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added calibrate projector (records, but doesn't perform corralte yet)…

…. requires updated ofxCvGUI, updated ofxOpenNI
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commit 1635089e164dc4e05516282e796fa19738f06762 1 parent 165744c
Elliot Woods authored
Showing with 3,945 additions and 1,230 deletions.
  1. +0 −67 A.ofxKinect-test/src/3D/KinectViewNode.cpp
  2. +0 −34 A.ofxKinect-test/src/3D/KinectViewNode.h
  3. 0  {ProjectChessboard → A.ofxOpenNI2-test}/Project.xcconfig
  4. +22 −0 A.ofxOpenNI2-test/README.md
  5. +1,353 −0 A.ofxOpenNI2-test/ofxOpenNI2-test.xcodeproj/project.pbxproj
  6. 0  {ProjectChessboard → A.ofxOpenNI2-test}/openFrameworks-Info.plist
  7. 0  {ProjectChessboard → A.ofxOpenNI2-test}/src/main.cpp
  8. +4 −12 {ProjectChessboard → A.ofxOpenNI2-test}/src/testApp.cpp
  9. +4 −8 {ProjectChessboard → A.ofxOpenNI2-test}/src/testApp.h
  10. +1,970 −0 CalibrateProjector/CalibrateProjector.xcodeproj/project.pbxproj
  11. +9 −0 CalibrateProjector/Project.xcconfig
  12. 0  {ProjectChessboard → CalibrateProjector}/README.md
  13. +20 −0 CalibrateProjector/openFrameworks-Info.plist
  14. +34 −0 CalibrateProjector/src/CorrelateXYZtoXY.cpp
  15. +28 −0 CalibrateProjector/src/CorrelateXYZtoXY.h
  16. +16 −0 CalibrateProjector/src/main.cpp
  17. +166 −0 CalibrateProjector/src/testApp.cpp
  18. +83 −0 CalibrateProjector/src/testApp.h
  19. +0 −1,032 ProjectChessboard/ProjectChessboard.xcodeproj/project.pbxproj
  20. +0 −67 ProjectChessboard/src/3D/KinectViewNode.cpp
  21. +1 −0  README.md
  22. +0 −2  common src/previews/3D/KinectViewNode.cpp
  23. +76 −0 common src/previews/3D/OpenNI2ViewNode.cpp
  24. +14 −8 ProjectChessboard/src/3D/KinectViewNode.h → common src/previews/3D/OpenNI2ViewNode.h
  25. +94 −0 common src/render/Chessboard.cpp
  26. +51 −0 common src/render/Chessboard.h
67 A.ofxKinect-test/src/3D/KinectViewNode.cpp
View
@@ -1,67 +0,0 @@
-//
-// KinectViewNode.cpp
-// ofxKinect-test
-//
-// Created by Elliot Woods on 13/10/2011.
-// Copyright 2011 Kimchi and Chips.
