pntsHeader

3_PointCloud/Camera.h

@@ -16,7 +16,7 @@ private:
 	glm::vec3 position;
 	glm::vec3 up;
 
-	float speed = 0.1f;
+	float speed = 0.05f;
 	float mouseSpeed = 0.005f;
 
 	float horizontalAngle = (float) -M_PI/2;

3_PointCloud/example.txt

-pnts128
\ No newline at end of file

3_PointCloud/main.cpp

@@ -52,9 +52,9 @@ float KinectSizeZ = 0.067;
 float KinectOriginOffsetX = ((92 + 73) / 2.0f) / 1000.0f;
 float KinectOriginOffsetY = KinectSizeY/2.0f;
 
+glm::vec3 FrameTranslation(0.0,0.0,0.0);
+
 
-float minTrackingKinect = 0.2f;//0.8f;
-float maxTrackingKinect = 0.8f;// 2.5f;
 
 //Vive Tracking
 SteamTracking* steamTracking = nullptr;
@@ -67,7 +67,7 @@ std::vector<glm::vec3> controllerPositions;
 
 
 
-bool toggleCam = true;
+bool toggleCam = false;
 Camera mainCam;
 
 static bool trackControllerPos = true;
@@ -77,20 +77,29 @@ static bool captureFrame = false;
 int lastX, lastY;
 
 
-float degreeToRadioan(float degree) {
-	return degree*M_PI / 180.0;
-}
 
 //Filter Settings
+float minTrackingKinect = 0.2f;//0.8f;
+float maxTrackingKinect = 1.8f;// 2.5f;
 	//Custom
 //float angleDegrees = 20.0f;
 float maxNormalAngle = degreeToRadioan(25.0f);
 bool enableDepthFilter = false;
-bool enableNormalFilter = true;//true;
+bool enableNormalFilter = false;//true;
 	//Bilateral / FastDepthNoise
+bool enableFastDepthNoiseFilter = true;
 float repairThreshold = 100.0f;
 
 
+
+
+
+float degreeToRadioan(float degree) {
+	return degree*M_PI / 180.0;
+}
+
+
+
 void DrawCoordinateSystem() {
 	//TETAEDRON BY HAND
 	glBegin(GL_LINES);
@@ -191,28 +200,24 @@ void getDepthData(IMultiSourceFrame* frame) {
 	cv::Mat OriginalDepthFrame(height, width, CV_16UC1);// , &buf);
 	const unsigned short* curr = (const unsigned short*)buf;
 
-	for (unsigned int y = 0; y < height; y++)
-	{
-		for (unsigned int x = 0; x < width; x++)
+	if (enableFastDepthNoiseFilter) {
+		for (unsigned int y = 0; y < height; y++)
 		{
-			OriginalDepthFrame.ptr<unsigned short>(y)[x] = curr[x + y* width];
+			for (unsigned int x = 0; x < width; x++)
+			{
+				OriginalDepthFrame.ptr<unsigned short>(y)[x] = curr[x + y* width];
+			}
 		}
-	}
-
-	cv::Mat FilerdDepth;
-	FilerdDepth.create(OriginalDepthFrame.size(), OriginalDepthFrame.type());
-	
-	FastDepthNoiseRemoval filter(3,0.0f,3, repairThreshold);
-	filter.setKillBorder(true);
-	filter.setInput(OriginalDepthFrame);
-	filter.filter(OriginalDepthFrame);
-//	cv::imshow("Input", OriginalDepthFrame);
-	//cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80);
-
 
-	//const unsigned short* curr = (const unsigned short*)buf;
-	curr = (const unsigned short*)OriginalDepthFrame.data;
+		FastDepthNoiseRemoval filter(3, 0.0f, 3, repairThreshold);
+		filter.setKillBorder(true);
+		filter.setInput(OriginalDepthFrame);
+		filter.filter(OriginalDepthFrame);
+		//	cv::imshow("Input", OriginalDepthFrame);
+		//cv::bilateralFilter(OriginalDepthFrame, FilerdDepth, 15, 80, 80);
 
+		curr = (const unsigned short*)OriginalDepthFrame.data;
+	}
 	// Write vertex coordinates
 	mapper->MapDepthFrameToCameraSpace(width*height, curr, width*height, depth2xyz);
 
@@ -369,6 +374,8 @@ void getKinectData() {
 
 }
 
+int counter = 0;
+
 void processCurrentFrameForExport() {
 	points.reserve(points.size() + width*height);
 	colors.reserve(colors.size() + width*height * 3);
@@ -378,10 +385,15 @@ void processCurrentFrameForExport() {
 	float maxx, maxy, maxz;
 	maxx = maxy = maxz = -std::numeric_limits<float>::max();
 
