47 #include <visp3/core/vpConfig.h> 49 #ifdef VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES 51 #if (defined (VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI)) 54 #include <visp3/core/vpImage.h> 55 #include <visp3/gui/vpDisplayX.h> 56 #include <visp3/gui/vpDisplayGTK.h> 57 #include <visp3/gui/vpDisplayOpenCV.h> 58 #include <visp3/gui/vpDisplayGDI.h> 59 #include <visp3/sensor/vpKinect.h> 60 #include <visp3/core/vpTime.h> 65 #ifdef VISP_HAVE_LIBFREENECT_OLD 67 Freenect::Freenect<vpKinect> freenect;
68 vpKinect & kinect = freenect.createDevice(0);
70 Freenect::Freenect freenect;
77 kinect.setTiltDegrees(angle);
92 #if defined VISP_HAVE_X11 93 vpDisplayX display, displayRgb, displayRgbWarped;
94 #elif defined VISP_HAVE_GTK 98 #elif defined VISP_HAVE_OPENCV 102 #elif defined VISP_HAVE_GDI 108 display.
init(Idmap, 100, 200,
"Depth map");
109 displayRgb.
init(Irgb, 900, 200,
"Color Image");
110 displayRgbWarped.
init(Iwarped,900,700,
"Warped Color Image");
113 std::cout <<
"Click in one image to stop acquisition" << std::endl;
131 std::cout <<
"Stop acquisition" << std::endl;
136 std::cout <<
"Catch an exception: " << e << std::endl;
140 std::cout <<
"Catch an exception " << std::endl;
150 std::cout <<
"You should install a video device (X11, GTK, OpenCV, GDI) to run this example" << std::endl;
158 std::cout <<
"You should install libfreenect to run this example" << std::endl;
void start(vpKinect::vpDMResolution res=DMAP_LOW_RES)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
error that can be emited by ViSP classes.
Driver for the Kinect-1 device.
static void flush(const vpImage< unsigned char > &I)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
bool getRGB(vpImage< vpRGBa > &IRGB)
void warpRGBFrame(const vpImage< vpRGBa > &Irgb, const vpImage< float > &Idepth, vpImage< vpRGBa > &IrgbWarped)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
bool getDepthMap(vpImage< float > &map)