#include <ufunckinect.h>

Inheritance diagram for UFuncKinect:

Public Member Functions
virtual void	callGotNewDataWithObject ()

virtual void	createResources ()

virtual bool	decodeReplayLine (char *line)

int	GetXYZCoordinates (void *pointCloud, int Max, int type, int redFac)

virtual bool	handleCommand (UServerInMsg msg, void extra)

bool	makeObj3Dcloud ()

bool	makePCD (const char *name, bool andRowCol)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double pars, double value, UDataBase returnStruct, int returnStructCnt)

virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

void	run ()

	UFuncKinect ()

void	updateCloud (bool color)

virtual void	updateReplayStatus ()

	~UFuncKinect ()

Public Member Functions inherited from UFuncPlugBasePush
virtual bool	setResource (UResBase *resource, bool remove)

	UFuncPlugBasePush ()

virtual	~UFuncPlugBasePush ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual	~UVarMethodImplement ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Private Member Functions
bool	handleKinect (UServerInMsg *msg)

void	init ()

void	initXYTable (int focalLength)

void	logFileTest ()

bool	logImageToFile (UImage *imgToLog)

bool	processDepthImages (UImage *img, int validBits)

bool	setPointCloudUpdated (const char *name)

bool	start ()
	start read thread More...

void	stop (bool andWait)

Private Attributes
const char *	aliasname

UImg3Dpoints *	cloud3d

int	frameCntDepth
	number of accepter depth frames More...

int	frameCntRgb
	number of accepted video frames (rgb or ir) More...

int	frameLogCnt
	frame count for logging More...

UTime	frameRateDepthTime
	variable for frame rate calculation More...

UTime	frameRateRgbTime
	variable for frame rate calculation More...

UImage *	imgCbuf
	image buffer for color in 3d cloud More...

UTime	lastLoopTime

ULLogFile	logAcc

UImage *	logDepthImage
	pointer to depth image to log More...

ULLogFile	logf

UImageLog	logImage

UImage *	logVideoImage
	pointer to video (color or IR) image to log More...

UImg3Dpoints *	obj3dcloud
	obj3d data structure More...

int	oldCamDevC

int	oldCamDevD

int	oldFocalLength
	last used focal length for rectified image More...

int	oldLed

double	oldTilt

uint16_t	t_depth [2048]

uint16_t	t_gamma [2048]

float	t_posX [640]

float	t_posY [480]

pthread_t	threadHandle

bool	threadRunning
	thread runnung flag More...

bool	threadStop
	stop thread flag More...

UVariable *	varAcc

UVariable *	varAccInterval

UVariable *	varAccLogN

UVariable *	varAccRate

UVariable *	varCamDeviceNum

UVariable *	varDepthFmt

UVariable *	varFramerate

UVariable *	varFramerateDesired

UVariable *	varImageLogN

UVariable *	varImagesC3D

UVariable *	varInitialized
	is kinect initialized More...

UVariable *	varIsOpen

UVariable *	varKinectNumber

UVariable *	varLed

UVariable *	varMaxUsedDepth

UVariable *	varOrient

UVariable *	varReductionFactor

UVariable *	varReplayLine

UVariable *	varResolution

UVariable *	varSilent

UVariable *	varTiltDeg

UVariable *	varTiltUse

UVariable *	varTime

UVariable *	varUpdateCnt

UVariable *	varUseColor

UVariable *	varUseCorrectedDepth

UVariable *	varUseDepth

UVariable *	varUseDepthColor

UVariable *	varVideoFmt

char	whyString [MWL]

Static Private Attributes
static const int	MWL = 100

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFuncPlugBasePush
bool	handlePush (UServerInMsg *msg)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

This is functions to handle Kinect camera issues

like: open, close, convert to point cloud, log images to files and replay those files.
Author
Christian Andersen

Constructor & Destructor Documentation

UFuncKinect::UFuncKinect ( )

inline

UFuncKinect::~UFuncKinect ( )

Destructor

References ULogFile::closeLog(), UImageLog::closeLogging(), cloud3d, UVariable::getBool(), imgCbuf, logAcc, logf, logImage, stop(), and varInitialized.

