Upgrade to OPENRNDR 0.4 snapshot
This commit is contained in:
Edwin Jakobs
105
orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt
Normal file
105
orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt
Normal file
@@ -0,0 +1,105 @@
|
||||
package org.openrndr.extra.kinect
|
||||
|
||||
import org.openrndr.Extension
|
||||
import org.openrndr.draw.*
|
||||
import org.openrndr.resourceUrl
|
||||
import java.lang.RuntimeException
|
||||
|
||||
/**
|
||||
* Represents all the accessible kinects handled by a specific driver (V1, V2).
|
||||
*
|
||||
* @param <CTX> data needed to make low level kinect support calls.
|
||||
*/
|
||||
interface Kinects<CTX> {
|
||||
|
||||
fun countDevices(): Int
|
||||
|
||||
/**
|
||||
* Starts kinect device of a given number.
|
||||
*
|
||||
* @param num the kinect device index (starts with 0). If no value specified,
|
||||
* it will default to 0.
|
||||
* @throws KinectException if device of such a number does not exist
|
||||
* (better to count them first), or it was already started.
|
||||
* @see countDevices
|
||||
*/
|
||||
fun startDevice(num: Int = 0): KinectDevice<CTX>
|
||||
|
||||
/**
|
||||
* Executes low level Kinect commands in the kinect thread.
|
||||
*/
|
||||
fun <T> execute(commands: (CTX) -> T) : T
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Represents specific device.
|
||||
*
|
||||
* @param CTX type of data needed to make low level kinect support calls (e.g. freenect contexts).
|
||||
*/
|
||||
interface KinectDevice<CTX> : Extension {
|
||||
|
||||
val depthCamera: KinectDepthCamera
|
||||
|
||||
/**
|
||||
* Executes low level Kinect commands in the kinect thread in the context of this device.
|
||||
*/
|
||||
fun <T> execute(commands: (CTX) -> T): T
|
||||
|
||||
}
|
||||
|
||||
interface KinectCamera {
|
||||
var enabled: Boolean
|
||||
val width: Int
|
||||
val height: Int
|
||||
var mirror: Boolean
|
||||
val currentFrame: ColorBuffer
|
||||
/**
|
||||
* Returns the latest frame, but only once. Useful for the scenarios
|
||||
* where each new frame triggers extra computation. Therefore the same
|
||||
* expensive operation might happen only once, especially when the refresh
|
||||
* rate of the target screen is higher than kinect's 30 fps.
|
||||
* <p>
|
||||
* Example usage:
|
||||
* <pre>
|
||||
* kinect.depthCamera.getLatestFrame()?.let { frame ->
|
||||
* grayscaleFilter.apply(frame, grayscaleBuffer)
|
||||
* }
|
||||
* </pre>
|
||||
*/
|
||||
fun getLatestFrame(): ColorBuffer?
|
||||
}
|
||||
|
||||
interface KinectDepthCamera : KinectCamera {
|
||||
/* no special attributes at the moment */
|
||||
}
|
||||
|
||||
class KinectException(msg: String) : RuntimeException(msg)
|
||||
|
||||
/**
|
||||
* Maps depth values to grayscale.
|
||||
*/
|
||||
class DepthToGrayscaleMapper : Filter(
|
||||
filterShaderFromUrl(resourceUrl("depth-to-grayscale.frag", Kinects::class))
|
||||
)
|
||||
|
||||
/**
|
||||
* Maps depth values to 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.
|
||||
*/
|
||||
class DepthToColorsZucconi6Mapper : Filter(
|
||||
filterShaderFromUrl(resourceUrl("depth-to-colors-zucconi6.frag", Kinects::class))
|
||||
)
|
||||
|
||||
/**
|
||||
* Maps depth values to 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.
