hiview.c

/*
 * 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>
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/glut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#endif

#include <math.h>

pthread_t freenect_thread;
volatile int die = 0;

int g_argc;
char **g_argv;

int depth_window;
int video_window;

pthread_mutex_t depth_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t video_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_led;

freenect_video_format requested_format = FREENECT_VIDEO_RGB;
freenect_video_format current_format = FREENECT_VIDEO_RGB;
freenect_resolution requested_resolution = FREENECT_RESOLUTION_HIGH;
freenect_resolution current_resolution = FREENECT_RESOLUTION_HIGH;

pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
int got_rgb = 0;
int got_depth = 0;
int depth_on = 1;

void DispatchDraws() {
	pthread_mutex_lock(&depth_mutex);
	if (got_depth) {
		glutSetWindow(depth_window);
		glutPostRedisplay();
	}
	pthread_mutex_unlock(&depth_mutex);
	pthread_mutex_lock(&video_mutex);
	if (got_rgb) {
		glutSetWindow(video_window);
		glutPostRedisplay();
	}
	pthread_mutex_unlock(&video_mutex);
}

void DrawDepthScene()
{
	pthread_mutex_lock(&depth_mutex);
	if (got_depth) {
		uint8_t* tmp = depth_front;
		depth_front = depth_mid;
		depth_mid = tmp;
		got_depth = 0;
	}
	pthread_mutex_unlock(&depth_mutex);

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glLoadIdentity();

	glEnable(GL_TEXTURE_2D);

	glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
	glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, 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();
}

void DrawVideoScene()
{
	if (requested_format != current_format || requested_resolution != current_resolution) {
		return;
	}

	pthread_mutex_lock(&video_mutex);

	freenect_frame_mode frame_mode = freenect_get_current_video_mode(f_dev);

	if (got_rgb) {
		uint8_t *tmp = rgb_front;
		rgb_front = rgb_mid;
		rgb_mid = tmp;
		got_rgb = 0;
	}

	pthread_mutex_unlock(&video_mutex);

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glLoadIdentity();

	glEnable(GL_TEXTURE_2D);

	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, frame_mode.width, frame_mode.height, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb_front);
	} else {
		glTexImage2D(GL_TEXTURE_2D, 0, 1, frame_mode.width, frame_mode.height, 0, GL_LUMINANCE, 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(frame_mode.width,0,0);
	glTexCoord2f(1, 1); glVertex3f(frame_mode.width,frame_mode.height,0);
	glTexCoord2f(0, 1); glVertex3f(0,frame_mode.height,0);
	glEnd();

	glutSwapBuffers();
}

void keyPressed(unsigned char key, int x, int y)
{
	if (key == 27) {
		die = 1;
		pthread_join(freenect_thread, NULL);
		glutDestroyWindow(depth_window);
		glutDestroyWindow(video_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 == 'f') {
		// Cycle through:
		// 1) 1280x1024 RGB
		// 2) 1280x1024 IR
		// 3) 640x480 RGB
		// 4) 640x480 YUV
		// 5) 640x480 IR
		if(current_resolution == FREENECT_RESOLUTION_HIGH) {
			if(current_format == FREENECT_VIDEO_RGB) {
				requested_format = FREENECT_VIDEO_IR_8BIT;
				// Since we can't stream the high-res IR while running the depth stream,
				// we force the depth stream off when we reach this res in the cycle.
				freenect_stop_depth(f_dev);
				memset(depth_mid, 0, 640*480*3); // black out the depth camera
				got_depth++;
				depth_on = 0;
			} else if (current_format == FREENECT_VIDEO_IR_8BIT) {
				requested_format = FREENECT_VIDEO_RGB;
				requested_resolution = FREENECT_RESOLUTION_MEDIUM;
			}
		} else if (current_resolution == FREENECT_RESOLUTION_MEDIUM) {
			if(current_format == FREENECT_VIDEO_RGB) {
				requested_format = FREENECT_VIDEO_YUV_RGB;
			} else if (current_format == FREENECT_VIDEO_YUV_RGB) {
				requested_format = FREENECT_VIDEO_IR_8BIT;
			} else if (current_format == FREENECT_VIDEO_IR_8BIT) {
				requested_format = FREENECT_VIDEO_RGB;
				requested_resolution = FREENECT_RESOLUTION_HIGH;
			}
		}
		glutSetWindow(video_window);
		freenect_frame_mode s = freenect_find_video_mode(requested_resolution, requested_format);
		glutReshapeWindow(s.width, s.height);
	}
	if (key == 'd') { // Toggle depth camera.
		if(depth_on) {
			freenect_stop_depth(f_dev);
			memset(depth_mid, 0, 640*480*3); // black out the depth camera
			got_depth++;
			depth_on = 0;
		} else {
			freenect_start_depth(f_dev);
			depth_on = 1;
		}
	}
}

