cppview.cpp

/*
 * This file is part of the OpenKinect Project. http://www.openkinect.org
 *
 * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
 * for details.
 *
 * This code is licensed to you under the terms of the Apache License, version
 * 2.0, or, at your option, the terms of the GNU General Public License,
 * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
 * or the following URLs:
 * http://www.apache.org/licenses/LICENSE-2.0
 * http://www.gnu.org/licenses/gpl-2.0.txt
 *
 * If you redistribute this file in source form, modified or unmodified, you
 * may:
 *   1) Leave this header intact and distribute it under the same terms,
 *      accompanying it with the APACHE20 and GPL20 files, or
 *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
 *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
 * In all cases you must keep the copyright notice intact and include a copy
 * of the CONTRIB file.
 *
 * Binary distributions must follow the binary distribution requirements of
 * either License.
 */


#include "libfreenect.hpp"
#include <pthread.h>
#include <stdio.h>
#include <iostream>
#include <string.h>
#include <cmath>
#include <vector>

#if defined(__APPLE__)
#include <GLUT/glut.h>
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#endif


class Mutex {
public:
	Mutex() {
		pthread_mutex_init( &m_mutex, NULL );
	}
	void lock() {
		pthread_mutex_lock( &m_mutex );
	}
	void unlock() {
		pthread_mutex_unlock( &m_mutex );
	}

	class ScopedLock
	{
		Mutex & _mutex;
	public:
		ScopedLock(Mutex & mutex)
			: _mutex(mutex)
		{
			_mutex.lock();
		}
		~ScopedLock()
		{
			_mutex.unlock();
		}
	};
private:
	pthread_mutex_t m_mutex;
};

/* thanks to Yoda---- from IRC */
class MyFreenectDevice : public Freenect::FreenectDevice {
public:
	MyFreenectDevice(freenect_context *_ctx, int _index)
		: Freenect::FreenectDevice(_ctx, _index), m_buffer_depth(freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB).bytes),m_buffer_video(freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB).bytes), m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false)
	{
		for( unsigned int i = 0 ; i < 2048 ; i++) {
			float v = i/2048.0;
			v = std::pow(v, 3)* 6;
			m_gamma[i] = v*6*256;
		}
	}
	//~MyFreenectDevice(){}
	// Do not call directly even in child
	void VideoCallback(void* _rgb, uint32_t timestamp) {
		Mutex::ScopedLock lock(m_rgb_mutex);
		uint8_t* rgb = static_cast<uint8_t*>(_rgb);
		std::copy(rgb, rgb+getVideoBufferSize(), m_buffer_video.begin());
		m_new_rgb_frame = true;
	};
	// Do not call directly even in child
	void DepthCallback(void* _depth, uint32_t timestamp) {
		Mutex::ScopedLock lock(m_depth_mutex);
		uint16_t* depth = static_cast<uint16_t*>(_depth);
		for( unsigned int i = 0 ; i < 640*480 ; i++) {
			int pval = m_gamma[depth[i]];
			int lb = pval & 0xff;
			switch (pval>>8) {
			case 0:
				m_buffer_depth[3*i+0] = 255;
				m_buffer_depth[3*i+1] = 255-lb;
				m_buffer_depth[3*i+2] = 255-lb;
				break;
			case 1:
				m_buffer_depth[3*i+0] = 255;
				m_buffer_depth[3*i+1] = lb;
				m_buffer_depth[3*i+2] = 0;
				break;
			case 2:
				m_buffer_depth[3*i+0] = 255-lb;
				m_buffer_depth[3*i+1] = 255;
				m_buffer_depth[3*i+2] = 0;
				break;
			case 3:
				m_buffer_depth[3*i+0] = 0;
				m_buffer_depth[3*i+1] = 255;
				m_buffer_depth[3*i+2] = lb;
				break;
			case 4:
				m_buffer_depth[3*i+0] = 0;
				m_buffer_depth[3*i+1] = 255-lb;
				m_buffer_depth[3*i+2] = 255;
				break;
			case 5:
				m_buffer_depth[3*i+0] = 0;
				m_buffer_depth[3*i+1] = 0;
				m_buffer_depth[3*i+2] = 255-lb;
				break;
			default:
				m_buffer_depth[3*i+0] = 0;
				m_buffer_depth[3*i+1] = 0;
				m_buffer_depth[3*i+2] = 0;
				break;
			}
		}
		m_new_depth_frame = true;
	}
	bool getRGB(std::vector<uint8_t> &buffer) {
		Mutex::ScopedLock lock(m_rgb_mutex);
		if (!m_new_rgb_frame)
			return false;
		buffer.swap(m_buffer_video);
		m_new_rgb_frame = false;
		return true;
	}

	bool getDepth(std::vector<uint8_t> &buffer) {
		Mutex::ScopedLock lock(m_depth_mutex);
		if (!m_new_depth_frame)
			return false;
		buffer.swap(m_buffer_depth);
		m_new_depth_frame = false;
		return true;
	}

private:
	std::vector<uint8_t> m_buffer_depth;
	std::vector<uint8_t> m_buffer_video;
	std::vector<uint16_t> m_gamma;
	Mutex m_rgb_mutex;
	Mutex m_depth_mutex;
	bool m_new_rgb_frame;
	bool m_new_depth_frame;
};

Freenect::Freenect freenect;
MyFreenectDevice* device;
freenect_video_format requested_format(FREENECT_VIDEO_RGB);

