freenect_device.hpp

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#ifndef FREENECT_DEVICE_T01IELX0
#define FREENECT_DEVICE_T01IELX0

#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/date_time/posix_time/ptime.hpp>
#include <stdexcept>

#include <libfreenect/libfreenect.h>
#include <libfreenect/libfreenect-registration.h>
#include <freenect_camera/image_buffer.hpp>

namespace freenect_camera {

  static const std::string PRODUCT_NAME = "Xbox NUI Camera";
  static const unsigned PRODUCT_ID = 0x2ae;
  static const std::string VENDOR_NAME = "Microsoft";
  static const unsigned VENDOR_ID = 0x45e;

  typedef freenect_resolution OutputMode;

  bool isImageMode(const ImageBuffer& buffer) {
    return buffer.metadata.video_format == FREENECT_VIDEO_BAYER;
  }

  class FreenectDriver;

  class FreenectDevice : public boost::noncopyable {

    public:

      FreenectDevice(freenect_context* driver, std::string serial) {
        openDevice(driver, serial);
        flushDeviceStreams();

        //Initialize default variables
        streaming_video_ = should_stream_video_ = false;
        new_video_resolution_ = getDefaultImageMode();
        new_video_format_ = FREENECT_VIDEO_BAYER;
        video_buffer_.metadata.resolution = FREENECT_RESOLUTION_DUMMY;
        video_buffer_.metadata.video_format = FREENECT_VIDEO_DUMMY;

        streaming_depth_ = should_stream_depth_ = false;
        new_depth_resolution_ = getDefaultDepthMode();
        new_depth_format_ = FREENECT_DEPTH_MM;
        depth_buffer_.metadata.resolution = FREENECT_RESOLUTION_DUMMY;
        depth_buffer_.metadata.depth_format = FREENECT_DEPTH_DUMMY;

        publishers_ready_ = false;
      }


      ~FreenectDevice() {
        shutdown();
      }

      void flushDeviceStreams() {
        device_flush_start_time_ = boost::posix_time::microsec_clock::local_time();
        device_flush_enabled_ = true; 
        ROS_INFO("Starting a 3s RGB and Depth stream flush.");
      }

      void openDevice(freenect_context* driver, std::string serial) {
        if (freenect_open_device_by_camera_serial(driver, &device_, serial.c_str()) < 0) {
          throw std::runtime_error("[ERROR] Unable to open specified kinect");
        }
        freenect_set_user(device_, this);
        freenect_set_depth_callback(device_, freenectDepthCallback);
        freenect_set_video_callback(device_, freenectVideoCallback);
        driver_ = driver;
        device_serial_ = serial;
        registration_ = freenect_copy_registration(device_);
      }

      void shutdown() {
        freenect_close_device(device_);
        freenect_destroy_registration(&registration_);
      }

      /* DEVICE SPECIFIC FUNCTIONS */

      unsigned getBus() const {
        return 0;
      }

      unsigned getAddress() const {
        return 0;
      }

      const char* getProductName() const {
        return PRODUCT_NAME.c_str();
      }

      const char* getSerialNumber() const {
        return device_serial_.c_str();
      }

      bool hasImageStream() const {
        return true;
      }

      bool hasDepthStream() const {
        return true;
      }

      bool hasIRStream() const {
        return true;
      }

      bool isDepthRegistrationSupported() const {
        return true;
      }

      bool isSynchronizationSupported() const {
        return false;
      }

      bool isSynchronized() const {
        return false;
      }

      bool setSynchronization(bool on_off) const {
        throw std::runtime_error("[ERROR] The kinect does not support hardware synchronization");
      }

      float getBaseline() const {
        return 0.01 * registration_.zero_plane_info.dcmos_emitter_dist;
      }

      /* CALLBACK ASSIGNMENT FUNCTIONS */

      template<typename T> void registerImageCallback (
          void (T::*callback)(const ImageBuffer& image, void* cookie), 
          T& instance, void* cookie = NULL) {
        image_callback_ = boost::bind(callback, boost::ref(instance), _1, cookie);
      }

      template<typename T> void registerDepthCallback (
          void (T::*callback)(const ImageBuffer& depth_image, void* cookie), 
          T& instance, void* cookie = NULL) {
        depth_callback_ = boost::bind(callback, boost::ref(instance), _1, cookie);
      }

      template<typename T> void registerIRCallback (
          void (T::*callback)(const ImageBuffer& ir_image, void* cookie), 
          T& instance, void* cookie = NULL) {
        ir_callback_ = boost::bind(callback, boost::ref(instance), _1, cookie);
      }

      void publishersAreReady() {
        publishers_ready_ = true;
      }

      /* IMAGE SETTINGS FUNCTIONS */

      OutputMode getImageOutputMode() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return video_buffer_.metadata.resolution;
      }

      void setImageOutputMode(OutputMode mode) {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        new_video_resolution_ = mode;
      }

