test

3_PointCloud/main.cpp

@@ -71,7 +71,7 @@ std::vector<glm::vec3> controllerPositions;
 
 
 
-bool toggleCam = false;
+bool toggleCam = true;
 Camera mainCam;
 
 static bool trackControllerPos = true;
@@ -83,18 +83,19 @@ int lastX, lastY;
 
 
 //Filter Settings
-float minTrackingKinect = 0.2f;//0.8f;
-float maxTrackingKinect = 1.0f;// 2.5f;
+float minTrackingKinect = 0.3f;//0.8f;
+float maxTrackingKinect = 0.9f;// 2.5f;
 	//Custom
 //float angleDegrees = 20.0f;
 float maxNormalAngle = degreeToRadian(25.0f);
 bool enableDepthFilter = false;
-bool enableNormalFilter = false;//true;
+bool enableNormalFilter = true;//true;
 	//Bilateral / FastDepthNoise
 bool enableFastDepthNoiseFilter = true;
 float repairThreshold = 100.0f;
 
 
+bool captureFramesTXT = true;
 
 
 
@@ -389,14 +390,14 @@ void processCurrentFrameForExport() {
 	float maxx, maxy, maxz;
 	maxx = maxy = maxz = -std::numeric_limits<float>::max();
 
-	bool captureFramesTXT = false;
+
 	std::ofstream myfile;
 	if (captureFramesTXT) {
 		char buffer[64]; // make sure it's big enough
 		snprintf(buffer, sizeof(buffer), "frames/pnts_%d.txt", counter++);
-		myfile.open(buffer, std::ios::out | std::ios::binary);
+		myfile.open(buffer, std::ios::out);
 	}	
-
+	glm::mat4x4 temp = glm::inverse(*currentTrackerPos);
 	for (unsigned int i = 0; i < width*height; i++) {
 		if (frameValidPoints[i]) {
 			glm::vec3 position = framePositions[i];
@@ -404,8 +405,6 @@ void processCurrentFrameForExport() {
 
 			if (isinf(position.x) || isinf(position.y) || isinf(position.z))
 				continue;
-
-			
 			
 			if (position.x < minx) minx = position.x;
 			if (position.x > maxx) maxx = position.x;
@@ -418,8 +417,10 @@ void processCurrentFrameForExport() {
 			colors.push_back(frameColors[i * 3]);
 			colors.push_back(frameColors[i * 3 + 1]);
 			colors.push_back(frameColors[i * 3 + 2]);
+
 			if (captureFramesTXT) {
-				myfile << positionGlobal.x << " " << positionGlobal.y << " " << positionGlobal.z << " "
+				glm::vec3 tempvec = glm::vec3(temp* glm::vec4(positionGlobal, 1.0f));
+				myfile << tempvec.x << " " << tempvec.y << " " << tempvec.z << " "
 					<< (int)frameColors[i * 3] << " " << (int)frameColors[i * 3 + 1] << " " << (int)frameColors[i * 3 + 2] << std::endl;
 			}
 
@@ -451,26 +452,25 @@ void writePointCloud() {
 		return;
 	}
 
-	if (!currentTrackerPos)
-		currentTrackerPos = new glm::mat4x4(glm::rotate(*steamTracking->getTransformationForDevice(trackerID, 0.0f), degreeToRadian(-00), glm::vec3(1.0f, 0.0f, 0.0f)));
-
+	currentTrackerPos = steamTracking->getTransformationForDevice(trackerID, 0.0f);
+	currentTrackerPos = new glm::mat4x4(glm::rotate(*currentTrackerPos, degreeToRadian(-90), glm::vec3(1.0f, 0.0f, 0.0f)));
 
 	std::vector<glm::vec3> exportpoints;
 	exportpoints.reserve(points.size());
 	for (size_t i = 0; i < points.size(); i++) {
 		
 
-		exportpoints.push_back(glm::vec3(glm::rotate(glm::inverse(*currentTrackerPos), degreeToRadian(00), glm::vec3(1.0f, 0.0f, 0.0f)) * glm::vec4(points[i], 1.0f)));
+		exportpoints.push_back(glm::inverse(*currentTrackerPos) * glm::vec4(points[i], 1.0f));
 	}
 
 	//exportpoints.clear();
-
+	/*
 	for (int i = 0; i < 1000; i++) {
 		exportpoints.push_back(glm::vec3(i/1000.0f, 0.0f, 0.0f));
 		exportpoints.push_back(glm::vec3(0.0f, i / 1000.0f, 0.0f));
-		exportpoints.push_back(glm::vec3(0.0f, i / 2000.0f, 1.0f));
+		//exportpoints.push_back(glm::vec3(0.0f, i / 2000.0f, 1.0f));
 		exportpoints.push_back(glm::vec3(0.0f, 0.0f, i / 1000.0f));
-	}
+	}*/
 
 
 	pntsHeader header;