glview.c

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/*
 * 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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "libfreenect.h"

#include <pthread.h>

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

#include <math.h>

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;
GLfloat camera_angle = 0.0;
int camera_rotate = 0;
int tilt_changed = 0;

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

freenect_video_format requested_format = FREENECT_VIDEO_RGB;
freenect_video_format current_format = FREENECT_VIDEO_RGB;

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

void DrawGLScene()
{
        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.
        if (current_format == FREENECT_VIDEO_YUV_RGB) {
                while (!got_depth && !got_rgb) {
                        pthread_cond_wait(&gl_frame_cond, &gl_backbuf_mutex);
                }
        } else {
                while ((!got_depth || !got_rgb) && requested_format != current_format) {
                        pthread_cond_wait(&gl_frame_cond, &gl_backbuf_mutex);
                }
        }

        if (requested_format != current_format) {
                pthread_mutex_unlock(&gl_backbuf_mutex);
                return;
        }

        uint8_t *tmp;

        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_depth_tex);
        glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, depth_front);

        if (camera_rotate) {
            glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
            freenect_raw_tilt_state* state;
            freenect_update_tilt_state(f_dev);
            state = freenect_get_tilt_state(f_dev);
            GLfloat x_accel_raw, x_accel,y_accel_raw,y_accel;
            x_accel_raw = (GLfloat)state->accelerometer_x/819.0;
            y_accel_raw = (GLfloat)state->accelerometer_y/819.0;

            // sloppy acceleration vector cleanup
            GLfloat accel_length = sqrt(x_accel_raw * x_accel_raw + y_accel_raw * y_accel_raw);
            x_accel = x_accel_raw/accel_length;
            y_accel = y_accel_raw/accel_length;
            camera_angle = atan2(y_accel,x_accel)*180/M_PI -90.0;
        }
        else {
                camera_angle = 0;
        }

        glLoadIdentity();
        glPushMatrix();
        glTranslatef((640.0/2.0),(480.0/2.0) ,0.0);
        glRotatef(camera_angle, 0.0, 0.0, 1.0);
        glTranslatef(-(640.0/2.0),-(480.0/2.0) ,0.0);
        glBegin(GL_TRIANGLE_FAN);
        glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
        glTexCoord2f(0, 1); glVertex3f(0,0,1.0);
        glTexCoord2f(1, 1); glVertex3f(640,0,1.0);
        glTexCoord2f(1, 0); glVertex3f(640,480,1.0);
        glTexCoord2f(0, 0); glVertex3f(0,480,1.0);
        glEnd();
        glPopMatrix();

        glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
        if (current_format == FREENECT_VIDEO_RGB || current_format == FREENECT_VIDEO_YUV_RGB)
                glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb_front);
        else
                glTexImage2D(GL_TEXTURE_2D, 0, 1, 640, 480, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, rgb_front+640*4);

        glPushMatrix();
        glTranslatef(640+(640.0/2.0),(480.0/2.0) ,0.0);
        glRotatef(camera_angle, 0.0, 0.0, 1.0);
        glTranslatef(-(640+(640.0/2.0)),-(480.0/2.0) ,0.0);

        glBegin(GL_TRIANGLE_FAN);
        glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
        glTexCoord2f(0, 1); glVertex3f(640,0,0);
        glTexCoord2f(1, 1); glVertex3f(1280,0,0);
        glTexCoord2f(1, 0); glVertex3f(1280,480,0);
        glTexCoord2f(0, 0); glVertex3f(640,480,0);
        glEnd();
        glPopMatrix();
        glutSwapBuffers();
}