GLuint gl_depth_tex;
GLuint gl_rgb_tex;


double freenect_angle(0);
int got_frames(0),window(0);
int g_argc;
char **g_argv;

void DrawGLScene()
{
	static std::vector<uint8_t> depth(640*480*4);
	static std::vector<uint8_t> rgb(640*480*4);

	// using getTiltDegs() in a closed loop is unstable
	/*if(device->getState().m_code == TILT_STATUS_STOPPED){
		freenect_angle = device->getState().getTiltDegs();
	}*/
	device->updateState();
	printf("\r demanded tilt angle: %+4.2f device tilt angle: %+4.2f", freenect_angle, device->getState().getTiltDegs());
	fflush(stdout);

	device->getDepth(depth);
	device->getRGB(rgb);

	got_frames = 0;

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glLoadIdentity();

	glEnable(GL_TEXTURE_2D);

	glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
	glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, &depth[0]);

	glBegin(GL_TRIANGLE_FAN);
	glColor4f(255.0f, 255.0f, 255.0f, 255.0f);
	glTexCoord2f(0, 0); glVertex3f(0,0,0);
	glTexCoord2f(1, 0); glVertex3f(640,0,0);
	glTexCoord2f(1, 1); glVertex3f(640,480,0);
	glTexCoord2f(0, 1); glVertex3f(0,480,0);
	glEnd();

	glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
	if (device->getVideoFormat() == FREENECT_VIDEO_RGB || device->getVideoFormat() == FREENECT_VIDEO_YUV_RGB)
		glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, &rgb[0]);
	else
		glTexImage2D(GL_TEXTURE_2D, 0, 1, 640, 480, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, &rgb[0]);

	glBegin(GL_TRIANGLE_FAN);
	glColor4f(255.0f, 255.0f, 255.0f, 255.0f);
	glTexCoord2f(0, 0); glVertex3f(640,0,0);
	glTexCoord2f(1, 0); glVertex3f(1280,0,0);
	glTexCoord2f(1, 1); glVertex3f(1280,480,0);
	glTexCoord2f(0, 1); glVertex3f(640,480,0);
	glEnd();

	glutSwapBuffers();
}

void keyPressed(unsigned char key, int x, int y)
{
	if (key == 27) {
		glutDestroyWindow(window);
	}
	if (key == '1') {
		device->setLed(LED_GREEN);
	}
	if (key == '2') {
		device->setLed(LED_RED);
	}
	if (key == '3') {
		device->setLed(LED_YELLOW);
	}
	if (key == '4') {
		device->setLed(LED_BLINK_GREEN);
	}
	if (key == '5') {
		// 5 is the same as 4
		device->setLed(LED_BLINK_GREEN);
	}
	if (key == '6') {
		device->setLed(LED_BLINK_RED_YELLOW);
	}
	if (key == '0') {
		device->setLed(LED_OFF);
	}
	if (key == 'f') {
		if (requested_format == FREENECT_VIDEO_IR_8BIT)
			requested_format = FREENECT_VIDEO_RGB;
		else if (requested_format == FREENECT_VIDEO_RGB)
			requested_format = FREENECT_VIDEO_YUV_RGB;
		else
			requested_format = FREENECT_VIDEO_IR_8BIT;
		device->setVideoFormat(requested_format);
	}

	if (key == 'w') {
		freenect_angle++;
		if (freenect_angle > 30) {
			freenect_angle = 30;
		}
	}
	if (key == 's' || key == 'd') {
		freenect_angle = 0;
	}
	if (key == 'x') {
		freenect_angle--;
		if (freenect_angle < -30) {
			freenect_angle = -30;
		}
	}
	if (key == 'e') {
		freenect_angle = 10;
	}
	if (key == 'c') {
		freenect_angle = -10;
	}
	device->setTiltDegrees(freenect_angle);
}

void ReSizeGLScene(int Width, int Height)
{
	glViewport(0,0,Width,Height);
	glMatrixMode(GL_PROJECTION);
	glLoadIdentity();
	glOrtho (0, 1280, 480, 0, -1.0f, 1.0f);
	glMatrixMode(GL_MODELVIEW);
}

void InitGL(int Width, int Height)
{
	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
	glClearDepth(1.0);
	glDepthFunc(GL_LESS);
	glDisable(GL_DEPTH_TEST);
	glEnable(GL_BLEND);
	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
	glShadeModel(GL_SMOOTH);
	glGenTextures(1, &gl_depth_tex);
	glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	glGenTextures(1, &gl_rgb_tex);
	glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	ReSizeGLScene(Width, Height);
}

void *gl_threadfunc(void *arg)
{
	printf("GL thread\n");

	glutInit(&g_argc, g_argv);

	glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);
	glutInitWindowSize(1280, 480);
	glutInitWindowPosition(0, 0);

	window = glutCreateWindow("LibFreenect");

	glutDisplayFunc(&DrawGLScene);
	glutIdleFunc(&DrawGLScene);
	glutReshapeFunc(&ReSizeGLScene);
	glutKeyboardFunc(&keyPressed);

	InitGL(1280, 480);

	glutMainLoop();

	return NULL;
}

int main(int argc, char **argv) {
	device = &freenect.createDevice<MyFreenectDevice>(0);
	device->startVideo();
	device->startDepth();
	gl_threadfunc(NULL);
	device->stopVideo();
	device->stopDepth();
	return 0;
}