Kinect PointCloudDepthOGL display delay

mckuv

Hi everyone, I have been trying to achieve a 3-6 sec delay on the live display from my kinect 2's point cloud feed, I am new to all this, so I have been basing my work on the KinectPV2 library by Langeling, I also came across a post here (https://forum.processing.org/two/discussion/15800/how-to-delay-the-feed-of-the-kinect-2-point-cloud) where it is solved but i am having a hard time applying it to the solution I have in hands. this is the code i have in hands

import java.nio.*;
import KinectPV2.*;

KinectPV2 kinect;

int Vloc, z = -200, VBOID;
float scale = 260, pointScale = 100.0, a = 0.1;

int distanceMax = 4500, distanceMin = 0;

PGL pgl;
PShader psh;
ArrayList<ArrayList> clouds;
  int limit = 120;

public void setup ()
{
  size(1280, 720, P3D);
  kinect = new KinectPV2(this);
  kinect.enableDepthImg(true);
  kinect.enablePointCloud(true);
  kinect.setLowThresholdPC(distanceMin);
  kinect.setHighThresholdPC(distanceMax);

  kinect.init();

  psh = loadShader("frag.glsl", "vert.glsl");
  PGL pgl = beginPGL();
  IntBuffer buffer = IntBuffer.allocate(1);
  pgl.genBuffers(1, buffer);
  VBOID = buffer.get(0);
  endPGL();

  clouds = new ArrayList<ArrayList>();
  }

  public void draw ()
  {
    background(0);
    translate(width/2, height/2, z);
    scale(scale, -1*scale, scale);
    rotate(a, 0.0f, 1.0f, 0.0f);
    kinect.setLowThresholdPC(distanceMin);
    kinect.setHighThresholdPC(distanceMax);

    FloatBuffer cloudBuf=kinect.getPointCloudPos();

    pgl=beginPGL();
    psh.bind();

    Vloc=pgl.getAttribLocation(psh.glProgram, "vertex");
    pgl.enableVertexAttribArray(Vloc);
    int vData=kinect.WIDTHDepth * kinect.HEIGHTDepth *3;

    {
     pgl.bindBuffer(PGL.ARRAY_BUFFER, VBOID);
     pgl.bufferData(PGL.ARRAY_BUFFER, Float.BYTES*vData,cloudBuf, PGL.DYNAMIC_DRAW);
     pgl.vertexAttribPointer(Vloc, 3, PGL.FLOAT, false, Float.BYTES*3,0);
    }

   pgl.bindBuffer(PGL.ARRAY_BUFFER, 0);

   //draw point buffer as set of points
   //this is where the delay-draw mechanis should be?
   //or what it should encapsulate?
   pgl.drawArrays(PGL.POINTS, 0, vData);

   pgl.disableVertexAttribArray(Vloc);

   psh.unbind();
   endPGL();

   stroke(255,0,0);

  }

kfrajer

Please edit your post, select your code and hit ctrl+o to format your code. Make sure there is an empty line above and below your code.

Kf

mckuv

Thank you kfrajer, can you help me now?

koogs

Do you need to post your shader code?

mckuv

um no, and this is the entire undelayed thing

mckuv

I worked on this code using other libs but it cannot open or detect kinect

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



static class CameraParams {
  static float cx = 254.878f;
  static float cy = 205.395f;
  static float fx = 365.456f;
  static float fy = 365.456f;
  static float k1 = 0.0905474;
  static float k2 = -0.26819;
  static float k3 = 0.0950862;
  static float p1 = 0.0;
  static float p2 = 0.0;
}


Kinect2 kin;
float a=0;
float[] dlu=new float[2048];
ArrayList <ArrayList> clouds;
int count=120;


public void setup ()
{
 size ( 1280, 720, P3D);
 kin = new Kinect2(this);
 kin.initDevice();
 kin.initDepth();

 for (int i=0; i<dlu.length; i++)
 {
   dlu[i]=rawDepthToMeters(i);
 }

 clouds=new ArrayList<ArrayList>();
}

public void draw ()
{
  background(0);
  ArrayList cloud=new ArrayList();
  if (clouds.size()>count)
  {
    clouds.remove(0);
  }
  clouds.add(cloud);

  int[] d=kin.getRawDepth();
  for (int i=0; i<kin.depthWidth; i+=2)
  {
    for (int j=0; j<kin.depthHeight; j+=2)
    {
      int offset=i+j*kin.depthWidth;
      int dep=d[offset];
      PVector p=depthToPointCloudPos(i,j,dep);
      cloud.add(p);
    }
  }
  pushMatrix();
  stroke(255);
  beginShape(POINTS);

  if (clouds.size()>count)
  {
    ArrayList currCloud=clouds.get(0);
    for (int i=0; i<currCloud.size();i++)
    {
      PVector vec=(PVector)currCloud.get(i);
      vertex(-vec.x, vec.y, vec.z);
    }
  }
  endShape();
  popMatrix();
}

PVector depthToPointCloudPos(int x, int y, float depVal)
{
  PVector p=new PVector();
  p.z=(depVal);
  p.x=(X- CameraParams.cx)*p.z/CameraParams.fx;
  p.y=(Y-CameraParams.cy)*p.z/CameraParams.fy;
  return p;
}

// 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;
}

// Only needed to make sense of the ouput depth values from the kinect
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;

// Drawing the result vector to give each point its three-dimensional space
  PVector result = new PVector();
  double depth =  dlu[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;
}