Referenced by UFuncKinect().

Member Function Documentation

void UFuncKinect::callGotNewDataWithObject ( )

virtual

Called from push implementor to get the push object. should call to 'gotNewData(object)' with the available event object. if no object is available (anymore), then call with a NULL pointer.

Reimplemented from UServerPush.

References UVariable::add(), bool2str(), UImage::camDevice, cloud3d, convert_packed11_to_16bit(), convert_packed_to_16bit(), convert_packed_to_8bit(), data, frameCntDepth, frameCntRgb, frameLogCnt, frameRateDepthTime, frameRateRgbTime, freenect_apply_depth_to_mm(), freenect_apply_registration(), freenect_close_device(), FREENECT_DEPTH_10BIT_PACKED, FREENECT_DEPTH_11BIT_PACKED, freenect_find_depth_mode(), freenect_find_video_mode(), freenect_init(), freenect_init_registration(), freenect_open_device(), FREENECT_RESOLUTION_HIGH, FREENECT_RESOLUTION_MEDIUM, freenect_set_depth_callback(), freenect_set_depth_mode(), freenect_set_led(), freenect_set_tilt_degs(), freenect_set_video_callback(), freenect_set_video_mode(), freenect_shutdown(), freenect_start_depth(), freenect_start_video(), freenect_stop_depth(), freenect_stop_video(), FREENECT_VIDEO_BAYER, FREENECT_VIDEO_IR_8BIT, FREENECT_VIDEO_RGB, FREENECT_VIDEO_YUV_RAW, UVariable::getBool(), UImage::getData(), getDevUse(), UImagePool::getImage(), UVariable::getInt(), UFunctionBase::getStaticResource(), UVariable::getTime(), UTime::getTimePassed(), UImage::getUCharRef(), UServerPush::gotNewData(), UImage::height(), UImage::imageNumber, UImage::imgTime, LED_RED, ULock::lock(), logDepthImage, logf, logVideoImage, makeObj3Dcloud(), UTime::Now(), UTime::now(), oldLed, processDepthImages(), roundi(), UVariable::setBool(), UVariable::setInt(), UImage::setName(), UImage::setSize(), UImage::setSizeOnly(), UTime::SetTime(), UServerPush::setUpdated(), UVariable::setValued(), UImg3Dpoints::time, ULogFile::toLog(), ULock::tryLock(), ULock::unlock(), UImage::updated(), UImage::used, varCamDeviceNum, varDepthFmt, varFramerate, varImagesC3D, varInitialized, varIsOpen, varKinectNumber, varLed, varResolution, varTiltDeg, varTiltUse, varTime, varUpdateCnt, varUseColor, varUseDepth, and varVideoFmt.

Referenced by UFuncKinect().

void UFuncKinect::createResources ( )

virtual

Called by server after this module is integrated into the server core structure, i.e. all core services are in place, but no commands are serviced for this module yet. Create any resources that this modules needs.

Reimplemented from UFunctionBase.

References UResVarPool::addMethod(), UResVarPool::addVar(), UResVarPool::addVarA(), aliasname, UFunctionBase::getAliasName(), logAcc, logf, logImage, UReplay::replaySetBaseFileName(), ULogFile::setLogName(), start(), varAcc, varAccInterval, varAccLogN, varAccRate, varCamDeviceNum, varDepthFmt, varFramerate, varFramerateDesired, varImageLogN, varImagesC3D, varInitialized, varIsOpen, varKinectNumber, varLed, varMaxUsedDepth, varOrient, varReductionFactor, varReplayLine, varResolution, varSilent, varTiltDeg, varTiltUse, varTime, varUpdateCnt, varUseColor, varUseCorrectedDepth, varUseDepth, varUseDepthColor, and varVideoFmt.

Referenced by UFuncKinect().

bool UFuncKinect::decodeReplayLine ( char * line )

virtual

Decode this replay line, that is assumed to be valid - has got a time stamp.

Parameters

line	is a pointer to the line.

Returns: true if the line is valid and used (step is successful).; false if line is not a valid step.

Reimplemented from UReplay.

