regview.c

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/*
 * This file is part of the OpenKinect Project. http://www.openkinect.org
 *
 * Copyright (c) 2011 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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "libfreenect.h"

#include <pthread.h>
#include <math.h>

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


pthread_t freenect_thread;
volatile int die = 0;

int g_argc;
char **g_argv;

int window;

pthread_mutex_t gl_backbuf_mutex = PTHREAD_MUTEX_INITIALIZER;

// back: owned by libfreenect (implicit for depth)
// mid: owned by callbacks, "latest frame ready"
// front: owned by GL, "currently being drawn"
uint8_t *depth_mid, *depth_front;
uint8_t *rgb_back, *rgb_mid, *rgb_front;

GLuint gl_depth_tex;
GLuint gl_rgb_tex;

freenect_context *f_ctx;
freenect_device *f_dev;
int freenect_angle = 0;
int freenect_led;

pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
int got_rgb = 0;
int got_depth = 0;

int frame = 0;
int my_ftime = 0;
double fps = 0;

void idle()
{
        pthread_mutex_lock(&gl_backbuf_mutex);

        // When using YUV_RGB mode, RGB frames only arrive at 15Hz, so we shouldn't force them to draw in lock-step.
        // However, this is CPU/GPU intensive when we are receiving frames in lockstep.
        while (!got_depth && !got_rgb) {
                pthread_cond_wait(&gl_frame_cond, &gl_backbuf_mutex);
        }

        if (!got_depth || !got_rgb) {
                pthread_mutex_unlock(&gl_backbuf_mutex);
                return;
        }
        pthread_mutex_unlock(&gl_backbuf_mutex);
        glutPostRedisplay();
}

void DrawGLScene() {
        uint8_t *tmp;

        pthread_mutex_lock(&gl_backbuf_mutex);
        if (got_depth) {
                tmp = depth_front;
                depth_front = depth_mid;
                depth_mid = tmp;
                got_depth = 0;
        }
        if (got_rgb) {
                tmp = rgb_front;
                rgb_front = rgb_mid;
                rgb_mid = tmp;
                got_rgb = 0;
        }
        pthread_mutex_unlock(&gl_backbuf_mutex);

        glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
        glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb_front);

        glBegin(GL_TRIANGLE_FAN);
        glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
        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_depth_tex);
        glTexImage2D(GL_TEXTURE_2D, 0, 4, 640, 480, 0, GL_RGBA, GL_UNSIGNED_BYTE, depth_front);

        glBegin(GL_TRIANGLE_FAN);
        glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
        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();

        glutSwapBuffers();

        frame++;
        if (frame % 30 == 0) {
                int ms = glutGet(GLUT_ELAPSED_TIME);
                fps = 30.0/((ms - my_ftime)/1000.0);
                my_ftime = ms;
        }
}

void keyPressed(unsigned char key, int x, int y)
{
        if (key == 27 || key == 'q') {
                die = 1;
                pthread_join(freenect_thread, NULL);
                pthread_cond_signal(&gl_frame_cond);
                glutDestroyWindow(window);
                free(depth_mid);
                free(depth_front);
                free(rgb_back);
                free(rgb_mid);
                free(rgb_front);
                // Not pthread_exit because OSX leaves a thread lying around and doesn't exit
                exit(0);
        }
}

void ReSizeGLScene(int Width, int Height)
{
        glViewport(0,0,Width,Height);
        glMatrixMode(GL_PROJECTION);
        glLoadIdentity();
        glOrtho (0, 640, 480, 0, -1.0f, 1.0f);
        glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
}

void InitGL(int Width, int Height)
{
        glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
        glClearDepth(1.0);
        glDepthFunc(GL_LESS);
    glDepthMask(GL_FALSE);
        glDisable(GL_DEPTH_TEST);
        glEnable(GL_BLEND);
    glDisable(GL_ALPHA_TEST);
    glEnable(GL_TEXTURE_2D);
        glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        glShadeModel(GL_FLAT);

        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(640, 480);
        glutInitWindowPosition(0, 0);

        window = glutCreateWindow("libfreenect Registration viewer");