void keyPressed(unsigned char key, int x, int y)
{
        if (key == 27) {
                die = 1;
                pthread_join(freenect_thread, NULL);
                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);
        }
        if (key == 'w') {
                freenect_angle++;
                if (freenect_angle > 30) {
                        freenect_angle = 30;
                }
                tilt_changed++;
        }
        if (key == 's') {
                freenect_angle = 0;
                tilt_changed++;
        }
        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;
        }
        if (key == 'x') {
                freenect_angle--;
                if (freenect_angle < -30) {
                        freenect_angle = -30;
                }
                tilt_changed++;
        }
        if (key == 'e') {
                static freenect_flag_value auto_exposure = FREENECT_ON;
                freenect_set_flag(f_dev, FREENECT_AUTO_EXPOSURE, auto_exposure);
                auto_exposure = auto_exposure ? FREENECT_OFF : FREENECT_ON;
        }
        if (key == 'b') {
                static freenect_flag_value white_balance = FREENECT_ON;
                freenect_set_flag(f_dev, FREENECT_AUTO_WHITE_BALANCE, white_balance);
                white_balance = white_balance ? FREENECT_OFF : FREENECT_ON;
        }
        if (key == 'r') {
                static freenect_flag_value raw_color = FREENECT_ON;
                freenect_set_flag(f_dev, FREENECT_RAW_COLOR, raw_color);
                raw_color = raw_color ? FREENECT_OFF : FREENECT_ON;
        }
        if (key == 'm') {
                static freenect_flag_value mirror = FREENECT_ON;
                freenect_set_flag(f_dev, FREENECT_MIRROR_DEPTH, mirror);
                freenect_set_flag(f_dev, FREENECT_MIRROR_VIDEO, mirror);
                mirror = mirror ? FREENECT_OFF : FREENECT_ON;
        }
        if (key == '1') {
                freenect_set_led(f_dev,LED_GREEN);
        }
        if (key == '2') {
                freenect_set_led(f_dev,LED_RED);
        }
        if (key == '3') {
                freenect_set_led(f_dev,LED_YELLOW);
        }
        if (key == '4') {
                freenect_set_led(f_dev,LED_BLINK_GREEN);
        }
        if (key == '5') {
                // 5 is the same as 4
                freenect_set_led(f_dev,LED_BLINK_GREEN);
        }
        if (key == '6') {
                freenect_set_led(f_dev,LED_BLINK_RED_YELLOW);
        }
        if (key == '0') {
                freenect_set_led(f_dev,LED_OFF);
        }
        if (key == 'o') {
            if (camera_rotate) {
                camera_rotate = 0;
                glDisable(GL_DEPTH_TEST);
            }
            else {
                camera_rotate = 1;
                glEnable(GL_DEPTH_TEST);
            }
        }
        if (tilt_changed) {
            freenect_set_tilt_degs(f_dev, freenect_angle);
            tilt_changed = 0;
        }
}

void ReSizeGLScene(int Width, int Height)
{
        glViewport(0,0,Width,Height);
        glMatrixMode(GL_PROJECTION);
        glLoadIdentity();
        glOrtho (0, 1280, 0, 480, -5.0f, 5.0f);
        glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();

}

void InitGL(int Width, int Height)
{
        glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
        //glClearDepth(0.0);
        //glDepthFunc(GL_LESS);
        //glDepthMask(GL_FALSE);
        glDisable(GL_DEPTH_TEST);
        glDisable(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(1280, 480);
        glutInitWindowPosition(0, 0);

        window = glutCreateWindow("LibFreenect");

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

        InitGL(1280, 480);

        glutMainLoop();

        return NULL;
}

uint16_t t_gamma[2048];

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++) {
                int pval = t_gamma[depth[i]];
                int lb = pval & 0xff;
                switch (pval>>8) {
                        case 0:
                                depth_mid[3*i+0] = 255;
                                depth_mid[3*i+1] = 255-lb;
                                depth_mid[3*i+2] = 255-lb;
                                break;
                        case 1:
                                depth_mid[3*i+0] = 255;
                                depth_mid[3*i+1] = lb;
                                depth_mid[3*i+2] = 0;
                                break;
                        case 2:
                                depth_mid[3*i+0] = 255-lb;
                                depth_mid[3*i+1] = 255;
                                depth_mid[3*i+2] = 0;
                                break;
                        case 3:
                                depth_mid[3*i+0] = 0;
                                depth_mid[3*i+1] = 255;
                                depth_mid[3*i+2] = lb;
                                break;
                        case 4:
                                depth_mid[3*i+0] = 0;
                                depth_mid[3*i+1] = 255-lb;
                                depth_mid[3*i+2] = 255;
                                break;
                        case 5:
                                depth_mid[3*i+0] = 0;
                                depth_mid[3*i+1] = 0;
                                depth_mid[3*i+2] = 255-lb;
                                break;
                        default:
                                depth_mid[3*i+0] = 0;
                                depth_mid[3*i+1] = 0;
                                depth_mid[3*i+2] = 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)
{
        int accelCount = 0;

        freenect_set_tilt_degs(f_dev,freenect_angle);
        freenect_set_led(f_dev,LED_RED);
        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, current_format));
        freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
        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 \n");
        printf("'f' - change video format, 'm' - mirror video, 'o' - rotate video with accelerometer \n");
        printf("'e' - auto exposure, 'b' - white balance, 'r' - raw color \n");

        while (!die && freenect_process_events(f_ctx) >= 0) {
                //Throttle the text output
                if (accelCount++ >= 2000)
                {
                        accelCount = 0;
                        freenect_raw_tilt_state* state;
                        freenect_update_tilt_state(f_dev);
                        state = freenect_get_tilt_state(f_dev);
                        double dx,dy,dz;
                        freenect_get_mks_accel(state, &dx, &dy, &dz);
                        printf("\r raw acceleration: %4d %4d %4d  mks acceleration: %4f %4f %4f", state->accelerometer_x, state->accelerometer_y, state->accelerometer_z, dx, dy, dz);
                        fflush(stdout);
                }

                if (requested_format != current_format) {
                        freenect_stop_video(f_dev);
                        freenect_set_video_mode(f_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, requested_format));
                        freenect_start_video(f_dev);
                        current_format = requested_format;
                }
        }

        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*3);
        depth_front = (uint8_t*)malloc(640*480*3);
        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<2048; 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_MOTOR | 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;
}