References UVariable::add(), UImage::camDevice, UImagePool::getImage(), UVariable::getInt(), UFunctionBase::getStaticResource(), UImage::imageNumber, img, UImage::imgTime, UResBase::line, UImage::loadPNG(), ULock::lock(), processDepthImages(), replayPath, UImage::setName(), UVariable::setTime(), UTime::setTimeTod(), UServerPush::setUpdated(), ULock::unlock(), UImage::updated(), varImagesC3D, varReplayLine, and varTime.

Referenced by UFuncKinect().

int UFuncKinect::GetXYZCoordinates	(	void *	pointCloud,
		int	Max,
		int	type,
		int	redFac
	)

get the imageset as a point cloud

Parameters

[out]	pointCloud	the point cloud to change
	Max	is the maximum distance (in mm or depth value) to add
	type	is 0 for XYZ and 1 for XYZRGB format
	redFac	is an optional reduction factor - to reduce number of points. 1= all points, 2=every other, 3=every third ...

Returns: number of points added

References UVariable::getBool(), UCamPool::getCam(), UCamRad::getCamPar(), UVariable::getDouble(), UCamPar::getFocalLength(), UImage::getHeight(), UImagePool::getImage(), UVariable::getInt(), UImage::getLine(), UFunctionBase::getStaticResource(), UImage::getWidth(), initXYTable(), ULock::lock(), oldFocalLength, UPixel::p1, UPixel::p2, UPixel::p3, t_posX, t_posY, UImage::toRGB(), ULock::unlock(), varCamDeviceNum, varImagesC3D, varMaxUsedDepth, varSilent, and UPixel::y.

Referenced by methodCall(), UFuncKinect(), and updateCloud().

bool UFuncKinect::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

Handle incomming commands flagged for this module

Parameters

msg	pointer to the message and the client issuing the command

Returns: true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References UFunctionBase::getCmdIndex(), handleKinect(), UFuncPlugBasePush::handlePush(), and UFunctionBase::sendDebug().

Referenced by UFuncKinect().

bool UFuncKinect::handleKinect ( UServerInMsg * msg )

private

Handle stereo-push commands

References UFunctionBase::aliasName, bool2str(), USmlTagIn::getAttBool(), USmlTagIn::getAttCnt(), USmlTagIn::getAttInteger(), USmlTagIn::getAttValue(), UVariable::getBool(), UVariable::getInt(), ULogFile::getLogFileName(), UReplay::getReplayFileName(), UTime::getTimePassed(), ULogFile::isOpen(), UReplay::isReplay(), lastLoopTime, logAcc, logf, logImage, makePCD(), ULogFile::openLog(), UReplay::replayStep(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UVariable::setBool(), UReplay::setReplay(), UVariable::setValued(), UFunctionBase::silent, str2bool2(), UServerInMsg::tag, updateCloud(), varAccLogN, varImageLogN, varImagesC3D, varIsOpen, varSilent, varUseDepth, varUseDepthColor, and Wait().

Referenced by handleCommand(), and UFuncKinect().

void UFuncKinect::init ( )

private

Initialize other variables

References frameCntDepth, frameCntRgb, imgCbuf, logDepthImage, logVideoImage, obj3dcloud, oldCamDevC, oldCamDevD, oldFocalLength, oldLed, t_depth, t_gamma, threadRunning, and threadStop.

Referenced by UFuncKinect().

void UFuncKinect::initXYTable ( int focalLength )

private

Init table for fast calculation of 3D position from depth image

Parameters

focalLength is the estimated focal length for the color camera in pixel. This assumes, that the depth image is rectified to match the color image.

References oldFocalLength, t_posX, and t_posY.

Referenced by GetXYZCoordinates(), makeObj3Dcloud(), and UFuncKinect().

void UFuncKinect::logFileTest ( )

private

Test for open or close logfiles using global variable

References UVariable::getInt(), ULogFile::getLogFileName(), ULogFile::isOpen(), logAcc, logf, logImage, ULogFile::openLog(), UImageLog::openLog(), UVariable::setValued(), ULogFile::toLog(), varAccLogN, and varImageLogN.

