orx-kinect-v1-demo module for testing the code and verifying use cases

orx-kinect-v1-demo/build.gradle

@@ -0,0 +1,13 @@
+def os = org.gradle.internal.os.OperatingSystem.current()
+def openrndrOs
+if      (os.windows) { openrndrOs = "windows" }
+else if (os.macOsX)  { openrndrOs = "macos" }
+else if (os.linux)   { openrndrOs = "linux-x64" }
+
+dependencies {
+    compile project(":orx-kinect-v1")
+    runtime project(":orx-kinect-v1-natives-$openrndrOs")
+    runtime "org.openrndr:openrndr-gl3:$openrndrVersion"
+    runtime "org.openrndr:openrndr-gl3-natives-$openrndrOs:$openrndrVersion"
+    runtime "ch.qos.logback:logback-classic:1.2.3"
+}

orx-kinect-v1-demo/src/main/kotlin/BasicUseCaseDemo.kt

@@ -0,0 +1,26 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.getKinectsV1
+
+/**
+ * Basic kinect use case showing continuous stream from the depth camera.
+ *
+ * Note: kinect depth map is stored only on the RED color channel to save
+ *       space. Therefore depth map is displayed only in the red tones.
+ */
+fun main() = application {
+    configure { // default resolution of the Kinect v1 depth camera
+        width = 640
+        height = 480
+    }
+    program {
+        val kinects = getKinectsV1(this)
+        val kinect = kinects.startDevice()
+        kinect.depthCamera.enabled = true
+        kinect.depthCamera.mirror = true
+        extend {
+            drawer.image(kinect.depthCamera.currentFrame)
+        }
+    }
+}

orx-kinect-v1-demo/src/main/kotlin/DepthToColorMapsDemo.kt

@@ -0,0 +1,73 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.draw.ColorBuffer
+import org.openrndr.draw.ColorFormat
+import org.openrndr.draw.colorBuffer
+import org.openrndr.extra.kinect.*
+import org.openrndr.extra.kinect.v1.getKinectsV1
+
+/**
+ * Shows 4 different representations of the depth map.
+ * <ol>
+ *     <li>the original depth map stored as RED channel values</li>
+ *     <li>the same values expressed as gray tones</li>
+ *     <li>
+ *         color map according to natural light dispersion as described
+ *         by Alan Zucconi in the
+ *         <a href="https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/">Improving the Rainbow</a>
+ *         article.
+ *     </li>
+ *     <li>
+ *         color map according to
+ *         <a href="https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html">
+ *             Turbo, An Improved Rainbow Colormap for Visualization
+ *         </a>
+ *         by Google.
+ *     </li>
+ * </ol>
+ *
+ * @see DepthToGrayscaleMapper
+ * @see DepthToColorsZucconi6Mapper
+ * @see DepthToColorsTurboMapper
+ */
+fun main() = application {
+    configure {
+        width =  2 * 640
+        height = 2 * 480
+    }
+    program {
+        val kinects = getKinectsV1(this)
+        val kinect = kinects.startDevice()
+        kinect.depthCamera.enabled = true
+        kinect.depthCamera.mirror = true
+        val camera = kinect.depthCamera
+        val grayscaleFilter = DepthToGrayscaleMapper()
+        val zucconiFilter = DepthToColorsZucconi6Mapper()
+        val turboFilter = DepthToColorsTurboMapper()
+        val grayscaleBuffer = kinectColorBuffer(camera)
+        val zucconiBuffer = kinectColorBuffer(camera)
+        val turboBuffer = kinectColorBuffer(camera)
+        extend {
+            /*
+             * Note: getting the latest frame this way will guarantee
+             * that filters are being applied only if the actual new frame
+             * from kinect was received. Kinect has different refresh rate
+             * than usual screen (30 fps).
+             */
+            kinect.depthCamera.getLatestFrame()?.let { frame ->
+                grayscaleFilter.apply(frame, grayscaleBuffer)
+                zucconiFilter.apply(frame, zucconiBuffer)
+                turboFilter.apply(frame, turboBuffer)
+            }
+            drawer.image(camera.currentFrame)
+            drawer.image(grayscaleBuffer, camera.width.toDouble(), 0.0)
+            drawer.image(turboBuffer, 0.0, camera.height.toDouble())
+            drawer.image(zucconiBuffer, camera.width.toDouble(), camera.height.toDouble())
+        }
+    }
+}
+
+private fun kinectColorBuffer(camera: KinectCamera): ColorBuffer {
+    return colorBuffer(camera.width, camera.height, format = ColorFormat.RGB)
+}

