Merge pull request #4 from ThomasLengeling/dev

Point Cloud Depth

KinectPV2/examples/PointCloudDepth/PointCloudDepth.pde

@@ -0,0 +1,86 @@
+/*
+ Copyright (C) 2014  Thomas Sanchez Lengeling.
+ KinectPV2, Kinect for Windows v2 library for processing
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+ 
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+ 
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+ */
+
+import KinectPV2.KJoint;
+import KinectPV2.*;
+
+KinectPV2 kinect;
+
+//Distance Threashold
+float maxD = 4.0f; //meters
+float minD = 1.0f;
+
+void setup() {
+  size(512*2, 424, P3D);
+
+  kinect = new KinectPV2(this);
+
+  //Enable point cloud
+  kinect.enablePointCloud(true);
+  kinect.init();
+}
+
+void draw() {
+  background(0);
+
+  image(kinect.getDepthImage(), 0, 0);
+
+  /* Get the point cloud as a PImage
+   * Each pixel of the PointCloudDepthImage correspondes to the value 
+   * of the Z in the Point Cloud or distances, the values of 
+   * the Point cloud are mapped from (0.0 - 8.0)  to gray color (0 - 255)
+   * if change the low and high Threshold, then the mapping min and max distantance
+   * are change to the new min and max threashold.
+   * (low, high) -> (0, 255)
+   */
+  image(kinect.getPointCloudDepthImage(), 512, 0);
+
+  //get each pixel as int [] 512 x 424
+  //int [] rawData = kinect.getRawPointCloudDepth();
+
+  //Threahold of the point Cloud.
+  kinect.setLowThresholdPC(minD);
+  kinect.setHighThresholdPC(maxD);
+}
+
+void keyPressed() {
+  if (key == '1') {
+    minD += 0.01;
+    println("Change min: "+minD);
+  }
+
+  if (key == '2') {
+    minD -= 0.01;
+    println("Change min: "+minD);
+  }
+
+  if (key == '3') {
+    maxD += 0.01;
+    println("Change max: "+maxD);
+  }
+
+  if (key == '4') {
+    maxD -= 0.01;
+    println("Change max: "+maxD);
+  }
+}

KinectPV2/examples/PointCloudDepth/code/sketch.properties

@@ -0,0 +1,2 @@
+mode.id=processing.mode.java.JavaMode
+mode=Java

KinectPV2/examples/PointCloudDepth/sketch.properties

@@ -0,0 +1,2 @@
+mode.id=processing.mode.java.JavaMode
+mode=Java

KinectPV2/src/Constants.java

@@ -37,4 +37,7 @@ public interface Constants {
 
 	public final static int WIDTHDepth  = 512;
 	public final static int HEIGHTDepth = 424;
+
+	public final static int Int32 = 0;
+	public final static int Float = 1;
 }

KinectPV2/src/Device.java

@@ -57,6 +57,7 @@ public class Device implements Constants, FaceProperties, SkeletonProperties, Ru
 	private  Image longExposureImg;
 	private  Image bodyTrackImg;
 	private  Image depthMaskImg;
+	private  Image pointCloudDepthImg;
 
 	private Skeleton   [] skeletonDepth;
 	private Skeleton   [] skeleton3d;
@@ -90,6 +91,8 @@ public Device(PApplet _p){
 
 		longExposureImg = new Image(parent, WIDTHDepth, HEIGHTDepth, PImage.ALPHA);
 
+		pointCloudDepthImg = new Image(parent, WIDTHDepth, HEIGHTDepth, PImage.ALPHA);
+
 		skeletonDepth 		= new Skeleton[BODY_COUNT];
 		for(int i = 0; i < BODY_COUNT; i++){
 			skeletonDepth[i] = new Skeleton();
@@ -185,6 +188,15 @@ private void copyLongExposureImg(int [] rawData){
 			PApplet.arrayCopy(rawData, 0, longExposureImg.rawIntData, 0, longExposureImg.getImgSize());
 	}
 
