offset

3_PointCloud/Camera.cpp

@@ -6,7 +6,7 @@
 
 
 
-Camera::Camera() : Camera(vec3(10.0f, 5.0f, 0.0f))
+Camera::Camera() : Camera(vec3(2.0f, 0.0f, 0.0f))
 {
 
 }

3_PointCloud/Camera.h

@@ -16,7 +16,7 @@ private:
 	glm::vec3 position;
 	glm::vec3 up;
 
-	float speed = 0.3f;
+	float speed = 0.1f;
 	float mouseSpeed = 0.005f;
 
 	float horizontalAngle = (float) -M_PI/2;

3_PointCloud/main.cpp

@@ -15,6 +15,7 @@
 
 #include <glm/vec3.hpp>
 #include <glm/gtc/type_ptr.hpp>
+#include "glm/gtc/matrix_transform.hpp"
 
 #include <Kinect.h>
 #include "Camera.h"
@@ -57,8 +58,15 @@ std::vector<unsigned char> colors;
 IKinectSensor* sensor;             // Kinect sensor
 IMultiSourceFrameReader* reader;   // Kinect data source
 ICoordinateMapper* mapper;         // Converts between depth, color, and 3d coordinates
+float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
+float KinectOriginOffsetY = 21 / 1000.0f;
+float KinectSizeX = 0.249;
+float KinectSizeY = 0.066;
+float KinectSizeZ = 0.067;
+
 
 SteamTracking* steamTracking = nullptr;
+int controllerID = 3;
 glm::mat4x4* currentControlerPos = nullptr;
 glm::mat4x4 controlerToKinect;
 Camera mainCam;
@@ -69,33 +77,64 @@ static bool captureFrame = false;
 int lastX, lastY;
 
 
-void drawArrow() {
+void DrawCoordinateSystem() {
 	//TETAEDRON BY HAND
-	glBegin(GL_TRIANGLES);
+	glBegin(GL_LINES);
 
-	//front triangle
 	glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
+	glVertex3f(0.0f, 0.0f, 0.0f);
+	glVertex3f(1.0f, 0.0f, 0.0f);
+
+	glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
+	glVertex3f(0.0f, 0.0f, 0.0f);
 	glVertex3f(0.0f, 1.0f, 0.0f);
-	glVertex3f(-1.0f, -1.0f, 0.0f);
-	glVertex3f(1.0f, -1.0f, 0.0f);
 
-	//right side triangle
 	glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
-	glVertex3f(1.0f, -1.0f, 0.0f);
-	glVertex3f(0.0f, 1.0f, 0.0f);
-	glVertex3f(0.0f, -1.0f, -1.0f);
+	glVertex3f(0.0f, 0.0f, 0.0f);
+	glVertex3f(0.0f, 0.0f, 1.0f);
 
-	//left side triangle
-	glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
-	glVertex3f(-1.0f, -1.0f, 0.0f);
-	glVertex3f(0.0f, 1.0f, 0.0f);
-	glVertex3f(0.0f, -1.0f, -1.0f);
+	glEnd();
+}
+
+void DrawKinect() {
+	glBegin(GL_QUADS);
+
+	//links 82, 5 mm ist origin(siehe bild kinect mesures), kinect v2 : 24, 9 cm x 6, 6 cm x 6, 7cm
+	glColor4f(0.5f, 0.5f, 0.5f, 1.0f);
+	//front
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+	 //back
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+
+	//sides
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+
+	//top/bottom
+
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+	glVertex3f(0.0f - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, KinectSizeY - KinectOriginOffsetY, 0.0f);
+
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
+	glVertex3f(0.0f - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, -KinectSizeZ);
+	glVertex3f(KinectSizeX - KinectOriginOffsetX, 0.0f - KinectOriginOffsetY, 0.0f);
 
-	//bottom triangle
-	glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
-	glVertex3f(-1.0f, -1.0f, 0.0f);
-	glVertex3f(1.0f, -1.0f, 0.0f);
-	glVertex3f(0.0f, -1.0f, -1.0f);
 
 	glEnd();
 }
@@ -288,8 +327,8 @@ void mainRenderLoop() {
 
 	//get controler pos
 	delete currentControlerPos;
-	currentControlerPos = steamTracking->getTransformationForDevice(1);
-	
+	currentControlerPos = steamTracking->getTransformationForDevice(controllerID);
+
 	getKinectData();
 
 	//add points to point cloud
@@ -313,51 +352,50 @@ void mainRenderLoop() {
 	glEnableClientState(GL_VERTEX_ARRAY);
 	glEnableClientState(GL_COLOR_ARRAY);
 
-	
+
 	//draw Grid
 	glLineWidth(1.f);
 	drawElementArray(gridData, GL_LINES);
 
-	//draw stored Point cloud	
+
 
 	drawElementArray(exportData, GL_POINTS);
+	{ // Controller Space
+		glPushMatrix(); 
+		if (currentControlerPos) { //applay controler Transformation
+			glMultMatrixf(glm::value_ptr(*currentControlerPos));
+		}
+		glDisableClientState(GL_COLOR_ARRAY);
+		DrawCoordinateSystem();
 
