Documentation.Nestk History
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git clone https://github.com/nburrus/nestk.git
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git clone https://github.com/rgbdemo/nestk.git
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(:htoc:)
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(:title [=Using the nestk library=]:)
(:htoc:)
[[<<]]
!! Developing your own software based on the @@nestk@@ library
@@Nestk@@ is the core library used by the demo programs within RGBDemo. It is designed to be easy to integrate into existing cmake-based software and provide access the Kinect features quickly.
The library is built on top of `OpenCV and QT for the graphical parts. Parts of it also depends on [[http://pointclouds.org|PCL]]. It includes or look for all the other libraries you need. In particular, libfreenect is included.
It can be used as a classical external library installed on the system, but the easiest way is to include it to use it is designed to be included as a subdirectory of your project.
!! Support
Please send your questions, patches, ... to mailto:rgbdemo@googlegroups.com .
!! Tutorial to get started
Here is a simple tutorial to get started. You can get its full code on [[https://github.com/nburrus/mysuperdemo|github]]. Suppose you want to create a new project called @@mysuperdemo@@. Then just put the @@nestk@@ directory from github or extract it from a release of rgbdemo:
[@
mkdir mysuperdemo
cd mysuperdemo
git clone https://github.com/nburrus/nestk.git
@]
Note that if your project is using git, you might want to add it as a submodule.
Then just create a @@CMakeLists.txt@@ file as follows:
[@
cmake_minimum_required(VERSION 2.6)
PROJECT(mysuperdemo)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
# Default values
SET(NESTK_USE_FREENECT 1)
SET(NESTK_USE_OPENNI 1)
ADD_SUBDIRECTORY(nestk)
## nestk/UseNestk.cmake.in defines variable to use nestk.
## It itself includes nestk/deps/cmake/UseEmbeddedNestkDeps.cmake that
## contains most of the cmake find packages commands.
INCLUDE("${nestk_BINARY_DIR}/UseEmbeddedNestk.cmake")
ADD_EXECUTABLE(mysuperdemo mysuperdemo.cpp)
TARGET_LINK_LIBRARIES(mysuperdemo nestk)
@]
and finally enter your program in @@mysuperdemo.cpp@@:
[@
#include <ntk/camera/freenect_grabber.h>
#include <ntk/camera/rgbd_processor.h>
#include <ntk/utils/opencv_utils.h>
using namespace ntk;
using namespace cv;
int main()
{
FreenectGrabber grabber;
grabber.initialize();
// Set camera tilt.
grabber.setTiltAngle(15);
grabber.start();
// Postprocess raw kinect data.
// Tell the processor to transform raw depth into meters using baseline-offset technique.
FreenectRGBDProcessor processor;
processor.setFilterFlag(RGBDProcessor::ComputeKinectDepthBaseline, true);
// OpenCV windows.
namedWindow("color");
namedWindow("depth");
namedWindow("depth_as_color");
// Current image. An RGBDImage stores rgb and depth data.
RGBDImage current_frame;
while (true)
{
grabber.waitForNextFrame();
grabber.copyImageTo(current_frame);
processor.processImage(current_frame);
// Display the color image
imshow("color", current_frame.rgb());
// Show the depth image as normalized gray scale
imshow_normalized("depth", current_frame.depth());
// Enable switching to InfraRead mode.
unsigned char c = cv::waitKey(10) & 0xff;
if (c == 'q')
exit(0);
}
return 0;
}
@]
To compile it (in release mode with debug information), do the following:
[@
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make
cd bin
./mysuperdemo
@]
!! Documentation
There is no documentation as such yet. The code is partially doxygenated though, and you can find a bunch of examples in @@nestk/samples@@ and tests in @@nestk/tests@@ that showcase most features. If you want to enable sample and tests building, you need to enable respectively the @@NESTK_BUILD_SAMPLES@@ and @@NESTK_BUILD_TESTS@@ cmake variables.
Here is a list of samples.
!!! Using the library with an external install of nestk
If you don't want to embed the library in your program, you can have a look at the following example:
[[https://github.com/nburrus/nestk/blob/master/samples/example_external|example_external]]
You will need to compile nestk separately and run @@make install@@ then.
!!! Read images using libfreenect backend
[[https://github.com/nburrus/nestk/blob/master/samples/libfreenect_backend.cpp|libfreenect_backend.cpp]]
!!! Read images using `OpenNI backend
[[https://github.com/nburrus/nestk/blob/master/samples/openni_backend.cpp|openni_backend.cpp]]
!!! Grab a snapshot mesh of the current scene
[[https://github.com/nburrus/nestk/blob/master/samples/grab_mesh.cpp|grab_mesh.cpp]]
!!! Hand tracking
[[https://github.com/nburrus/nestk/blob/master/samples/handpoint_tracking.cpp|handpoint_tracking.cpp]]
!!! Skeleton tracking
[[https://github.com/nburrus/nestk/blob/master/samples/skeleton_tracking.cpp|skeleton_tracking.cpp]]
!!! Acquiring 3D models of the objects lying on a table
[[https://github.com/nburrus/nestk/blob/master/samples/table_top_object.cpp|table_top_object.cpp]]
!!! Grabbing from multiple Kinect
[[https://github.com/nburrus/nestk/blob/master/samples/multiple_kinects.cpp|multiple_kinects.cpp]]
!!! Grabbing synchronously from multiple Kinect
[[https://github.com/nburrus/nestk/blob/master/samples/synchronized_multiple_kinects.cpp|synchronized_multiple_kinects.cpp]]
!!! Interfacing with PCL
[[https://github.com/nburrus/nestk/blob/master/samples/pcl_compatibility.cpp|pcl_compatibility.cpp]]
!!! Using fast ICP from PCL
[[https://github.com/nburrus/nestk/blob/master/samples/icp_pcl.cpp|icp_pcl.cpp]]
(:htoc:)
[[<<]]
!! Developing your own software based on the @@nestk@@ library
@@Nestk@@ is the core library used by the demo programs within RGBDemo. It is designed to be easy to integrate into existing cmake-based software and provide access the Kinect features quickly.
