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...eenect/examples/kinect_basic_frames_customDepthmap/kinect_basic_frames_customDepthmap.pde
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| //--------------------------------------------- | ||
| // | ||
| // author: thomas diewald | ||
| // date: 30.03.2012 | ||
| // | ||
| // desc: basic example to get video/depth from a kinect | ||
| // modified example, to generate a custom depth map | ||
| //--------------------------------------------- | ||
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| import dLibs.freenect.toolbox.*; | ||
| import dLibs.freenect.constants.*; | ||
| import dLibs.freenect.interfaces.*; | ||
| import dLibs.freenect.*; | ||
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| //------------------------------------------------------------------- | ||
| Kinect kinect_; | ||
| KinectFrameVideo kinect_video_; | ||
| KinectFrameDepth kinect_depth_; | ||
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| int kinectFrame_size_x = VIDEO_FORMAT._RGB_.getWidth(); | ||
| int kinectFrame_size_y = VIDEO_FORMAT._RGB_.getHeight(); | ||
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| PImage video_frame_, depth_frame_; // images | ||
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| // raw depth values of the kinect depth camera ( copy by reference or deep copy) | ||
| int[] raw_depth; | ||
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| //------------------------------------------------------------------- | ||
| void setup(){ | ||
| size(kinectFrame_size_x, kinectFrame_size_y*2); | ||
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| kinect_ = new Kinect(0); | ||
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| kinect_video_ = new KinectFrameVideo(VIDEO_FORMAT._RGB_ ); | ||
| kinect_depth_ = new KinectFrameDepth(DEPTH_FORMAT._11BIT_); | ||
| kinect_depth_.setColorMode(2); // no generation of depth-map by default | ||
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| kinect_video_.setFrameRate(30); | ||
| kinect_depth_.setFrameRate(30); | ||
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| kinect_video_.connect(kinect_); | ||
| kinect_depth_.connect(kinect_); | ||
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| // create a PImage for video/depth | ||
| video_frame_ = createImage(VIDEO_FORMAT._RGB_ .getWidth(), VIDEO_FORMAT._RGB_ .getHeight(), RGB); | ||
| depth_frame_ = createImage(DEPTH_FORMAT._11BIT_.getWidth(), DEPTH_FORMAT._11BIT_.getHeight(), RGB); | ||
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| // hint: allocate the arraysize, if the values should be copied for every frame (deep copy) | ||
| //raw_depth = new int[depth_frame_.pixels.length]; | ||
| } | ||
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| //------------------------------------------------------------------- | ||
| void draw(){ | ||
| println(frameRate); | ||
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| //--------------------------------------- | ||
| // DEPTH VALUES | ||
| //--------------------------------------- | ||
| // hint: use System.arraycopy(), if a deep-copy is | ||
| // needed! ... uncomment array allocation in setup | ||
| // System.arraycopy(kinect_depth_.getRawDepth(), 0, raw_depth, 0, raw_depth.length); | ||
| raw_depth = kinect_depth_.getRawDepth(); // just copy by reference | ||
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| // custom mapping from raw-depth values, to a gray depthmap | ||
| depth_frame_.loadPixels(); | ||
| for (int i = 0; i < raw_depth.length; i++){ | ||
| // 2047 is the depth-value-"code" for kinect-shadows | ||
| if( raw_depth[i] == 2047) { | ||
| // set blue color for shadows, ... or any other color | ||
| depth_frame_.pixels[i] = 0xFF0000AA; | ||
| } else { // valid depth values | ||
| // raw depth values have a range of ~330 to ~1150 | ||
| // and are mapped to a gray-values from 255 to 0 | ||
| // TODO: custom mapping values | ||
| int gray = ((int) map(raw_depth[i], 330, 1150, 255, 0)) & 0xFF ; | ||
| depth_frame_.pixels[i] = 0xFF000000 | gray<<16 | gray<<8 | gray<<0 ; | ||
| } | ||
| } | ||
| depth_frame_.updatePixels(); | ||
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| //--------------------------------------- | ||
| // VIDEO VALUES | ||
| //--------------------------------------- | ||
| // copy rgb-video-pixels to image (by reference!!) | ||
| video_frame_.loadPixels(); | ||
| video_frame_.pixels = kinect_video_.getPixels(); | ||
| video_frame_.updatePixels(); | ||
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| // display images | ||
| image(video_frame_, 0, 0); | ||
| image(depth_frame_, 0, DEPTH_FORMAT._11BIT_.getHeight()); | ||
| } | ||
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| void dispose(){ | ||
| Kinect.shutDown(); | ||
| super.dispose(); | ||
| } |
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| # More on this file here: http://code.google.com/p/processing/wiki/LibraryBasics | ||
| # UTF-8 supported. | ||
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| # The name of your library as you want it formatted | ||
| name = dLibs_freenect | ||
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| # List of authors. Links can be provided using the syntax [author name](url) | ||
| authorList = [Thomas Diewald](http://www.thomasdiewald.com) | ||
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| # A web page for your library, NOT a direct link to where to download it | ||
| url = http://thomasdiewald.com/processing/libraries/dLibs_freenect/ | ||
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| # The category of your library, must be one (or many) of the following: | ||
| # "3D" "Animation" "Compilations" "Data" | ||
| # "Fabrication" "Geometry" "GUI" "Hardware" | ||
| # "I/O" "Language" "Math" "Simulation" | ||
| # "Sound" "Utilities" "Typography" "Video & Vision" | ||
| # | ||
| # If a value other than those listed is used, your library will listed as "Other." | ||
| category = Video & Vision | ||
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| # A short sentence (or fragment) to summarize the library's function. This will be | ||
| # shown from inside the PDE when the library is being installed. Avoid repeating | ||
| # the name of your library here. Also, avoid saying anything redundant like | ||
| # mentioning that its a library. This should start with a capitalized letter, and | ||
| # end with a period. | ||
| sentence = a kinect library based on the libfreenect-software. | ||
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| # Additional information suitable for the Processing website. The value of | ||
| # 'sentence' always will be prepended, so you should start by writing the | ||
| # second sentence here. If your library only works on certain operating systems, | ||
| # mention it here. | ||
| paragraph = | ||
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| # Links in the 'sentence' and 'paragraph' attributes can be inserted using the | ||
| # same syntax as for authors. That is, [here is a link to Processing](http://processing.org/) | ||
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| # A version number that increments once with each release. This | ||
| # is used to compare different versions of the same library, and | ||
| # check if an update is available. You should think of it as a | ||
| # counter, counting the total number of releases you've had. | ||
| version = 12 # This must be parsable as an int | ||
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| # The version as the user will see it. If blank, the version attribute will be used here | ||
| prettyVersion = 2.95 # This is treated as a String |
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