Depth World

ofApp-aligned.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 360);

    // Start the depth sensor.
    rsContext.setup(true);

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    rsContext.update();

    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        // Align the frames to the color viewport.
        rsDevice->alignMode = ofxRealSense2::Device::Align::Color;

        ofShortPixels rawDepthPix = rsDevice->getRawDepthPix();

        // Rebuild the mesh.
        pointMesh.clear();
        pointMesh.setMode(OF_PRIMITIVE_POINTS);
        for (int y = 0; y < rsDevice->getRawDepthTex().getHeight(); y += skipPoints)
        {
            for (int x = 0; x < rsDevice->getRawDepthTex().getWidth(); x += skipPoints)
            {
                int depth = rawDepthPix.getColor(x, y).r;
                pointMesh.addVertex(ofDefaultVec3(x, y, depth));
                pointMesh.addTexCoord(ofDefaultVec2(x, y));
            }
        }
    }
}

void ofApp::draw()
{
    // Try to get a pointer to a device.
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);

    // Begin rendering through the camera.
    cam.begin();
    ofEnableDepthTest();

    if (rsDevice)
    {
        // Render the mesh.
        rsDevice->getColorTex().bind();
        pointMesh.draw();
        rsDevice->getColorTex().unbind();
    }

    ofDisableDepthTest();
    cam.end();
    // Done rendering through the camera.

    // Draw the gui.
    guiPanel.draw();
}

ofApp-camera.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    grabber.setup(640, 480);

    // Setup the parameters.
    useCamera.set("Use Camera", false);
    camPosition.set("Cam Position", glm::vec3(0, 0, 90), glm::vec3(-100), glm::vec3(100));

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(useCamera);
    guiPanel.add(camPosition);
}

void ofApp::update()
{
    grabber.update();
    
    cam.setPosition(camPosition);
}

void ofApp::draw()
{
    if (useCamera)
    {
        // Begin rendering through the camera.
        cam.begin();

        // Scale the drawing down into more manageable units.
        ofScale(0.1f);
        // Draw the grabber image anchored in the center.
        grabber.draw(-grabber.getWidth() / 2, -grabber.getHeight() / 2);

        cam.end();
        // Done rendering through the camera.
    }
    else
    {
        // Draw the grabber in 2D.
        grabber.draw(0, 0);
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-camera.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofCamera cam;

    ofParameter<glm::vec3> camPosition;

    ofParameter<bool> useCamera;

    ofxPanel guiPanel;
};

ofApp-easyCam.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    grabber.setup(640, 480);

    // Setup the parameters.
    useCamera.set("Use Camera", false);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(useCamera);
}

void ofApp::update()
{
    grabber.update();
}

void ofApp::draw()
{
    if (useCamera)
    {
        // Begin rendering through the camera.
        cam.begin();

        // Scale the drawing down into more manageable units.
        ofScale(0.1f);
        // Draw the grabber image anchored in the center.
        grabber.draw(-grabber.getWidth() / 2, -grabber.getHeight() / 2);

        cam.end();
        // Done rendering through the camera.
    }
    else
    {
        // Draw the grabber in 2D.
        grabber.draw(0, 0);
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-easyCam.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofEasyCam cam;

    ofParameter<bool> useCamera;

    ofxPanel guiPanel;
};

ofApp-kinect.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"
#include "ofxKinect.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofxKinect kinect;

    ofMesh pointMesh;

    ofParameter<int> skipPoints;

    ofEasyCam cam;

    ofxPanel guiPanel;
};

ofApp-kinectExtrude.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    // Start the depth sensor.
    kinect.setRegistration(true);
    kinect.init();
    kinect.open();

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    kinect.update();

    if (kinect.isFrameNew())
    {
        ofShortPixels rawDepthPix = kinect.getRawDepthPixels();

        // Rebuild the mesh.
        pointMesh.clear();
        pointMesh.setMode(OF_PRIMITIVE_POINTS);
        for (int y = 0; y < kinect.getHeight(); y += skipPoints)
        {
            for (int x = 0; x < kinect.getWidth(); x += skipPoints)
            {
                int depth = rawDepthPix.getColor(x, y).r;
                pointMesh.addVertex(glm::vec3(x, y, depth));
                pointMesh.addTexCoord(glm::vec2(x, y));
            }
        }
    }
}

void ofApp::draw()
{
    ofBackground(0);

    // Begin rendering through the camera.
    cam.begin();
    ofEnableDepthTest();

    // Render the mesh.
    kinect.getTexture().bind();
    pointMesh.draw();
    kinect.getTexture().unbind();

    ofDisableDepthTest();
    cam.end();
    // Done rendering through the camera.