The library is built on top of `OpenCV and QT for the graphical parts. Parts of it also depends on [[http://pointclouds.org|PCL]]. It includes or look for all the other libraries you need. In particular, libfreenect is included.
It can be used as a classical external library installed on the system, but the easiest way is to include it to use it is designed to be included as a subdirectory of your project.
!! Support
Please send your questions, patches, ... to mailto:rgbdemo@googlegroups.com .
!! Tutorial to get started
Here is a simple tutorial to get started. You can get its full code on [[https://github.com/nburrus/mysuperdemo|github]]. Suppose you want to create a new project called @@mysuperdemo@@. Then just put the @@nestk@@ directory from github or extract it from a release of rgbdemo:
[@
mkdir mysuperdemo
cd mysuperdemo
git clone https://github.com/nburrus/nestk.git
@]
Note that if your project is using git, you might want to add it as a submodule.
Then just create a @@CMakeLists.txt@@ file as follows:
[@
cmake_minimum_required(VERSION 2.6)
PROJECT(mysuperdemo)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
# Default values
SET(NESTK_USE_FREENECT 1)
SET(NESTK_USE_OPENNI 1)
ADD_SUBDIRECTORY(nestk)
## nestk/UseNestk.cmake.in defines variable to use nestk.
## It itself includes nestk/deps/cmake/UseEmbeddedNestkDeps.cmake that
## contains most of the cmake find packages commands.
INCLUDE("${nestk_BINARY_DIR}/UseEmbeddedNestk.cmake")
ADD_EXECUTABLE(mysuperdemo mysuperdemo.cpp)
TARGET_LINK_LIBRARIES(mysuperdemo nestk)
@]
and finally enter your program in @@mysuperdemo.cpp@@:
[@
#include <ntk/camera/freenect_grabber.h>
#include <ntk/camera/rgbd_processor.h>
#include <ntk/utils/opencv_utils.h>
using namespace ntk;
using namespace cv;
int main()
{
FreenectGrabber grabber;
grabber.initialize();
// Set camera tilt.
grabber.setTiltAngle(15);
grabber.start();
// Postprocess raw kinect data.
// Tell the processor to transform raw depth into meters using baseline-offset technique.
FreenectRGBDProcessor processor;
processor.setFilterFlag(RGBDProcessor::ComputeKinectDepthBaseline, true);
// OpenCV windows.
namedWindow("color");
namedWindow("depth");
namedWindow("depth_as_color");
// Current image. An RGBDImage stores rgb and depth data.
RGBDImage current_frame;
while (true)
{
grabber.waitForNextFrame();
grabber.copyImageTo(current_frame);
processor.processImage(current_frame);
// Display the color image
imshow("color", current_frame.rgb());
// Show the depth image as normalized gray scale
imshow_normalized("depth", current_frame.depth());
// Enable switching to InfraRead mode.
unsigned char c = cv::waitKey(10) & 0xff;
if (c == 'q')
exit(0);
}
return 0;
}
@]
To compile it (in release mode with debug information), do the following:
[@
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make
cd bin
./mysuperdemo
@]
!! Documentation
There is no documentation as such yet. The code is partially doxygenated though, and you can find a bunch of examples in @@nestk/samples@@ and tests in @@nestk/tests@@ that showcase most features. If you want to enable sample and tests building, you need to enable respectively the @@NESTK_BUILD_SAMPLES@@ and @@NESTK_BUILD_TESTS@@ cmake variables.
Here is a list of samples.
!!! Using the library with an external install of nestk
If you don't want to embed the library in your program, you can have a look at the following example:
[[https://github.com/nburrus/nestk/blob/master/samples/example_external|example_external]]
You will need to compile nestk separately and run @@make install@@ then.
!!! Read images using libfreenect backend
[[https://github.com/nburrus/nestk/blob/master/samples/libfreenect_backend.cpp|libfreenect_backend.cpp]]
!!! Read images using `OpenNI backend
[[https://github.com/nburrus/nestk/blob/master/samples/openni_backend.cpp|openni_backend.cpp]]
!!! Grab a snapshot mesh of the current scene
[[https://github.com/nburrus/nestk/blob/master/samples/grab_mesh.cpp|grab_mesh.cpp]]
!!! Hand tracking
[[https://github.com/nburrus/nestk/blob/master/samples/handpoint_tracking.cpp|handpoint_tracking.cpp]]
!!! Skeleton tracking
[[https://github.com/nburrus/nestk/blob/master/samples/skeleton_tracking.cpp|skeleton_tracking.cpp]]
!!! Acquiring 3D models of the objects lying on a table
[[https://github.com/nburrus/nestk/blob/master/samples/table_top_object.cpp|table_top_object.cpp]]
!!! Grabbing from multiple Kinect
[[https://github.com/nburrus/nestk/blob/master/samples/multiple_kinects.cpp|multiple_kinects.cpp]]
!!! Grabbing synchronously from multiple Kinect
[[https://github.com/nburrus/nestk/blob/master/samples/synchronized_multiple_kinects.cpp|synchronized_multiple_kinects.cpp]]
!!! Interfacing with PCL
[[https://github.com/nburrus/nestk/blob/master/samples/pcl_compatibility.cpp|pcl_compatibility.cpp]]
!!! Using fast ICP from PCL
[[https://github.com/nburrus/nestk/blob/master/samples/icp_pcl.cpp|icp_pcl.cpp]]