neue kinect Halterungen/Thumbs.db

3_PointCloud/Camera.cpp

@@ -6,7 +6,7 @@
 
 
 
-Camera::Camera() : Camera(vec3(10.0f, 5.0f, 0.0f))
+Camera::Camera() : Camera(vec3(7.0f, 3.0f, 0.0f))
 {
 
 }

3_PointCloud/main.cpp

 #include "main.h"
-#include "glut.h"
-#include "SteamTracking.h"
-#include <ctime>
 
-#include <cmath>
-#include <cstdio>
-
-#include <Windows.h>
-#include <Ole2.h>
-
-#include <vector>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
-#include <glm/vec3.hpp>
-#include <glm/gtc/type_ptr.hpp>
-#include "glm/gtc/matrix_transform.hpp"
-
-#include <Kinect.h>
-#include "Camera.h"
-#include "objloader.hpp"
 
 // We'll be using buffer objects to store the kinect point cloud
 
@@ -61,12 +40,15 @@ IKinectSensor* sensor;             // Kinect sensor
 IMultiSourceFrameReader* reader;   // Kinect data source
 ICoordinateMapper* mapper;         // Converts between depth, color, and 3d coordinates
 TIMESPAN colorFrameTime = -1;
-float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
-float KinectOriginOffsetY = 21 / 1000.0f;
+
 float KinectSizeX = 0.249;
 float KinectSizeY = 0.042; // 42 mm, 66mm ist die gesammthhe
 float KinectSizeZ = 0.067;
 
+float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
+float KinectOriginOffsetY = KinectSizeY/2.0f;
+
+
 float minTrackingKinect = 0.8f;
 float maxTrackingKinect = 2.5f;
 
@@ -279,14 +261,32 @@ void processCurrentFrameForExport() {
 	points.reserve(points.size() + width*height);
 	colors.reserve(colors.size() + width*height * 3);
 
+	float minx, miny, minz;
+	minx = miny = minz = std::numeric_limits<float>::max();
+	float maxx, maxy, maxz;
+	maxx = maxy = maxz = -std::numeric_limits<float>::max();
+
 	for (unsigned int i = 0; i < width*height; i++) {
 		if (frameValidPoints[i]) {
-			points.push_back(glm::vec3( *currentControlerPos * controlerToKinect * glm::vec4(framePositions[i], 1.0f)));
+			glm::vec3 positionLocal = framePositions[i];
+			glm::vec3 positionGlobal = glm::vec3(*currentControlerPos * controlerToKinect * glm::vec4(positionLocal, 1.0f));
+			
+			glm::vec3 position = positionLocal;
+			if (position.x < minx) minx = position.x;
+			if (position.x > maxx) maxx = position.x;
+			if (position.y < miny) miny = position.y;
+			if (position.y > maxy) maxy = position.y;
+			if (position.z < minz) minz = position.z;
+			if (position.z > maxz) maxz = position.z;
+
+			points.push_back(positionGlobal);
 			colors.push_back(frameColors[i * 3]);
 			colors.push_back(frameColors[i * 3 + 1]);
 			colors.push_back(frameColors[i * 3 + 2]);
 		}
 	}
+
+	std::cout << "Frame Local Boundingbox Min: [" << minx << "|" << miny << "|" << minz << "] Max: [" << maxx << "|" << maxy << "|" << maxz << "]"<< std::endl;
 	//update Buffers
 	if (points.size() == 0) return;
 
@@ -458,6 +458,7 @@ void mainRenderLoop() {
 			glMultMatrixf(glm::value_ptr(controlerToKinect));
 			DrawCoordinateSystem();
 
+			glColor4f(0.2f, 0.2f, 0.2f, 1.0f);
 			DrawKinect();
 
 			glEnableClientState(GL_COLOR_ARRAY);
@@ -527,6 +528,13 @@ float degreeToRadioan(float degree) {
 	return degree*M_PI / 180.0;
 }
 
+
+void printVector(glm::vec3 vector)
+{
+	std::cout << "[" << vector.x << "/" << vector.y << "/" << vector.z << "]";
+}
+
+
 int main(int argc, char* argv[]) {
 	std::cout << "Starting Kinect VR Point Cloud creator\n";
     if (!init(argc, argv)) return 1;
@@ -576,25 +584,45 @@ int main(int argc, char* argv[]) {
 
 	//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;
-	float dz = 0.045f +(KinectSizeZ-(0.066 /*halterung z*/-0.012 /*halterung ende*/)); //TODO - offset nach hinten;
+
 	
