int main(int argc, char ** argv) {
std::string path,
rgbFilename("RGB_%07d.ppm"),
depthFilename("depth_%07d.pfm"),
timeFilename("TimeSampling.dat");
if (argc>1){
path = argv[1];
}
else {
std::cerr << "ERROR Usage : " << argv[0] << " pathname" << std::endl;
return -1;
}
try {
Freenect::Freenect freenect;
vpKinect & kinect = freenect.createDevice<vpKinect>(0);
// Start acquisition thread with a depth map resolution of 480x640
kinect.start(vpKinect::DMAP_MEDIUM_RES);
vpImage<unsigned char> Idmap(480,640);//for medium resolution
vpImage<float> dmap(480,640);//for medium resolution
vpImage<vpRGBa> Irgb(480,640);
vpDisplayX display, displayRgb;
display.init(Idmap, 100, 200,"Depth map");
displayRgb.init(Irgb, 900, 200,"Color Image");
//init val
int index(0);
struct timeval now ;
//open time file
std::string timeFullPath = path + "/"+ timeFilename;
std::ofstream file(timeFullPath.c_str(), std::ios::out);
int precision(15);
// 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);
// get the current time
gettimeofday(&now,NULL);
double kinectTime = now.tv_sec + ((double)now.tv_usec)/1000000.0;
if(file){
file << index << "\t";
file << std::setprecision(precision) <<kinectTime << "\n";
}
vpDisplay::display(Idmap);
vpDisplay::flush(Idmap);
vpDisplay::display(Irgb);
vpDisplay::flush(Irgb);
// save the depth image
std::string depthPath = path+"/"+depthFilename;
char buf[100];
sprintf(buf,depthPath.c_str(),index);
std::string depthFullPath(buf);
std::cout << "Write in : " << depthFullPath << std::endl;
try{
vpImageIo::writePFM(dmap,depthFullPath.c_str());
}
catch(...){
std::cout << "Catch an exception when writing image " << depthFullPath << std::endl;
}
//save the color image
std::string rgbPath = path+"/"+rgbFilename;
sprintf(buf,rgbPath.c_str(),index);
std::string rgbFullPath(buf);
std::cout << "Write in : " << rgbFullPath << std::endl;
try{
vpImageIo::writePPM(Irgb,rgbFullPath.c_str());
}
catch(...){
std::cout << "Catch an exception when writing image " << rgbFullPath << std::endl;
}
index++;
}
std::cout << "Stop acquisition" << std::endl;
kinect.stop(); // Stop acquisition thread
if (file) file.close();
return 0;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
catch(...){
std::cout << "Catch an exception " << std::endl;
return 1;
}
}
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 VISP_HAVE_OPENCV
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);
vpDisplay::display(Idmap);
vpDisplay::flush(Idmap);
vpDisplay::display(Irgb);
vpDisplay::flush(Irgb);
//Warped RGB image:
kinect.warpRGBFrame(Irgb,dmap, Iwarped);
vpDisplay::display(Iwarped);
vpDisplay::flush(Iwarped);
}
std::cout << "Stop acquisition" << std::endl;
kinect.stop(); // Stop acquisition thread
return 0;
}
catch(vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
catch(...) {
std::cout << "Catch an exception " << std::endl;
return 1;
}
}
