test

3_PointCloud/main.cpp

@@ -54,6 +54,7 @@ ICoordinateMapper* mapper;         // Converts between depth, color, and 3d coor
 
 SteamTracking* steamTracking = nullptr;
 glm::mat4x4* currentControlerPos = nullptr;
+glm::mat4x4 controlerToKinect;
 Camera mainCam;
 
 
@@ -198,7 +199,7 @@ void processCurrentFrameForExport() {
 
 	for (unsigned int i = 0; i < width*height; i++) {
 		if (frameValidPoints[i]) {
-			points.push_back(glm::vec3(*currentControlerPos * glm::vec4(framePositions[i], 1.0f)));
+			points.push_back(glm::vec3( *currentControlerPos * controlerToKinect * glm::vec4(framePositions[i], 1.0f)));
 			colors.push_back(frameColors[i * 3]);
 			colors.push_back(frameColors[i * 3 + 1]);
 			colors.push_back(frameColors[i * 3 + 2]);
@@ -300,6 +301,7 @@ void mainRenderLoop() {
 	glLoadIdentity();
 	//rotateCamera(); //todo
 	mainCam.applyMatrix();
+	//glTranslatef(0.0, 5, 0.0);
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glEnableClientState(GL_VERTEX_ARRAY);
@@ -316,8 +318,11 @@ void mainRenderLoop() {
 
 	glPushMatrix();
 	//draw current Frame 
-	if(currentControlerPos) //applay controler Transformation
+	if (currentControlerPos) { //applay controler Transformation
+		glMultMatrixf(glm::value_ptr(controlerToKinect));
 		glMultMatrixf(glm::value_ptr(*currentControlerPos));
+	
+	}
 
 	glPointSize(1.f);
 	drawElementArray(framePoints, GL_POINTS);
@@ -325,9 +330,10 @@ void mainRenderLoop() {
 	drawElementArray(arrowData, GL_TRIANGLES);
 
 	// draw hud arrow
-	glTranslatef(0.0f, 1.5f, 0.0f);
-	float scale = 1.0f ;
+	//glTranslatef(0.0f, 1.5f, 0.0f);
+	float scale = 0.1f ;
 	glScalef(scale, scale, scale);
+	glRotatef(-90, 0.0, 1.0, 0.0);
 	
 	glDisableClientState(GL_COLOR_ARRAY);
 	//drawArrow();
@@ -379,7 +385,7 @@ void mouseMove(int x, int y) {
 void captureNextFrame(vr::VREvent_t event)
 {
 	if (event.trackedDeviceIndex == 1 && event.data.controller.button == 33) {
-		std::cout << "Caturing Frame controler Button" << std::endl;
+		std::cout << "Capturing Frame Controler Button" << std::endl;
 		captureFrame = true;
 	}
 }
@@ -416,6 +422,22 @@ int main(int argc, char* argv[]) {
     glMatrixMode(GL_MODELVIEW);
     glLoadIdentity();
 
+	//kienct: https://msdn.microsoft.com/de-de/library/dn785530.aspx
+	// 1 unit = 1 meter
+	// z ist nach vorne, y up, x links aka -90 um die y achse gedreht
+	// The Camera Space origin (x=0, y=0, z=0) is located at the center of the IR sensor on Kinect 
+	//von links 82,5 mm ist origin (siehe bild kinect mesures),  kinect v2: 24,9 cm x 6,6 cm x 6,7cm
+	//
+
+
+	// http://www.opengl-tutorial.org/beginners-tutorials/tutorial-7-model-loading/
+	//C:\Program Files (x86)\Steam\steamapps\common\SteamVR\resources\rendermodels\vr_controller_vive_1_5
+	//HKEY_CURRENT_USER/Software/Valve/SteamPath.
+
+	controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(-4.0f, 4.0f, 12.0f)*0.01f));
+
+
+
     // Main loop
 	atexit(close);
     execute();