Visual Servoing Platform version 3.6.0
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kinectAcquisition.cpp

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

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_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(HAVE_OPENCV_HIGHGUI)
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);
// Warped RGB image:
kinect.warpRGBFrame(Irgb, dmap, 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
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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 emitted by ViSP classes.
Definition vpException.h:59
Definition of the vpImage class member functions.
Definition vpImage.h:135
Driver for the Kinect-1 device.
Definition vpKinect.h:110
void stop()
Definition vpKinect.cpp:112
void warpRGBFrame(const vpImage< vpRGBa > &Irgb, const vpImage< float > &Idepth, vpImage< vpRGBa > &IrgbWarped)
Definition vpKinect.cpp:238
bool getDepthMap(vpImage< float > &map)
Definition vpKinect.cpp:167
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:224