How to read out Z co-ordinate?
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Contributed Library Questions
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5 months ago
I have the code below that reads out the X and Y location of the dot. I am a complete newbie to Processing and Kinect. How can I read out the Z (depth) location co-ordinate?
Help will be much appreciated!
AveragePointTracking.pde:
- // Daniel Shiffman
- // Tracking the average location beyond a given depth threshold
- // Thanks to Dan O'Sullivan
- // http://www.shiffman.net
- // https://github.com/shiffman/libfreenect/tree/master/wrappers/java/processing
- import org.openkinect.*;
- import org.openkinect.processing.*;
- // Showing how we can farm all the kinect stuff out to a separate class
- KinectTracker tracker;
- // Kinect Library object
- Kinect kinect;
- void setup() {
- size(640,600);
- kinect = new Kinect(this);
- tracker = new KinectTracker();
- }
- void draw() {
- background(255);
- // Run the tracking analysis
- tracker.track();
- // Show the image
- tracker.display();
- // Let's draw the raw location
- PVector v1 = tracker.getPos();
- fill(50,100,250,200);
- noStroke();
- ellipse(v1.x,v1.y,10,10);
- // Let's draw the "lerped" location
- //PVector v2 = tracker.getLerpedPos();
- //fill(100,250,50,200);
- //noStroke();
- //ellipse(v2.x,v2.y,20,20);
- // Display some info
- int t = tracker.getThreshold();
- fill(0);
- text("Location-X: " + v1.x,10,500);
- text("Location-Y: " + v1.y,10,530);
- text("Depth: ",10,560);
- text("threshold: " + t,10,590);
- }
- void stop() {
- tracker.quit();
- super.stop();
- }
KinectTracker.pde:
- class KinectTracker {
- // Size of kinect image
- int kw = 640;
- int kh = 480;
- int threshold = 500;
- // Raw location
- PVector loc;
- // Interpolated location
- PVector lerpedLoc;
- // Depth data
- int[] depth;
- PImage display;
- KinectTracker() {
- kinect.start();
- kinect.enableDepth(true);
- // We could skip processing the grayscale image for efficiency
- // but this example is just demonstrating everything
- kinect.processDepthImage(true);
- display = createImage(kw,kh,PConstants.RGB);
- loc = new PVector(0,0);
- lerpedLoc = new PVector(0,0);
- }
- void track() {
- // Get the raw depth as array of integers
- depth = kinect.getRawDepth();
- // Being overly cautious here
- if (depth == null) return;
- float sumX = 0;
- float sumY = 0;
- float count = 0;
- for(int x = 0; x < kw; x++) {
- for(int y = 0; y < kh; y++) {
- // Mirroring the image
- int offset = kw-x-1+y*kw;
- // Grabbing the raw depth
- int rawDepth = depth[offset];
- // Testing against threshold
- if (rawDepth < threshold) {
- sumX += x;
- sumY += y;
- count++;
- }
- }
- }
- // As long as we found something
- if (count != 0) {
- loc = new PVector(sumX/count,sumY/count);
- }
- // Interpolating the location, doing it arbitrarily for now
- lerpedLoc.x = PApplet.lerp(lerpedLoc.x, loc.x, 0.3f);
- lerpedLoc.y = PApplet.lerp(lerpedLoc.y, loc.y, 0.3f);
- }
- PVector getLerpedPos() {
- return lerpedLoc;
- }
- PVector getPos() {
- return loc;
- }
- void display() {
- PImage img = kinect.getDepthImage();
- // Being overly cautious here
- if (depth == null || img == null) return;
- // Going to rewrite the depth image to show which pixels are in threshold
- // A lot of this is redundant, but this is just for demonstration purposes
- display.loadPixels();
- for(int x = 0; x < kw; x++) {
- for(int y = 0; y < kh; y++) {
- // mirroring image
- int offset = kw-x-1+y*kw;
- // Raw depth
- int rawDepth = depth[offset];
- int pix = x+y*display.width;
- if (rawDepth < threshold) {
- // A red color instead
- display.pixels[pix] = color(245,100,100);
- }
- else {
- display.pixels[pix] = img.pixels[offset];
- }
- }
- }
- display.updatePixels();
- // Draw the image
- image(display,0,0);
- }
- void quit() {
- kinect.quit();
- }
- int getThreshold() {
- return threshold;
- }
- void setThreshold(int t) {
- threshold = t;
- }
- }
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