-//
-// Distrubuted under the MIT license
-// http://www.opensource.org/licenses/mit-license.php
-
-#include "KinectViewNode.h"
-
-KinectViewNode::KinectViewNode(ofxKinect& k) :
-kinect(k) {
- glGenBuffersARB(1, &vbo[0]);
- glGenBuffersARB(1, &vbo[1]);
-
- nPoints = kinect.width * kinect.height;
- xyz.allocate(kinect.width, kinect.height, OF_PIXELS_RGB);
- rgb.allocate(kinect.width, kinect.height, OF_PIXELS_RGB);
-}
-
-//-----
-
-void KinectViewNode::update() {
- ofVec3f* currentXYZ = (ofVec3f*) xyz.getPixels();
- ofColor* currentRGB = (ofColor*) rgb.getPixels();
-
- for (int j=0; j<kinect.height; ++j)
- for (int i=0; i<kinect.width; ++i) {
- *currentXYZ = kinect.getWorldCoordinateFor(i, j);
- *currentRGB = kinect.getCalibratedColorAt(i, j);
-
- ++currentXYZ;
- ++currentRGB;
- }
-}
-
-//-----
-
-void KinectViewNode::customDraw() {
-
- update();
-
- glEnableClientState(GL_VERTEX_ARRAY);
- glEnableClientState(GL_COLOR_ARRAY);
-
- glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo[0]);
- glBufferDataARB(GL_ARRAY_BUFFER_ARB, nPoints * 3 * sizeof(float), xyz.getPixels(), GL_STATIC_DRAW_ARB);
- glVertexPointer(3, GL_FLOAT, 0, 0);
-
- glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo[1]);
- glBufferDataARB(GL_ARRAY_BUFFER_ARB, nPoints * 4 * sizeof(unsigned char), rgb.getPixels(), GL_STATIC_DRAW_ARB);
- glColorPointer(4, GL_UNSIGNED_BYTE, 0, 0);
-
-
- ofPushMatrix();
- ofScale(-400.0f, -400.0f, -400.0f);
- glDrawArrays(GL_POINTS, 0, nPoints);
- ofPopMatrix();
-
-
- glDisableClientState(GL_VERTEX_ARRAY);
- glDisableClientState(GL_COLOR_ARRAY);
-
- glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);
-}
34 A.ofxKinect-test/src/3D/KinectViewNode.h
View
@@ -1,34 +0,0 @@
-//
-// KinectViewNode.h
-// ofxKinect-test
-//
-// Created by Elliot Woods on 13/10/2011.
-// Copyright 2011 Kimchi and Chips.
-//
-// Distrubuted under the MIT license
-// http://www.opensource.org/licenses/mit-license.php
-
-#pragma once
-
-#include "ofMain.h"
-#include "ofxKinect.h"
-
-/** 3D node view of Kinect data.
- We presume that kinect.update() is already being called.
- */
-class KinectViewNode : public ofNode {
-public:
- KinectViewNode(ofxKinect& k);
-
-protected:
- void update();
- void customDraw();
-
- ofxKinect& kinect;
-
- ofFloatPixels xyz;
- ofPixels rgb;
-
- GLuint vbo[2];
- GLuint nPoints;
-};
0  ProjectChessboard/Project.xcconfig → A.ofxOpenNI2-test/Project.xcconfig
View
File renamed without changes
22 A.ofxOpenNI2-test/README.md
View
@@ -0,0 +1,22 @@
+#A. OpenNI-test
+
+Test to view data from the kinect, and generate a point cloud using ofxOpenNI2 and ofxCVgui.
+
+## ofxOpenNI2
+
+Arturo is hosting his own ofxOpenNI version on github at
+https://github.com/arturoc/ofxOpenNI2.git
+
+We'll be using that version here
+
+## Setting up OpenNI with kinect
+
+There's plenty of identical sets of instructions for this on the internet.
+
+Check http://kinecthesis.bakedmac.com/2011/01/11/installing-openni-kinect-drivers-and-nite-on-mac-os-x-10-6/ for 1 set
+
+Note that OpenNI binaries for all platforms are available at
+
+http://www.openni.org/Downloads/OpenNIModules.aspx
+
+i.e. NOT the URL given in those instructions.
