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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL 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 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of the class Freenect.
*
* @author Lionel Heng <hengli@student.ethz.ch>
*
*/
#ifndef FREENECT_H
#define FREENECT_H
#include <libfreenect/libfreenect.h>
#include <QMatrix4x4>
#include <QMutex>
#include <QScopedPointer>
#include <QSharedPointer>
#include <QThread>
#include <QVector>
#include <QVector2D>
#include <QVector3D>
class Freenect
{
public:
Freenect();
~Freenect();
bool init(int userDeviceNumber = 0);
bool process(void);
QSharedPointer<QByteArray> getRgbData(void);
QSharedPointer<QByteArray> getRawDepthData(void);
QSharedPointer<QByteArray> getColoredDepthData(void);
QSharedPointer< QVector<QVector3D> > get3DPointCloudData(void);
typedef struct
{
double x;
double y;
double z;
unsigned char r;
unsigned char g;
unsigned char b;
} Vector6D;
QSharedPointer< QVector<Vector6D> > get6DPointCloudData();
int getTiltAngle(void) const;
void setTiltAngle(int angle);
private:
typedef struct
{
// coordinates of principal point
double cx;
double cy;
// focal length in pixels
double fx;
double fy;
// distortion parameters
double k[5];
} IntrinsicCameraParameters;
void readConfigFile(void);
void rectifyPoint(const QVector2D& originalPoint,
QVector2D& rectifiedPoint,
const IntrinsicCameraParameters& params);
void unrectifyPoint(const QVector2D& rectifiedPoint,
QVector2D& originalPoint,
const IntrinsicCameraParameters& params);
void projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray,
const IntrinsicCameraParameters& params);
static void videoCallback(freenect_device* device, void* video, uint32_t timestamp);
static void depthCallback(freenect_device* device, void* depth, uint32_t timestamp);
freenect_context* context;
freenect_device* device;
class FreenectThread : public QThread
{
public:
explicit FreenectThread(freenect_device* _device);
protected:
virtual void run(void);
freenect_device* device;
};
QScopedPointer<FreenectThread> thread;
IntrinsicCameraParameters rgbCameraParameters;
IntrinsicCameraParameters depthCameraParameters;
QMatrix4x4 transformMatrix;
double baseline;
double disparityOffset;
// tilt angle of Kinect camera
int tiltAngle;
// rgbd data
char rgb[FREENECT_VIDEO_RGB_SIZE];
QMutex rgbMutex;
char depth[FREENECT_DEPTH_11BIT_SIZE];
QMutex depthMutex;
char coloredDepth[FREENECT_VIDEO_RGB_SIZE];
QMutex coloredDepthMutex;
// accelerometer data
double ax, ay, az;
double dx, dy, dz;
// gamma map
unsigned short gammaTable[2048];
QVector3D depthProjectionMatrix[FREENECT_FRAME_PIX];
QVector2D rgbRectificationMap[FREENECT_FRAME_PIX];
// variables for use outside class
QSharedPointer<QByteArray> rgbData;
QSharedPointer<QByteArray> rawDepthData;
QSharedPointer<QByteArray> coloredDepthData;
QSharedPointer< QVector<QVector3D> > pointCloud3D;
QSharedPointer< QVector<Vector6D> > pointCloud6D;
};
#endif // FREENECT_H