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Diffstat (limited to 'offsetProject/src/ofApp.cpp')
| -rw-r--r-- | offsetProject/src/ofApp.cpp | 230 |
1 files changed, 230 insertions, 0 deletions
diff --git a/offsetProject/src/ofApp.cpp b/offsetProject/src/ofApp.cpp new file mode 100644 index 0000000..1c61832 --- /dev/null +++ b/offsetProject/src/ofApp.cpp @@ -0,0 +1,230 @@ +#include "ofApp.h" + + +//-------------------------------------------------------------- +void ofApp::setup() { + ofSetLogLevel(OF_LOG_VERBOSE); + + // enable depth->video image calibration + kinect.setRegistration(true); + + kinect.init(); + //kinect.init(true); // shows infrared instead of RGB video image + //kinect.init(false, false); // disable video image (faster fps) + + kinect.open(); // opens first available kinect + //kinect.open(1); // open a kinect by id, starting with 0 (sorted by serial # lexicographically)) + //kinect.open("A00362A08602047A"); // open a kinect using it's unique serial # + + // print the intrinsic IR sensor values + if(kinect.isConnected()) { + ofLogNotice() << "sensor-emitter dist: " << kinect.getSensorEmitterDistance() << "cm"; + ofLogNotice() << "sensor-camera dist: " << kinect.getSensorCameraDistance() << "cm"; + ofLogNotice() << "zero plane pixel size: " << kinect.getZeroPlanePixelSize() << "mm"; + ofLogNotice() << "zero plane dist: " << kinect.getZeroPlaneDistance() << "mm"; + } + + + colourImage.allocate(kinect.width, kinect.height); + depthImage.allocate(kinect.width, kinect.height); + + farThreshold = 70; + + ofSetFrameRate(60); + + // zero the tilt on startup + angle = 0; + kinect.setCameraTiltAngle(angle); + + //how to draw a pyramid mosaic + //start with the largest size square + //get the depth, if below a certain size, subdivide and repeat + + //OR start at the smallest size, if adjacent squares are the same, work up + + //1 - create a pyramid of mip maps of depth + //2 - work upwards + + int min_w=ceil(kinect.width/(MAX_TILE_SIZE*2))*2; + int min_h=ceil(kinect.height/(MAX_TILE_SIZE*2))*2; + + //get number of levels + int levels=0; + for (int i=MIN_TILE_SIZE;i>=MAX_TILE_SIZE;i*=2) { + levels++; + int w=ceil(kinect.width/(i*2))*2; + int h=ceil(kinect.height/(i*2))*2; + numTiles.push_back(make_pair(w,h)); + cerr<<"level "<<levels<<" mipmap: "<<w<<"x"<<h<<endl; + } + + numTiles.resiz + + colourTiles.resize(levels); + depthTiles.resize(levels); + +} + +//-------------------------------------------------------------- +void ofApp::update() { + + ofBackground(100, 100, 100); + + kinect.update(); + + // there is a new frame and we are connected + if(kinect.isFrameNew()) { + + depthImage.setFromPixels(kinect.getDepthPixels(), kinect.width, kinect.height); + colourImage.setFromPixels(kinect.getPixels(), kinect.width, kinect.height); + + depthImage.threshold(farThreshold); + + depthImage.extend() + + // mark pixels and texture dirty + depthImage.flagImageChanged(); + colourImage.flagImageChanged(); + + ofxCvColorImage *prevCol=&colourImage; + ofxCvGrayscaleImage *prevDepth=&depthImage; + + for (int i=MIN_TILE_SIZE,l=0;i>=MAX_TILE_SIZE;i*=2,l++){ + colourTiles[l].allocate(numTiles[l].first,numTiles[l].second); + colourTiles[l].scaleIntoMe(*prevCol); + depthTiles[l].allocate(numTiles[l].first,numTiles[l].second); + depthTiles[l].scaleIntoMe(*prevDepth); + //extend borders to a whole number of tiles of the next size + if (l<colourTiles.size()-1){ + colourTiles[l].extend(numTiles[l+1].first*2,numTiles[l+1].second*2); + depthTiles[l].extend(numTiles[l+1].first*2,numTiles[l+1].second*2); + } + prevCol=&colourTiles[l]; + prevDepth=&depthTiles[l]; + } + } +} + +//-------------------------------------------------------------- +void ofApp::draw() { + + ofSetColor(255, 255, 255); + + // draw from the live kinect + kinect.drawDepth(10, 10, 400, 300); + kinect.draw(420, 10, 400, 300); + + depthImage.draw(10, 320, 400, 300); + + + // draw instructions + ofSetColor(255, 255, 255); + stringstream reportStream; + + reportStream << "press p to switch between images and point cloud, rotate the point cloud with the mouse" << endl + << "set far threshold " << farThreshold + << ", fps: " << ofGetFrameRate() << endl + << "press c to close the connection and o to open it again, connection is: " << kinect.isConnected() << endl; + + if(kinect.hasCamTiltControl()) { + reportStream << "press UP and DOWN to change the tilt angle: " << angle << " degrees" << endl + << "press 1-5 & 0 to change the led mode" << endl; + } + + ofDrawBitmapString(reportStream.str(), 20, 652); + +} + + + +//-------------------------------------------------------------- +void ofApp::exit() { + kinect.setCameraTiltAngle(0); // zero the tilt on exit + kinect.close(); + +} + +//-------------------------------------------------------------- +void ofApp::keyPressed (int key) { + switch (key) { + + case '>': + case '.': + farThreshold ++; + if (farThreshold > 255) farThreshold = 255; + break; + + case '<': + case ',': + farThreshold --; + if (farThreshold < 0) farThreshold = 0; + break; + + + case 'w': + kinect.enableDepthNearValueWhite(!kinect.isDepthNearValueWhite()); + break; + + case 'o': + kinect.setCameraTiltAngle(angle); // go back to prev tilt + kinect.open(); + break; + + case 'c': + kinect.setCameraTiltAngle(0); // zero the tilt + kinect.close(); + break; + + case '1': + kinect.setLed(ofxKinect::LED_GREEN); + break; + + case '2': + kinect.setLed(ofxKinect::LED_YELLOW); + break; + + case '3': + kinect.setLed(ofxKinect::LED_RED); + break; + + case '4': + kinect.setLed(ofxKinect::LED_BLINK_GREEN); + break; + + case '5': + kinect.setLed(ofxKinect::LED_BLINK_YELLOW_RED); + break; + + case '0': + kinect.setLed(ofxKinect::LED_OFF); + break; + + case OF_KEY_UP: + angle++; + if(angle>30) angle=30; + kinect.setCameraTiltAngle(angle); + break; + + case OF_KEY_DOWN: + angle--; + if(angle<-30) angle=-30; + kinect.setCameraTiltAngle(angle); + break; + } +} + +//-------------------------------------------------------------- +void ofApp::mouseDragged(int x, int y, int button) +{} + +//-------------------------------------------------------------- +void ofApp::mousePressed(int x, int y, int button) +{} + +//-------------------------------------------------------------- +void ofApp::mouseReleased(int x, int y, int button) +{} + +//-------------------------------------------------------------- +void ofApp::windowResized(int w, int h) +{} |