      OutputMode getDefaultImageMode() const {
        return FREENECT_RESOLUTION_MEDIUM;
      }

      bool findCompatibleImageMode(const OutputMode& mode, OutputMode& compatible_mode) const {
        freenect_frame_mode new_mode = 
          freenect_find_video_mode(mode, video_buffer_.metadata.video_format);
        if (!new_mode.is_valid) {
          compatible_mode = getDefaultImageMode();
          return false;
        }
        compatible_mode = mode;
        return true;
      }

      void stopImageStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        //std::cout << "STOP IMAGE STREAM" << std::endl;
        should_stream_video_ = 
          (isImageStreamRunning()) ? false : streaming_video_;
      }

      void startImageStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        //std::cout << "START IMAGE STREAM" << std::endl;
        new_video_format_ = FREENECT_VIDEO_BAYER;
        should_stream_video_ = true;
      }

      bool isImageStreamRunning() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return streaming_video_ && _isImageModeEnabled() && !device_flush_enabled_;
      }

      void stopIRStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        should_stream_video_ = 
          (isIRStreamRunning()) ? false : streaming_video_;
      }

      void startIRStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        new_video_format_ = FREENECT_VIDEO_IR_10BIT;
        should_stream_video_ = true;
      }

      bool isIRStreamRunning() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return streaming_video_ && !_isImageModeEnabled();
      }

      /* DEPTH SETTINGS FUNCTIONS */

      OutputMode getDepthOutputMode() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return depth_buffer_.metadata.resolution;
      }

      void setDepthOutputMode(OutputMode mode) {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        new_depth_resolution_ = mode;
      }

      OutputMode getDefaultDepthMode() const {
        return FREENECT_RESOLUTION_MEDIUM;
      }

      bool findCompatibleDepthMode(const OutputMode& mode, OutputMode& compatible_mode) const {
        freenect_frame_mode new_mode = 
          freenect_find_depth_mode(mode, depth_buffer_.metadata.depth_format);
        if (!new_mode.is_valid) {
          compatible_mode = getDefaultDepthMode();
          return false;
        }
        compatible_mode = mode;
        return true;
      }

      bool isDepthRegistered() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return depth_buffer_.metadata.depth_format == FREENECT_DEPTH_REGISTERED;
      }

      void setDepthRegistration(bool enable) {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        new_depth_format_ = 
          (enable) ? FREENECT_DEPTH_REGISTERED : FREENECT_DEPTH_MM;
      }

      void stopDepthStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        should_stream_depth_ = false;
      }

      void startDepthStream() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        should_stream_depth_ = true;
      }

      bool isDepthStreamRunning() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return streaming_depth_ && !device_flush_enabled_;
      }

      /* LIBFREENECT ASYNC CALLBACKS */

      static void freenectDepthCallback(
          freenect_device *dev, void *depth, uint32_t timestamp) {

        FreenectDevice* device = 
            static_cast<FreenectDevice*>(freenect_get_user(dev));
        device->depthCallback(depth);
      }

      static void freenectVideoCallback(
          freenect_device *dev, void *video, uint32_t timestamp) {

        FreenectDevice* device = 
            static_cast<FreenectDevice*>(freenect_get_user(dev));
        device->videoCallback(video);
      }

    private:

      friend class FreenectDriver;

      freenect_context* driver_;
      freenect_device* device_;
      std::string device_serial_;
      freenect_registration registration_;

      boost::function<void(const ImageBuffer&)> image_callback_;
      boost::function<void(const ImageBuffer&)> depth_callback_;
      boost::function<void(const ImageBuffer&)> ir_callback_;

      ImageBuffer video_buffer_;
      bool streaming_video_;
      bool should_stream_video_;
      freenect_resolution new_video_resolution_;
      freenect_video_format new_video_format_; 

      ImageBuffer depth_buffer_;
      bool streaming_depth_;
      bool should_stream_depth_;
      freenect_resolution new_depth_resolution_;
      freenect_depth_format new_depth_format_;

