range

3_PointCloud/glut.cpp

@@ -14,6 +14,7 @@ bool init(int argc, char* argv[]) {
     glutInit(&argc, argv);
     glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA);
     glutInitWindowSize(width,height);
+	glutInitWindowSize(1800, 900);
     glutCreateWindow("Kinect VR Point Cloud");
 
 	glEnable(GL_DEPTH_TEST);

3_PointCloud/main.cpp

@@ -65,6 +65,9 @@ float KinectSizeX = 0.249;
 float KinectSizeY = 0.042; // 42 mm, 66mm ist die gesammthhe
 float KinectSizeZ = 0.067;
 
+float minTrackingKinect = 0.8f;
+float maxTrackingKinect = 3.5f;
+
 //Vive Tracking
 SteamTracking* steamTracking = nullptr;
 int controllerID = 1;
@@ -75,7 +78,7 @@ std::vector<glm::vec3> controllerPositions;
 
 Camera mainCam;
 
-static bool trackControllerPos = false;
+static bool trackControllerPos = true;
 
 static bool writeFile = false;
 static bool captureFrame = false;
@@ -213,7 +216,7 @@ void getRgbData(IMultiSourceFrame* frame) {
 			*fvalid++ = false;
 		}
 		else {
-			if (depth2xyz[i].Z > 1.7f) {
+			if (depth2xyz[i].Z > maxTrackingKinect || depth2xyz[i].Z < minTrackingKinect) {
 				*fdest++ = 0;
 				*fdest++ = 255;
 				*fdest++ = 0;
@@ -395,6 +398,8 @@ void mainRenderLoop() {
 	//draw Controller Positions
 	
 	if (trackControllerPos && controllerPosData.size > 1){
+
+		glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
 		glBindBuffer(GL_ARRAY_BUFFER, controllerPosData.vboID);
 		glVertexPointer(3, GL_FLOAT, 0, NULL);
 		glDrawArrays(GL_LINE_STRIP, 0, controllerPosData.size);
@@ -541,7 +546,7 @@ int main(int argc, char* argv[]) {
 
 
 
-	controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(-4.0f, -7.5f, 13.0f)*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 / 2.0f + 0.008; // dicke Halterung;