guidedFilter_kinect_point_cloud.cpp File Reference

An example showcasing the effect of the Guided Filter algorithm on depth images. More...

#include <iostream>
#include <sstream>
#include <iomanip>
#include <vector>
#include <string>
#include <chrono>
#include <mutex>
#include <GL/glew.h>
#include <CLUtils.hpp>
#include <GuidedFilter/algorithms.hpp>
#include <GL/glut.h>
#include <libfreenect.hpp>

Include dependency graph for guidedFilter_kinect_point_cloud.cpp:

Classes
class	CLEnvGL
	Creates an OpenCL environment with CL-GL interoperability. More...
class	GFilterPC
	Applies Guided Image Filtering on a Kinect RGB frame and delivers the data to OpenGL. More...
class	MyFreenectDevice
	A class that extends Freenect::FreenectDevice by defining the VideoCallback function so we can be getting updates with the latest RGB frame. More...

Enumerations
enum	Stream : uint8_t { Stream::RGB, Stream::DEPTH }

Functions
void	drawGLScene ()
	Display callback for the window. More...
void	idleGLScene ()
	Idle callback for the window. More...
void	resizeGLScene (int width, int height)
	Reshape callback for the window. More...
void	keyPressed (unsigned char key, int x, int y)
	Keyboard callback for the window. More...
void	mouseMoved (int x, int y)
	Mouse callback for the window. More...
void	mouseButtonPressed (int button, int state, int x, int y)
	Mouse button callback for the window. More...
void	initGL (int argc, char **argv)
	Initializes GLUT. More...
void	printInfo ()
int	main (int argc, char **argv)

Variables
const int	gl_win_width = 640
const int	gl_win_height = 480
int	glWinId
int	mouseX = -1
int	mouseY = -1
float	angleX = 0.f
float	angleY = 0.f
float	zoom = 1.f
GLuint	glRGBBuf
GLuint	glDepthBuf
Freenect::Freenect	freenect
MyFreenectDevice *	device
double	freenectAngle = 0
float	focalLength = 595.f
const std::vector< std::string >	kernel_files
const int	imgWidth = 640
const int	imgHeight = 480
const int	dRadius = 5
const float	dEps = 0.02f
const float	dScaling = 1e-3f
GFilterPC *	gFilter

Detailed Description

An example showcasing the effect of the Guided Filter algorithm on depth images.

This example demonstrates the performance of the Guided Image Filtering algorithm on a live video stream. It processes the Kinect RGB and Depth streams in OpenCL with the GuidedFilter pipeline. Then, it creates a point cloud and displays it in an OpenGL window.

Author

Nick Lamprianidis

Version

1.2.0

Date

2015

Copyright

The MIT License (MIT)

Copyright (c) 2015 Nick Lamprianidis

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Enumeration Type Documentation

enum Stream : uint8_t

strong

Enumerator
RGB
DEPTH

Function Documentation

void drawGLScene

(

)

Display callback for the window.

void idleGLScene

(

)

Idle callback for the window.

void initGL	(	int	argc,
		char **	argv
	)

Initializes GLUT.

void keyPressed	(	unsigned char	key,
		int	x,
		int	y
	)

Keyboard callback for the window.

int main	(	int	argc,
		char **	argv
	)

void mouseButtonPressed	(	int	button,
		int	state,
		int	x,
		int	y
	)

Mouse button callback for the window.

void mouseMoved	(	int	x,
		int	y
	)

Mouse callback for the window.

void printInfo

(

)

void resizeGLScene	(	int	width,
		int	height
	)

Reshape callback for the window.

Variable Documentation

float angleX = 0.f

float angleY = 0.f

const float dEps = 0.02f

MyFreenectDevice* device

const int dRadius = 5

const float dScaling = 1e-3f

float focalLength = 595.f

Freenect::Freenect freenect

double freenectAngle = 0

GFilterPC* gFilter

const int gl_win_height = 480

const int gl_win_width = 640

GLuint glDepthBuf

GLuint glRGBBuf

int glWinId

const int imgHeight = 480

const int imgWidth = 640

const std::vector<std::string> kernel_files

Initial value:

= { "kernels/imageSupport_kernels.cl", 
                                                "kernels/scan_kernels.cl", 
                                                "kernels/transpose_kernels.cl", 
                                                "kernels/boxFilter_kernels.cl",
                                                "kernels/math_kernels.cl", 
                                                "kernels/guidedFilter_kernels.cl", 
                                                "kernels/examples_kernels.cl" }

int mouseX = -1

int mouseY = -1

float zoom = 1.f