orx-kinect-v1-demo/src/main/kotlin/MultipleKinectsDemo.kt

@@ -0,0 +1,27 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.getKinectsV1
+
+/**
+ * Stream from 2 kinects side by side.
+ */
+fun main() = application {
+    configure {
+        width  = 640 * 2
+        height = 480
+    }
+    program {
+        val kinects = getKinectsV1(this)
+        val depthCamera1 = kinects.startDevice(0).depthCamera
+        val depthCamera2 = kinects.startDevice(1).depthCamera
+        depthCamera1.enabled = true
+        depthCamera1.mirror = true
+        depthCamera2.enabled = true
+        depthCamera2.mirror = true
+        extend {
+            drawer.image(depthCamera1.currentFrame)
+            drawer.image(depthCamera2.currentFrame, depthCamera1.width.toDouble(), 0.0)
+        }
+    }
+}

orx-kinect-v1-demo/src/main/kotlin/NativeFreenectCommandsDemo.kt

@@ -0,0 +1,39 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.bytedeco.libfreenect.global.freenect
+import org.bytedeco.libfreenect.global.freenect.*
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.getKinectsV1
+
+/**
+ * Even though this library is abstracting freenect access, it is still
+ * possible to call any low level kinect API through execute methods.
+ * The calls are executed in separate kinect runner thread but they will
+ * block the calling thread until the result is returned.
+ */
+fun main() = application {
+    program {
+        val kinects = getKinectsV1(this)
+        kinects.execute { ctx ->
+            freenect_set_log_level(ctx.fnCtx, freenect.FREENECT_LOG_FLOOD) // lots of logs
+        }
+        kinects.execute { ctx ->
+            // extra FREENECT_DEVICE_MOTOR gives control over tilt and LEDs
+            freenect_select_subdevices(ctx.fnCtx, FREENECT_DEVICE_CAMERA xor FREENECT_DEVICE_MOTOR)
+        }
+        val kinect = kinects.startDevice()
+        var tilt = 90.0
+        extend {
+            kinect.execute { ctx ->
+                freenect_set_led(ctx.fnDev, (seconds * 10).toInt() % 7) // disco
+            }
+            val currentTilt = if ((seconds % 10) < 5) -90.0 else 90.0
+            if (currentTilt != tilt) {
+                kinect.execute { ctx ->
+                    freenect_set_tilt_degs(ctx.fnDev, currentTilt)
+                }
+                tilt = currentTilt
+            }
+        }
+    }
+}

orx-kinect-v1-demo/src/main/resources/logback.xml

@@ -0,0 +1,13 @@
+<configuration debug="false" scan="false" scanPeriod="10 seconds">
+  <contextListener class="ch.qos.logback.classic.jul.LevelChangePropagator">
+    <resetJUL>true</resetJUL>
+  </contextListener>
+  <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">
+    <encoder>
+      <pattern>%d{YYYY-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{36} - %msg%n</pattern>
+    </encoder>
+  </appender>
+  <root level="DEBUG">
+    <appender-ref ref="STDOUT"/>
+  </root>
+</configuration>

settings.gradle

@@ -18,5 +18,6 @@ include 'orx-camera',
     'orx-kinect-common',
     'orx-kinect-v1',
     'orx-kinect-v1-natives-linux-x64',
-        'orx-kinect-v1-natives-macos'
-        'orx-kinect-v1-natives-windows'
+    'orx-kinect-v1-natives-macos',
+    'orx-kinect-v1-natives-windows',
+    'orx-kinect-v1-demo'