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Merged
floe merged 1 commit into from
Oct 22, 2015
Merged

Generate depth tables with camera parameters #379

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6 changes: 0 additions & 6 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -126,12 +126,6 @@ SET(LIBRARIES
${LIBFREENECT2_THREADING_LIBRARIES}
)

SET(RESOURCES
data/11to16.bin
data/xTable.bin
data/zTable.bin
)

IF(ENABLE_OPENGL)
FIND_PACKAGE(GLFW3)
FIND_PACKAGE(OpenGL)
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43 changes: 12 additions & 31 deletions include/libfreenect2/depth_packet_processor.h
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Expand Up @@ -110,6 +110,12 @@ class LIBFREENECT2_API DepthPacketProcessor : public BaseDepthPacketProcessor
virtual void setConfiguration(const libfreenect2::DepthPacketProcessor::Config &config);

virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length) = 0;

static const size_t TABLE_SIZE = 512*424;
static const size_t LUT_SIZE = 2048;
virtual void loadXZTables(const float *xtable, const float *ztable) = 0;
virtual void loadLookupTable(const short *lut) = 0;

protected:
libfreenect2::DepthPacketProcessor::Config config_;
libfreenect2::FrameListener *listener_;
Expand All @@ -128,17 +134,8 @@ class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor

virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);

void loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename);

/**
* GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
* just load them from a memory dump - although they probably vary per camera
*/
void loadXTableFromFile(const char* filename);

void loadZTableFromFile(const char* filename);

void load11To16LutFromFile(const char* filename);
virtual void loadXZTables(const float *xtable, const float *ztable);
virtual void loadLookupTable(const short *lut);

virtual void process(const DepthPacket &packet);
private:
Expand All @@ -159,17 +156,8 @@ class LIBFREENECT2_API CpuDepthPacketProcessor : public DepthPacketProcessor

virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);

void loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename);

/**
* GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
* just load them from a memory dump - although they probably vary per camera
*/
void loadXTableFromFile(const char* filename);

void loadZTableFromFile(const char* filename);

void load11To16LutFromFile(const char* filename);
virtual void loadXZTables(const float *xtable, const float *ztable);
virtual void loadLookupTable(const short *lut);

virtual void process(const DepthPacket &packet);
private:
Expand All @@ -189,15 +177,8 @@ class LIBFREENECT2_API OpenCLDepthPacketProcessor : public DepthPacketProcessor

virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);

/**
* GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
* just load them from a memory dump - although they probably vary per camera
*/
void loadXTableFromFile(const char* filename);

void loadZTableFromFile(const char* filename);

void load11To16LutFromFile(const char* filename);
virtual void loadXZTables(const float *xtable, const float *ztable);
virtual void loadLookupTable(const short *lut);

virtual void process(const DepthPacket &packet);
private:
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3 changes: 2 additions & 1 deletion include/libfreenect2/libfreenect2.hpp
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Expand Up @@ -88,7 +88,8 @@ class LIBFREENECT2_API Freenect2Device

virtual Freenect2Device::ColorCameraParams getColorCameraParams() = 0;
virtual Freenect2Device::IrCameraParams getIrCameraParams() = 0;

virtual void setColorCameraParams(const Freenect2Device::ColorCameraParams &params) = 0;
virtual void setIrCameraParams(const Freenect2Device::IrCameraParams &params) = 0;

virtual void setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener) = 0;
virtual void setIrAndDepthFrameListener(libfreenect2::FrameListener* ir_frame_listener) = 0;
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123 changes: 5 additions & 118 deletions src/cpu_depth_packet_processor.cpp
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Expand Up @@ -261,26 +261,6 @@ void flipHorizontal(const Mat<ScalarT> &in, Mat<ScalarT>& out)
namespace libfreenect2
{

/**
* Load a buffer from data of a file.
* @param filename Name of the file to load.
* @param buffer Start of the buffer to load.
* @param n Size of the buffer to load.
* @return Whether loading succeeded.
*/
bool loadBufferFromFile2(const std::string& filename, unsigned char *buffer, size_t n)
{
bool success;
std::ifstream in(filename.c_str());

in.read(reinterpret_cast<char*>(buffer), n);
success = in.gcount() == n;

in.close();

return success;
}

inline int bfi(int width, int offset, int src2, int src3)
{
int bitmask = (((1 << width)-1) << offset) & 0xffffffff;
Expand Down Expand Up @@ -897,111 +877,18 @@ void CpuDepthPacketProcessor::loadP0TablesFromCommandResponse(unsigned char* buf
impl_->fillTrigTable(impl_->p0_table2, impl_->trig_table2);
}

