Hi!

Im using this tracking system for tracking closest point with a kinect.

I can change the top, bottom, left right edges by adjusting the numbers in the two for loops but how do i adjust the z?

I guess this create the array of depth, z
what I want to do is to rotate the slice so if i put the kinect in the ceiling I can modify the slice that the kinect takes so its not further away in the bottom and closer in the top. I want to be able to rotate it by adjusting the depth values.

so tilt/rotate the whole slice of the tracked image ...

heres the whole sketch. any thoughts? (i know its a bit of messy explanation ...)

1. import SimpleOpenNI.*;
2. SimpleOpenNI kinect;
3. Keys keyEvents;
   
   
4. int close = 1310;
5. int far = 1325;
6. int closestX;
7. int closestY;
8. int x;
9. int y;
10. float xMapped;
11. float yMapped;
12. // slice on / off
13. boolean slice = true;
14. PImage depthImage;
15. int currentDepthValue;
16. float closestValue;
17. float posX, posY, posZ; // current X, Y, Z
18. int v_left = 140;
19. int b_right = 550;
20. int f_top = 20;
21. int g_bot = 330;
22. int skevaH = 0;
23. void setup() {
24.   background(0);
25.   size(displayWidth, displayHeight);
26.   blendMode(BLEND);
27.   keyEvents = new Keys();
28.   kinect = new SimpleOpenNI(this);
29.   kinect.setMirror(true);
30.   kinect.enableDepth();
31. }
32. void draw() {
33.   // ---------- uppdaterar kinectbilden
34.   kinect.update();
35.   closestValue = 8000;  // sätter closes value till 8000. det gör att alla som är mindre säkert kommer med.
36.   // get the depth array from the kinect
37.   int[] depthValues = kinect.depthMap();
38.   depthImage = kinect.depthImage();
39.  
40.   for (int x = v_left; x < b_right; x++) {
41.     for (int y = f_top; y < g_bot; y++) {
42.       int i = x + y * 640;
43.       currentDepthValue = depthValues[i];
44.       if (slice == true) {
45.         color color_ = color(100, 0, 200);
46.         if (currentDepthValue < close // om talet är mindre än värdet deklarerat i closestValue (i detta fall 610)
47.         || currentDepthValue > far) { // eller större än värdet deklarerat i farthestValue (i detta fall 1525)
48.           depthImage.pixels[i] = color_; // görs alla pixlarna om till 0 (dvs. svart)
49.         }
50.       }
51.       if (currentDepthValue > close && currentDepthValue < far && currentDepthValue < closestValue) {
52.         closestValue = currentDepthValue;
53.         closestX = x;
54.         closestY = y;
55.         xMapped = map(closestX, v_left, b_right, 0, displayWidth);
56.         yMapped = map(closestY, f_top, g_bot, 0, displayHeight);
57.       }
58.     }
59.   }
60.   if (slice == true) {
61.     image(kinect.depthImage(), 0, 0, width, height);
62.   }
63.   if (closestValue > far || closestValue < close) {
64.     noFill();
65.     noStroke();
66.   }
67.   else if (closestValue < far ) {
68.     fill(random(0, 255), random(0, 255), random(0, 255));
69.     stroke (255);
70.   }
71.   ellipse(xMapped, yMapped, 50, 50);
72. }
73. // DRAW END ------------------------------------
74. class Keys {
75.   Keys() {
76.   }
77.   void tangent() {
78.     if (keyPressed) {
79.       if (key == 'w') {
80.         slice = true;
81.       }
82.       if (key == 'q') {
83.         slice = false;
84.       }
85.       // Beskär
86.       if (key == 'l') {
87.         v_left = skevaH + 10;
88.       }
89.       if (key == 'k') {
90.         v_left = v_left + 10;
91.       }
92.       if (key == 'i') {
93.         v_left = skevaH + 10;
94.       }
95.       if (key == 'o') {
96.         v_left = v_left + 10;
97.       }
98.       // ----------
99.       if (key == 'b') {
100.         v_left = v_left + 10;
101.       }
102.       if (key == 'n') {
103.         b_right = b_right - 10;
104.       }
105.       if (key == 'f') {
106.         f_top = f_top + 10;
107.       }
108.       if (key == 'h') {
109.         g_bot = g_bot - 10;
110.       }
111.       if (key == 'v') {
112.         v_left = v_left - 10;
113.       }
114.       if (key == 'm') {
115.         b_right = b_right + 10;
116.       }
117.       if (key == 'g') {
118.         f_top = f_top - 10;
119.       }
120.       if (key == 'j') {
121.         g_bot = g_bot + 10;
122.       }
123.       v_left = constrain(v_left, 0, 640);
124.       b_right = constrain(b_right, 0, 640);
125.       f_top = constrain(f_top, 0, 480);
126.       g_bot = constrain(g_bot, 0, 480);
127.       if (keyCode == UP) {
128.         close = close + 10;
129.       }
130.       if (keyCode == DOWN) {
131.         close = close - 10;
132.       }
133.       if (keyCode == LEFT) {
134.         far = far + 10;
135.       }
136.       if (keyCode == RIGHT) {
137.         far = far - 10;
138.       }
139.       println("left " + v_left);
140.       println("right " + b_right);
141.       println("top " + f_top);
142.       println("bottom " + g_bot);
143.       println("closest " + close);
144.       println("farthest " + far);
145.       if (key == 'd') {
146.         background(0, 0, 0);
147.       }
148.     }
149.   }
150. }