orx-kinect refactoring + new general orx-depth-camera (#257)

2022-08-24 20:53:50 +02:00
parent c398aaa392
commit b7fc8918f4
39 changed files with 1792 additions and 725 deletions
--- a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt
@@ -0,0 +1,117 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.Fullscreen
+import org.openrndr.application
+import org.openrndr.draw.Filter
+import org.openrndr.draw.colorBuffer
+import org.openrndr.draw.filterShaderFromCode
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.depth.camera.calibrator.DepthCameraCalibrator
+import org.openrndr.extra.depth.camera.calibrator.isolatedWithCalibration
+import org.openrndr.extra.gui.GUI
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * How to use [DepthCameraCalibrator] with [Kinect1]?
+ */
+fun main() = application {
+    configure {
+        fullscreen = Fullscreen.CURRENT_DISPLAY_MODE
+    }
+    program {
+
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        val camera = device.depthCamera
+        // depth measurement in meters is required by the calibrator
+        camera.depthMeasurement = DepthMeasurement.METERS
+        val kinectResolution = camera.resolution
+
+        val outputBuffer = colorBuffer(
+            kinectResolution.x,
+            kinectResolution.y
+        )
+
+        // simple visual effect applied to kinect data
+        val spaceRangeExtractor = SpaceRangeExtractor()
+        camera.onFrameReceived { frame ->
+            spaceRangeExtractor.apply(frame, outputBuffer)
+        }
+        val calibrator = DepthCameraCalibrator(this, camera)
+
+        val gui = GUI()
+        calibrator.addControlsTo(gui)
+
+        /*
+         Note: remember that extend(gui) has to be called after all the parameter
+         controls are added.
+
+         Also extensions are rendered in reverse order, if we start with gui,
+         it will not be covered by calibrator view when calibrator is enabled
+         */
+        extend(gui)
+
+        /*
+         if it's an interactive installation, probably we don't want to
+         show GUI on startup. It can be shown by pressing F11.
+         */
+        gui.visible = false
+
+        /*
+         Registering this callback here after gui will prevent it from
+         being triggered multiple times when GUI parameters are restored
+         on startup.
+         */
+        calibrator.onCalibrationChange { calibration ->
+            spaceRangeExtractor.minDepth = calibration.minDepth
+            spaceRangeExtractor.maxDepth = calibration.maxDepth
+        }
+        extend(calibrator)
+        camera.enabled = true
+
+        extend {
+            val calibration = calibrator.getCalibration(camera)
+            drawer.isolatedWithCalibration(calibration) {
+                image(
+                    colorBuffer = outputBuffer,
+                    position = calibration.position,
+                    width = calibration.width,
+                    height = calibration.height
+                )
+            }
+        }
+
+        // switching calibrator view on and off with keyboard
+        program.keyboard.keyDown.listen {
+            if (it.name == "k") {
+                calibrator.enabled = !calibrator.enabled
+            }
+        }
+
+    }
+
+}
+
+/**
+ * A visual effect applied to kinect data in this demonstration.
+ * Everything is black, except for the white pixels within the range
+ * of 2 virtual walls positioned at [minDepth] at front of the
+ * viewer and [maxDepth] behind the viewer.
+ */
+class SpaceRangeExtractor : Filter(filterShaderFromCode("""
+    uniform sampler2D   tex0;             // kinect raw
+    uniform float       minDepth;
+    uniform float       maxDepth;
+    out     vec4        o_color;
+    void main() {
+        ivec2 uv = ivec2(gl_FragCoord.xy);
+        float depth = texelFetch(tex0, uv, 0).r;
+        float luma = ((depth >= minDepth) && (depth <= maxDepth)) ? 1.0 : 0.0;
+        o_color = vec4(vec3(luma), 1.0);
+    }
+    """.trimIndent(),
+    "space range extractor"
+)) {
+    var minDepth: Double by parameters
+    var maxDepth: Double by parameters
+}