How to get the x position of the Average Point Tracking so as to control servos on an arduino ?

jreynaud

Hello Guys, I am wondering how can i get the x position of the average point tracking on openkinect lib so as to control servos on a arduino. I am using processing 3, i didn't find any tuto about it, and i'm a novice at it. Here's the code // Daniel Shiffman // Tracking the average location beyond a given depth threshold // Thanks to Dan O'Sullivan

// https://github.com/shiffman/OpenKinect-for-Processing
// http://shiffman.net/p5/kinect/

import org.openkinect.freenect.*;
import org.openkinect.processing.*;

// The kinect stuff is happening in another class
KinectTracker tracker;
Kinect kinect;


void setup() {
  size(640, 520);
  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, 20, 20);

  // 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("threshold: " + t + "    " +  "framerate: " + int(frameRate) + "    " + 
    "UP increase threshold, DOWN decrease threshold", 10, 500);
}

// Adjust the threshold with key presses
void keyPressed() {
  int t = tracker.getThreshold();
  if (key == CODED) {
    if (keyCode == UP) {
      t+=5;
      tracker.setThreshold(t);
    } else if (keyCode == DOWN) {
      t-=5;
      tracker.setThreshold(t);
    }
  }
}

In a second time i definitely need your help to link processing and arduino. Cheers guys !

eveevans

You miss the most important file, is the one called KinectTracker.

` // Daniel Shiffman // Tracking the average location beyond a given depth threshold // Thanks to Dan O'Sullivan

// https://github.com/shiffman/OpenKinect-for-Processing // http://shiffman.net/p5/kinect/

class KinectTracker {

// Depth threshold int threshold = 745;

// Raw location PVector loc;

// Interpolated location PVector lerpedLoc;

// Depth data int[] depth;

// What we'll show the user PImage display;

KinectTracker() { // This is an awkard use of a global variable here // But doing it this way for simplicity kinect.initDepth(); //kinect.enableMirror(true); // Make a blank image display = createImage(kinect.width, kinect.height, RGB); // Set up the vectors 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 < kinect.width; x++) {
  for (int y = 0; y < kinect.height; y++) {

    int offset =  x + y*kinect.width;
    // 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 < kinect.width; x++) {
  for (int y = 0; y < kinect.height; y++) {

    int offset = x + y * kinect.width;
    // Raw depth
    int rawDepth = depth[offset];
    int pix = x + y * display.width;
    if (rawDepth < threshold) {
      // A red color instead
      display.pixels[pix] = color(150, 50, 50);
    } else {
      display.pixels[pix] = img.pixels[offset];
    }
  }
}
display.updatePixels();

// Draw the image
image(display, 0, 0);

}

int getThreshold() { return threshold; }

void setThreshold(int t) { threshold = t; } }`

Here is the most important part.