DepthImage
* prog: Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
* date: 12/12/2012 (m/d/y)
* ----------------------------------------------------------------------------
*/
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);
}
DepthMap3D
/* --------------------------------------------------------------------------
* SimpleOpenNI DepthMap3d Test
* --------------------------------------------------------------------------
* Processing Wrapper for the OpenNI/Kinect 2 library
* http://code.google.com/p/simple-openni
* --------------------------------------------------------------------------
* prog: Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
* date: 12/12/2012 (m/d/y)
* ----------------------------------------------------------------------------
*/
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;
}
}
