Kinect's OpenNi Wrapper for Processing

SimpleOpenNI és una llibreria per Processing que permet usar la Kinect des de Processing.
Segueix l'enllaç:

Aquest programa (que es la modificació d'un dels exemples de SimpleOpenNI), es un prototipus per scanejar en color una imatge en 3D .


import processing.opengl.*;

import SimpleOpenNI.*;

SimpleOpenNI context;
float z =0.3f;
float ox = radians(180);
float oy = radians(0);

float rotx = radians(180), roty = radians(0), rotz = 0, incX = 0, incY = 0, incZ = 0;
final float RATE = 0.01; // Velocitat de rotació
int despX=14, despY=56; //24, 48 -22 +56
float VE=0.001;
PImage rgbTrans = new PImage(640,480);


void setup(){
size(1024,768,OPENGL);
context = new SimpleOpenNI(this);

context.setMirror(false);
context.enableDepth();
context.enableRGB();

smooth();
perspective(95, float(width)/float(height), 10, 150000);
//context.update();
}



void draw(){
int[] depthMap = context.depthMap();
int steps = 2; // to speed up the drawing, draw every third point
int index;
int i;
float x1,x2,x3,x4,y1,y2,y3,y4,z1,z2,z3,z4;

PVector realWorldPoint, projectivePoint = new PVector();

background(0,0,0); translate(width/2, height/2, 0); rotateX(rotx); rotateY(roty); scale(z);
translate(0,0,-1000); // set the rotation center of the scene 1000 infront of the camera
println(frameRate);

context.update();
rgbTrans.copy(context.rgbImage(),
                       despX,despY, context.rgbImage().width, context.rgbImage().height,
                               0,        0, context.rgbImage().width, context.rgbImage().height);

for(int y=0;y < context.depthHeight()-steps;y+=steps){
for(int x=0;x < context.depthWidth()-steps;x+=steps) {
beginShape(QUADS);
index = x + y * context.depthWidth();
if(depthMap[index] > 0){
fill(rgbTrans.pixels[index]); noStroke();

i = index; realWorldPoint = context.depthMapRealWorld()[i];
x1 = realWorldPoint.x; y1 = realWorldPoint.y; z1 = realWorldPoint.z;

i = index+steps; realWorldPoint = context.depthMapRealWorld()[i];
x2 = realWorldPoint.x; y2 = realWorldPoint.y; z2 = realWorldPoint.z;

i = x+steps + (y+steps) * context.depthWidth(); realWorldPoint = context.depthMapRealWorld()[i];
x3 = realWorldPoint.x; y3 = realWorldPoint.y; z3 = realWorldPoint.z;

i = x + (y+steps) * context.depthWidth(); realWorldPoint = context.depthMapRealWorld()[i];
x4 = realWorldPoint.x; y4 = realWorldPoint.y; z4 = realWorldPoint.z;

if(z1 >0 && z2 >0 && z3 >0 && z4 >0){
vertex(x1,y1,z1); vertex(x2,y2,z2); vertex(x3,y3,z3); vertex(x4,y4,z4);
}
// realWorldPoint = context.depthMapRealWorld()[index];
////context.convertRealWorldToProjective(realWorldPoint,projectivePoint);
////stroke(context.rgbImage().pixels[(int)(projectivePoint.x + projectivePoint.y * context.depthWidth())]);
// stroke(rgbTrans.pixels[index]);
// point(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z); // make realworld z negative, in the 3d
//drawing coordsystem +z points in the direction of the eye
}
endShape(CLOSE);
}
}
}


void mouseDragged() {
if(mouseButton == LEFT){
incX = (mouseY-pmouseY) * RATE;
incY = (mouseX-pmouseX) * RATE;
rotx -= incX;
roty -= incY;
}else{
incX = (mouseY-pmouseY) * RATE*100;
incY = (mouseX-pmouseX) * RATE*100;
despX +=incY;
despY +=incX;
println(despX+" "+despY);
}
}


void keyPressed(){
switch(keyCode) {
case UP:
z += VE;
break;
case DOWN:
z -= VE;
break;
}
}

Us de punters en Processing

En el següent exemple simulo l'us de punters en processing.
Per fer-ho he declarat la clse Boolean.
A més a més el codi també és un exemple del us del threading en Processing.

//http://wiki.processing.org/w/Threading




Boolean pinta = new Boolean(false);


void setup() {
  setValueAfterMs(pinta, true, 2000);
  setValueAfterMs(pinta, false, 3000);
  setValueAfterMs(pinta, true, 4000);
  setValueAfterMs(pinta, false, 5000);
  setValueAfterMs(pinta, true, 6000);
  setValueAfterMs(pinta, false, 7000);
}


void draw() {
  print(pinta.valor);
}


ArrayList StacksetValueAfterMsClass = new ArrayList();
int usedArrayListElements = 0;

void setValueAfterMs(Boolean lVarDest, boolean lValor, int lWait){
  int index = StacksetValueAfterMsClass.size();

  StacksetValueAfterMsClass.add(new setValueAfterMsClass(lVarDest, lValor, lWait));
  ((setValueAfterMsClass)StacksetValueAfterMsClass.get(index)).start();
}


class Boolean{
  boolean valor;

  Boolean(boolean lValor){
    valor = lValor;
  }
}


class setValueAfterMsClass extends Thread {
  boolean running; // Is the thread running? Yes or no?
  int wait; // How many milliseconds should we wait in between executions?
  Boolean varDest;
  boolean valor;

  // Constructor, create the thread // It is not running by default
  setValueAfterMsClass (Boolean lVarDest, boolean lValor, int lWait) {
    usedArrayListElements++;
    varDest = lVarDest;
    valor = lValor;
    wait = lWait;
    running = false;
  }

  void start () { // Overriding "start()"
    if(!running){
      running = true; // Set running equal to true
      super.start();
    }
  }

  void run () { // We must implement run, this gets triggered by start()
    while (running) {
      try {
        sleep((long)(wait));
        varDest.valor = valor;
        quit();
      } catch (Exception e) {
      }
    }
  }

  void quit() { // Our method that quits the thread

    running = false; // Setting running to false ends the loop in run()
    interrupt(); // IUn case the thread is waiting. . .
    usedArrayListElements--;
    if(usedArrayListElements == 0){ // Destrueix l'ArrayList
      for(int j = StacksetValueAfterMsClass.size()-1 ; j >= 0 ; j--){
        StacksetValueAfterMsClass.remove(j);
      }
    }
  }
}// end class