    // Draw the gui.
    guiPanel.draw();
}

ofApp-kinectWorld.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    // Start the depth sensor.
    kinect.setRegistration(true);
    kinect.init();
    kinect.open();

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    kinect.update();

    if (kinect.isFrameNew())
    {
        // Rebuild the mesh.
        pointMesh.clear();
        pointMesh.setMode(OF_PRIMITIVE_POINTS);
        for (int y = 0; y < kinect.getHeight(); y += skipPoints)
        {
            for (int x = 0; x < kinect.getWidth(); x += skipPoints)
            {
                pointMesh.addVertex(kinect.getWorldCoordinateAt(x, y));
                pointMesh.addTexCoord(glm::vec2(x, y));
            }
        }
    }
}

void ofApp::draw()
{
    ofBackground(0);

    // Begin rendering through the camera.
    cam.begin();
    ofEnableDepthTest();

    // Render the mesh.
    kinect.getTexture().bind();
    pointMesh.draw();
    kinect.getTexture().unbind();

    ofDisableDepthTest();
    cam.end();
    // Done rendering through the camera.

    // Draw the gui.
    guiPanel.draw();
}

ofApp-mesh.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofMesh quadMesh;

    ofParameter<bool> drawWireframe;

    ofxPanel guiPanel;
};

ofApp-meshColor.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Build the quad mesh.
    quadMesh.setMode(OF_PRIMITIVE_TRIANGLES);
    
    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 480, 0));

    quadMesh.addColor(ofColor(200, 0, 0));
    quadMesh.addColor(ofColor(0, 200, 0));
    quadMesh.addColor(ofColor(0, 0, 200));
    quadMesh.addColor(ofColor(200, 0, 0));
    quadMesh.addColor(ofColor(0, 0, 200));
    quadMesh.addColor(ofColor(200, 200, 0));

    // Setup the parameters.
    drawWireframe.set("Wireframe?", false);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(drawWireframe);
}

void ofApp::update()
{

}

void ofApp::draw()
{
    // Render the mesh.
    if (drawWireframe)
    {
        quadMesh.drawWireframe();
    }
    else
    {
        quadMesh.draw();
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-meshPos.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Build the quad mesh.
    quadMesh.setMode(OF_PRIMITIVE_TRIANGLES);

    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 480, 0));

    // Setup the parameters.
    drawWireframe.set("Wireframe?", false);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(drawWireframe);
}

void ofApp::update()
{

}

void ofApp::draw()
{
    // Render the mesh.
    if (drawWireframe)
    {
        quadMesh.drawWireframe();
    }
    else
    {
        quadMesh.draw();
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-meshTex.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    // Start the grabber.
    grabber.setup(640, 480);

    // Build the quad mesh.
    quadMesh.setMode(OF_PRIMITIVE_TRIANGLES);

    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 0, 0));
    quadMesh.addVertex(glm::vec3(640, 480, 0));
    quadMesh.addVertex(glm::vec3(0, 480, 0));

    quadMesh.addTexCoord(glm::vec2(0, 0));
    quadMesh.addTexCoord(glm::vec2(640, 0));
    quadMesh.addTexCoord(glm::vec2(640, 480));
    quadMesh.addTexCoord(glm::vec2(0, 0));
    quadMesh.addTexCoord(glm::vec2(640, 480));
    quadMesh.addTexCoord(glm::vec2(0, 480));

