orx-kinect refactoring + new general orx-depth-camera (#257)
This commit is contained in:
Kazik Pogoda
GitHub
5
orx-jvm/orx-depth-camera-calibrator/build.gradle.kts
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5
orx-jvm/orx-depth-camera-calibrator/build.gradle.kts
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dependencies {
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api(project(":orx-depth-camera"))
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api(project(":orx-jvm:orx-gui"))
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implementation(project(":orx-fx"))
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}
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package org.openrndr.extra.depth.camera.calibrator
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import org.openrndr.*
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import org.openrndr.draw.ColorBuffer
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import org.openrndr.draw.Drawer
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import org.openrndr.draw.colorBuffer
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import org.openrndr.draw.isolated
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import org.openrndr.extra.depth.camera.DepthCamera
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import org.openrndr.extra.depth.camera.DepthMeasurement
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import org.openrndr.extra.fx.colormap.TurboColormap
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import org.openrndr.extra.gui.GUI
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import org.openrndr.extra.parameters.*
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import org.openrndr.math.IntVector2
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import org.openrndr.math.Vector2
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/**
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* Depth camera calibrator extension.
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*
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* @param program the program using this extension, Note: normally
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* we would pass program in [setup], however there is a
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* cyclic dependency between GUI and calibrator, so some
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* dimensions have to be established before setup.
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* See Kinect1Demo10DepthCameraCalibration.kt.
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* @param depthCameras depth cameras to calibrate.
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*/
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class DepthCameraCalibrator(
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private val program: Program,
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vararg depthCameras: DepthCamera
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) : Extension {
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init {
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check(depthCameras.isNotEmpty()) {
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"depthCameras cannot be empty"
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}
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depthCameras.forEach {
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check(it.depthMeasurement == DepthMeasurement.METERS) {
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"depthCameras: calibration requires depthMeasurement of each camera to be set to METERS"
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}
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}
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}
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override var enabled: Boolean
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get() = commonParameters.calibratorView
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set(value) { commonParameters.calibratorView = value }
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private val resolution = IntVector2(program.width, program.height).vector2
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private val calibrations = depthCameras.map { Calibration(it) }.toList()
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private val colormap = TurboColormap()
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private var onCalibrationChange: (calibration: Calibration) -> Unit =
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{ _ -> } // empty on startup
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override fun setup(program: Program) {
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program.keyboard.keyDown.listen {
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if (enabled) {
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handleKeyDown(it)
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}
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}
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}
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override fun afterDraw(drawer: Drawer, program: Program) {
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calibrations.forEach {
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colormap.minValue = it.minDepth
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colormap.maxValue = it.maxDepth
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colormap.apply(it.camera.currentFrame, it.colorBuffer)
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drawer.isolatedWithCalibration(it) {
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image(
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colorBuffer = it.colorBuffer,
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position = it.position,
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width = it.width,
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height = it.height
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)
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}
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}
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}
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fun handleKeyDown(event: KeyEvent) {
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when(event.name) {
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"1" -> commonParameters.allMinDepth -= CENTIMETER
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"2" -> commonParameters.allMinDepth += CENTIMETER
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"3" -> commonParameters.allMaxDepth -= CENTIMETER
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"4" -> commonParameters.allMaxDepth += CENTIMETER
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}
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calibrations
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.filter { it.tuneWithKeyboard }
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.forEach {
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when(event.key) {
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KEY_ARROW_LEFT -> it.offset += Direction.LEFT * OFFSET_CHANGE_SCALE
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KEY_ARROW_RIGHT -> it.offset += Direction.RIGHT * OFFSET_CHANGE_SCALE
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KEY_ARROW_UP -> it.offset += Direction.UP * OFFSET_CHANGE_SCALE
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KEY_ARROW_DOWN -> it.offset += Direction.DOWN * OFFSET_CHANGE_SCALE
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}
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when(event.name) {
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"-" -> it.scale -= SCALE_CHANGE
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"=" -> it.scale += SCALE_CHANGE
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"l" -> it.rotation -= ROTATION_CHANGE
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"r" -> it.rotation += ROTATION_CHANGE
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"a" -> it.minDepth -= CENTIMETER
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"s" -> it.minDepth += CENTIMETER
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"d" -> it.maxDepth -= CENTIMETER
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"f" -> it.maxDepth += CENTIMETER
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}
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}
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}
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fun addControlsTo(gui: GUI) {
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gui.add(commonParameters)
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calibrations.forEachIndexed { index, calibration ->
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gui.add(calibration, label = "depth camera $index")
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}
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}
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fun getCalibration(camera: DepthCamera): Calibration = calibrations
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.find { it.camera === camera }
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?: throw IllegalArgumentException("No calibration for provided depth camera")
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fun onCalibrationChange(block: (calibration: Calibration) -> Unit) {
