initial kinect1 support

2019-08-14 14:01:56 +02:00
parent 91487fef7e
commit cd63516c8b
9 changed files with 311 additions and 1 deletions
--- a/orx-kinect-common/src/main/kotlin/Kinect.kt
+++ b/orx-kinect-common/src/main/kotlin/Kinect.kt
@@ -0,0 +1,125 @@
+package org.openrndr.extra.kinect
+
+import org.openrndr.Extension
+import org.openrndr.Program
+import org.openrndr.draw.*
+import org.openrndr.math.Vector2
+import org.openrndr.resourceUrl
+import java.lang.RuntimeException
+import java.nio.ByteBuffer
+import java.util.concurrent.atomic.AtomicReference
+import kotlin.concurrent.thread
+
+interface Kinects {
+    fun countDevices(): Int
+
+    /**
+     * Starts kinect device of a given number.
+     *
+     * @throws KinectException if device of such a number does not exist.
+     */
+    fun startDevice(num: Int = 0): KinectDevice
+}
+
+class DefaultKinects(private val manager: KinectsManager) : Kinects {
+    init {
+        manager.init()
+        // as we don't have explicit shutdown mechanism in OPENRNDR
+        // we need to install a shutdown hook for now
+        Runtime.getRuntime().addShutdownHook(
+            thread(
+                name = "${manager.javaClass.simpleName}-closer",
+                start = false,
+                isDaemon = false
+            ) {
+                manager.shutdown()
+            }
+        )
+    }
+    override fun countDevices(): Int {
+        return manager.countDevices()
+    }
+    override fun startDevice(num: Int): KinectDevice {
+        return manager.startDevice(num)
+    }
+}
+
+interface KinectsManager {
+    fun init()
+    fun countDevices(): Int
+    fun startDevice(num: Int): KinectDevice
+    fun shutdown()
+}
+
+abstract class KinectDevice : Extension {
+    override var enabled: Boolean = true
+    abstract val depthCamera: KinectDepthCamera
+    override fun beforeDraw(drawer: Drawer, program: Program) {
+        if (depthCamera.enabled) {
+            depthCamera.update()
+        }
+    }
+}
+
+interface KinectCamera {
+    var enabled: Boolean
+    val width: Int
+    val height: Int
+    var mirror: Boolean
+    val currentFrame: ColorBuffer
+    fun getLatestFrame(): ColorBuffer?
+    fun update()
+}
+
+interface KinectDepthCamera : KinectCamera {
+    val depthScale: Double
+}
+
+abstract class AbstractKinectDepthCamera(
+    final override val width: Int,
+    final override val height: Int,
+    final override val depthScale: Double
+) : KinectDepthCamera {
+    protected val byteBufferRef: AtomicReference<ByteBuffer> = AtomicReference()
+    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() {
+        byteBufferRef.getAndSet(null)?.let { bytes ->
+            rawBuffer.write(bytes)
+            depthMapper.apply(rawBuffer, currentFrame)
+            newFrameRef.set(currentFrame)
+        }
+    }
+    override var mirror: Boolean
+        get() = depthMapper.mirror
+        set(value) { depthMapper.mirror = value }
+}
+
+class KinectRawDataToDepthMapper :
+        Filter(filterShaderFromUrl(resourceUrl("kinect-raw-to-depth.frag", Kinects::class.java))) {
+    var depthScale: Double by parameters
+    var mirror: Boolean by parameters
+    var resolution: Vector2 by parameters
+}
+
+class KinectException(msg: String) : RuntimeException(msg)