Referenced by run(), and UFuncKinect().

bool UFuncKinect::logImageToFile ( UImage * imgToLog )

private

Save image to imagelog and save the image itself in the imagePath. if camera device do not exist, then a default device is created..

Parameters

imgToLog is the image to be logged.

References UImage::camDevice, UCamPool::getCam(), UVariable::getInt(), UFunctionBase::getStaticResource(), ULock::lock(), UImageLog::logImage(), logImage, UCamPool::makeDevice(), ULock::unlock(), and varImageLogN.

Referenced by run(), and UFuncKinect().

bool UFuncKinect::makeObj3Dcloud ( )

Make 3D object from depth and color images - for colors to match, the format most be "rectified"

Returns: true if both a depth and color image is available (in imagesC3D[0] and imagesC3D[1]).

References UImg3Dpoints::add(), UResVarPool::callGlobalV(), UImage::camDevice, UImg3Dpoints::clear(), cloud3d, UCamPool::getCam(), UCamRad::getCamPar(), UCamPar::getFocalLength(), UImage::getHeight(), UImagePool::getImage(), UVariable::getInt(), UPixel::getInt(), UImage::getLine(), UCamMounted::getPosRot(), UFunctionBase::getStaticResource(), UImage::getWidth(), UImage::height(), UImage::imageNumber, imgCbuf, UImage::imgTime, initXYTable(), UImg3Dpoints::inSensorCoordinates, UResBase::isA(), UImage::isRGB(), ULock::lock(), UFunctionBase::name(), oldFocalLength, UPcpItem::PointXyz, UPcpItem::PointXyzRgb, UImg3Dpoints::pose, UImg3Dpoints::serial, UVariable::setValues(), UImg3Dpoints::sourceImgColor, t_depth, t_posX, t_posY, UImg3Dpoints::time, UImage::toRGB(), ULock::tryLock(), ULock::unlock(), varCamDeviceNum, varDepthFmt, varImagesC3D, varReductionFactor, and UImage::width().

Referenced by callGotNewDataWithObject(), makePCD(), and UFuncKinect().

bool UFuncKinect::makePCD	(	const char *	name,
		bool	andRowCol
	)

Make 3D object, either in PCD format for PCD viewer or in the old 3D format used by obj3d plugin.

Parameters

name	is an optional filename for the generated file (NB same nale for both file formats).
andRowCol	adds row and column from source image to the file

Returns: true if both a depth and color image is available (in imagesC3D[0] and imagesC3D[1]).

References cloud3d, ULock::lock(), makeObj3Dcloud(), UImg3Dpoints::makePCLFile(), and ULock::unlock().

Referenced by handleKinect(), and UFuncKinect().

bool UFuncKinect::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	pars,
		double *	value,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement a var-pool method call.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
strings	is an array of string pointers for the string type parameters (may be NULL if not used)
doubles	is an array with double typed parameters (may be NULL if not used)
value	is the (direct) result of the class, either a double value, or 0.0 for false 1.0 for true 2.0 for implicit stop if a controll call.
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer

Returns: true if the method is recognised (exists), when false is returned a invalid name or parameter list is detected.

Reimplemented from UResVarPool.

References UVariable::getInt(), GetXYZCoordinates(), roundi(), and varReductionFactor.

Referenced by UFuncKinect().

bool UFuncKinect::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement an inter plug-in method call using UVariables as parameter (and return value). Structures of the base type UDatabase (but not UVariables) may be returned in the returnStruct pointer array. The returnStructCnt should be set to returned count, if values are returned.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
params	is an array of UVariable pointers, one pointer for each character in paramOrder. NB! params are not declared as constant, and may be used to return values.
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer

Returns: true if the method is recognised (exists), when false is returned a invalid name or parameter list is detected.

Reimplemented from UVarMethodImplement.

References cloud3d.

Referenced by UFuncKinect().

bool UFuncKinect::processDepthImages	(	UImage *	img,
		int	validBits
	)

private

produce fake disparity images - if requested.

