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n1ckfg/main-multi.cpp

Forked from prisonerjohn/main-multi.cpp
Created January 30, 2021 19:43
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Sensing Machines FBOs
Raw
main-multi.cpp
#include "ofApp.h"
int main()
{
ofGLFWWindowSettings settings;
settings.setSize(1280, 720);
settings.setPosition(glm::vec2(0, 0));
settings.resizable = true;
settings.decorated = true;
settings.title = "Drumbotica";
auto mainApp = std::make_shared<ofApp>();
// Control window.
auto controlWindow = ofCreateWindow(settings);
controlWindow->setWindowPosition(ofGetScreenWidth() / 2 - settings.getWidth() / 2, ofGetScreenHeight() / 2 - settings.getHeight() / 2);
// Main window.
settings.setSize(1920, 1080);
settings.setPosition(glm::vec2(1920, 0));
settings.resizable = false;
settings.decorated = false;
settings.shareContextWith = controlWindow;
auto projWindow = ofCreateWindow(settings);
projWindow->setVerticalSync(false);
ofAddListener(projWindow->events().draw, mainApp.get(), &ofApp::drawProjection);
ofRunApp(controlWindow, mainApp);
ofRunMainLoop();
}
Raw
ofApp-blend.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
colorFbo.allocate(settings);
pointsFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
device->alignMode = ofxRealSense2::Device::Align::Color;
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
// Draw masked color.
colorFbo.begin();
{
// Draw the color background.
rsDevice->getColorTex().draw(0, 0);
// Set the blend mode to multiply to clip out any black pixels.
ofEnableBlendMode(OF_BLENDMODE_MULTIPLY);
// Draw the threshold image on top.
// The result will be a colored threshold image.
thresholdImg.draw(0, 0);
}
colorFbo.end();
// Draw 3D world.
pointsFbo.begin();
{
ofBackground(0);
camera.begin();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(1000);
ofRotateXDeg(180);
// Set the blend mode to screen to let any pixels with color through.
ofEnableBlendMode(OF_BLENDMODE_SCREEN);
// Draw the point cloud using the masked color texture.
colorFbo.getTexture().bind();
rsDevice->getPointsMesh().draw();
colorFbo.getTexture().unbind();
ofPopMatrix();
camera.end();
}
pointsFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
colorFbo.draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
ofRectangle camDrawRect = ofRectangle(frameWidth, frameHeight, frameWidth, frameHeight);
pointsFbo.draw(camDrawRect);
camera.setControlArea(camDrawRect);
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::drawProjection(ofEventArgs& args)
{
// Draw fullscreen points.
pointsFbo.draw(ofGetCurrentViewport());
}
Raw
ofApp-blend.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void drawProjection(ofEventArgs& args);
void deviceAdded(std::string& serialNumber);
ofxRealSense2::Context rsContext;
ofImage thresholdImg;
ofxCv::ContourFinder contourFinder;
ofEasyCam camera;
ofFbo visionFbo;
ofFbo colorFbo;
ofFbo pointsFbo;
ofParameter<float> nearThreshold;
ofParameter<float> farThreshold;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofxPanel guiPanel;
};
Raw
ofApp-camControl.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
ofSetWindowShape(1280, 720);
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
pointsFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
drawMode.set("Draw Mode", 0, 0, 4);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
guiPanel.add(drawMode);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
// Draw 3D world.
pointsFbo.begin();
{
ofBackground(0);
camera.begin();
ofEnableDepthTest();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(1000);
ofRotateXDeg(180);
rsDevice->getColorTex().bind();
rsDevice->getPointsMesh().draw();
rsDevice->getColorTex().unbind();
ofPopMatrix();
ofDisableDepthTest();
camera.end();
}
pointsFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
ofRectangle camDrawRect;
if (drawMode == 0)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
rsDevice->getColorTex().draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
camDrawRect = ofRectangle(frameWidth, frameHeight, frameWidth, frameHeight);
pointsFbo.draw(camDrawRect);
}
else if(drawMode == 1)
{
// Draw fullscreen depth.
rsDevice->getDepthTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 2)
{
// Draw fullscreen color.
rsDevice->getColorTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 3)
{
// Draw fullscreen vision.
