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kinect_server.cc
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kinect_server.cc
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#include <iostream>
#include <cstdlib>
#include <signal.h>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
#include "src/navirice.h"
using namespace std;
bool keep_alive = true;
#define PORT 29000
navirice::ImageDistributionServer* server;
int program_exit_counter = 0;
void finish_program(int input){
keep_alive = false;
program_exit_counter++;
if(program_exit_counter >=3){
std::cout << "*****************************\nOVERRIDING FOR FORCED EXIT!" << std::endl;
exit(3);
}
}
class IOCW;
int main(int argc, char* argv[]){
// KINNECT CONFIG
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Level::None));
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *kinect = 0;
cout << navirice::ansi::green("---CONFIGURING---") << endl;
cout << " Finding devices: " << std::flush;
if(freenect2.enumerateDevices() == 0){
cout << navirice::ansi::red("FAILURE") << endl;
cout << "0 connected devices" << endl;
return 1;
}
cout << navirice::ansi::green("SUCCESS") << " found: " << freenect2.enumerateDevices() << " device(s)" << endl;
cout << " Opening device 0: " << std::flush;
string serial = freenect2.getDeviceSerialNumber(0);
kinect = freenect2.openDevice(serial);
if(kinect == 0){
cout << navirice::ansi::red("FAILURE") << endl;
cout << "Cannot open device 0" << endl;
return 1;
}
cout << navirice::ansi::green("SUCCESS") << " serial: " << serial << endl;
libfreenect2::FrameMap frames;
int types = 0;
types |= libfreenect2::Frame::Color;
types |= libfreenect2::Frame::Ir | libfreenect2::Frame::Depth;
libfreenect2::SyncMultiFrameListener listener(types);
kinect->setColorFrameListener(&listener);
kinect->setIrAndDepthFrameListener(&listener);
server = new navirice::ImageDistributionServer(PORT);
auto settings = server->get_server_settings();
auto r = kinect->startStreams(true, true);
signal(SIGINT, finish_program);
while(keep_alive) {
auto new_settings = server->get_server_settings();
if(!settings.is_equal(new_settings)){
settings = new_settings;
std::cout << "------------ SERVER SETTINGS CHANGED ----------------\n";
std::cout << "IR: " << settings.IR << std::endl;
std::cout << "RGB: " << settings.RGB << std::endl;
std::cout << "Depth: " << settings.Depth << std::endl;
std::cout << "----------- END ----------------\n";
// kinect->stop();
kinect->startStreams(settings.RGB, settings.IR || settings.Depth);
}
auto start = std::chrono::steady_clock::now();
// ACQUIRE COLOR FRAME FROM KINECT
//std::cout << "WAITING FOR NEW FRAME" << std::endl;
if(!listener.waitForNewFrame(frames, 100)){
cout << navirice::ansi::red("FAILED TO ACQUIRE FRAME\n");
} else {
//std::cout << "ACQUIRED NEW FRAME" << std::endl;
libfreenect2::Frame *rgb_frame = NULL;
libfreenect2::Frame *depth_frame = NULL;
libfreenect2::Frame *ir_frame = NULL;
navirice::Image* rgb_image = NULL;
navirice::Image* depth_image = NULL;
navirice::Image* ir_image = NULL;
if(settings.RGB){
rgb_frame = frames[libfreenect2::Frame::Color];
if(rgb_frame) rgb_image = new navirice::ImageImpl(
rgb_frame->width,
rgb_frame->height,
rgb_frame->bytes_per_pixel,
navirice::ImageDataType::UBYTE,
rgb_frame->data,
rgb_frame->bytes_per_pixel * rgb_frame->width * rgb_frame->height
);
}
//std::cout << "RGB SET" << std::endl;
if(settings.IR || settings.RGB){
depth_frame = frames[libfreenect2::Frame::Depth];
if(depth_frame) depth_image = new navirice::ImageImpl(
depth_frame->width,
depth_frame->height,
depth_frame->bytes_per_pixel,
navirice::ImageDataType::FLOAT,
depth_frame->data,
depth_frame->bytes_per_pixel * depth_frame->width * depth_frame->height
);
ir_frame = frames[libfreenect2::Frame::Ir];
if(ir_frame) ir_image = new navirice::ImageImpl(
ir_frame->width,
ir_frame->height,
ir_frame->bytes_per_pixel,
navirice::ImageDataType::FLOAT,
ir_frame->data,
ir_frame->bytes_per_pixel * ir_frame->width * ir_frame->height
);
}
//std::cout << "IR DEPTH SET" << std::endl;
server->set_new_images(rgb_image, ir_image, depth_image);
//std::cout << "NEW IMAGES SET" << std::endl;
if(rgb_image) delete rgb_image;
if(ir_image) delete ir_image;
if(depth_image) delete depth_image;
listener.release(frames);
}
auto duration = std::chrono::steady_clock::now() - start;
cout << "------- push duration: " + std::to_string(std::chrono::duration_cast<std::chrono::milliseconds>(duration).count()) + " milliseconds\n";
}
// CLEANUP
delete server;
cout << "SHUTTING DOWN KINECT!" << endl;
kinect->stop();
kinect->close();
cout << navirice::ansi::green("DONE") << endl;
return 0;
}