-	controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(0.0f, 0.0f,0.173 /*controller*/+0.03 /*Halterung*/ )));
+	//controlerToKinect = glm::translate(glm::mat4x4(), (glm::vec3(0.0f, 0.0f,0.173 /*controller*/+0.03 /*Halterung*/ )));
+	controlerToKinect = glm::mat4x4();
+	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(-58+180 /*63,9...*/), glm::vec3(1.0f, 0.0f, 0.0f));
+	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 1.0f, 0.0f));
+	//controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 0.0f, 1.0f));
 
-	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180-64 /*63,9...*/), glm::vec3(1.0f, 0.0f, 0.0f));
-	controlerToKinect = glm::rotate(controlerToKinect, degreeToRadioan(180.0f), glm::vec3(0.0f, 0.0f, 1.0f));
+	float dx = 0.0;// KinectOriginOffsetX - KinectSizeX / 2;
+	float dy = KinectSizeY / 2.0f + 0.004 /*HAlterung Platte*/ + 0.011 /* Conroller*/;
+	float dz = 0.0; //-0.023 + 0.02; // 0.045f /*= versatz auf der Halterung; Distanz zur Halterung:*/ + (KinectSizeZ - (0.066 /*halterung z*/ - 0.012 /*halterung berstand*/));
 
 	controlerToKinect = glm::translate(controlerToKinect, (glm::vec3(dx, -dy, dz)));
 
+
 	glm::vec3 tempPos = glm::vec3(controlerToKinect*glm::vec4(0, 0, 0, 1));
-	std::cout << "Controller Kinect Transformation  [" << tempPos.x << "/" << tempPos.y << "/" << tempPos.z << "]" << std::endl;
+	std::cout << "Controller Kinect Transformation ";
+		printVector(tempPos);
+	std::cout << std::endl;
+	std::cout << "Kinect to center: " << dx <<" "<< dy << " " << dz <<std::endl;
 	
-
-	std::cout << "Kinect to center: " << dx <<" "<< dy << " " << dz<<std::endl;
-	// x kinect mitte = 
-
-
+	// Error Testing
+	glm::mat4 kinectToController = glm::inverse(controlerToKinect);
+
+	float angleInDegrees = 30;
+	glm::vec4 test = controlerToKinect * glm::rotate(glm::mat4(), degreeToRadioan(angleInDegrees), glm::vec3(1.0f, 0.0f, 0.0f)) * kinectToController * glm::vec4(0.0, 0.0, 1.0, 1.0);
+	std::cout << "Angle Error x ";
+	printVector(test);
+	std::cout << std::endl;
+
+	test = controlerToKinect * glm::rotate(glm::mat4(), degreeToRadioan(angleInDegrees), glm::vec3(0.0f, 1.0f, 0.0f)) * kinectToController * glm::vec4(0.0, 0.0, 1.0, 1.0);
+	std::cout << "Angle Error y ";
+	printVector(test);
+	std::cout << std::endl;
+
+	test = controlerToKinect * glm::rotate(glm::mat4(), degreeToRadioan(angleInDegrees), glm::vec3(0.0f, 0.0f, 1.0f)) * kinectToController * glm::vec4(0.0, 0.0, 1.0, 1.0);
+	std::cout << "Angle Error z ";
+	printVector(test);
+	std::cout << std::endl;
 
 
 	//

3_PointCloud/main.h

 #pragma once
 #include <openvr.h>
 
+#include "glut.h"
+#include "SteamTracking.h"
+#include <ctime>
+
+#include <cmath>
+#include <cstdio>
+
+#include <Windows.h>
+#include <Ole2.h>
+
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+#include <glm/vec3.hpp>
+#include <glm/gtc/type_ptr.hpp>
+#include "glm/gtc/matrix_transform.hpp"
+
+#include <Kinect.h>
+#include "Camera.h"
+#include "objloader.hpp"
+
 const int width = 512;
 const int height = 424;
 const int colorwidth = 1920;
@@ -21,6 +44,8 @@ void setupFrameBuffer();
 
 void reshapeFunction(int width, int height);
 
+void printVector(glm::vec3 vector);
+
 
 struct pntsHeader {
 	unsigned char magic[4] = { 'p','n','t','s' };

Halterungen/vive 2.0.scad

@@ -2,8 +2,8 @@ module base(){
 
     difference() {
         cube([70,4,66]);    
-        cube([10,4,10]);
-        translate([60,0,56]) cube([10,4,10]);
+        translate([60,0,0])cube([10,4,10]);
+        translate([0,0,56]) cube([10,4,10]);
     }
 }
 
@@ -15,5 +15,10 @@ module HohlZylinder(size=20, thickness = 5){
     }
 }
 
-base();
-translate([35,4,33]) rotate([-90,0,0])  HohlZylinder(37,5);
+module main(){
+    base(); 
\ No newline at end of file
+    translate([35,4,33]) rotate([-90,0,0])  HohlZylinder(37,5);
+    
+}
+
+rotate([90,0,0]) main();
\ No newline at end of file