point cloud triangulation

Turing

Hi, I'm trying to triangulate the point cloud generated in the PointCloud example by Shiffman. I can delete the origin point from the kinect and the wall behind me with an if and alpha values, but when I add TRIANGLE_STRIP into beginShape() instead od POINTS, I can find these points again. How can I delete them?!Code and images below...

THANKS...

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

// Kinect Library object
Kinect kinect;

// Angle for rotation
float a = 0;

// We'll use a lookup table so that we don't have to repeat the math over and over
float[] depthLookUp = new float[2048];

void setup() {
  // Rendering in P3D
  size(800, 600, P3D);
  kinect = new Kinect(this);
  kinect.initDepth();

  smooth();

  // Lookup table for all possible depth values (0 - 2047)
  for (int i = 0; i < depthLookUp.length; i++) {
    depthLookUp[i] = rawDepthToMeters(i);
  }
}

void draw() {

  background(0);

  // Get the raw depth as array of integers
  int[] depth = kinect.getRawDepth();

  // We're just going to calculate and draw every 4th pixel (equivalent of 160x120)
  int skip = 6;

  // Translate and rotate
  translate(width/2, height/2, -50);
  rotateY(a);

  //beginShape(POINTS);
  beginShape(TRIANGLE_STRIP);

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

      // Convert kinect data to world xyz coordinate
      int rawDepth = depth[offset];
      PVector v = depthToWorld(x, y, rawDepth);

      noFill();

      //depth
      if (rawDepth > 300 && rawDepth < 800) {
        stroke(255);
      } else {
        stroke(0, 0);
      }

      // Scale up by 200
      float factor = 400;

      // Draw a point
      vertex(v.x*factor, v.y*factor, factor-v.z*factor);
    }
  }

  endShape();

  // Rotate
  a += 0.015f;
}

// These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html
float rawDepthToMeters(int depthValue) {
  if (depthValue < 2047) {
    return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161));
  }
  return 0.0f;
}

PVector depthToWorld(int x, int y, int depthValue) {

  final double fx_d = 1.0 / 5.9421434211923247e+02;
  final double fy_d = 1.0 / 5.9104053696870778e+02;
  final double cx_d = 3.3930780975300314e+02;
  final double cy_d = 2.4273913761751615e+02;

  PVector result = new PVector();
  double depth =  depthLookUp[depthValue];//rawDepthToMeters(depthValue);
  result.x = (float)((x - cx_d) * depth * fx_d);
  result.y = (float)((y - cy_d) * depth * fy_d);
  result.z = (float)(depth);
  return result;
}

koogs

i think the problem might be that your triangle strip is wrapping around the rows of the data.

ie the last point of row 0 is part of a triangle with the first point of row 1.

actually, it's worse than that - points 0, 1 and 2 of row 0 are a triangle, as are 1, 2, and 3, as are 2, 3, 4... these will be almost co-linear.

TRIANGLE_STRIP here: https://processing.org/reference/beginShape_.html

Turing

I know what you mean. So, how I can triangulate them?!

And why if I put an alpha value = 0 I can see them just the same?

koogs

well, you can connect items in the 0th row with items in the 1st row etc (one triangle strip per row)

A1--B1--C1--D1--E1
| / | / | / | / |
A2--B2--C2--D2--E2
| / | / | / | / |
A3--B3--C3--D3--E3

so that A1 B1 A2 is a triangle, B1 A2 B2 is a triangle etc

given that you are sampling points you could offset alternate lines to make it look less like a square grid and more like a triangular one

A1--B1--C1--D1
 \ / \ / \ /
  A2--B2--C2
 / \ / \ / \
A3--B3--C3--D3

but what colour do you draw the line? what if one of the 3 points is invisible?

Turing

if one of the 3 points is invisible we get a gradient line from a transparent color to white, but I don't want to see the "entire/gradient" line!! I can't understand how I can exclude these points from the array list, that's my problem. I don't know if you understand what I mean...

Turing

any ideas?!

rbrauer

Maybe try putting the vertex(...) call in the passing branch of the if(...) instead of stroke(255) and get rid of the else.

koogs

a small runnable example that didn't need a kinect might be useful.