Visual Servoing Platform version 3.5.0
vpKinect.h
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3 * ViSP, open source Visual Servoing Platform software.
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19 * This software was developed at:
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21 * Campus Universitaire de Beaulieu
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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 * 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
109class 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
120public:
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
148private:
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
156private:
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
Generic class defining intrinsic camera parameters.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Driver for the Kinect-1 device.
Definition: vpKinect.h:110
vpDMResolution
Definition: vpKinect.h:124
@ DMAP_LOW_RES
Definition: vpKinect.h:125
void getIRCamParameters(vpCameraParameters &cam) const
Definition: vpKinect.h:139
void setIRCamParameters(const vpCameraParameters &cam)
Definition: vpKinect.h:141
void setRGBCamParameters(const vpCameraParameters &cam)
Definition: vpKinect.h:142
void getRGBCamParameters(vpCameraParameters &cam) const
Definition: vpKinect.h:140