    // Setup the parameters.
    drawWireframe.set("Wireframe?", false);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(drawWireframe);
}

void ofApp::update()
{
    grabber.update();
}

void ofApp::draw()
{
    // Render the mesh.
    grabber.bind();
    if (drawWireframe)
    {
        quadMesh.drawWireframe();
    }
    else
    {
        quadMesh.draw();
    }
    grabber.unbind();

    // Draw the gui.
    guiPanel.draw();
}

ofApp-meshTex.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofMesh quadMesh;

    ofEasyCam cam;

    ofParameter<bool> drawWireframe;

    ofxPanel guiPanel;
};

ofApp-pointCloud.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 360);

    // Start the depth sensor.
    rsContext.setup(true);

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    rsContext.update();

    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        ofShortPixels rawDepthPix = rsDevice->getRawDepthPix();

        // Rebuild the mesh.
        pointMesh.clear();
        pointMesh.setMode(OF_PRIMITIVE_POINTS);
        for (int y = 0; y < rsDevice->getRawDepthTex().getHeight(); y += skipPoints)
        {
            for (int x = 0; x < rsDevice->getRawDepthTex().getWidth(); x += skipPoints)
            {
                int depth = rawDepthPix.getColor(x, y).r;
                pointMesh.addVertex(glm::vec3(x, y, depth));
                pointMesh.addTexCoord(glm::vec2(x, y));
            }
        }
    }
}

void ofApp::draw()
{
    // Try to get a pointer to a device.
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);

    // Begin rendering through the camera.
    cam.begin();
    ofEnableDepthTest();

    if (rsDevice)
    {
        // Render the mesh.
        rsDevice->getDepthTex().bind();
        pointMesh.draw();
        rsDevice->getDepthTex().unbind();
    }

    ofDisableDepthTest();
    cam.end();
    // Done rendering through the camera.

    // Draw the gui.
    guiPanel.draw();
}

ofApp-pointCloud.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"
#include "ofxRealSense2.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofxRealSense2::Context rsContext;

    ofMesh pointMesh;

    ofParameter<int> skipPoints;

    ofEasyCam cam;

    ofxPanel guiPanel;
};

ofApp-points.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    // Start the grabber.
    grabber.setup(640, 480);

    pointMesh.setMode(OF_PRIMITIVE_POINTS);
    for (int y = 0; y < grabber.getHeight(); y++)
    {
        for (int x = 0; x < grabber.getWidth(); x++)
        {
            pointMesh.addVertex(glm::vec3(x, y, 0));
            pointMesh.addTexCoord(glm::vec2(x, y));
        }
    }

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
}

void ofApp::update()
{
    grabber.update();
}

void ofApp::draw()
{
    // Render the mesh.
    grabber.bind();
    pointMesh.draw();
    grabber.unbind();

    // Draw the gui.
    guiPanel.draw();
}

ofApp-points.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofMesh pointMesh;

    ofxPanel guiPanel;
};

ofApp-skipPoints.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    // Start the grabber.
    grabber.setup(640, 480);

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    grabber.update();
  
    // Rebuild the mesh.
    pointMesh.clear();
    pointMesh.setMode(OF_PRIMITIVE_POINTS);
    for (int y = 0; y < grabber.getHeight(); y += skipPoints)
    {
        for (int x = 0; x < grabber.getWidth(); x += skipPoints)
        {
            pointMesh.addVertex(glm::vec3(x, y, 0));
            pointMesh.addTexCoord(glm::vec2(x, y));
        }
    }
}

void ofApp::draw()
{
    // Render the mesh.
    grabber.bind();
    pointMesh.draw();
    grabber.unbind();

    // Draw the gui.
    guiPanel.draw();
}

ofApp-skipPoints.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofMesh pointMesh;

    ofParameter<int> skipPoints;

    ofxPanel guiPanel;
};

ofApp-transform.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 480);

    grabber.setup(640, 480);

