/**
* Main application entry point.
*
* Accepted argumemnts:
* - cpu Perform depth processing with the CPU.
* - gl Perform depth processing with OpenGL.
* - cl Perform depth processing with OpenCL.
* - <number> Serial number of the device to open.
* - -noviewer Disable viewer window.
* - -streamer Enable UDP Streaming of captured images.
* - -recorder Enable recording of captured images.
* - -replay Enable replay of captured images.
*/
int main(int argc, char *argv[])
/// [main]
{
std::string program_path(argv[0]);
std::cerr << "Version: " << LIBFREENECT2_VERSION << std::endl;
std::cerr << "Environment variables: LOGFILE=<protonect.log>" << std::endl;
std::cerr << "Usage: " << program_path << " [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]" << std::endl;
std::cerr << " [-noviewer] [-norgb | -nodepth] [-help] [-version]" << std::endl;
std::cerr << " [-recorder] [-streamer] [-replay]" << std::endl;
std::cerr << " [-frames <number of frames to process>]" << std::endl;
std::cerr << "To pause and unpause: pkill -USR1 ProtonectSR" << std::endl;
size_t executable_name_idx = program_path.rfind("ProtonectSR");
const std::string prog(argv[0]);
std::string binpath = "/";
if(executable_name_idx != std::string::npos)
{
binpath = program_path.substr(0, executable_name_idx);
}
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
// avoid flooing the very slow Windows console with debug messages
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Info));
#else
// create a console logger with debug level (default is console logger with info level)
/// [logging]
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Debug));
/// [logging]
#endif
/// [file logging]
MyFileLogger *filelogger = new MyFileLogger(getenv("LOGFILE"));
if (filelogger->good())
libfreenect2::setGlobalLogger(filelogger);
else
delete filelogger;
/// [file logging]
/// [context]
libfreenect2::Freenect2 freenect2;
// TODO: enable on merge
//libfreenect2::Freenect2Replay freenect2replay;
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
/// [context]
std::string serial = "";
bool viewer_enabled = true;
bool streamer_enabled = false;
bool recorder_enabled = false;
bool replay_enabled = false;
bool enable_rgb = true;
bool enable_depth = true;
int deviceId = -1;
size_t framemax = -1;
for(int argI = 1; argI < argc; ++argI)
{
const std::string arg(argv[argI]);
if(arg == "-help" || arg == "--help" || arg == "-h" || arg == "-v" || arg == "--version" || arg == "-version")
{
// Just let the initial lines display at the beginning of main
return 0;
}
else if(arg.find("-gpu=") == 0)
{
if (pipeline)
{
std::cerr << "-gpu must be specified before pipeline argument" << std::endl;
return -1;
}
deviceId = atoi(argv[argI] + 5);
}
else if(arg == "cpu")
{
if(!pipeline)
/// [pipeline]
pipeline = new libfreenect2::CpuPacketPipeline();
/// [pipeline]
}
else if(arg == "gl")
{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cl")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLPacketPipeline(deviceId);
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "clkde")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLKdePacketPipeline(deviceId);
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cuda")
{
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::CudaPacketPipeline(deviceId);
#else
std::cout << "CUDA pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cudakde")
{
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::CudaKdePacketPipeline(deviceId);
#else
std::cout << "CUDA pipeline is not supported!" << std::endl;
#endif
}
else if(arg.find_first_not_of("0123456789") == std::string::npos) //check if parameter could be a serial number
{
serial = arg;
}
else if(arg == "-noviewer" || arg == "--noviewer")
{
viewer_enabled = false;
}
else if(arg == "-norgb" || arg == "--norgb")
{
enable_rgb = false;
}
else if(arg == "-nodepth" || arg == "--nodepth")
{
enable_depth = false;
}
else if(arg == "-frames")
{
++argI;
framemax = strtol(argv[argI], NULL, 0);
if (framemax == 0) {
std::cerr << "invalid frame count '" << argv[argI] << "'" << std::endl;
return -1;
}
}