1,353 A.ofxOpenNI2-test/ofxOpenNI2-test.xcodeproj/project.pbxproj
View
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+ LIBRARY_SEARCH_PATHS_QUOTED_FOR_TARGET_7 = "\"$(SRCROOT)/../../../addons/ofxOpenCv/libs/opencv/lib/vs2010\"";
+ LIBRARY_SEARCH_PATHS_QUOTED_FOR_TARGET_8 = "\"$(SRCROOT)/../../../addons/ofxOpenCv/libs/opencv/lib/win_cb\"";
+ LIBRARY_SEARCH_PATHS_QUOTED_FOR_TARGET_9 = "\"$(SRCROOT)/../../../addons/ofxOpenNI2/libs/nite/libs\"";
+ PREBINDING = NO;
+ PRODUCT_NAME = "$(TARGET_NAME)";
+ SDKROOT = "$(DEVELOPER_SDK_DIR)/MacOSX10.6.sdk";
+ WRAPPER_EXTENSION = app;
+ };
+ name = Release;
+ };
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+ E4B69B4D0A3A1720003C02F2 /* Build configuration list for PBXProject "ofxOpenNI2-test" */ = {
+ isa = XCConfigurationList;
+ buildConfigurations = (
+ E4B69B4E0A3A1720003C02F2 /* Debug */,
+ E4B69B4F0A3A1720003C02F2 /* Release */,
+ );
+ defaultConfigurationIsVisible = 0;
+ defaultConfigurationName = Release;
+ };
+ E4B69B5F0A3A1757003C02F2 /* Build configuration list for PBXNativeTarget "emptyExample" */ = {
+ isa = XCConfigurationList;
+ buildConfigurations = (
+ E4B69B600A3A1757003C02F2 /* Debug */,
+ E4B69B610A3A1757003C02F2 /* Release */,
+ );
+ defaultConfigurationIsVisible = 0;
+ defaultConfigurationName = Release;
+ };
+/* End XCConfigurationList section */
+ };
+ rootObject = E4B69B4C0A3A1720003C02F2 /* Project object */;
+}
0  ProjectChessboard/openFrameworks-Info.plist → A.ofxOpenNI2-test/openFrameworks-Info.plist
View
File renamed without changes
0  ProjectChessboard/src/main.cpp → A.ofxOpenNI2-test/src/main.cpp
View
File renamed without changes
16 ProjectChessboard/src/testApp.cpp → A.ofxOpenNI2-test/src/testApp.cpp
View
@@ -4,17 +4,14 @@ testApp::testApp() :
kinectView(kinect),
scrPreviewDepth("Depth", kinect.getDepthTextureReference()),
-scrPreviewRGB("RGB", kinect.getTextureReference()),
-scr3D("3D", kinectView),
-wdgTilt("Kinect tilt", tilt, -30, 30)
+scrPreviewRGB("RGB", kinect.getRGBTextureReference()),
+scr3D("3D", kinectView)
{
scrMain.push(scrPreviewDepth);
scrMain.push(scrPreviewRGB);
scrMain.push(scrControl);
scrMain.push(scr3D);
-
- scrControl.push(wdgTilt);
}
//--------------------------------------------------------------
@@ -22,18 +19,13 @@ void testApp::setup(){
screens.init(scrMain);
ofBackground(117/2,130/2,160/2);
- kinect.init();
- kinect.open();
-
- tilt = kinect.getTargetCameraTiltAngle();
+ kinect.setupFromXML("openni/config/ofxopenni_config.xml",false);
+ kinect.enableCalibratedRGBDepth();
}
//--------------------------------------------------------------
void testApp::update(){
kinect.update();
-
- if (wdgTilt.isValueNew())
- kinect.setCameraTiltAngle(tilt);
}
//--------------------------------------------------------------
12 ProjectChessboard/src/testApp.h → A.ofxOpenNI2-test/src/testApp.h
View
@@ -3,9 +3,9 @@
#include "ofMain.h"
#include "ofxCVgui.h"
-#include "ofxKinect.h"
+#include "ofxOpenNI.h"
-#include "KinectViewNode.h"
+#include "OpenNI2ViewNode.h"
class testApp : public ofBaseApp{
@@ -32,13 +32,11 @@ class testApp : public ofBaseApp{
// Device
//////////////////
//
- ofxKinect kinect;
-
- float tilt;
+ ofxOpenNI kinect;
//
//////////////////
- KinectViewNode kinectView;
+ OpenNI2ViewNode kinectView;
//////////////////
@@ -52,8 +50,6 @@ class testApp : public ofBaseApp{
scrDraw2D scrPreviewRGB;
scrWidgets scrControl;
scrDraw3D scr3D;
-
- wdgSlider wdgTilt;
//
//////////////////
};
1,970 CalibrateProjector/CalibrateProjector.xcodeproj/project.pbxproj
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1,970 additions, 0 deletions not shown
9 CalibrateProjector/Project.xcconfig
View
@@ -0,0 +1,9 @@
+//THE PATH TO THE ROOT OF OUR OF PATH RELATIVE TO THIS PROJECT.