Parameters

img	is the true 16-bit depth image to process
validBits	is number of valid bits in img

Returns: true if successful - i.e. source images available

References UImage::copyMeta(), UVariable::getBool(), UImage::getData(), UImage::getDepth(), UImage::getHeight(), UImagePool::getImage(), UVariable::getInt(), UFunctionBase::getStaticResource(), UImage::getWidth(), mini(), UPixel::set(), UImage::setName(), UImage::setSize(), UServerPush::setUpdated(), t_gamma, ULock::tryLock(), ULock::unlock(), UImage::updated(), varImagesC3D, varUseColor, and varUseDepthColor.

Referenced by callGotNewDataWithObject(), decodeReplayLine(), and UFuncKinect().

void UFuncKinect::run ( )

Run receive thread

References freenect_raw_tilt_state::accelerometer_x, freenect_raw_tilt_state::accelerometer_y, freenect_raw_tilt_state::accelerometer_z, UFunctionBase::aliasName, deviceUseInfo::depthFrameTime, deviceUseInfo::depthIdle, devUse, freenect_get_mks_accel(), freenect_get_tilt_degs(), freenect_get_tilt_state(), freenect_process_events(), freenect_set_led(), freenect_set_tilt_degs(), freenect_update_tilt_state(), UVariable::getBool(), UCamPool::getCam(), UCamBase::getDev(), UVariable::getDouble(), ULogFile::getF(), UVariable::getInt(), UTime::GetMicrosec(), UTime::GetSec(), UFunctionBase::getStaticResource(), UTime::getTimePassed(), UTime::getTimeval(), UVariable::getValued(), UImage::imageNumber, ULogFile::isLogOpen(), ULogFile::isOpen(), URotation::Kappa, KINECT_MAX_DEVICE_USE, lastLoopTime, ULock::lock(), logAcc, logDepthImage, logf, logFileTest(), logImage, logImageToFile(), logVideoImage, UCamPool::makeDevice(), maxi(), mini(), UTime::Now(), UTime::now(), oldCamDevC, oldCamDevD, oldLed, oldTilt, URotation::Omega, URotation::Phi, roundi(), UPosition::set(), UVariable::set3D(), UCamDevBase::setDevice(), UCamMounted::setMountName(), UVariable::setRot(), UVariable::setTime(), UCamBase::setTypeName(), UVariable::setValued(), deviceUseInfo::syncVideoFromDepth, threadRunning, threadStop, ULogFile::toLog(), UImageLog::toLog(), ULock::unlock(), deviceUseInfo::useDepthCnt, deviceUseInfo::useDepthFrame, deviceUseInfo::useVideoCnt, deviceUseInfo::useVideoFrame, varAcc, varAccInterval, varAccLogN, varAccRate, varCamDeviceNum, varFramerate, varFramerateDesired, varImageLogN, varIsOpen, varKinectNumber, varLed, varOrient, varResolution, varTiltDeg, varTiltUse, varTime, varUseDepth, deviceUseInfo::videoIdle, Wait(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by startUFuncKinectThread(), and UFuncKinect().

bool UFuncKinect::setPointCloudUpdated ( const char * name )

private

Tell point cloud pool (PCP) that a point cloud owned by pcp, is updated

Parameters

name	is name of updated point cloud.

Returns: true if call was successful

References UResVarPool::callGlobalV(), and UVariable::setValues().

Referenced by UFuncKinect(), and updateCloud().

bool UFuncKinect::start ( )

private

start read thread

References startUFuncKinectThread(), threadHandle, threadRunning, and threadStop.

Referenced by createResources(), and UFuncKinect().

void UFuncKinect::stop ( bool andWait )

privatevirtual

stop read thread

Parameters

andWait waits until thread is terminated, when false, then the call returns when the stop flag is set (i.e. immidiately).

Reimplemented from UResBase.

References threadHandle, threadRunning, and threadStop.

Referenced by UFuncKinect(), and ~UFuncKinect().

void UFuncKinect::updateCloud ( bool color )

Make PCL file from depth image without using PCL libraries Update point-cloud in point cloud pool (PCP), then name of the cloud is KINECT.

Parameters

color if true, then an XYZRGB cloud is maintained, else just a XYZ cloud.

