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(); }