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

        InitGL(640, 480);

        glutMainLoop();

        return NULL;
}

uint16_t t_gamma[10000];

void depth_cb(freenect_device *dev, void *v_depth, uint32_t timestamp)
{
        int i;
        uint16_t *depth = (uint16_t*)v_depth;

        pthread_mutex_lock(&gl_backbuf_mutex);
        for (i=0; i<640*480; i++) {
                //if (depth[i] >= 2048) continue;
                int pval = t_gamma[depth[i]] / 4;
                int lb = pval & 0xff;
                depth_mid[4*i+3] = 128; // default alpha value
                if (depth[i] ==  0) depth_mid[4*i+3] = 0; // remove anything without depth value
                switch (pval>>8) {
                        case 0:
                                depth_mid[4*i+0] = 255;
                                depth_mid[4*i+1] = 255-lb;
                                depth_mid[4*i+2] = 255-lb;
                                break;
                        case 1:
                                depth_mid[4*i+0] = 255;
                                depth_mid[4*i+1] = lb;
                                depth_mid[4*i+2] = 0;
                                break;
                        case 2:
                                depth_mid[4*i+0] = 255-lb;
                                depth_mid[4*i+1] = 255;
                                depth_mid[4*i+2] = 0;
                                break;
                        case 3:
                                depth_mid[4*i+0] = 0;
                                depth_mid[4*i+1] = 255;
                                depth_mid[4*i+2] = lb;
                                break;
                        case 4:
                                depth_mid[4*i+0] = 0;
                                depth_mid[4*i+1] = 255-lb;
                                depth_mid[4*i+2] = 255;
                                break;
                        case 5:
                                depth_mid[4*i+0] = 0;
                                depth_mid[4*i+1] = 0;
                                depth_mid[4*i+2] = 255-lb;
                                break;
                        default:
                                depth_mid[4*i+0] = 0;
                                depth_mid[4*i+1] = 0;
                                depth_mid[4*i+2] = 0;
                                depth_mid[4*i+3] = 0;
                                break;
                }
        }
        got_depth++;
        pthread_cond_signal(&gl_frame_cond);
        pthread_mutex_unlock(&gl_backbuf_mutex);
}

void rgb_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
{
        pthread_mutex_lock(&gl_backbuf_mutex);

        // swap buffers
        assert (rgb_back == rgb);
        rgb_back = rgb_mid;
        freenect_set_video_buffer(dev, rgb_back);
        rgb_mid = (uint8_t*)rgb;

        got_rgb++;
        pthread_cond_signal(&gl_frame_cond);
        pthread_mutex_unlock(&gl_backbuf_mutex);
}

void *freenect_threadfunc(void *arg)
{
        freenect_set_depth_callback(f_dev, depth_cb);
        freenect_set_video_callback(f_dev, rgb_cb);
        freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
        freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED));
        freenect_set_video_buffer(f_dev, rgb_back);

        freenect_start_depth(f_dev);
        freenect_start_video(f_dev);

        printf("'w'-tilt up, 's'-level, 'x'-tilt down, '0'-'6'-select LED mode, 'f'-video format\n");

        while (!die) {
                int res = freenect_process_events(f_ctx);
                if (res < 0 && res != -10) {
                        printf("\nError %d received from libusb - aborting.\n",res);
                        break;
                }
        }
        printf("\nshutting down streams...\n");

        freenect_stop_depth(f_dev);
        freenect_stop_video(f_dev);

        freenect_close_device(f_dev);
        freenect_shutdown(f_ctx);

        printf("-- done!\n");
        return NULL;
}

int main(int argc, char **argv)
{
        int res;

        depth_mid = (uint8_t*)malloc(640*480*4);
        depth_front = (uint8_t*)malloc(640*480*4);
        rgb_back = (uint8_t*)malloc(640*480*3);
        rgb_mid = (uint8_t*)malloc(640*480*3);
        rgb_front = (uint8_t*)malloc(640*480*3);

        printf("Kinect camera test\n");

        int i;
        for (i=0; i<10000; i++) {
                float v = i/2048.0;
                v = powf(v, 3)* 6;
                t_gamma[i] = v*6*256;
        }

        g_argc = argc;
        g_argv = argv;

        if (freenect_init(&f_ctx, NULL) < 0) {
                printf("freenect_init() failed\n");
                return 1;
        }

        freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
        freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA));

        int nr_devices = freenect_num_devices (f_ctx);
        printf ("Number of devices found: %d\n", nr_devices);

        int user_device_number = 0;
        if (argc > 1)
                user_device_number = atoi(argv[1]);

        if (nr_devices < 1) {
                freenect_shutdown(f_ctx);
                return 1;
        }

        if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
                printf("Could not open device\n");
                freenect_shutdown(f_ctx);
                return 1;
        }

        res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
        if (res) {
                printf("pthread_create failed\n");
                freenect_shutdown(f_ctx);
                return 1;
        }

        // OS X requires GLUT to run on the main thread
        gl_threadfunc(NULL);

        return 0;
}