+//THIS NEEDS TO BE DEFINED BEFORE CoreOF.xcconfig IS INCLUDED
+OF_PATH = ../../..
+
+//THIS HAS ALL THE HEADER AND LIBS FOR OF CORE
+#include "../../../libs/openFrameworksCompiled/project/osx/CoreOF.xcconfig"
+
+OTHER_LDFLAGS = $(OF_CORE_LIBS)
+HEADER_SEARCH_PATHS = $(OF_CORE_HEADERS)
0  ProjectChessboard/README.md → CalibrateProjector/README.md
View
File renamed without changes
20 CalibrateProjector/openFrameworks-Info.plist
View
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+ <key>CFBundleDevelopmentRegion</key>
+ <string>English</string>
+ <key>CFBundleExecutable</key>
+ <string>${EXECUTABLE_NAME}</string>
+ <key>CFBundleIdentifier</key>
+ <string>com.yourcompany.openFrameworks</string>
+ <key>CFBundleInfoDictionaryVersion</key>
+ <string>6.0</string>
+ <key>CFBundlePackageType</key>
+ <string>APPL</string>
+ <key>CFBundleSignature</key>
+ <string>????</string>
+ <key>CFBundleVersion</key>
+ <string>1.0</string>
+</dict>
+</plist>
34 CalibrateProjector/src/CorrelateXYZtoXY.cpp
View
@@ -0,0 +1,34 @@
+//
+// CorrelateXYZtoXY.cpp
+// CalibrateProjector
+//
+// Created by Elliot Woods on 14/10/2011.
+// Copyright 2011 Kimchi and Chips.
+//
+// Distrubuted under the MIT license
+// http://www.opensource.org/licenses/mit-license.php
+
+#include "CorrelateXYZtoXY.h"
+
+void CorrelateXYZtoXY::push(ofVec3f &xyz, ofVec2f &xy) {
+ this->xyz.push_back(xyz);
+ this->xy.push_back(xy);
+
+ xyzPreview.addVertex(xyz);
+}
+
+void CorrelateXYZtoXY::clear() {
+ xyz.clear();
+ xy.clear();
+ xyzPreview.clear();
+}
+
+int CorrelateXYZtoXY::size() {
+ return xyz.size();
+}
+
+void CorrelateXYZtoXY::drawXYZ() {
+ ofPushStyle();
+ xyzPreview.draw();
+ ofPopStyle();
+}
28 CalibrateProjector/src/CorrelateXYZtoXY.h
View
@@ -0,0 +1,28 @@
+//
+// CorrelateXYZtoXY.h
+// CalibrateProjector
+//
+// Created by Elliot Woods on 14/10/2011.
+// Copyright 2011 Kimchi and Chips.