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onCalibrationChange = block
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calibrations.forEach { // run on first install
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block(it)
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}
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}
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private val commonParameters = @Description("calibration: all depth cameras") object {
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@BooleanParameter(label = "calibrator view [k]", order = 0)
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var calibratorView: Boolean = false
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@DoubleParameter(label = "min depth [1/2]", low = 0.2, high = 10.0, order = 1)
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var allMinDepth: Double = 0.1
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set(value) {
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field = value
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calibrations.forEach {
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it.minDepth = value
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}
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}
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@DoubleParameter(label = "max depth [3/4]", low = 0.2, high = 10.0, order = 2)
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var allMaxDepth: Double = 10.0
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set(value) {
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field = value
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calibrations.forEach {
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it.maxDepth = value
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}
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}
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}
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@Suppress("unused") // used by reflection
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inner class Calibration(
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val camera: DepthCamera,
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val colorBuffer: ColorBuffer = colorBuffer(
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camera.resolution.x,
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camera.resolution.y
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)
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) {
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@BooleanParameter(label = "tune with keyboard", order = 0)
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var tuneWithKeyboard: Boolean = true
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@BooleanParameter(label = "flipH", order = 1)
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var flipH
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get() = camera.flipH
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set(value) { camera.flipH = value }
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@BooleanParameter(label = "flipV", order = 2)
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var flipV
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get() = camera.flipV
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set(value) { camera.flipV = value }
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@XYParameter(
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label = "offset [arrows]",
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minX = -1.0,
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minY = -1.0,
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maxX = 1.0,
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maxY = 1.0,
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order = 3,
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invertY = true
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)
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var offset: Vector2 = Vector2.ZERO
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set(value) {
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field = value
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onCalibrationChange(this)
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}
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@DoubleParameter(label = "rotation [l/r]", low = -360.0, high = 360.0, order = 4)
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var rotation: Double = 0.0
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set(value) {
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field = value
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onCalibrationChange(this)
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}
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@DoubleParameter(label = "scale [+/-]", low = 0.0, high = 10.0, order = 5)
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var scale: Double = 1.0
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set(value) {
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field = value
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onCalibrationChange(this)
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}
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@DoubleParameter(label = "min depth [a/s]", low = 0.0, high = 10.0, order = 6)
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var minDepth: Double = 0.2
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set(value) {
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field = value
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onCalibrationChange(this)
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}
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@DoubleParameter(label = "max depth [d/f]", low = 0.0, high = 10.0, order = 7)
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var maxDepth: Double = 10.0
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set(value) {
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field = value
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onCalibrationChange(this)
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}
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@ActionParameter(label = "reset", order = 8)
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fun reset() {
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offset = Vector2.ZERO
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rotation = 0.0
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scale = 1.0
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minDepth = 0.2
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maxDepth = 10.0
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}
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val width: Double =
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camera.resolution.x * resolution.y /
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camera.resolution.y
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val height: Double = resolution.y
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val position: Vector2 =
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-(resolution - Vector2(resolution.x - width, 0.0)) / 2.0
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}
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}
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fun Drawer.isolatedWithCalibration(
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calibration: DepthCameraCalibrator.Calibration,
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block: Drawer.() -> Unit
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) {
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this.isolated {
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translate(
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IntVector2(width, height).vector2 / 2.0
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+ calibration.offset * Vector2(1.0, -1.0) * height.toDouble()
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)
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rotate(calibration.rotation)
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scale(calibration.scale)
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block()
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}
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}
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enum class Direction(val vector: Vector2) {
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LEFT(Vector2(-1.0, 0.0)),
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RIGHT(Vector2(1.0, 0.0)),
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UP(Vector2(0.0, 1.0)),
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DOWN(Vector2(0.0, -1.0));
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operator fun times(scale: Double): Vector2 = this.vector * scale
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}
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private const val CENTIMETER = .01
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private const val OFFSET_CHANGE_SCALE = .001
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private const val ROTATION_CHANGE = .1
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private const val SCALE_CHANGE = .001
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