-	glPushMatrix();
-	//draw current Frame 
-	if (currentControlerPos) { //applay controler Transformation
-		glMultMatrixf(glm::value_ptr(controlerToKinect));
-		glMultMatrixf(glm::value_ptr(*currentControlerPos));
-	
-	}
+		{// draw controller
+			glColor4f(0.5f, 0.5f, 0.5f, 1.0f);
 
-	glPointSize(1.f);
-	drawElementArray(framePoints, GL_POINTS);
+			glBindBuffer(GL_ARRAY_BUFFER, controllerData.vboID);
+			glVertexPointer(3, GL_FLOAT, 0, NULL);
 
+			glBindBuffer(GL_ARRAY_BUFFER, controllerData.normals);
+			glNormalPointer(GL_FLOAT, 0, NULL);
 
-	// draw hud arrow
-	//glTranslatef(0.0f, 1.5f, 0.0f);
-	float scale = 0.1f ;
-	scale = 1.0f;
-	glScalef(scale, scale, scale);
-//	glRotatef(-90, 0.0, 1.0, 0.0);
+			glDrawElements(GL_TRIANGLES, controllerData.size, GL_UNSIGNED_SHORT, 0);
+		}
 
-	glDisableClientState(GL_COLOR_ARRAY);
-	glColor4f(0.5f, 0.5f, 0.5f, 1.0f);
+		{//Kinect Space
+			glPushMatrix(); 
+			glMultMatrixf(glm::value_ptr(controlerToKinect));
+			DrawCoordinateSystem();
 
-	glBindBuffer(GL_ARRAY_BUFFER, controllerData.vboID);
-	glVertexPointer(3, GL_FLOAT, 0, NULL);
-
-	glBindBuffer(GL_ARRAY_BUFFER, controllerData.vboID);
-	glNormalPointer(GL_FLOAT, 0, NULL);
+			DrawKinect();
 
-	glDrawElements(GL_TRIANGLES, controllerData.size, GL_UNSIGNED_SHORT, 0);
-	//glDrawArrays(GL_TRIANGLES, 0, controllerData.size);	
+			glEnableClientState(GL_COLOR_ARRAY);
+			//draw Frame Point cloud	
+			glPointSize(1.f);
+			drawElementArray(framePoints, GL_POINTS);
 
-	//drawArrow();
-	glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
-	//glutSolidTeapot(1);
-	glPopMatrix();
-	
+			glPopMatrix();
+		}
+		glPopMatrix();
+	}
 
 	glDisableClientState(GL_VERTEX_ARRAY);
 	glDisableClientState(GL_COLOR_ARRAY);
@@ -407,6 +445,9 @@ void captureNextFrame(vr::VREvent_t event)
 	}
 }
 
+float degreeToRadioan(float degree) {
+	return degree*M_PI / 180.0;
+}
 
 int main(int argc, char* argv[]) {
 	std::cout << "Starting Kinect VR Point Cloud creator\n";
@@ -451,7 +492,26 @@ int main(int argc, char* argv[]) {
 	//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));
+
+
+	controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(-4.0f, -7.5f, 13.0f)*0.01f));
+
+	float dx = KinectOriginOffsetX - KinectSizeX/ 2;
+	float dy = KinectSizeY / 2 + 0.008; // dicke Halterung;
+	float dz = 0.0450f; //TODO - offset nach hinten;
+	
+	controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(0.0f, 0.0f, 0.24f)));
+
+	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(135.0f), glm::vec3(1.0f, 0.0f, 0.0f));
+	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 0.0f, 1.0f));
+
+	controlerToKinect = glm::translate(controlerToKinect, (glm::vec3(dx, -dy, dz)));
+	
+
+	std::cout << "Kinect to center: " << dx <<" "<< dy << " " << dz;
+	// x kinect mitte = 
+
+
 
 
 	//
@@ -463,6 +523,7 @@ int main(int argc, char* argv[]) {
 
 	loadAssImp("C:\\Program Files (x86)\\Steam\\steamapps\\common\\SteamVR\\resources\\rendermodels\\vr_controller_vive_1_5\\vr_controller_vive_1_5.obj", indices, out_vertices, out_uvs, out_normals);
 
+
 	glGenBuffers(1, &controllerData.vboID);
 	glBindBuffer(GL_ARRAY_BUFFER, controllerData.vboID);
 	glBufferData(GL_ARRAY_BUFFER, out_vertices.size() * sizeof(glm::vec3), &out_vertices[0], GL_STATIC_DRAW);
@@ -567,103 +628,6 @@ void setupGrid()
 	}
 }
 