    // Setup the parameters.
    useCamera.set("Use Camera", false);
    camPosition.set("Cam Position", glm::vec3(0, 0, 90), glm::vec3(-100), glm::vec3(100));
    camTruck.set("Truck", 0.0f, -100.0f, 100.0f);
    camBoom.set("Boom", 0.0f, -100.0f, 100.0f);
    camDolly.set("Dolly", 0.0f, -100.0f, 100.0f);
    orientCamera.set("Orient Camera", true);
    camLookAt.set("Cam Look At", ofDefaultVec3(0, 0, 0), ofDefaultVec3(-100), ofDefaultVec3(100));
    camPan.set("Pan", 0.0f, -90.0f, 90.0f);
    camTilt.set("Tilt", 0.0f, -90.0f, 90.0f);
    camRoll.set("Roll", 0.0f, -90.0f, 90.0f);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(useCamera);
    guiPanel.add(camPosition);
    guiPanel.add(camTruck);
    guiPanel.add(camBoom);
    guiPanel.add(camDolly);
    guiPanel.add(orientCamera);
    guiPanel.add(camLookAt);
    guiPanel.add(camPan);
    guiPanel.add(camTilt);
    guiPanel.add(camRoll);
}

void ofApp::update()
{
    grabber.update();

    // Reset everything each frame, otherwise the transform will be additive.
    cam.resetTransform();

    cam.setPosition(camPosition);
    cam.truck(camTruck);
    cam.boom(camBoom);
    cam.dolly(camDolly);

    if (orientCamera)
    {
        cam.lookAt(camLookAt);
        cam.panDeg(camPan);
        cam.tiltDeg(camTilt);
        cam.rollDeg(camRoll);
    }
}

void ofApp::draw()
{
    if (useCamera)
    {
        // Begin rendering through the camera.
        cam.begin();

        // Scale the drawing down into more manageable units.
        ofScale(0.1f);
        // Draw the grabber image anchored in the center.
        grabber.draw(-grabber.getWidth() / 2, -grabber.getHeight() / 2);

        cam.end();
        // Done rendering through the camera.
    }
    else
    {
        // Draw the grabber in 2D.
        grabber.draw(0, 0);
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-transform.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofVideoGrabber grabber;

    ofCamera cam;

    ofParameter<glm::vec3> camPosition;
    ofParameter<float> camTruck;
    ofParameter<float> camBoom;
    ofParameter<float> camDolly;
    ofParameter<bool> orientCamera;
    ofParameter<glm::vec3> camLookAt;
    ofParameter<float> camPan;
    ofParameter<float> camTilt;
    ofParameter<float> camRoll;

    ofParameter<bool> useCamera;

    ofxPanel guiPanel;
};

ofApp-worldPos.cpp

#include "ofApp.h"

void ofApp::setup()
{
    ofSetWindowShape(640, 360);

    // Start the depth sensor.
    rsContext.setup(true);

    // Setup the parameters.
    skipPoints.set("Skip Points", 1, 1, 24);

    // Setup the gui.
    guiPanel.setup("3D World", "settings.json");
    guiPanel.add(skipPoints);
}

void ofApp::update()
{
    rsContext.update();

    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        // Align the frames to the color viewport.
        rsDevice->alignMode = ofxRealSense2::Device::Align::Color;

        ofShortPixels rawDepthPix = rsDevice->getRawDepthPix();

        // Rebuild the mesh.
        pointMesh.clear();
        pointMesh.setMode(OF_PRIMITIVE_POINTS);
        for (int y = 0; y < rsDevice->getRawDepthTex().getHeight(); y += skipPoints)
        {
            for (int x = 0; x < rsDevice->getRawDepthTex().getWidth(); x += skipPoints)
            {
                int depth = rawDepthPix.getColor(x, y).r;
                pointMesh.addVertex(rsDevice->getWorldPosition(x, y));
                pointMesh.addTexCoord(glm::vec2(x, y));
            }
        }
    }
}

void ofApp::draw()
{
    // Try to get a pointer to a device.
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);

    // Begin rendering through the camera.
    cam.begin();
    ofEnableDepthTest();
    ofScale(100);

    if (rsDevice)
    {
        // Render the mesh.
        rsDevice->getColorTex().bind();
        pointMesh.draw();
        rsDevice->getColorTex().unbind();
    }

    ofDisableDepthTest();
    cam.end();
    // Done rendering through the camera.

    // Draw the gui.
    guiPanel.draw();
}