+	//POINT CLOUD DEPTH
+	private void copyPointCloudImage(int [] rawData) {
+		if(rawData.length ==  WIDTHDepth * HEIGHTDepth) {
+			PApplet.arrayCopy(rawData, 0, pointCloudDepthImg.rawIntData, 0, pointCloudDepthImg.getImgSize());
+			PApplet.arrayCopy(rawData, 0, pointCloudDepthImg.pixels(), 0, pointCloudDepthImg.getImgSize());
+			pointCloudDepthImg.updatePixels();
+		}
+	}
+
 	//SKELETON DEPTH
 	private void copySkeletonDepthData(float [] rawData){
 		if(rawData.length == JOINTSIZE){
@@ -342,6 +354,11 @@ public PImage getLongExposureInfraredImage(){
 	}
 
 
+	public PImage getPointCloudDepthImage() {
+		return pointCloudDepthImg.img;
+	}
+
+
 	/**
 	 * Get Raw Depth Data
 	 *  512 x 424
@@ -396,6 +413,10 @@ public PImage getLongExposureInfraredImage(){
 		return longExposureImg.rawIntData;
 	}
 
+	public int [] getRawPointCloudDepth() {
+		return pointCloudDepthImg.rawIntData;
+	}
+
 	//ACTIVATE RAW DATA
 	/**
 	 * Activate Raw Color Image Capture.
@@ -554,19 +575,38 @@ public void enablePointCloud(boolean toggle){
 	 * Set Threshold Depth Value Z for Point Cloud
 	 * @param float val
 	 */
-	public void setThresholdPointCloud(float val){
-		jniThresholdDepthPointCloud(val);
+	public void setLowThresholdPC(float val){
+		jniSetLowThresholdDepthPC(val);
 	}
 
 	/**
 	 * Get Threshold Depth Value Z from Point Cloud
 	 * Default 1.9
 	 * @return default Threshold
 	 */
-	public float  getThresholdDepthPointCloud(){
-		return jniGetDefaultThresholdDepthPointCloud();
+	public float  getLowThresholdDepthPC(){
+		return jniGetLowThresholdDepthPC();
 	}
 
+
+	/**
+	 * Set Threshold Depth Value Z for Point Cloud
+	 * @param float val
+	 */
+	public void setHighThresholdPC(float val){
+		jniSetHighThresholdDepthPC(val);
+	}
+
+	/**
+	 * Get Threshold Depth Value Z from Point Cloud
+	 * Default 1.9
+	 * @return default Threshold
+	 */
+	public float  getHighThresholdDepthPC(){
+		return jniGetHighThresholdDepthPC();
+	}
+
+
 	/*
 	public void enablePointCloudColor(boolean toggle){
 		jniEnablePointCloudColor(toggle);
@@ -636,9 +676,16 @@ protected void stopDevice(){
 
 	private native void jniEnablePointCloudColor(boolean toggle);
 
-	private native void jniThresholdDepthPointCloud(float val);
 
-	private native float jniGetDefaultThresholdDepthPointCloud();
+
+	private native void jniSetLowThresholdDepthPC(float val);
+
+	private native float jniGetLowThresholdDepthPC();
+
+
+	private native void jniSetHighThresholdDepthPC(float val);
+
+	private native float jniGetHighThresholdDepthPC();
 
 
 	public void run() {

KinectPV2/src/Image.java

@@ -40,14 +40,18 @@ public class Image{
 	private    boolean   processRawData;
 
 	protected  byte  []  rawByteData;
+
+	protected  float []  rawFloatData;
 	protected  int   []  rawIntData;
 
 	public Image(PApplet p, int width, int height, int MODE){
 		parent = p;
 		img    =  parent.createImage(width, height, MODE);
 		imgPixelSize = width * height;
 		rawByteData  = new byte[imgPixelSize];
+
 		rawIntData   = new int[imgPixelSize];
+		rawFloatData = new float[imgPixelSize];
 		processRawData= false;
 	}