-void setupArrow() {
-	static GLfloat g_vertex_buffer_data[] = {
-		-1.0f,-1.0f,-1.0f, // triangle 1 : begin
-		-1.0f,-1.0f, 1.0f,
-		-1.0f, 1.0f, 1.0f, // triangle 1 : end
-		1.0f, 1.0f,-1.0f, // triangle 2 : begin
-		-1.0f,-1.0f,-1.0f,
-		-1.0f, 1.0f,-1.0f, // triangle 2 : end
-		1.0f,-1.0f, 1.0f,
-		-1.0f,-1.0f,-1.0f,
-		1.0f,-1.0f,-1.0f,
-		1.0f, 1.0f,-1.0f,
-		1.0f,-1.0f,-1.0f,
-		-1.0f,-1.0f,-1.0f,
-		-1.0f,-1.0f,-1.0f,
-		-1.0f, 1.0f, 1.0f,
-		-1.0f, 1.0f,-1.0f,
-		1.0f,-1.0f, 1.0f,
-		-1.0f,-1.0f, 1.0f,
-		-1.0f,-1.0f,-1.0f,
-		-1.0f, 1.0f, 1.0f,
-		-1.0f,-1.0f, 1.0f,
-		1.0f,-1.0f, 1.0f,
-		1.0f, 1.0f, 1.0f,
-		1.0f,-1.0f,-1.0f,
-		1.0f, 1.0f,-1.0f,
-		1.0f,-1.0f,-1.0f,
-		1.0f, 1.0f, 1.0f,
-		1.0f,-1.0f, 1.0f,
-		1.0f, 1.0f, 1.0f,
-		1.0f, 1.0f,-1.0f,
-		-1.0f, 1.0f,-1.0f,
-		1.0f, 1.0f, 1.0f,
-		-1.0f, 1.0f,-1.0f,
-		-1.0f, 1.0f, 1.0f,
-		1.0f, 1.0f, 1.0f,
-		-1.0f, 1.0f, 1.0f,
-		1.0f,-1.0f, 1.0f
-	};
-
-	static const GLfloat g_color_buffer_data[] = {
-		0.583f,  0.771f,  0.014f,
-		0.609f,  0.115f,  0.436f,
-		0.327f,  0.483f,  0.844f,
-		0.822f,  0.569f,  0.201f,
-		0.435f,  0.602f,  0.223f,
-		0.310f,  0.747f,  0.185f,
-		0.597f,  0.770f,  0.761f,
-		0.559f,  0.436f,  0.730f,
-		0.359f,  0.583f,  0.152f,
-		0.483f,  0.596f,  0.789f,
-		0.559f,  0.861f,  0.639f,
-		0.195f,  0.548f,  0.859f,
-		0.014f,  0.184f,  0.576f,
-		0.771f,  0.328f,  0.970f,
-		0.406f,  0.615f,  0.116f,
-		0.676f,  0.977f,  0.133f,
-		0.971f,  0.572f,  0.833f,
-		0.140f,  0.616f,  0.489f,
-		0.997f,  0.513f,  0.064f,
-		0.945f,  0.719f,  0.592f,
-		0.543f,  0.021f,  0.978f,
-		0.279f,  0.317f,  0.505f,
-		0.167f,  0.620f,  0.077f,
-		0.347f,  0.857f,  0.137f,
-		0.055f,  0.953f,  0.042f,
-		0.714f,  0.505f,  0.345f,
-		0.783f,  0.290f,  0.734f,
-		0.722f,  0.645f,  0.174f,
-		0.302f,  0.455f,  0.848f,
-		0.225f,  0.587f,  0.040f,
-		0.517f,  0.713f,  0.338f,
-		0.053f,  0.959f,  0.120f,
-		0.393f,  0.621f,  0.362f,
-		0.673f,  0.211f,  0.457f,
-		0.820f,  0.883f,  0.371f,
-		0.982f,  0.099f,  0.879f
-	};
-
-
-	std::vector<unsigned char> gridcolors;
-	for (int i = 0; i < 108; i++)
-	{
-		gridcolors.push_back((unsigned char)(g_color_buffer_data[i]*255));
-	}	
-
-	glGenBuffers(1, &arrowData.vboID);
-	glBindBuffer(GL_ARRAY_BUFFER, gridData.vboID);
-	glBufferData(GL_ARRAY_BUFFER, 108* sizeof(float), g_vertex_buffer_data, GL_STATIC_DRAW);
-
-	glGenBuffers(1, &gridData.cboID);
-	glBindBuffer(GL_ARRAY_BUFFER, gridData.cboID);
-	glBufferData(GL_ARRAY_BUFFER, gridcolors.size() * sizeof(unsigned char), &gridcolors[0], GL_STATIC_DRAW);
-	arrowData.size = 108;
-
-}
-
 void close() {
 	delete steamTracking;
 }

Kinect for Windows V2 屋外で使うためのカバー製作.url

+[InternetShortcut]
+[InternetShortcut]
+URL=https://social.msdn.microsoft.com/Forums/sqlserver/ja-JP/05a6d2b3-9096-4236-b77a-691c5f047066/kinect-for-windows-v2-?forum=windowsgeneraldevelopmentissuesja