import java.nio.*; import KinectPV2.*; import controlP5.*; ControlP5 cp5; KinectPV2 kinect; int vertLoc; //transformations float a = 1.9; int zval = -200; float scaleVal = 1; //value to scale the depth point when accessing each individual point in the PC. float scaleDepthPoint = 100.0; //Distance Threashold int maxD = 4000; // 4m int minD = 0; // 0m int Ztranslate = 0; //openGL object and shader PGL pgl; PShader sh; //VBO buffer location in the GPU int vertexVboId; int oldx = mouseX; int oldy = mouseY; float rotx = PI; float roty = 0; float zcam = 500; int initialize = 0; PImage img; public void setup() { size(1280, 720, P3D); img = loadImage("spectrum.jpg"); kinect = new KinectPV2(this); kinect.enableDepthImg(true); kinect.enablePointCloud(true); kinect.setLowThresholdPC(minD); kinect.setHighThresholdPC(maxD); kinect.init(); sh = loadShader("frag.glsl", "vert.glsl"); cp5 = new ControlP5(this); cp5.addSlider("minD") .setPosition(40,40) .setRange(0,4000) .setSize(240,20) .setValue(0) .setColorForeground(color(20,200,200)) .setColorLabel(color(255)) .setColorBackground(color(70,70,70)) .setColorValue(color(0,0,0)) .setColorActive(color(0,255,255)) ; cp5.addSlider("maxD") .setPosition(40,80) .setRange(0,14000) .setSize(240,20) .setValue(4000) .setColorForeground(color(20,200,200)) .setColorLabel(color(255)) .setColorBackground(color(70,70,70)) .setColorValue(color(0,0,0)) .setColorActive(color(0,255,255)) ; cp5.addSlider("Ztranslate") .setPosition(40,120) .setRange(0,1000) .setSize(240,20) .setValue(0) .setColorForeground(color(20,200,200)) .setColorLabel(color(255)) .setColorBackground(color(70,70,70)) .setColorValue(color(0,0,0)) .setColorActive(color(0,255,255)) ; PGL pgl = beginPGL(); IntBuffer intBuffer = IntBuffer.allocate(1); pgl.genBuffers(1, intBuffer); //memory location of the VBO vertexVboId = intBuffer.get(0); endPGL(); } public void draw() { background(0); pushMatrix(); cam(); //draw the depth capture images //translate the scene to the center translate(0,0,-Ztranslate); scale(scaleVal, -1 * scaleVal, scaleVal); // Threahold of the point Cloud. kinect.setLowThresholdPC(minD); kinect.setHighThresholdPC(maxD); //get the points in 3d space FloatBuffer pointCloudBuffer = kinect.getPointCloudDepthPos(); // obtain XYZ the values of the point cloud stroke(0, 0, 0); for(int i = 0; i < kinect.WIDTHDepth * kinect.HEIGHTDepth; i+=3){ float x = pointCloudBuffer.get(i*3 + 0) * scaleDepthPoint; float y = pointCloudBuffer.get(i*3 + 1) * scaleDepthPoint; float z = pointCloudBuffer.get(i*3 + 2) * scaleDepthPoint; color cc = img.get(int(z/2),2); stroke(cc); strokeWeight(2); point(x, y, z); } //begin openGL calls and bind the shader popMatrix(); stroke(255, 0, 0); text(frameRate, 50, height - 50); } void cam() { int newx = mouseX; int newy = mouseY; translate(width/2, height/2,zcam); rotateY(rotx); rotateX(roty); translate(0,0,-30); if ((mousePressed == true) && (mouseY > 200) ) { rotx = rotx + (oldx-newx)/50.0; roty = roty + (oldy-newy)/50.0; } if(initialize == 0){ rotx = rotx + (oldx-newx)/50.0; roty = roty + (oldy-newy)/50.0; initialize = 1; } oldx = newx; oldy = newy; } void mouseWheel(MouseEvent event) { float e = event.getCount(); zcam = zcam - e*5; }