Visual Servoing Platform version 3.5.0
kinectAcquisition.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Kinect example.
33 *
34 * Authors:
35 * Celine Teuliere
36 *
37 *****************************************************************************/
38
47#include <iostream>
48#include <visp3/core/vpConfig.h>
49#ifdef VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES
50
51#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI))
52
53#include <visp3/core/vpImage.h>
54#include <visp3/core/vpTime.h>
55#include <visp3/gui/vpDisplayGDI.h>
56#include <visp3/gui/vpDisplayGTK.h>
57#include <visp3/gui/vpDisplayOpenCV.h>
58#include <visp3/gui/vpDisplayX.h>
59#include <visp3/sensor/vpKinect.h>
60
61int main()
62{
63 try {
64// Init Kinect
65#ifdef VISP_HAVE_LIBFREENECT_OLD
66 // This is the way to initialize Freenect with an old version of
67 // libfreenect packages under ubuntu lucid 10.04
68 Freenect::Freenect<vpKinect> freenect;
69 vpKinect &kinect = freenect.createDevice(0);
70#else
71 Freenect::Freenect freenect;
72 vpKinect &kinect = freenect.createDevice<vpKinect>(0);
73#endif
74
75 // Set tilt angle in degrees
76 if (0) {
77 float angle = -3;
78 kinect.setTiltDegrees(angle);
79 }
80
81// Init display
82#if 1
83 kinect.start(vpKinect::DMAP_MEDIUM_RES); // Start acquisition thread with
84 // a depth map resolution of
85 // 480x640
86 vpImage<unsigned char> Idmap(480, 640); // for medium resolution
87 vpImage<float> dmap(480, 640); // for medium resolution
88#else
89 kinect.start(vpKinect::DMAP_LOW_RES); // Start acquisition thread with a
90 // depth map resolution of 240x320
91 // (default resolution)
92 vpImage<unsigned char> Idmap(240, 320); // for low resolution
93 vpImage<float> dmap(240, 320); // for low resolution
94#endif
95 vpImage<vpRGBa> Irgb(480, 640), Iwarped(480, 640);
96
97#if defined VISP_HAVE_X11
98 vpDisplayX display, displayRgb, displayRgbWarped;
99#elif defined VISP_HAVE_GTK
100 vpDisplayGTK display;
101 vpDisplayGTK displayRgb;
102 vpDisplayGTK displayRgbWarped;
103#elif defined VISP_HAVE_OPENCV
104 vpDisplayOpenCV display;
105 vpDisplayOpenCV displayRgb;
106 vpDisplayOpenCV displayRgbWarped;
107#elif defined VISP_HAVE_GDI
108 vpDisplayGDI display;
109 vpDisplayGDI displayRgb;
110 vpDisplayGDI displayRgbWarped;
111#endif
112
113 display.init(Idmap, 100, 200, "Depth map");
114 displayRgb.init(Irgb, 900, 200, "Color Image");
115 displayRgbWarped.init(Iwarped, 900, 700, "Warped Color Image");
116
117 // A click to stop acquisition
118 std::cout << "Click in one image to stop acquisition" << std::endl;
119
120 while (!vpDisplay::getClick(Idmap, false) && !vpDisplay::getClick(Irgb, false)) {
121 kinect.getDepthMap(dmap);
122 kinect.getDepthMap(dmap, Idmap);
123 kinect.getRGB(Irgb);
124
125 vpDisplay::display(Idmap);
126 vpDisplay::flush(Idmap);
127 vpDisplay::display(Irgb);
128 vpDisplay::flush(Irgb);
129
130 // Warped RGB image:
131 kinect.warpRGBFrame(Irgb, dmap, Iwarped);
132 vpDisplay::display(Iwarped);
133 vpDisplay::flush(Iwarped);
134 }
135 std::cout << "Stop acquisition" << std::endl;
136 kinect.stop(); // Stop acquisition thread
137 return EXIT_SUCCESS;
138 } catch (const vpException &e) {
139 std::cout << "Catch an exception: " << e << std::endl;
140 return EXIT_FAILURE;
141 } catch (...) {
142 std::cout << "Catch an exception " << std::endl;
143 return EXIT_FAILURE;
144 }
145}
146
147#else
148
149int main()
150{
151 std::cout << "You do not have X11, or GDI (Graphical Device Interface), or GTK, or OpenCV functionalities to display images..." << std::endl;
152 std::cout << "Tip if you are on a unix-like system:" << std::endl;
153 std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
154 std::cout << "Tip if you are on a windows-like system:" << std::endl;
155 std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
156 return EXIT_SUCCESS;
157}
158#endif
159
160#else
161int main()
162{
163 std::cout << "You do not have Freenect functionality enabled" << std::endl;
164 std::cout << "Tip if you are on a unix-like system:" << std::endl;
165 std::cout << "- Install libfreenect, configure again ViSP using cmake and build again this example" << std::endl;
166 return EXIT_SUCCESS;
167}
168#endif
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Driver for the Kinect-1 device.
Definition: vpKinect.h:110
void stop()
Definition: vpKinect.cpp:116
void warpRGBFrame(const vpImage< vpRGBa > &Irgb, const vpImage< float > &Idepth, vpImage< vpRGBa > &IrgbWarped)
Definition: vpKinect.cpp:245
bool getDepthMap(vpImage< float > &map)
Definition: vpKinect.cpp:173
void start(vpKinect::vpDMResolution res=DMAP_LOW_RES)
Definition: vpKinect.cpp:73
@ DMAP_LOW_RES
Definition: vpKinect.h:125
@ DMAP_MEDIUM_RES
Definition: vpKinect.h:126
bool getRGB(vpImage< vpRGBa > &IRGB)
Definition: vpKinect.cpp:231