References UPcpItem::cloud, UPcpItem::cooSys, UVariable::getBool(), UCamPool::getCam(), UImagePool::getImage(), UImage::getImageTime(), UVariable::getInt(), UPcpItem::getPointsCnt(), UCamMounted::getPosRot(), UFunctionBase::getStaticResource(), GetXYZCoordinates(), ULock::lock(), UTime::now(), UPcpItem::relPose, UPcpItem::relPoseUse, UPcpItem::sensorTime, setPointCloudUpdated(), UPcpItem::shapeType, ULock::unlock(), UPcpItem::updateTime, varCamDeviceNum, varImagesC3D, varReductionFactor, varUseColor, UPcpItem::xyzp, and UPcpItem::xyzrgbp.

Referenced by handleKinect(), and UFuncKinect().

void UFuncKinect::updateReplayStatus ( )

virtual

is called when it is time to update replay status (after a step in some replay file)

Reimplemented from UResBase.

References UReplay::isReplay(), UVariable::setBool(), and varReplayLine.

Referenced by UFuncKinect().

Member Data Documentation

const char* UFuncKinect::aliasname

private

Referenced by createResources().

UImg3Dpoints* UFuncKinect::cloud3d

private

Array with 3d points

Referenced by callGotNewDataWithObject(), makeObj3Dcloud(), makePCD(), methodCallV(), and ~UFuncKinect().

int UFuncKinect::frameCntDepth

private

number of accepter depth frames

Referenced by callGotNewDataWithObject(), and init().

int UFuncKinect::frameCntRgb

private

number of accepted video frames (rgb or ir)

Referenced by callGotNewDataWithObject(), and init().

int UFuncKinect::frameLogCnt

private

frame count for logging

Referenced by callGotNewDataWithObject().

UTime UFuncKinect::frameRateDepthTime

private

variable for frame rate calculation

Referenced by callGotNewDataWithObject().

UTime UFuncKinect::frameRateRgbTime

private

variable for frame rate calculation

Referenced by callGotNewDataWithObject().

UImage* UFuncKinect::imgCbuf

private

image buffer for color in 3d cloud

Referenced by init(), makeObj3Dcloud(), and ~UFuncKinect().

UTime UFuncKinect::lastLoopTime

private

Kinect loop keep-alive time

Referenced by handleKinect(), and run().

ULLogFile UFuncKinect::logAcc

private

Logfile for acceleration measurement

Referenced by createResources(), handleKinect(), logFileTest(), run(), and ~UFuncKinect().

UImage* UFuncKinect::logDepthImage

private

pointer to depth image to log

Referenced by callGotNewDataWithObject(), init(), and run().

ULLogFile UFuncKinect::logf

private

General Logfile

Referenced by callGotNewDataWithObject(), createResources(), handleKinect(), logFileTest(), run(), and ~UFuncKinect().

UImageLog UFuncKinect::logImage

private

Logfile

Referenced by createResources(), handleKinect(), logFileTest(), logImageToFile(), run(), and ~UFuncKinect().

UImage* UFuncKinect::logVideoImage

private

pointer to video (color or IR) image to log

Referenced by callGotNewDataWithObject(), init(), and run().

const int UFuncKinect::MWL = 100

staticprivate

UImg3Dpoints* UFuncKinect::obj3dcloud

private

obj3d data structure

Referenced by init().

int UFuncKinect::oldCamDevC

private

Referenced by init(), and run().

int UFuncKinect::oldCamDevD

private

Referenced by init(), and run().

int UFuncKinect::oldFocalLength

private

last used focal length for rectified image

Referenced by GetXYZCoordinates(), init(), initXYTable(), and makeObj3Dcloud().

int UFuncKinect::oldLed

private

Referenced by callGotNewDataWithObject(), init(), and run().

double UFuncKinect::oldTilt

private

Referenced by run().

uint16_t UFuncKinect::t_depth[2048]

private

Depth correction table for kinect

Referenced by init(), and makeObj3Dcloud().

uint16_t UFuncKinect::t_gamma[2048]

private

Gamma correction table from 11-bit depth - for better display

Referenced by init(), and processDepthImages().

float UFuncKinect::t_posX[640]

private

X-Position correction table for kinect

Referenced by GetXYZCoordinates(), initXYTable(), and makeObj3Dcloud().

float UFuncKinect::t_posY[480]

private

Y-Position correction table for kinect

Referenced by GetXYZCoordinates(), initXYTable(), and makeObj3Dcloud().

pthread_t UFuncKinect::threadHandle

private

Thread handle for frame read thread.