else if(arg == "-streamer" || arg == "--streamer" || prog == "freenect2-stream")
{
streamer_enabled = true;
}
else if(arg == "-recorder" || arg == "--recorder" || prog == "freenect2-record")
{
recorder_enabled = true;
}
else if(arg == "-replay" || arg == "--replay" || prog == "freenect2-replay")
{
replay_enabled = true;
}
else
{
std::cout << "Unknown argument: " << arg << std::endl;
}
}
if (!enable_rgb && !enable_depth)
{
std::cerr << "Disabling both streams is not allowed!" << std::endl;
return -1;
}
/// [discovery]
if(replay_enabled == false)
{
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
if(serial == "")
{
serial = freenect2.getDefaultDeviceSerialNumber();
}
}
/// [discovery]
if(replay_enabled == false)
{
if(pipeline)
{
/// [open]
dev = freenect2.openDevice(serial, pipeline);
/// [open]
}
else
{
dev = freenect2.openDevice(serial);
}
}
else
{
DIR *d;
struct dirent *dir;
std::vector<std::string> frame_filenames;
d = opendir("recordings/depth");
if(!d)
{
std::cerr << "Could not open directory " << dir << " for replay." << std::endl;
exit(1);
}
while((dir = readdir(d)) != NULL)
{
std::string name = dir->d_name;
if(hasSuffix(name, ".depth"))
{
frame_filenames.push_back(name);
}
else
{
std::cerr << "Skipping currently unsupported frame filename: " << name << std::endl;
}
}
// TODO: enable on merge
/*
if(pipeline)
{
/// [open]
dev = freenect2replay.openDevice(frame_filenames, pipeline);
/// [open]
}
else
{
dev = freenect2replay.openDevice(frame_filenames);
}
*/
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
devtopause = dev;
signal(SIGINT,sigint_handler);
#ifdef SIGUSR1
signal(SIGUSR1, sigusr1_handler);
#endif
protonect_shutdown = false;
/// [listeners]
int types = 0;
if (enable_rgb)
types |= libfreenect2::Frame::Color;
if (enable_depth)
types |= libfreenect2::Frame::Ir | libfreenect2::Frame::Depth;
libfreenect2::SyncMultiFrameListener listener(types);
libfreenect2::FrameMap frames;
dev->setColorFrameListener(&listener);
dev->setIrAndDepthFrameListener(&listener);
/// [listeners]
/// [start]
if (enable_rgb && enable_depth)
{
if (!dev->start())
return -1;
}
else
{
if (!dev->startStreams(enable_rgb, enable_depth))
return -1;
}
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
/// [start]
/// [registration setup]
libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
/// [registration setup]
size_t framecount = 0;
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
Viewer viewer;
if (viewer_enabled)
viewer.initialize();
#else
viewer_enabled = false;
#endif
Streamer streamer; // have to declare it outside statements to be accessible everywhere
Recorder recorder;
if(streamer_enabled)
{
streamer.initialize();
}
if(recorder_enabled)
{
recorder.initialize();
}
/// [loop start]
while(!protonect_shutdown && (framemax == (size_t)-1 || framecount < framemax))
{
if (!listener.waitForNewFrame(frames, 10*1000)) // 10 sconds
{
std::cout << "timeout!" << std::endl;
return -1;
}
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
/// [loop start]
if (enable_rgb && enable_depth)
{
/// [registration]
registration->apply(rgb, depth, &undistorted, ®istered);
/// [registration]
}
framecount++;
if (streamer_enabled)
{
streamer.stream(depth);
}
if (recorder_enabled)
{
// TODO: add recording timestamp if max frame number reached
// + avoid recording new ones
recorder.record(depth, "depth");
recorder.record(®istered, "registered");
// recorder.record(rgb,"rgb");
recorder.registTimeStamp();
}
if (!viewer_enabled)
{
if (framecount % 100 == 0)
std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
listener.release(frames);
continue;
}
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
if (enable_rgb)
{
viewer.addFrame("RGB", rgb);
}
if (enable_depth)
{
viewer.addFrame("ir", ir);
viewer.addFrame("depth", depth);
}
if (enable_rgb && enable_depth)
{
viewer.addFrame("registered", ®istered);
}
protonect_shutdown = protonect_shutdown || viewer.render();
#endif
/// [loop end]
listener.release(frames);
/** libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100)); */
}
/// [loop end]
if (recorder_enabled)
{
recorder.saveTimeStamp();
}
// TODO: restarting ir stream doesn't work!