+//
+// Distrubuted under the MIT license
+// http://www.opensource.org/licenses/mit-license.php
+
+#pragma once
+
+#include "ofMain.h"
+
+class CorrelateXYZtoXY {
+public:
+ void push(ofVec3f &xyz, ofVec2f &xy);
+ void clear();
+ int size();
+
+ void drawXYZ();
+
+ vector<ofVec3f> xyz;
+ vector<ofVec2f> xy;
+
+protected:
+ ofMesh xyzPreview;
+};
16 CalibrateProjector/src/main.cpp
View
@@ -0,0 +1,16 @@
+#include "ofMain.h"
+#include "testApp.h"
+#include "ofAppGlutWindow.h"
+
+//========================================================================
+int main( ){
+
+ ofAppGlutWindow window;
+ ofSetupOpenGL(&window, 1024,768, OF_WINDOW); // <-------- setup the GL context
+
+ // this kicks off the running of my app
+ // can be OF_WINDOW or OF_FULLSCREEN
+ // pass in width and height too:
+ ofRunApp( new testApp());
+
+}
166 CalibrateProjector/src/testApp.cpp
View
@@ -0,0 +1,166 @@
+#include "testApp.h"
+
+testApp::testApp() :
+kinectView(kinect),
+
+scrPreviewBoard("Chessboard preview", board),
+scrPreviewRGB("RGB camera", kinect.getRGBTextureReference()),
+scrKinectView("Kinect", kinectView),
+
+wdgScale("Chessboard scale", board.scale, 0, 1.0f, 0.01f),
+wdgWhiteBackground("White background", board.whiteBackground),
+wdgBrightness("Brightness", board.brightness, 0, 1.0f, 0.01f),
+wdgCapture("Capture"),
+wdgCursor("World cursor", worldCursor, -3.0f, 3.0f, 0.01f, "m") {
+ scrMain.push(scrControl);
+ scrMain.push(scrPreviewBoard);
+ scrMain.push(scrPreviewRGB);
+ scrMain.push(scrKinectView);
+
+ scrControl.push(wdgScale);
+ scrControl.push(wdgWhiteBackground);
+ scrControl.push(wdgBrightness);
+ scrControl.push(wdgCapture);
+ scrControl.push(wdgCursor);
+
+ wdgCapture.setHotKey(' ');
+}
+
+//--------------------------------------------------------------
+void testApp::setup(){
+
+ screens.init(scrMain);
+ ofBackground(117/2,130/2,160/2);
+ ofSetFrameRate(60.0f);
+ glEnable(GL_DEPTH_TEST);
+
+ client.init("localhost");
+
+ kinect.setupFromXML("openni/config/ofxopenni_config.xml",false);
+ kinect.enableCalibratedRGBDepth();
+
+ ofAddListener(scrPreviewRGB.evtDraw, this, &testApp::drawFoundCorners2D);
+ ofAddListener(scrKinectView.evtDraw3D, this, &testApp::drawFoundCorners3D);
+ ofAddListener(scrPreviewRGB.evtMousePressed, this, &testApp::pipetRGB);
+
+ scrKinectView.getNodeReference().pan(180.0f);
+}
+
+//--------------------------------------------------------------
+void testApp::update(){
+
+ kinect.update();
+
+ if (wdgScale.isValueNew() || wdgWhiteBackground.isValueNew()) {
+ TalkyMessage msg;
+ msg << board;
+ client << msg;
+ }
+
+ board.findCorners(kinect.getRGBPixels(), foundCornersC);
+ kinect.cameraToWorld(foundCornersC, foundCornersW);
+
+ if (wdgCapture.getBang()) {
+ projectedCornersP = board.getProjectionSpaceCorners();
+
+ for (int i=0; i<foundCornersC.size(); ++i)
+ if (foundCornersW[i].length() > 0.5f)
+ correlate.push(foundCornersW[i], projectedCornersP[i]);
+ }
+}
+
+//--------------------------------------------------------------
+void testApp::draw(){
+
+}
+
+//--------------------------------------------------------------
+void testApp::pipetRGB(ofVec2f &m){