visionFbo.draw(ofGetCurrentViewport());
}
else if (drawMode == 4)
{
// Draw fullscreen points.
camDrawRect = ofGetCurrentViewport();
pointsFbo.draw(camDrawRect);
}
camera.setControlArea(camDrawRect);
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == OF_KEY_TAB)
{
ofToggleFullscreen();
}
else if (key == ' ')
{
drawMode = (drawMode + 1) % 5;
}
}
Raw
ofApp-camFbo.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
ofSetWindowShape(1280, 720);
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
pointsFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
drawMode.set("Draw Mode", 0, 0, 4);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
guiPanel.add(drawMode);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
// Draw 3D world.
pointsFbo.begin();
{
ofBackground(0);
camera.begin();
ofEnableDepthTest();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(1000);
ofRotateXDeg(180);
rsDevice->getColorTex().bind();
rsDevice->getPointsMesh().draw();
rsDevice->getColorTex().unbind();
ofPopMatrix();
ofDisableDepthTest();
camera.end();
}
pointsFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
if (drawMode == 0)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
rsDevice->getColorTex().draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
pointsFbo.draw(frameWidth, frameHeight, frameWidth, frameHeight);
}
else if(drawMode == 1)
{
// Draw fullscreen depth.
rsDevice->getDepthTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 2)
{
// Draw fullscreen color.
rsDevice->getColorTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 3)
{
// Draw fullscreen vision.
visionFbo.draw(ofGetCurrentViewport());
}
else if (drawMode == 4)
{
// Draw fullscreen points.
pointsFbo.draw(ofGetCurrentViewport());
}
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == OF_KEY_TAB)
{
ofToggleFullscreen();
}
else if (key == ' ')
{
drawMode = (drawMode + 1) % 5;
}
}
Raw
ofApp-camFbo.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void keyPressed(int key);
void deviceAdded(std::string& serialNumber);
ofxRealSense2::Context rsContext;
ofImage thresholdImg;
ofxCv::ContourFinder contourFinder;
ofEasyCam camera;
ofFbo visionFbo;
ofFbo pointsFbo;
ofParameter<float> nearThreshold;
ofParameter<float> farThreshold;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofParameter<int> drawMode;
ofxPanel guiPanel;
};
Raw
ofApp-camViewport.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
ofSetWindowShape(1280, 720);
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
rsDevice->getColorTex().draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
camera.begin(ofRectangle(frameWidth, frameHeight, frameWidth, frameHeight));
ofEnableDepthTest();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(100);
ofRotateXDeg(180);
rsDevice->getColorTex().bind();
rsDevice->getPointsMesh().draw();
rsDevice->getColorTex().unbind();
ofPopMatrix();
ofDisableDepthTest();
camera.end();
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == OF_KEY_TAB)
{
ofToggleFullscreen();
}
}
Raw
ofApp-camViewport.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void keyPressed(int key);
void deviceAdded(std::string& serialNumber);
ofxRealSense2::Context rsContext;
ofImage thresholdImg;
ofxCv::ContourFinder contourFinder;
ofEasyCam camera;
ofFbo visionFbo;
ofParameter<float> nearThreshold;
ofParameter<float> farThreshold;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofxPanel guiPanel;
};
Raw
ofApp-drawContours.cpp
#include "ofApp.h"
void ofApp::setup()
{
ofSetWindowShape(640, 720);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
canvasFbo.allocate(settings);
visionFbo.allocate(settings);
// Setup the parameters.
tintColor.set("Tint Color", ofColor(0, 255, 0));
clearFbo.set("Clear Background", false);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
// Setup the gui.
guiPanel.setup("Fbo Draw", "settings.json");
guiPanel.add(tintColor);
guiPanel.add(clearFbo);
guiPanel.add(minArea);
guiPanel.add(maxArea);
}
void ofApp::update()
{
canvasFbo.begin();
{
if (clearFbo)
{
// Clear the background.
ofBackground(0);
clearFbo = false;
}
if (ofGetMousePressed() && !guiPanel.getShape().inside(ofGetMouseX(), ofGetMouseY()))
{
// Draw a circle if the mouse is pressed and not over the GUI.
