This is a code from library about kinect. I would like to know how to control the depth with RGB col

iwdama

// Daniel Shiffman // Kinect Point Cloud example

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

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();

// 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 = 4;

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

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);

  stroke(255);
  pushMatrix();
  // Scale up by 200
  float factor = 200;
  translate(v.x*factor, v.y*factor, factor-v.z*factor);
  // Draw a point
  point(0, 0);
  popMatrix();
}

}

// 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; }

TfGuy44

https://forum.processing.org/two/discussion/15473/readme-how-to-format-code-and-text#latest

It is required you get the formatting for your code right first.

kfrajer

What is the status of this post? Is the code running? What does this code do? It is not doing what you want it to do and requires some changes? Please add as much detail as possible in your post. No need for people in the forum to try to figure it out by themselves.

Kf