      /* Prevents changing settings unless the freenect thread in the driver
       * is ready */
      boost::recursive_mutex m_settings_;

      boost::posix_time::ptime device_flush_start_time_;
      bool device_flush_enabled_;
      bool publishers_ready_;

      void executeChanges() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        //ROS_INFO_THROTTLE(1.0, "exec changes");

        bool stop_device_flush = false;

        if (device_flush_enabled_) {
          boost::posix_time::ptime current_time = 
              boost::posix_time::microsec_clock::local_time(); 
          if ((current_time - device_flush_start_time_).total_milliseconds() > 3000) {
            device_flush_enabled_ = false;
            stop_device_flush = true;
            ROS_INFO("Stopping device RGB and Depth stream flush.");
          }
        }

        bool change_video_settings = 
          video_buffer_.metadata.video_format != new_video_format_ ||
          video_buffer_.metadata.resolution != new_video_resolution_ ||
          ((streaming_video_ != should_stream_video_) && !device_flush_enabled_) ||
          device_flush_enabled_ && !streaming_video_ ||
          stop_device_flush;

        if (change_video_settings) {
          // Stop video stream
          if (streaming_video_) {
            //ROS_INFO("  stopping video images...");
            freenect_stop_video(device_);
            streaming_video_ = false;
            return;
          }
          // Allocate buffer for video if settings have changed
          if (video_buffer_.metadata.resolution != new_video_resolution_ ||
              video_buffer_.metadata.video_format != new_video_format_) {
            try {
              allocateBufferVideo(video_buffer_, new_video_format_, 
                 new_video_resolution_, registration_);
            } catch (std::runtime_error& e) {
              printf("[ERROR] Unsupported video format/resolution provided. %s\n",
                  e.what());
              printf("[INFO] Setting default settings (RGB/VGA)\n");
              allocateBufferVideo(video_buffer_, FREENECT_VIDEO_BAYER,
                  FREENECT_RESOLUTION_MEDIUM, registration_);
            }
            freenect_set_video_mode(device_, video_buffer_.metadata);
            freenect_set_video_buffer(device_, video_buffer_.image_buffer.get());
            new_video_resolution_ = video_buffer_.metadata.resolution;
            new_video_format_ = video_buffer_.metadata.video_format;
          }
          // Restart stream if required
          if (should_stream_video_ || device_flush_enabled_) {
            int rgb_out = freenect_start_video(device_);
            //ROS_INFO("  streaming rgb images... %i", rgb_out);
            streaming_video_ = true;
          }

          // Don't make more than 1 change at a time
          return;
        }

        bool change_depth_settings = 
          depth_buffer_.metadata.depth_format != new_depth_format_ ||
          depth_buffer_.metadata.resolution != new_depth_resolution_ ||
          ((streaming_depth_ != should_stream_depth_) && !device_flush_enabled_) ||
          device_flush_enabled_ && !streaming_depth_ ||
          stop_device_flush;

        if (change_depth_settings) {
          //ROS_INFO("change depth called");
          // Stop depth stream
          if (streaming_depth_) {
            //ROS_INFO("  stopping depth images...");
            freenect_stop_depth(device_);
            streaming_depth_ = false;
            return;
          }
          // Allocate buffer for depth if settings have changed
          if (depth_buffer_.metadata.resolution != new_depth_resolution_ ||
              depth_buffer_.metadata.depth_format != new_depth_format_) {
            try {
              allocateBufferDepth(depth_buffer_, new_depth_format_, 
                 new_depth_resolution_, registration_);
            } catch (std::runtime_error& e) {
              printf("[ERROR] Unsupported depth format/resolution provided. %s\n",
                  e.what());
              printf("[INFO] Setting default settings (depth registered/VGA)\n");
              allocateBufferDepth(depth_buffer_, FREENECT_DEPTH_MM,
                  FREENECT_RESOLUTION_MEDIUM, registration_);
            }
            freenect_set_depth_mode(device_, depth_buffer_.metadata);
            freenect_set_depth_buffer(device_, depth_buffer_.image_buffer.get());
            new_depth_resolution_ = depth_buffer_.metadata.resolution;
            new_depth_format_ = depth_buffer_.metadata.depth_format;
          }
          // Restart stream if required
          if (should_stream_depth_ || device_flush_enabled_) {
            int depth_out = freenect_start_depth(device_);
            //ROS_INFO("  streaming depth images... %i", depth_out);
            streaming_depth_ = true;
            return;
          }
        }
      }

      bool _isImageModeEnabled() {
        boost::lock_guard<boost::recursive_mutex> lock(m_settings_);
        return isImageMode(video_buffer_);
      }

      void depthCallback(void* depth) {
        boost::lock_guard<boost::mutex> buffer_lock(depth_buffer_.mutex);
        assert(depth == depth_buffer_.image_buffer.get());
        if (publishers_ready_) {
          depth_callback_.operator()(depth_buffer_);
        }
      }

      void videoCallback(void* video) {
        boost::lock_guard<boost::mutex> buffer_lock(video_buffer_.mutex);
        assert(video == video_buffer_.image_buffer.get());
        if (publishers_ready_) {
          if (isImageMode(video_buffer_)) {
            image_callback_.operator()(video_buffer_);
          } else {
            ir_callback_.operator()(video_buffer_);
          }
        }
      }

  };
}

#endif /* end of include guard: FREENECT_DEVICE_T01IELX0 */