ofSetColor(255);
ofDrawCircle(ofGetMouseX(), ofGetMouseY(), 20);
}
}
canvasFbo.end();
// Download the FBO data as pixels.
canvasFbo.readToPixels(canvasPixels);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(canvasPixels);
// Draw the result offscreen.
visionFbo.begin();
{
ofBackground(127);
contourFinder.draw();
}
visionFbo.end();
}
void ofApp::draw()
{
// Draw the canvas above with no tint.
ofSetColor(255);
canvasFbo.draw(0, 0);
// Draw the contours below with a tint color.
ofSetColor(tintColor);
visionFbo.draw(0, 360);
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == ' ')
{
clearFbo = true;
}
}
Raw
ofApp-drawContours.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void keyPressed(int key);
ofxCv::ContourFinder contourFinder;
ofFbo canvasFbo;
ofFbo visionFbo;
ofPixels canvasPixels;
ofParameter<ofColor> tintColor;
ofParameter<bool> clearFbo;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofxPanel guiPanel;
};
Raw
ofApp-drawFull.cpp
#include "ofApp.h"
void ofApp::setup()
{
ofSetWindowShape(640, 720);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
canvasFbo.allocate(settings);
visionFbo.allocate(settings);
// Setup the parameters.
fullscreen.set("Fullscreen", false);
tintColor.set("Tint Color", ofColor(0, 255, 0));
clearFbo.set("Clear Background", false);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
// Setup the gui.
guiPanel.setup("Fbo Draw", "settings.json");
guiPanel.add(fullscreen);
guiPanel.add(tintColor);
guiPanel.add(clearFbo);
guiPanel.add(minArea);
guiPanel.add(maxArea);
}
void ofApp::update()
{
canvasFbo.begin();
{
if (clearFbo)
{
// Clear the background.
ofBackground(0);
clearFbo = false;
}
if (ofGetMousePressed() && !guiPanel.getShape().inside(ofGetMouseX(), ofGetMouseY()))
{
// Draw a circle if the mouse is pressed and not over the GUI.
ofSetColor(255);
ofDrawCircle(ofGetMouseX(), ofGetMouseY(), 20);
}
}
canvasFbo.end();
// Download the FBO data as pixels.
canvasFbo.readToPixels(canvasPixels);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(canvasPixels);
// Draw the result offscreen.
visionFbo.begin();
{
ofBackground(127);
canvasFbo.draw(0, 0);
contourFinder.draw();
}
visionFbo.end();
}
void ofApp::draw()
{
if (fullscreen)
{
// Draw the contours fullscreen with no tint.
ofRectangle drawRect = ofRectangle(0, 0, visionFbo.getWidth(), visionFbo.getHeight());
drawRect.scaleTo(ofGetCurrentViewport());
ofSetColor(255);
visionFbo.draw(drawRect);
}
else
{
// Draw the canvas above with no tint.
ofSetColor(255);
canvasFbo.draw(0, 0);
// Draw the contours below with a tint color.
ofSetColor(tintColor);
visionFbo.draw(0, 360);
}
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == ' ')
{
clearFbo = true;
}
else if (key == OF_KEY_TAB)
{
fullscreen = !fullscreen;
ofSetFullscreen(fullscreen);
}
}
Raw
ofApp-drawFull.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void keyPressed(int key);
ofxCv::ContourFinder contourFinder;
ofFbo canvasFbo;
ofFbo visionFbo;
ofPixels canvasPixels;
ofParameter<bool> fullscreen;
ofParameter<ofColor> tintColor;
ofParameter<bool> clearFbo;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofxPanel guiPanel;
};
Raw
ofApp-drawSimple.cpp
#include "ofApp.h"
void ofApp::setup()
{
ofSetWindowShape(640, 720);
// Allocate the frame buffer.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
canvasFbo.allocate(settings);
// Setup the parameters.
tintColor.set("Tint Color", ofColor(0, 255, 0));
clearFbo.set("Clear Background", false);
// Setup the gui.
guiPanel.setup("Fbo Draw", "settings.json");
guiPanel.add(tintColor);
guiPanel.add(clearFbo);
}
void ofApp::update()
{
canvasFbo.begin();
{
if (clearFbo)
{
// Clear the background.