+	std::ofstream myfile;
+	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);
+
 	for (unsigned int i = 0; i < width*height; i++) {
 		if (frameValidPoints[i]) {
 			glm::vec3 position = framePositions[i];
-			glm::vec3 positionGlobal = glm::vec3(*currentControlerPos * controlerToKinect * glm::vec4(position, 1.0f));
+			glm::vec3 positionGlobal = glm::vec3(*currentControlerPos * glm::translate(glm::mat4(), FrameTranslation) * controlerToKinect * glm::vec4(position, 1.0f));
 
 			if (isinf(position.x) || isinf(position.y) || isinf(position.z))
 				continue;
@@ -399,9 +411,17 @@ void processCurrentFrameForExport() {
 			colors.push_back(frameColors[i * 3]);
 			colors.push_back(frameColors[i * 3 + 1]);
 			colors.push_back(frameColors[i * 3 + 2]);
+
+			myfile << positionGlobal.x << " "<<positionGlobal.y << " " << positionGlobal.z << " "
+				<< (int)frameColors[i * 3] << " " << (int)frameColors[i * 3 + 1] << " " << (int)frameColors[i * 3 + 2] << std::endl;
+
+
 		}
 	}
 
+
+	myfile.close();
+
 	std::cout << "Frame Local Boundingbox Min: [" << minx << "|" << miny << "|" << minz << "] Max: [" << maxx << "|" << maxy << "|" << maxz << "]"<< std::endl;
 	//update Buffers
 	if (points.size() == 0) return;
@@ -511,6 +531,8 @@ void mainRenderLoop() {
 		glm::vec3 current = controllerPositions.back();
 		std::cout << "Current Position [" << current.x << "/" << current.y << "/" << current.z << "] distance " << distance(lastClicketControlelrPos, current) << std::endl ;
 		lastClicketControlelrPos = controllerPositions.back();
+
+		FrameTranslation = glm::vec3(0.0, 0.0, 0.0);
 		captureFrame = false;
 	}
 
@@ -583,7 +605,9 @@ void mainRenderLoop() {
 
 		{//Kinect Space
 			glPushMatrix(); 
+			glTranslatef(FrameTranslation.x, FrameTranslation.y, FrameTranslation.z);
 			glMultMatrixf(glm::value_ptr(controlerToKinect));
+			
 			DrawCoordinateSystem();
 
 			glColor4f(0.2f, 0.2f, 0.2f, 1.0f);
@@ -604,6 +628,15 @@ void mainRenderLoop() {
 
 }
 
+void moveCurrentFrame(glm::vec3 dir) {
+	float factor = 0.002;
+	FrameTranslation += factor*dir;
+	std::cout << "Frame Transformation ";
+	printVector(FrameTranslation);
+	std::cout << std::endl;
+
+}
+
 void keyPressed(unsigned char key, int x, int y)
 {
 	mainCam.keyPressed(key, x, y);
@@ -624,6 +657,27 @@ void keyPressed(unsigned char key, int x, int y)
 	case 'q':
 		toggleCam = !toggleCam;
 		break;
+	case 'u':
+		moveCurrentFrame(glm::vec3(1.0, 0.0, 0.0));
+		break;
+	case 'j':
+		moveCurrentFrame(glm::vec3(-1.0, 0.0, 0.0));
+		break;
+	case 'i':
+		moveCurrentFrame(glm::vec3(0.0, 1.0, 0.0));
+		break;
+	case 'k':
+		moveCurrentFrame(glm::vec3(0.0, -1.0, 0.0));
+		break;
+	case 'o':
+		moveCurrentFrame(glm::vec3(0.0, 0.0, 1.0));
+		break;
+	case 'l':
+		moveCurrentFrame(glm::vec3(0.0, 0.0, -1.0));
+		break;
+	case 'p':
+		FrameTranslation = glm::vec3(0.0, 0.0, 0.0);
+		break;
 	case 27: // Escape key
 		exit(0);
 		break;
@@ -721,9 +775,9 @@ int main(int argc, char* argv[]) {
 	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));
 
-	float dx = 0.00;// KinectOriginOffsetX - KinectSizeX / 2;
-	float dy = KinectSizeY / 2.0f + 0.004 /*HAlterung Platte*/ + 0.011 /* Conroller*/;// -0.01;
-	float dz = 0.00; //-0.023 + 0.02; // 0.045f /*= versatz auf der Halterung; Distanz zur Halterung:*/ + (KinectSizeZ - (0.066 /*halterung z*/ - 0.012 /*halterung berstand*/));
+	float dx = 0.010;// 0.00;
+	float dy = KinectSizeY / 2.0f + 0.004 /*HAlterung Platte*/ + 0.011 /* Conroller*/;
+	float dz = -0.01; //-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)));
 

3_PointCloud/main.h

@@ -45,6 +45,7 @@ void setupFrameBuffer();
 void reshapeFunction(int width, int height);
 
 void printVector(glm::vec3 vector);
+float degreeToRadioan(float degree);
 
 
 struct pntsHeader {

3_PointCloud/tileset2.json

+{
+  "asset": {
+    "version": "0.0"
+  },
+  "geometricError": 0,
+  "root": {
+    "boundingVolume": {
+      "sphere": [
+            0,
+            0,
+            0,
+            5
+          ]
+    },
+    "geometricError": 0,
+    "refine": "add",
+    "children": [
+      {
+	    "transform": [
+			1.0, 0.0, 0.0, 1.0,
+			0.0, 1.0, 0.0, 1.0,
+			0.0, 0.0, 1.0, 1.0,
+			0.0, 0.0, 0.0, 1.0
+		  ],
+        "boundingVolume": {
+          "sphere": [
+            0,
+            0,
+            0,
+            5
+          ]
+        },
+        "geometricError": 0,
+        "content": {
+          "url": "example2.pnts"
+        }
+      }
+    ]
+  }
+}