// TODO: bad things will happen, if frame listeners are freed before dev->stop() :(
/// [stop]
dev->stop();
dev->close();
/// [stop]
delete registration;
return 0;
}
/**
* Main application entry point.
*
* Accepted argumemnts:
* - cpu Perform depth processing with the CPU.
* - gl Perform depth processing with OpenGL.
* - cl Perform depth processing with OpenCL.
* - <number> Serial number of the device to open.
* - -noviewer Disable viewer window.
*/
int main(int argc, char *argv[])
{
std::string program_path(argv[0]);
size_t executable_name_idx = program_path.rfind("Protonect");
std::string binpath = "/";
if(executable_name_idx != std::string::npos)
{
binpath = program_path.substr(0, executable_name_idx);
}
libfreenect2::Freenect2 freenect2;
// create a console logger with debug level (default is console logger with info level)
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Debug));
MyFileLogger *filelogger = new MyFileLogger(getenv("LOGFILE"));
if (filelogger->good())
libfreenect2::setGlobalLogger(filelogger);
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
std::string serial = freenect2.getDefaultDeviceSerialNumber();
bool viewer_enabled = true;
for(int argI = 1; argI < argc; ++argI)
{
const std::string arg(argv[argI]);
if(arg == "cpu")
{
if(!pipeline)
pipeline = new libfreenect2::CpuPacketPipeline();
}
else if(arg == "gl")
{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cl")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg.find_first_not_of("0123456789") == std::string::npos) //check if parameter could be a serial number
{
serial = arg;
}
else if(arg == "-noviewer")
{
viewer_enabled = false;
}
else
{
std::cout << "Unknown argument: " << arg << std::endl;
}
}
if(pipeline)
{
dev = freenect2.openDevice(serial, pipeline);
}
else
{
dev = freenect2.openDevice(serial);
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
signal(SIGINT,sigint_handler);
protonect_shutdown = false;
libfreenect2::SyncMultiFrameListener listener(libfreenect2::Frame::Color | libfreenect2::Frame::Ir | libfreenect2::Frame::Depth);
libfreenect2::FrameMap frames;
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
dev->setColorFrameListener(&listener);
dev->setIrAndDepthFrameListener(&listener);
dev->start();
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
size_t framecount = 0;
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
Viewer viewer;
if (viewer_enabled)
viewer.initialize();
#else
viewer_enabled = false;
#endif
while(!protonect_shutdown)
{
listener.waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
registration->apply(rgb, depth, &undistorted, ®istered);
framecount++;
if (!viewer_enabled)
{
if (framecount % 100 == 0)
std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
listener.release(frames);
continue;
}
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
viewer.addFrame("RGB", rgb);
viewer.addFrame("ir", ir);
viewer.addFrame("depth", depth);
viewer.addFrame("registered", ®istered);
protonect_shutdown = protonect_shutdown || viewer.render();
#endif
listener.release(frames);
//libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100));
}
// TODO: restarting ir stream doesn't work!
// TODO: bad things will happen, if frame listeners are freed before dev->stop() :(
dev->stop();
dev->close();
delete registration;
return 0;
}
/**
* Main application entry point.
*
* Accepted argumemnts:
* - cpu Perform depth processing with the CPU.
* - gl Perform depth processing with OpenGL.
* - cl Perform depth processing with OpenCL.
* - <number> Serial number of the device to open.
* - -noviewer Disable viewer window.
