/*  freenectopencv.cpp

Copyright (C) 2010  Arne Bernin <arne@alamut.de>

This code is licensed to you under the terms of the GNU GPL, version 2 or version 3;
see:
 http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 http://www.gnu.org/licenses/gpl-3.0.txt
*/


/*
 * Makefile for ubuntu, assumes that libfreenect.a is in /usr/lib, and libfreenect.h is in /usr/include
 *
 * make sure you have the latest version of freenect from git!

***************************************************************************************************************************
* Makefile
***************************************************************************************************************************
 CXXFLAGS = -O2 -g -Wall -fmessage-length=0 `pkg-config opencv --cflags ` -I /usr/include/libusb-1.0



 OBJS =     freenectopencv.o

LIBS =    `pkg-config opencv --libs` -lfreenect

TARGET =    kinectopencv

$(TARGET):  $(OBJS)
    $(CXX) -o $(TARGET) $(OBJS) $(LIBS)

all:    $(TARGET)

clean:
    rm -f $(OBJS) $(TARGET)


***************************************************************************************************************************
* End of Makefile
***************************************************************************************************************************


*/



#include "highgui.h"
#include <stdio.h>

#include <string.h>
#include <math.h>
#include <libusb.h>

#include "libfreenect.h"

#include <pthread.h>


#define CV_NO_BACKWARD_COMPATIBILITY

#include <cv.h>
#include <highgui.h>


#define FREENECTOPENCV_WINDOW_D "Depthimage"
#define FREENECTOPENCV_WINDOW_N "Normalimage"
#define FREENECTOPENCV_RGB_DEPTH 3
#define FREENECTOPENCV_DEPTH_DEPTH 1
#define FREENECTOPENCV_RGB_WIDTH 640
#define FREENECTOPENCV_RGB_HEIGHT 480
#define FREENECTOPENCV_DEPTH_WIDTH 640
#define FREENECTOPENCV_DEPTH_HEIGHT 480




IplImage* depthimg = 0;
IplImage* rgbimg = 0;
IplImage* tempimg = 0;
pthread_mutex_t mutex_depth = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex_rgb = PTHREAD_MUTEX_INITIALIZER;
pthread_t cv_thread;


// callback for depthimage, called by libfreenect
void depth_cb(freenect_device *dev, freenect_depth *depth, uint32_t timestamp)

{
    cv::Mat depth8;
    cv::Mat mydepth = cv::Mat( FREENECTOPENCV_DEPTH_WIDTH,FREENECTOPENCV_DEPTH_HEIGHT, CV_16UC1, depth);

    mydepth.convertTo(depth8, CV_8UC1, 1.0/4.0);
    pthread_mutex_lock( &mutex_depth );
    memcpy(depthimg->imageData, depth8.data, 640*480);
    // unlock mutex
    pthread_mutex_unlock( &mutex_depth );

}



// callback for rgbimage, called by libfreenect

void rgb_cb(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp)
{


        // lock mutex for opencv rgb image
    pthread_mutex_lock( &mutex_rgb );
    memcpy(rgbimg->imageData, rgb, FREENECT_RGB_SIZE);
    // unlock mutex
    pthread_mutex_unlock( &mutex_rgb );
}


/*
 * thread for displaying the opencv content
 */
void *cv_threadfunc (void *ptr) {
    cvNamedWindow( FREENECTOPENCV_WINDOW_D, CV_WINDOW_AUTOSIZE );
    cvNamedWindow( FREENECTOPENCV_WINDOW_N, CV_WINDOW_AUTOSIZE );
    depthimg = cvCreateImage(cvSize(FREENECTOPENCV_DEPTH_WIDTH, FREENECTOPENCV_DEPTH_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_DEPTH_DEPTH);
    rgbimg = cvCreateImage(cvSize(FREENECTOPENCV_RGB_WIDTH, FREENECTOPENCV_RGB_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_RGB_DEPTH);
    tempimg = cvCreateImage(cvSize(FREENECTOPENCV_RGB_WIDTH, FREENECTOPENCV_RGB_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_RGB_DEPTH);

    // use image polling
    while (1) {
        //lock mutex for depth image
        pthread_mutex_lock( &mutex_depth );
        // show image to window
        cvCvtColor(depthimg,tempimg,CV_GRAY2BGR);
        cvCvtColor(tempimg,tempimg,CV_HSV2BGR);
        cvShowImage(FREENECTOPENCV_WINDOW_D,tempimg);
        //unlock mutex for depth image
        pthread_mutex_unlock( &mutex_depth );

        //lock mutex for rgb image
        pthread_mutex_lock( &mutex_rgb );
        // show image to window
        cvCvtColor(rgbimg,tempimg,CV_BGR2RGB);
        cvShowImage(FREENECTOPENCV_WINDOW_N, tempimg);
        //unlock mutex
        pthread_mutex_unlock( &mutex_rgb );

        // wait for quit key
        if( cvWaitKey( 15 )==27 )
                break;

    }
    pthread_exit(NULL);

}


int main(int argc, char **argv)
{

    freenect_context *f_ctx;
    freenect_device *f_dev;


    int res = 0;
    int die = 0;
    printf("Kinect camera test\n");

    if (freenect_init(&f_ctx, NULL) < 0) {
            printf("freenect_init() failed\n");
            return 1;
        }

        if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
            printf("Could not open device\n");
            return 1;
        }

    freenect_set_depth_callback(f_dev, depth_cb);
    freenect_set_rgb_callback(f_dev, rgb_cb);
    freenect_set_rgb_format(f_dev, FREENECT_FORMAT_RGB);

    // create opencv display thread
    res = pthread_create(&cv_thread, NULL, cv_threadfunc, (void*) depthimg);
    if (res) {
        printf("pthread_create failed\n");
        return 1;
    }

    printf("init done\n");



    freenect_start_depth(f_dev);
    freenect_start_rgb(f_dev);

    while(!die && freenect_process_events(f_ctx) >= 0 );


}