|
||||
*/
|
||||
class DepthToColorsTurboMapper : Filter(
|
||||
filterShaderFromUrl(resourceUrl("depth-to-colors-turbo.frag", Kinects::class))
|
||||
)
|
||||
@@ -0,0 +1,155 @@
|
||||
package org.openrndr.extra.kinect.org.openrndr.extra.kinect.impl
|
||||
|
||||
import org.openrndr.Program
|
||||
import org.openrndr.draw.*
|
||||
import org.openrndr.extra.kinect.KinectDepthCamera
|
||||
import org.openrndr.extra.kinect.KinectDevice
|
||||
import org.openrndr.extra.kinect.Kinects
|
||||
import org.openrndr.math.Vector2
|
||||
import org.openrndr.resourceUrl
|
||||
import java.nio.ByteBuffer
|
||||
import java.util.concurrent.atomic.AtomicReference
|
||||
import java.util.function.Supplier
|
||||
import kotlin.concurrent.thread
|
||||
|
||||
class DefaultKinects<CTX>(
|
||||
private val program: Program,
|
||||
private val manager: KinectsManager<CTX>
|
||||
) : Kinects<CTX> {
|
||||
|
||||
private inner class Destroyer : Thread() {
|
||||
override fun run() {
|
||||
manager.shutdown()
|
||||
}
|
||||
}
|
||||
|
||||
init {
|
||||
manager.initialize()
|
||||
// as we don't have explicit shutdown mechanism in OPENRNDR
|
||||
// we need to install a shutdown hook for now
|
||||
Runtime.getRuntime().addShutdownHook(Destroyer())
|
||||
}
|
||||
|
||||
override fun countDevices(): Int {
|
||||
return manager.countDevices()
|
||||
}
|
||||
|
||||
override fun startDevice(num: Int): KinectDevice<CTX> {
|
||||
val device = manager.startDevice(num)
|
||||
program.extend(device)
|
||||
return device
|
||||
}
|
||||
|
||||
override fun <T> execute(commands: (CTX) -> T): T {
|
||||
return manager.execute(commands)
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
interface KinectsManager<CTX> {
|
||||
fun initialize()
|
||||
fun countDevices(): Int
|
||||
fun startDevice(num: Int): KinectDevice<CTX>
|
||||
fun <T> execute(commands: (CTX) -> T): T
|
||||
fun shutdown()
|
||||
}
|
||||
|
||||
interface KinectFeatureEnabler {
|
||||
var enabled: Boolean
|
||||
}
|
||||
|
||||
interface KinectCommandsExecutor<CTX> {
|
||||
fun <T> execute(commands: (CTX) -> T): T
|
||||
}
|
||||
|
||||
class DefaultKinectDevice<CTX>(
|
||||
override val depthCamera: DefaultKinectDepthCamera,
|
||||
private val commandsExecutor: KinectCommandsExecutor<CTX>
|
||||
) : KinectDevice<CTX> {
|
||||
override var enabled: Boolean = true
|
||||
override fun beforeDraw(drawer: Drawer, program: Program) {
|
||||
depthCamera.update()
|
||||
}
|
||||
|
||||
override fun <T> execute(commands: (CTX) -> T): T {
|
||||
return commandsExecutor.execute(commands)
|
||||
}
|
||||
}
|
||||
|
||||
class DefaultKinectDepthCamera(
|
||||
override val width: Int,
|
||||
override val height: Int,
|
||||
depthScale: Double,
|
||||
private val enabler: KinectFeatureEnabler,
|
||||
private val bytesSupplier: Supplier<ByteBuffer?>
|
||||
) :
|
||||
KinectDepthCamera, UpdatableKinectCamera {
|
||||
|
||||
override var enabled: Boolean
|
||||
get() = enabler.enabled
|
||||
set(value) {
|
||||
enabler.enabled = value
|
||||
}
|
||||
|
||||
private val rawBuffer: ColorBuffer = colorBuffer(
|
||||
width,
|
||||
height,
|
||||
format = ColorFormat.R,
|
||||
type = ColorType.UINT16 // it would be perfect if we could use isampler in the shader
|
||||
)
|
||||
override val currentFrame: ColorBuffer = colorBuffer(
|
||||
width,
|
||||
height,
|
||||
format = ColorFormat.R,
|
||||
type = ColorType.FLOAT16 // in the future we might want to choose the precision here
|
||||
)
|
||||
|
||||
private val depthMapper = KinectRawDataToDepthMapper()
|
||||
|
||||
init {
|
||||
depthMapper.depthScale = depthScale
|
||||
depthMapper.mirror = false
|
||||
depthMapper.resolution = Vector2(width.toDouble(), height.toDouble())
|
||||
}
|
||||
|
||||
private val newFrameRef = AtomicReference<ColorBuffer>()
|
||||
|
||||
override fun getLatestFrame(): ColorBuffer? {
|
||||
return newFrameRef.getAndSet(null)
|
||||
}
|
||||
|
||||
override fun update() {
|
||||
if (enabled) {
|
||||
bytesSupplier.get()?.let { bytes ->
|
||||
rawBuffer.write(bytes)
|
||||
depthMapper.apply(rawBuffer, currentFrame)
|
||||
newFrameRef.set(currentFrame)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
override var mirror: Boolean
|
||||
get() = depthMapper.mirror
|
||||
set(value) {
|
||||
depthMapper.mirror = value
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private class KinectRawDataToDepthMapper :
|
||||
Filter(
|
||||
filterShaderFromUrl(
|
||||
resourceUrl(
|
||||
"kinect-raw-to-depth.frag",
|
||||
DefaultKinects::class
|
||||
)
|
||||
)
|
||||
) {
|
||||
var depthScale: Double by parameters
|
||||
var mirror: Boolean by parameters
|
||||
var resolution: Vector2 by parameters
|
||||
}
|
||||
|
||||
private interface UpdatableKinectCamera {
|
||||
fun update()
|
||||
}
|
||||
Reference in New Issue
Block a user