ofBackground(0);
clearFbo = false;
}
if (ofGetMousePressed() && !guiPanel.getShape().inside(ofGetMouseX(), ofGetMouseY()))
{
// Draw a circle if the mouse is pressed and not over the GUI.
ofSetColor(255);
ofDrawCircle(ofGetMouseX(), ofGetMouseY(), 20);
}
}
canvasFbo.end();
}
void ofApp::draw()
{
// Draw the canvas above with no tint.
ofSetColor(255);
canvasFbo.draw(0, 0);
// Draw the canvas below with a tint color.
ofSetColor(tintColor);
canvasFbo.draw(0, 360);
guiPanel.draw();
}
void ofApp::keyPressed(int key)
{
if (key == ' ')
{
clearFbo = true;
}
}
Raw
ofApp-drawSimple.h
#pragma once
#include "ofMain.h"
#include "ofxGui.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void keyPressed(int key);
ofFbo canvasFbo;
ofParameter<ofColor> tintColor;
ofParameter<bool> clearFbo;
ofxPanel guiPanel;
};
Raw
ofApp-fade.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
colorFbo.allocate(settings);
pointsFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
fadeAlpha.set("Fade Alpha", 16, 0, 255);
drawAlpha.set("Draw Alpha", 127, 0, 255);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
guiPanel.add(fadeAlpha);
guiPanel.add(drawAlpha);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
device->alignMode = ofxRealSense2::Device::Align::Color;
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
// Draw masked color.
colorFbo.begin();
{
// Draw the color background.
rsDevice->getColorTex().draw(0, 0);
// Set the blend mode to multiply to clip out any black pixels.
ofEnableBlendMode(OF_BLENDMODE_MULTIPLY);
// Draw the threshold image on top.
// The result will be a colored threshold image.
thresholdImg.draw(0, 0);
}
colorFbo.end();
// Draw 3D world.
pointsFbo.begin();
{
ofClear(0, 0);
camera.begin();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(1000);
ofRotateXDeg(180);
// Set the blend mode to screen to let any pixels with color through.
ofEnableBlendMode(OF_BLENDMODE_SCREEN);
// Draw the point cloud using the masked color texture.
colorFbo.getTexture().bind();
rsDevice->getPointsMesh().draw();
colorFbo.getTexture().unbind();
ofPopMatrix();
camera.end();
}
pointsFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
colorFbo.draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
ofRectangle camDrawRect = ofRectangle(frameWidth, frameHeight, frameWidth, frameHeight);
pointsFbo.draw(camDrawRect);
camera.setControlArea(camDrawRect);
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::drawProjection(ofEventArgs& args)
{
// Disable clearing the background automatically.
ofSetBackgroundAuto(false);
// Draw a background color with optional transparency.
ofSetColor(0, fadeAlpha);
ofDrawRectangle(ofGetCurrentViewport());
// Draw fullscreen points.
ofSetColor(255, drawAlpha);
pointsFbo.draw(ofGetCurrentViewport());
}
Raw
ofApp-fade.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void drawProjection(ofEventArgs& args);
void deviceAdded(std::string& serialNumber);
ofxRealSense2::Context rsContext;
ofImage thresholdImg;
ofxCv::ContourFinder contourFinder;
ofEasyCam camera;
ofFbo visionFbo;
ofFbo colorFbo;
ofFbo pointsFbo;
ofParameter<float> nearThreshold;
ofParameter<float> farThreshold;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofParameter<int> fadeAlpha;
ofParameter<int> drawAlpha;
ofxPanel guiPanel;
};
Raw
ofApp-multi.cpp
#include "ofApp.h"
void ofApp::setup()
{
// Texture coordinates from RealSense are normalized (between 0-1).
// This call normalizes all OF texture coordinates so that they match.
ofDisableArbTex();
// Start the RealSense context.
