ofxKinectCalibration::ofxKinectCalibration():
T_rgb( 1.9985242312092553e-02f, -7.4423738761617583e-04f, -1.0916736334336222e-02f ),
R_rgb(9.9984628826577793e-01f, 1.2635359098409581e-03f, -1.7487233004436643e-02f, 0,
-1.4779096108364480e-03f, 9.9992385683542895e-01f, -1.2251380107679535e-02f, 0,
1.7470421412464927e-02f, 1.2275341476520762e-02f, 9.9977202419716948e-01f, 0,
0,0,0,1)
{
depthPixels = NULL;
calibratedRGBPixels = NULL;
distancePixels = NULL;
bDepthNearValueWhite = false;
calculateLookups();
R_rgb.preMultTranslate(-T_rgb);
R_rgb = ofxMatrix4x4::getTransposedOf(R_rgb);
}
//--------------------------------------------------------------------
ofxKinect::ofxKinect(){
ofLog(OF_LOG_VERBOSE, "Creating ofxKinect.");
//TODO: reset the right ones of these on close
// common
bVerbose = false;
bGrabberInited = false;
bUseTexture = true;
depthPixels = NULL;
depthPixelsRaw = NULL;
depthPixelsBack = NULL;
videoPixels = NULL;
videoPixelsBack = NULL;
calibratedRGBPixels = NULL;
distancePixels = NULL;
bNeedsUpdate = false;
bUpdateTex = false;
bDepthNearValueWhite = false;
kinectContext = NULL;
kinectDevice = NULL;
targetTiltAngleDeg = 0;
bTiltNeedsApplying = false;
thisKinect = this;
rgbDepthMatrix.getPtr()[0]=0.942040;
rgbDepthMatrix.getPtr()[1]=-0.005672;
rgbDepthMatrix.getPtr()[2]=0.000000;
rgbDepthMatrix.getPtr()[3]=23.953022;
rgbDepthMatrix.getPtr()[4]=0.004628;
rgbDepthMatrix.getPtr()[5]=0.939875;
rgbDepthMatrix.getPtr()[6]=0.000000;
rgbDepthMatrix.getPtr()[7]=31.486654;
rgbDepthMatrix.getPtr()[8]=0.000000;
rgbDepthMatrix.getPtr()[9]=0.000000;
rgbDepthMatrix.getPtr()[10]=0.000000;
rgbDepthMatrix.getPtr()[11]=0.000000;
rgbDepthMatrix.getPtr()[12]=0.000005;
rgbDepthMatrix.getPtr()[13]=0.000003;
rgbDepthMatrix.getPtr()[14]=0.000000;
rgbDepthMatrix.getPtr()[15]=1.000000;
calculateLookups();
}
//--------------------------------------------------------------------
ofxKinect::ofxKinect(){
ofLog(OF_LOG_VERBOSE, "Creating ofxKinect.");
//TODO: reset the right ones of these on close
// common
bVerbose = false;
bGrabberInited = false;
bUseTexture = true;
depthPixels = NULL;
depthPixelsRaw = NULL;
depthPixelsBack = NULL;
videoPixels = NULL;
videoPixelsBack = NULL;
calibratedRGBPixels = NULL;
distancePixels = NULL;
bNeedsUpdate = false;
bUpdateTex = false;
bDepthNearValueWhite = false;
bImage=false;
ofxKinect::thisKinect = this;
rgbDepthMatrix.getPtr()[0]=0.942040;
rgbDepthMatrix.getPtr()[1]=-0.005672;
rgbDepthMatrix.getPtr()[2]=0.000000;
rgbDepthMatrix.getPtr()[3]=23.953022;
rgbDepthMatrix.getPtr()[4]=0.004628;
rgbDepthMatrix.getPtr()[5]=0.939875;
rgbDepthMatrix.getPtr()[6]=0.000000;
rgbDepthMatrix.getPtr()[7]=31.486654;
rgbDepthMatrix.getPtr()[8]=0.000000;
rgbDepthMatrix.getPtr()[9]=0.000000;
rgbDepthMatrix.getPtr()[10]=0.000000;
rgbDepthMatrix.getPtr()[11]=0.000000;
rgbDepthMatrix.getPtr()[12]=0.000005;
rgbDepthMatrix.getPtr()[13]=0.000003;
rgbDepthMatrix.getPtr()[14]=0.000000;
rgbDepthMatrix.getPtr()[15]=1.000000;
calculateLookups();
xml_path= "data/Sample-User.xml";
cutOffFar=4096.0f;
}
void ofxKinectCalibration::setClippingInCentimeters(float nearClipping, float farClipping) {
ofxKinectCalibration::nearClipping = nearClipping;
ofxKinectCalibration::farClipping = farClipping;
lookupsCalculated = false;
calculateLookups();
}
void KinectHandler::setup()
{
int i;
int j;
triangleCount1 =0;
wait =0;
kinect.init();
kinect.setVerbose(true);
kinect.open();
kinect1.init();
kinect1.setVerbose(true);
kinect1.open();
kinect.setCameraTiltAngle(0);
kinect1.setCameraTiltAngle(0);
// set real depth lookup
calculateLookups();
//prep marching cube points
int count=0;
blobFinder =new BlobFinder();
sw =width/stepSize;
sh = height/stepSize;
numPoints =sw*sh;
points1 =new mcPoint[numPoints];
for(i=0;i<sh;i++)
{
for (j=0; j<sw;j++)
{
//points
points1[count].y = i*stepSize ;
points1[count].x = j*stepSize ;
count++;
}
}
cubes1 =new mcCube[(sw-1) *(sh-1)];
count =0;
for(i=0;i<sh-1;i++)
{
for (j=0; j<sw-1;j++)
{
int pos = i*sw +j;
cubes1[count].tl = &points1[pos];
cubes1[count].tr = &points1[pos+1];
cubes1[count].bl = &points1[pos+sw];
cubes1[count].br = &points1[pos+1+sw];
count++;
}
}
kinectShaderProgram =new KinectShaderProgram();
}