+ ofVec2f c;
+
+ c.x = m.x * 640;
+ c.y = m.y * 480;
+ worldCursor = kinect.cameraToWorld(c);
+}
+
+//--------------------------------------------------------------
+void testApp::drawFoundCorners2D(ofRectangle &r){
+ ofPushStyle();
+ ofEnableSmoothing();
+ ofNoFill();
+ ofSetLineWidth(3.0f);
+ ofSetColor(200,100,50);
+
+ ofBeginShape();
+ ofVec2f c;
+ vector<ofVec2f>::iterator it;
+ for (it = foundCornersC.begin(); it!= foundCornersC.end(); ++it) {
+ c.x = it->x / 640.f * r.width + r.x;
+ c.y = it->y / 480.f * r.height + r.y;
+ ofCircle(c.x, c.y, 5);
+ ofVertex(c.x, c.y);
+ }
+
+ ofSetColor(255,100,50);
+ ofSetLineWidth(2.0f);
+ ofEndShape(false);
+ ofPopStyle();
+}
+
+//--------------------------------------------------------------
+void testApp::drawFoundCorners3D(ofNode &n){
+
+ //////////////
+ // Current
+ //////////////
+ //
+ ofPushStyle();
+ ofEnableSmoothing();
+ ofSetColor(200,100,50);
+
+ vector<ofVec3f>::iterator it;
+ for (it = foundCornersW.begin(); it != foundCornersW.end(); ++it) {
+ ofPushMatrix();
+ ofTranslate(*it);
+ ofBox(0.01);
+ ofPopMatrix();
+ }
+
+ ofPopStyle();
+ //
+ //////////////
+
+
+ //////////////
+ // Recorded
+ //////////////
+ //
+ ofPushStyle();
+
+ ofPopStyle();
+ //
+ //////////////
+
+ //////////////
+ // Cursor
+ //////////////
+ //
+ ofPushMatrix();
+ ofPushStyle();
+
+ ofTranslate(worldCursor);
+
+ ofSetColor(255, 50, 50);
+ ofSphere(0.02);
+
+// glDisable(GL_DEPTH_TEST);
+// ofSetColor(255,255,255);
+// ofSetLineWidth(3.0f);
+// ofNoFill();
+// ofCircle(0,0,0.02);
+// glEnable(GL_DEPTH_TEST);
+ ofPopStyle();
+ ofPopMatrix();
+ //
+ //////////////
+}
83 CalibrateProjector/src/testApp.h
View
@@ -0,0 +1,83 @@
+#pragma once
+
+#include "ofMain.h"
+
+#include "ofxCVgui.h"
+#include "ofxOpenNI.h"
+#include "ofxTalky.h"
+
+#include "Chessboard.h"
+#include "OpenNI2ViewNode.h"
+
+#include "CorrelateXYZtoXY.h"
+
+class testApp : public ofBaseApp{
+
+public:
+ testApp();
+
+ void setup();
+ void update();
+ void draw();
+
+protected:
+
+ //////////////////
+ // Kinect
+ //////////////////
+ //
+ ofxOpenNI kinect;
+
+ void pipetRGB(ofVec2f &m);
+ ofVec3f worldCursor;
+ //
+ //////////////////
+
+
+ //////////////////
+ // Network
+ //////////////////
+ //
+ ofxTalky client;
+ //
+ //////////////////
+
+ OpenNI2ViewNode kinectView;
+
+ //////////////////
+ // GUI
+ //////////////////
+ //
+ ofxCVgui screens;
+ scrGroupGrid scrMain;
+
+ scrDraw2D scrPreviewBoard;
+ scrDraw2D scrPreviewRGB;
+ scrDraw3D scrKinectView;
+ scrWidgets scrControl;
+
+ wdgSlider wdgScale;
+ wdgButton wdgWhiteBackground;
+ wdgSlider wdgBrightness;
+ wdgButton wdgCapture;
+ wdgSlider wdgCursor;
+ //
+ //////////////////
+
+
+ //////////////////
+ // Chessboard
+ //////////////////
+ //
+ void drawFoundCorners2D(ofRectangle &r);
+ void drawFoundCorners3D(ofNode &n);
+
+ Chessboard board;
+ vector<ofVec2f> projectedCornersP;
+ vector<ofVec2f> foundCornersC;
+ vector<ofVec3f> foundCornersW;
+ //
+ //////////////////
+
+ CorrelateXYZtoXY correlate;
+};
1,032 ProjectChessboard/ProjectChessboard.xcodeproj/project.pbxproj
View
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