vpKinect.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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:
 * API for using a Microsoft Kinect device
 * Requires libfreenect as a third party library
 */
 
#ifndef VP_KINECT_H
#define VP_KINECT_H
 
#include <visp3/core/vpConfig.h>
// Note that libfreenect needs libusb-1.0 and libpthread
#if defined(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES) && defined(VISP_HAVE_THREADS)
 
#include <iostream>
#include <libfreenect.hpp>
#include <mutex>
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPixelMeterConversion.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpKinect : public Freenect::FreenectDevice
{
  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  vpKinect(const vpKinect &); // Not implemented!
  //  vpKinect &operator=(const vpKinect &){
  //    throw vpException(vpException::functionNotImplementedError,"Not
  //    implemented!"); return *this;
  //  }
  //#endif
 
public:
  typedef enum
  {
    DMAP_LOW_RES,   
    DMAP_MEDIUM_RES 
  } vpDMResolution;
 
  vpKinect(freenect_context *ctx, int index);
  virtual ~vpKinect();
 
  void start(vpKinect::vpDMResolution res = DMAP_LOW_RES);
  void stop();
 
  bool getDepthMap(vpImage<float> &map);
  bool getDepthMap(vpImage<float> &map, vpImage<unsigned char> &Imap);
  bool getRGB(vpImage<vpRGBa> &IRGB);
 
  inline void getIRCamParameters(vpCameraParameters &cam) const { cam = IRcam; }
  inline void getRGBCamParameters(vpCameraParameters &cam) const { cam = RGBcam; }
  inline void setIRCamParameters(const vpCameraParameters &cam) { IRcam = cam; }
  inline void setRGBCamParameters(const vpCameraParameters &cam) { RGBcam = cam; }
 
  void warpRGBFrame(const vpImage<vpRGBa> &Irgb, const vpImage<float> &Idepth,
                    vpImage<vpRGBa> &IrgbWarped); // warp the RGB image into
                                                  // the Depth camera frame
 
private:
  // Do not call directly even in child
  void VideoCallback(void *rgb, uint32_t timestamp);
 
  // Do not call directly even in child
  void DepthCallback(void *depth, uint32_t timestamp);
 
private:
  std::mutex m_rgb_mutex;
  std::mutex m_depth_mutex;
 
  vpCameraParameters RGBcam, IRcam; // intrinsic parameters of the two cameras
  vpHomogeneousMatrix rgbMir;       // Transformation from IRcam coordinate frame to
                                    // RGBcam coordinate frame.
  vpHomogeneousMatrix irMrgb;       // Transformation from RGBcam coordinate frame
                                    // to IRcam coordinate frame .
  vpDMResolution DMres;
  unsigned int hd; // height of the depth map
  unsigned int wd; // width of the depth map
 
  // Access protected by a mutex:
  vpImage<float> dmap;
  vpImage<vpRGBa> IRGB;
  bool m_new_rgb_frame;
  bool m_new_depth_map;
  bool m_new_depth_image;
  unsigned int height; // height of the rgb image
  unsigned int width;  // width of the rgb image
};
END_VISP_NAMESPACE
#endif
 
#endif