week11

import SimpleOpenNI.*;
SimpleOpenNI  context;
void setup()
{
  size(640*2, 480);
  context = new SimpleOpenNI(this);
  if (context.isInit() == false)
  {
    println("Can't init SimpleOpenNI, maybe the camera is not connected!");
    exit();
    return;
  }
  // mirror is by default enabled
  context.setMirror(true);
  // enable depthMap generation
  context.enableDepth();
  // enable ir generation
  context.enableRGB();
}
void draw()
{
  // update the cam
  context.update();
  background(200, 0, 0);
  // draw depthImageMap
  image(context.depthImage(), 0, 0);
  // draw irImageMap
  image(context.rgbImage(), context.depthWidth() + 10, 0);
}

------------------------------------------------------------

import SimpleOpenNI.*;

SimpleOpenNI context;

float        zoomF =0.3f;

float        rotX = radians(180);  // by default rotate the hole scene 180deg around the x-axis, 

                                   // the data from openni comes upside down

float        rotY = radians(0);

void setup()

{

  size(1024,768,P3D);

  context = new SimpleOpenNI(this);

  if(context.isInit() == false)

  {

     println("Can't init SimpleOpenNI, maybe the camera is not connected!"); 

     exit();

     return;  

  }

  

  // disable mirror

  context.setMirror(false);

  // enable depthMap generation 

  context.enableDepth();

  stroke(255,255,255);

  smooth();

  perspective(radians(45),

              float(width)/float(height),

              10,150000);

}

void draw()

{

  // update the cam

  context.update();

  background(0,0,0);

  translate(width/2, height/2, 0);

  rotateX(rotX);

  rotateY(rotY);

  scale(zoomF);

  int[]   depthMap = context.depthMap();

  int     steps   = 3;  // to speed up the drawing, draw every third point

  int     index;

  PVector realWorldPoint;

  translate(0,0,-1000);  // set the rotation center of the scene 1000 infront of the camera

  stroke(255);

  PVector[] realWorldMap = context.depthMapRealWorld();

  

  // draw pointcloud

  beginShape(POINTS);

  for(int y=0;y < context.depthHeight();y+=steps)

  {

    for(int x=0;x < context.depthWidth();x+=steps)

    {

      index = x + y * context.depthWidth();

      if(depthMap[index] > 0)

      { 

        // draw the projected point

//        realWorldPoint = context.depthMapRealWorld()[index];

        realWorldPoint = realWorldMap[index];

        vertex(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z);  // make realworld z negative, in the 3d drawing coordsystem +z points in the direction of the eye

      }

      //println("x: " + x + " y: " + y);

    }

  } 

  endShape();

  

  // draw the kinect cam

  context.drawCamFrustum();

}

void keyPressed()

{

  switch(key)

  {

  case ' ':

    context.setMirror(!context.mirror());

    break;

  }

  switch(keyCode)

  {

  case LEFT:

    rotY += 0.1f;

    break;

  case RIGHT:

    // zoom out

    rotY -= 0.1f;

    break;

  case UP:

    if(keyEvent.isShiftDown())

      zoomF += 0.02f;

    else

      rotX += 0.1f;

    break;

  case DOWN:

    if(keyEvent.isShiftDown())

    {

      zoomF -= 0.02f;

      if(zoomF < 0.01)

        zoomF = 0.01;

    }

    else

      rotX -= 0.1f;

    break;

  }

}