Referenced by start(), and stop().

bool UFuncKinect::threadRunning

private

thread runnung flag

Referenced by init(), run(), start(), and stop().

bool UFuncKinect::threadStop

private

stop thread flag

Referenced by init(), run(), start(), and stop().

UVariable* UFuncKinect::varAcc

private

Referenced by createResources(), and run().

UVariable* UFuncKinect::varAccInterval

private

Referenced by createResources(), and run().

UVariable* UFuncKinect::varAccLogN

private

Referenced by createResources(), handleKinect(), logFileTest(), and run().

UVariable* UFuncKinect::varAccRate

private

Referenced by createResources(), and run().

UVariable* UFuncKinect::varCamDeviceNum

private

Referenced by callGotNewDataWithObject(), createResources(), GetXYZCoordinates(), makeObj3Dcloud(), run(), and updateCloud().

UVariable* UFuncKinect::varDepthFmt

private

Referenced by callGotNewDataWithObject(), createResources(), and makeObj3Dcloud().

UVariable* UFuncKinect::varFramerate

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varFramerateDesired

private

Referenced by createResources(), and run().

UVariable* UFuncKinect::varImageLogN

private

Referenced by createResources(), handleKinect(), logFileTest(), logImageToFile(), and run().

UVariable* UFuncKinect::varImagesC3D

private

Referenced by callGotNewDataWithObject(), createResources(), decodeReplayLine(), GetXYZCoordinates(), handleKinect(), makeObj3Dcloud(), processDepthImages(), and updateCloud().

UVariable* UFuncKinect::varInitialized

private

is kinect initialized

Referenced by callGotNewDataWithObject(), createResources(), and ~UFuncKinect().

UVariable* UFuncKinect::varIsOpen

private

Referenced by callGotNewDataWithObject(), createResources(), handleKinect(), and run().

UVariable* UFuncKinect::varKinectNumber

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varLed

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varMaxUsedDepth

private

Referenced by createResources(), and GetXYZCoordinates().

UVariable* UFuncKinect::varOrient

private

Referenced by createResources(), and run().

UVariable* UFuncKinect::varReductionFactor

private

Referenced by createResources(), makeObj3Dcloud(), methodCall(), and updateCloud().

UVariable* UFuncKinect::varReplayLine

private

Referenced by createResources(), decodeReplayLine(), and updateReplayStatus().

UVariable* UFuncKinect::varResolution

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varSilent

private

processing parameters

Referenced by createResources(), GetXYZCoordinates(), and handleKinect().

UVariable* UFuncKinect::varTiltDeg

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varTiltUse

private

Referenced by callGotNewDataWithObject(), createResources(), and run().

UVariable* UFuncKinect::varTime

private

Referenced by callGotNewDataWithObject(), createResources(), decodeReplayLine(), and run().

UVariable* UFuncKinect::varUpdateCnt

private

Pointers to "own" global variables.

Referenced by callGotNewDataWithObject(), and createResources().

UVariable* UFuncKinect::varUseColor

private

Referenced by callGotNewDataWithObject(), createResources(), processDepthImages(), and updateCloud().

UVariable* UFuncKinect::varUseCorrectedDepth

private

Referenced by createResources().

UVariable* UFuncKinect::varUseDepth

private

Referenced by callGotNewDataWithObject(), createResources(), handleKinect(), and run().

UVariable* UFuncKinect::varUseDepthColor

private

Referenced by createResources(), handleKinect(), and processDepthImages().

UVariable* UFuncKinect::varVideoFmt

private

Referenced by callGotNewDataWithObject(), and createResources().

char UFuncKinect::whyString[MWL]

private

Short explanation to why processing failed

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation