kinect_frame_grabber.cpp File Reference

Grabs and stores, in a binary file, an 8-D point cloud from a Kinect RGB and Depth frame. More...

#include <iostream>
#include <sstream>
#include <fstream>
#include <vector>
#include <algorithm>
#include <mutex>
#include <ctime>
#include <GL/glew.h>
#include <CLUtils.hpp>
#include <GuidedFilter/algorithms.hpp>
#include <GL/glut.h>
#include <libfreenect.hpp>

Include dependency graph for kinect_frame_grabber.cpp:

Classes
class	MyFreenectDevice
	A class that extends Freenect::FreenectDevice by defining the VideoCallback function so we can be getting updates with the latest RGB frame. More...

Functions
void	saveBinary (std::vector< uint8_t > &rgb, std::vector< uint16_t > &depth)
	Stores the given Kinect frames in binary files. More...
void	drawGLScene ()
	Display callback for the window. More...
void	idleGLScene ()
	Idle callback for the window. More...
void	resizeGLScene (int width, int height)
	Reshape callback for the window. More...
void	keyPressed (unsigned char key, int x, int y)
	Keyboard callback for the window. More...
void	mouseMoved (int x, int y)
	Mouse callback for the window. More...
void	mouseButtonPressed (int button, int state, int x, int y)
	Mouse button callback for the window. More...
void	initGL (int argc, char **argv)
	Initializes GLUT. More...
void	printInfo ()
	Displays the available controls. More...
std::string	getArgument (int argc, char **argv, std::string flag)
	Retrieves command line arguments. More...
void	configure (int argc, char **argv)
	Configures parameters. More...
int	main (int argc, char **argv)

Variables
const int	gl_win_width = 640
const int	gl_win_height = 480
int	glWinId
int	mouseX = -1
int	mouseY = -1
float	angleX = 0.f
float	angleY = 0.f
float	zoom = 1.f
bool	frame_taken = false
int	frame_id = 0
GLuint	glRGBBuf
GLuint	glDepthBuf
Freenect::Freenect	freenect
MyFreenectDevice *	device
double	freenectAngle = 0.0
bool	filtered
std::string	suffix

Detailed Description

Grabs and stores, in a binary file, an 8-D point cloud from a Kinect RGB and Depth frame.

Note

Command line arguments:

-s <name>: suffix for the name of the binary file.

-f: enable Guided Image Filtering.

Example usage:

./bin/kinect_frame_grabber -s test_1 -f

to filter the frames, and store the point cloud in ../data/kg_pc8d_test_1.bin

Author

Nick Lamprianidis

Version

2.0

Date

2015

Copyright

The MIT License (MIT)

Copyright (c) 2015 Nick Lamprianidis

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Function Documentation

void configure	(	int	argc,
		char **	argv
	)

Configures parameters.

Parameters

[in]	argc	command line argument count.
[in]	argv	command line arguments.

void drawGLScene

(

)

Display callback for the window.

std::string getArgument	(	int	argc,
		char **	argv,
		std::string	flag
	)

Retrieves command line arguments.

Parameters

[in]	argc	command line argument count.
[in]	argv	command line arguments.
[in]	flag	argument to look for (-s, -f).

Returns

A string with the argument value.

void idleGLScene

(

)

Idle callback for the window.

void initGL	(	int	argc,
		char **	argv
	)

Initializes GLUT.

void keyPressed	(	unsigned char	key,
		int	x,
		int	y
	)

Keyboard callback for the window.

int main	(	int	argc,
		char **	argv
	)

void mouseButtonPressed	(	int	button,
		int	state,
		int	x,
		int	y
	)

Mouse button callback for the window.

void mouseMoved	(	int	x,
		int	y
	)

Mouse callback for the window.

void printInfo

(

)

Displays the available controls.

void resizeGLScene	(	int	width,
		int	height
	)

Reshape callback for the window.

void saveBinary	(	std::vector< uint8_t > &	rgb,
		std::vector< uint16_t > &	depth
	)

Stores the given Kinect frames in binary files.

Variable Documentation

float angleX = 0.f

float angleY = 0.f

MyFreenectDevice* device

bool filtered

int frame_id = 0

bool frame_taken = false

Freenect::Freenect freenect

double freenectAngle = 0.0

const int gl_win_height = 480

const int gl_win_width = 640

GLuint glDepthBuf

GLuint glRGBBuf

int glWinId

int mouseX = -1

int mouseY = -1

std::string suffix

float zoom = 1.f