..

3_PointCloud/main.cpp

@@ -156,6 +156,7 @@ void getRgbData(IMultiSourceFrame* frame, bool writFrameToFile) {
 			*fdest++ = rgbimage[4 * idx + 2] / 255.f;
 
 			if (writFrameToFile) {
+				//copy points with valid Color
 				snapshotPoints.push_back(framePositions[i]);
 
 				snapshotColors.push_back(rgbimage[4 * idx + 0]);
@@ -185,27 +186,6 @@ void getKinectData(bool writeFrameInVector) {
 		getDepthData(frame);
 		getRgbData(frame, writeFrameInVector);
 
-		if (writeFrameInVector) {
-			//get controler pos
-
-			//frame -> global
-			points.clear();
-			colors.clear();
-			points.reserve(points.capacity() + width*height);
-			colors.reserve(colors.capacity() + width*height*3);
-
-			for(int i = 0; i < snapshotPoints.size(); i++) {
-
-				points.push_back(*currentControlerPos * snapshotPoints[i]);
-				colors.push_back(snapshotColors[i*3]);
-				colors.push_back(snapshotColors[i*3+1]);
-				colors.push_back(snapshotColors[i*3+2]);
-
-
-			}
-
-		}
-
 		glBindBuffer(GL_ARRAY_BUFFER, vboId);
 		glBufferData(GL_ARRAY_BUFFER, width*height * 3 * sizeof(GLfloat), framePositions, GL_DYNAMIC_DRAW);
 		glUnmapBuffer(GL_ARRAY_BUFFER);
@@ -262,7 +242,24 @@ void rotateCamera() {
 void drawKinectData() {
 
 	getKinectData(captureFrame);
+
+	//add points to point cloud
+	if (captureFrame) {
+		//get controler pos
+		points.clear();
+		colors.clear();
+		points.reserve(points.capacity() + width*height);
+		colors.reserve(colors.capacity() + width*height * 3);
+
+		for (int i = 0; i < snapshotPoints.size(); i++) {
+			points.push_back(*currentControlerPos * snapshotPoints[i]);
+			colors.push_back(snapshotColors[i * 3]);
+			colors.push_back(snapshotColors[i * 3 + 1]);
+			colors.push_back(snapshotColors[i * 3 + 2]);
+		}
+	}
 	captureFrame = false;
+
 	if (writeFile) {
 		writePointCloud();
 		writeFile = false;
@@ -340,14 +337,41 @@ int main(int argc, char* argv[]) {
     glClearColor(0,0,0,0);
     glClearDepth(1.0f);
 
+	snapshotPoints.clear();
+	snapshotColors.clear();
+
+	// Write color array for vertices
+	float* fdest = (float*)frameColors;
+	float* fdest2 = (float*)framePositions;
+	for (int j = 0; j < height; j++) {
+		for (int i = 0; i < width; i++) {
+			*fdest++ = 1.0 * i / width;
+			*fdest++ = 1.0 *j / height;
+			*fdest++ = 0;
+
+			snapshotPoints.push_back(glm::vec3(1.0 * i / width, 1.0 *j / height, 0));
+			snapshotColors.push_back(1.0 *i / width*255);
+			snapshotColors.push_back(1.0 *j / height*255);
+			snapshotColors.push_back(0);
+
+
+			*fdest2++ = 1.0 *i / width;
+			*fdest2++ = 1.0 *j / height;;
+			*fdest2++ = 0;
+
+		}
+	}
+
 	// Set up array buffers
 	const int dataSize = width*height * 3 * 4;
 	glGenBuffers(1, &vboId);
 	glBindBuffer(GL_ARRAY_BUFFER, vboId);
-	glBufferData(GL_ARRAY_BUFFER, dataSize, 0, GL_DYNAMIC_DRAW);
+	glBufferData(GL_ARRAY_BUFFER, dataSize, framePositions, GL_DYNAMIC_DRAW);
 	glGenBuffers(1, &cboId);
 	glBindBuffer(GL_ARRAY_BUFFER, cboId);
-	glBufferData(GL_ARRAY_BUFFER, dataSize, 0, GL_DYNAMIC_DRAW);
+	glBufferData(GL_ARRAY_BUFFER, dataSize, frameColors, GL_DYNAMIC_DRAW);
+
+
 
 
     // Camera setup