Example: Kinect Streaming

The FAST kinect module has to be enabled in order to run this example.

/**
 * Examples/DataImport/kinectStreaming.cpp
 *
 * If you edit this example, please also update the wiki and source code file in the repository.
 */
#include "FAST/Streamers/KinectStreamer.hpp"
#include "FAST/Visualization/ImageRenderer/ImageRenderer.hpp"
#include "FAST/Visualization/PointRenderer/PointRenderer.hpp"
#include "FAST/Visualization/MultiViewWindow.hpp"

using namespace fast;

int main(int argc, char** argv) {
    // Setup streaming
    KinectStreamer::pointer streamer = KinectStreamer::New();

    // Renderer RGB image
    ImageRenderer::pointer renderer = ImageRenderer::New();
    renderer->addInputConnection(streamer->getOutputPort(0));

    // Renderer depth image
    ImageRenderer::pointer renderer2 = ImageRenderer::New();
    renderer2->addInputConnection(streamer->getOutputPort(1));
    renderer2->setIntensityLevel(1000);
    renderer2->setIntensityWindow(500);

    // Render point cloud
    PointRenderer::pointer renderer3 = PointRenderer::New();
    renderer3->addInputConnection(streamer->getOutputPort(2));
    renderer3->setDefaultSize(2);

    // Setup window
    MultiViewWindow::pointer window = MultiViewWindow::New();
    window->setTitle("FAST Kinect Streaming");
    window->setHeight(512);
    window->setWidth(1920);
    window->setNrOfViews(3);
    window->addRenderer(0, renderer);
    window->getView(0)->set2DMode();
    window->getView(0)->setBackgroundColor(Color::Black());
    window->addRenderer(1, renderer2);
    window->getView(1)->set2DMode();
    window->getView(1)->setBackgroundColor(Color::Black());
    window->addRenderer(2, renderer3);
    // Adjust camera
    window->getView(2)->setLookAt(Vector3f(0,-500,-500), Vector3f(0,0,1000), Vector3f(0,-1,0), 500, 5000);
    //window->enableFullscreen();
#ifdef FAST_CONTINUOUS_INTEGRATION
    // This will automatically close the window after 5 seconds, used for CI testing
    window->setTimeout(5*1000);
#endif
    window->start();
}