKinect &operator=(const vpKinect &){
115  // throw vpException(vpException::functionNotImplementedError,"Not
116  // implemented!"); return *this;
117  // }
118  //#endif
119 
120 public:
124  typedef enum {
126  DMAP_MEDIUM_RES
127  } vpDMResolution;
128 
129  vpKinect(freenect_context *ctx, int index);
130  virtual ~vpKinect();
131 
132  void start(vpKinect::vpDMResolution res = DMAP_LOW_RES);
133  void stop();
134 
135  bool getDepthMap(vpImage<float> &map);
136  bool getDepthMap(vpImage<float> &map, vpImage<unsigned char> &Imap);
137  bool getRGB(vpImage<vpRGBa> &IRGB);
138 
139  inline void getIRCamParameters(vpCameraParameters &cam) const { cam = IRcam; }
140  inline void getRGBCamParameters(vpCameraParameters &cam) const { cam = RGBcam; }
141  inline void setIRCamParameters(const vpCameraParameters &cam) { IRcam = cam; }
142  inline void setRGBCamParameters(const vpCameraParameters &cam) { RGBcam = cam; }
143 
144  void warpRGBFrame(const vpImage<vpRGBa> &Irgb, const vpImage<float> &Idepth,
145  vpImage<vpRGBa> &IrgbWarped); // warp the RGB image into
146  // the Depth camera frame
147 
148 private:
150  // Do not call directly even in child
151  void VideoCallback(void *rgb, uint32_t timestamp);
152 
153  // Do not call directly even in child
154  void DepthCallback(void *depth, uint32_t timestamp);
155 
156 private:
157  vpMutex m_rgb_mutex;
158  vpMutex m_depth_mutex;
159 
160  vpCameraParameters RGBcam, IRcam; // intrinsic parameters of the two cameras
161  vpHomogeneousMatrix rgbMir; // Transformation from IRcam coordinate frame to
162  // RGBcam coordinate frame.
163  vpHomogeneousMatrix irMrgb; // Transformation from RGBcam coordinate frame
164  // to IRcam coordinate frame .
165  vpDMResolution DMres;
166  unsigned int hd; // height of the depth map
167  unsigned int wd; // width of the depth map
168 
169  // Access protected by a mutex:
170  vpImage<float> dmap;
171  vpImage<vpRGBa> IRGB;
172  bool m_new_rgb_frame;
173  bool m_new_depth_map;
174  bool m_new_depth_image;
175  unsigned int height; // height of the rgb image
176  unsigned int width; // width of the rgb image
177 };
178 
179 #endif
180 
181 #endif
vpDMResolution
Definition: vpKinect.h:124
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setIRCamParameters(const vpCameraParameters &cam)
Definition: vpKinect.h:141
Driver for the Kinect-1 device.
Definition: vpKinect.h:109
Generic class defining intrinsic camera parameters.
void getRGBCamParameters(vpCameraParameters &cam) const
Definition: vpKinect.h:140
void setRGBCamParameters(const vpCameraParameters &cam)
Definition: vpKinect.h:142
void getIRCamParameters(vpCameraParameters &cam) const
Definition: vpKinect.h:139