/**
* Load p0 tables.
* @param p0_filename Filename of the first p0 table.
* @param p1_filename Filename of the second p0 table.
* @param p2_filename Filename of the third p0 table.
*/
void CpuDepthPacketProcessor::loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename)
{
Mat<uint16_t> p0_table0(424, 512);
if(!loadBufferFromFile2(p0_filename, p0_table0.buffer(), p0_table0.sizeInBytes()))
{
LOG_ERROR << "Loading p0table 0 from '" << p0_filename << "' failed!";
}

Mat<uint16_t> p0_table1(424, 512);
if(!loadBufferFromFile2(p1_filename, p0_table1.buffer(), p0_table1.sizeInBytes()))
{
LOG_ERROR << "Loading p0table 1 from '" << p1_filename << "' failed!";
}

Mat<uint16_t> p0_table2(424, 512);
if(!loadBufferFromFile2(p2_filename, p0_table2.buffer(), p0_table2.sizeInBytes()))
{
LOG_ERROR << "Loading p0table 2 from '" << p2_filename << "' failed!";
}

if(impl_->flip_ptables)
{
flipHorizontal(p0_table0, impl_->p0_table0);
flipHorizontal(p0_table1, impl_->p0_table1);
flipHorizontal(p0_table2, impl_->p0_table2);

impl_->fillTrigTable(impl_->p0_table0, impl_->trig_table0);
impl_->fillTrigTable(impl_->p0_table1, impl_->trig_table1);
impl_->fillTrigTable(impl_->p0_table2, impl_->trig_table2);
}
else
{
impl_->fillTrigTable(p0_table0, impl_->trig_table0);
impl_->fillTrigTable(p0_table1, impl_->trig_table1);
impl_->fillTrigTable(p0_table2, impl_->trig_table2);
}
}

/**
* Load the X table from the resources.
* @param filename Name of the file to load.
* @note Filename is not actually used!
*/
void CpuDepthPacketProcessor::loadXTableFromFile(const char* filename)
void CpuDepthPacketProcessor::loadXZTables(const float *xtable, const float *ztable)
{
impl_->x_table.create(424, 512);
const unsigned char *data;
size_t length;

if(loadResource("xTable.bin", &data, &length))
{
std::copy(data, data + length, impl_->x_table.buffer());
}
else
{
LOG_ERROR << "Loading xtable from resource 'xTable.bin' failed!";
}
}
std::copy(xtable, xtable + TABLE_SIZE, impl_->x_table.ptr(0,0));

/**
* Load the Z table from the resources.
* @param filename Name of the file to load.
* @note Filename is not actually used!
*/
void CpuDepthPacketProcessor::loadZTableFromFile(const char* filename)
{
impl_->z_table.create(424, 512);

const unsigned char *data;
size_t length;

if(loadResource("zTable.bin", &data, &length))
{
std::copy(data, data + length, impl_->z_table.buffer());
}
else
{
LOG_ERROR << "Loading ztable from resource 'zTable.bin' failed!";
}
std::copy(ztable, ztable + TABLE_SIZE, impl_->z_table.ptr(0,0));
}

/**
* Load the lookup table from 11 to 16 from the resources.
* @param filename Name of the file to load.
* @note Filename is not actually used!
*/
void CpuDepthPacketProcessor::load11To16LutFromFile(const char* filename)
void CpuDepthPacketProcessor::loadLookupTable(const short *lut)
{
const unsigned char *data;
size_t length;

if(loadResource("11to16.bin", &data, &length))
{
std::copy(data, data + length, reinterpret_cast<unsigned char*>(impl_->lut11to16));
}
else
{
LOG_ERROR << "Loading 11to16 lut from resource '11to16.bin' failed!";
}
std::copy(lut, lut + LUT_SIZE, impl_->lut11to16);
}

/**
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