// Devices are added in the deviceAdded() callback function.
ofAddListener(rsContext.deviceAddedEvent, this, &ofApp::deviceAdded);
rsContext.setup(false);
// Allocate the frame buffers.
ofFboSettings settings;
settings.width = 640;
settings.height = 360;
visionFbo.allocate(settings);
pointsFbo.allocate(settings);
// Setup the parameters.
nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);
minArea.set("Min Area", 0.01f, 0, 0.5f);
maxArea.set("Max Area", 0.05f, 0, 0.5f);
drawMode.set("Draw Mode", 0, 0, 3);
// Setup the gui.
guiPanel.setup("Depth Threshold", "settings.json");
guiPanel.add(nearThreshold);
guiPanel.add(farThreshold);
guiPanel.add(minArea);
guiPanel.add(maxArea);
guiPanel.add(drawMode);
}
void ofApp::deviceAdded(std::string& serialNumber)
{
ofLogNotice(__FUNCTION__) << "Starting device " << serialNumber;
auto device = rsContext.getDevice(serialNumber);
device->enableDepth();
device->enableColor();
device->enablePoints();
device->startPipeline();
// Uncomment this to add the device specific settings to the GUI.
//guiPanel.add(device->params);
}
void ofApp::update()
{
rsContext.update();
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice && rsDevice->isFrameNew())
{
// Threshold the depth.
ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);
thresholdImg.setFromPixels(thresholdResult);
// Find contours.
contourFinder.setMinAreaNorm(minArea);
contourFinder.setMaxAreaNorm(maxArea);
contourFinder.findContours(thresholdImg);
// Draw CV operations.
visionFbo.begin();
{
// Draw the threshold background.
ofSetColor(255);
thresholdImg.draw(0, 0);
// Draw the contours over it.
ofSetColor(0, 255, 0);
contourFinder.draw();
}
visionFbo.end();
// Draw 3D world.
pointsFbo.begin();
{
ofBackground(0);
camera.begin();
ofEnableDepthTest();
ofPushMatrix();
// Adjust points to match OF 3D space.
ofScale(1000);
ofRotateXDeg(180);
rsDevice->getColorTex().bind();
rsDevice->getPointsMesh().draw();
rsDevice->getColorTex().unbind();
ofPopMatrix();
ofDisableDepthTest();
camera.end();
}
pointsFbo.end();
}
}
void ofApp::draw()
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
// 2x2 window.
int frameWidth = ofGetWidth() / 2;
int frameHeight = ofGetHeight() / 2;
rsDevice->getDepthTex().draw(0, 0, frameWidth, frameHeight);
rsDevice->getColorTex().draw(0, frameHeight, frameWidth, frameHeight);
visionFbo.draw(frameWidth, 0, frameWidth, frameHeight);
ofRectangle camDrawRect = ofRectangle(frameWidth, frameHeight, frameWidth, frameHeight);
pointsFbo.draw(camDrawRect);
camera.setControlArea(camDrawRect);
}
// Draw the gui.
guiPanel.draw();
}
void ofApp::drawProjection(ofEventArgs& args)
{
std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
if (rsDevice)
{
if (drawMode == 0)
{
// Draw fullscreen depth.
rsDevice->getDepthTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 1)
{
// Draw fullscreen color.
rsDevice->getColorTex().draw(ofGetCurrentViewport());
}
else if (drawMode == 2)
{
// Draw fullscreen vision.
visionFbo.draw(ofGetCurrentViewport());
}
else if (drawMode == 3)
{
// Draw fullscreen points.
pointsFbo.draw(ofGetCurrentViewport());
}
}
}
void ofApp::keyPressed(int key)
{
if (key == ' ')
{
drawMode = (drawMode + 1) % 4;
}
}
Raw
ofApp-multi.h
#pragma once
#include "ofMain.h"
#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"
class ofApp : public ofBaseApp
{
public:
void setup();
void update();
void draw();
void drawProjection(ofEventArgs& args);
void keyPressed(int key);
void deviceAdded(std::string& serialNumber);
ofxRealSense2::Context rsContext;
ofImage thresholdImg;
ofxCv::ContourFinder contourFinder;
ofEasyCam camera;
ofFbo visionFbo;
ofFbo pointsFbo;
ofParameter<float> nearThreshold;
ofParameter<float> farThreshold;
ofParameter<float> minArea;
ofParameter<float> maxArea;
ofParameter<int> drawMode;
ofxPanel guiPanel;
};
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