*/
int main(int argc, char *argv[])
/// [main]
{
std::string program_path(argv[0]);
std::cerr << "Version: " << LIBFREENECT2_VERSION << std::endl;
std::cerr << "Environment variables: LOGFILE=<protonect.log>" << std::endl;
std::cerr << "Usage: " << program_path << " [gl | cl | cuda | cpu] [<device serial>]" << std::endl;
std::cerr << " [-noviewer] [-norgb | -nodepth] [-help] [-version]" << std::endl;
std::cerr << "To pause and unpause: pkill -USR1 Protonect" << std::endl;
size_t executable_name_idx = program_path.rfind("Protonect");
std::string binpath = "/";
if(executable_name_idx != std::string::npos)
{
binpath = program_path.substr(0, executable_name_idx);
}
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
// avoid flooing the very slow Windows console with debug messages
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Info));
#else
// create a console logger with debug level (default is console logger with info level)
/// [logging]
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Debug));
/// [logging]
#endif
/// [file logging]
MyFileLogger *filelogger = new MyFileLogger(getenv("LOGFILE"));
if (filelogger->good())
libfreenect2::setGlobalLogger(filelogger);
else
delete filelogger;
/// [file logging]
/// [context]
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
/// [context]
std::string serial = "";
bool viewer_enabled = true;
bool enable_rgb = true;
bool enable_depth = true;
for(int argI = 1; argI < argc; ++argI)
{
const std::string arg(argv[argI]);
if(arg == "-help" || arg == "--help" || arg == "-h" || arg == "-v" || arg == "--version" || arg == "-version")
{
// Just let the initial lines display at the beginning of main
return 0;
}
else if(arg == "cpu")
{
if(!pipeline)
/// [pipeline]
pipeline = new libfreenect2::CpuPacketPipeline();
/// [pipeline]
}
else if(arg == "gl")
{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cl")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cuda")
{
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::CudaPacketPipeline();
#else
std::cout << "CUDA pipeline is not supported!" << std::endl;
#endif
}
else if(arg.find_first_not_of("0123456789") == std::string::npos) //check if parameter could be a serial number
{
serial = arg;
}
else if(arg == "-noviewer" || arg == "--noviewer")
{
viewer_enabled = false;
}
else if(arg == "-norgb" || arg == "--norgb")
{
enable_rgb = false;
}
else if(arg == "-nodepth" || arg == "--nodepth")
{
enable_depth = false;
}
else
{
std::cout << "Unknown argument: " << arg << std::endl;
}
}
if (!enable_rgb && !enable_depth)
{
std::cerr << "Disabling both streams is not allowed!" << std::endl;
return -1;
}
/// [discovery]
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
if (serial == "")
{
serial = freenect2.getDefaultDeviceSerialNumber();
}
/// [discovery]
if(pipeline)
{
/// [open]
dev = freenect2.openDevice(serial, pipeline);
/// [open]
}
else
{
dev = freenect2.openDevice(serial);
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
devtopause = dev;
signal(SIGINT,sigint_handler);
#ifdef SIGUSR1
signal(SIGUSR1, sigusr1_handler);
#endif
protonect_shutdown = false;
/// [listeners]
int types = 0;
if (enable_rgb)
types |= libfreenect2::Frame::Color;
if (enable_depth)
types |= libfreenect2::Frame::Ir | libfreenect2::Frame::Depth;
libfreenect2::SyncMultiFrameListener listener(types);
libfreenect2::FrameMap frames;
dev->setColorFrameListener(&listener);
dev->setIrAndDepthFrameListener(&listener);
/// [listeners]
/// [start]
if (enable_rgb && enable_depth)
{
if (!dev->start())
return -1;
}
else
{
if (!dev->startStreams(enable_rgb, enable_depth))
return -1;
}
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
/// [start]
/// [registration setup]
libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
/// [registration setup]
size_t framecount = 0;
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
Viewer viewer;
if (viewer_enabled)
viewer.initialize();
#else
viewer_enabled = false;
#endif
/// [loop start]
while(!protonect_shutdown)
{
listener.waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
/// [loop start]
if (enable_rgb && enable_depth)
{
/// [registration]
registration->apply(rgb, depth, &undistorted, ®istered);
/// [registration]
}
framecount++;
if (!viewer_enabled)
{
if (framecount % 100 == 0)
std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
listener.release(frames);
continue;
}
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
if (enable_rgb)
{
viewer.addFrame("RGB", rgb);
}
if (enable_depth)
{
viewer.addFrame("ir", ir);
viewer.addFrame("depth", depth);
}
if (enable_rgb && enable_depth)
{
viewer.addFrame("registered", ®istered);
}
protonect_shutdown = protonect_shutdown || viewer.render();
#endif
/// [loop end]
listener.release(frames);
/** libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100)); */
}
/// [loop end]
// TODO: restarting ir stream doesn't work!
// TODO: bad things will happen, if frame listeners are freed before dev->stop() :(
/// [stop]
dev->stop();
dev->close();
/// [stop]
delete registration;
return 0;
}