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

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

	depth_window = glutCreateWindow("Depth");
	glutDisplayFunc(&DrawDepthScene);
	glutIdleFunc(&DispatchDraws);
	glutKeyboardFunc(&keyPressed);
	InitGL(640, 480);

	freenect_frame_mode mode = freenect_find_video_mode(current_resolution, current_format);
	glutInitWindowPosition(640,0);
	glutInitWindowSize(mode.width, mode.height);
	video_window = glutCreateWindow("Video");

	glutDisplayFunc(&DrawVideoScene);
	glutIdleFunc(&DispatchDraws);
	glutReshapeFunc(&ReSizeGLScene);
	glutKeyboardFunc(&keyPressed);

	InitGL(640, 480);
	ReSizeGLScene(mode.width, mode.height);

	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(&depth_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_mutex_unlock(&depth_mutex);
}

void video_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
{
	pthread_mutex_lock(&video_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_mutex_unlock(&video_mutex);
}

void *freenect_threadfunc(void *arg)
{
	freenect_set_led(f_dev,LED_RED);
	freenect_set_depth_callback(f_dev, depth_cb);
	freenect_set_video_callback(f_dev, video_cb);
	freenect_set_video_mode(f_dev, freenect_find_video_mode(current_resolution, current_format));
	freenect_set_depth_mode(f_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT));
	rgb_back = (uint8_t*)malloc(freenect_find_video_mode(current_resolution, current_format).bytes);
	rgb_mid = (uint8_t*)malloc(freenect_find_video_mode(current_resolution, current_format).bytes);
	rgb_front = (uint8_t*)malloc(freenect_find_video_mode(current_resolution, current_format).bytes);
	freenect_set_video_buffer(f_dev, rgb_back);

	freenect_start_depth(f_dev);
	freenect_start_video(f_dev);

	int status = 0;
	while (!die && status >= 0) {
		status = freenect_process_events(f_ctx);
		if (requested_format != current_format || requested_resolution != current_resolution) {
			freenect_stop_video(f_dev);
			freenect_set_video_mode(f_dev, freenect_find_video_mode(requested_resolution, requested_format));
			pthread_mutex_lock(&video_mutex);
			free(rgb_back);
			free(rgb_mid);
			free(rgb_front);
			rgb_back = (uint8_t*)malloc(freenect_find_video_mode(requested_resolution, requested_format).bytes);
			rgb_mid = (uint8_t*)malloc(freenect_find_video_mode(requested_resolution, requested_format).bytes);
			rgb_front = (uint8_t*)malloc(freenect_find_video_mode(requested_resolution, requested_format).bytes);
			current_format = requested_format;
			current_resolution = requested_resolution;
			pthread_mutex_unlock(&video_mutex);
			freenect_set_video_buffer(f_dev, rgb_back);
			freenect_start_video(f_dev);
		}
	}

	if (status < 0) {
		printf("Something went terribly wrong.  Aborting.\n");
		return NULL;
	}

	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);

	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;
}