Hi, sorry for my English i'm French ! :)
I'm working on a project using smartphones, kinect and KinectPV2 library.
So I have two parts : the client and the server On my computer (that is my server) I can record my environment with my kinect v2 and KinectPV2 using the code"Point cloud" found here http://codigogenerativo.com/code/kinectpv2-k4w2-processing-library/
I can send with my smartphone (client) some particles to my computer too. So on my computer there are a point cloud which represents my environment recorded by the kinect and some particles generated with my phone.
I would like to create some links between all of this points and particles. For exemple when I create some particles, if they're close to the points of the cloud, a line will be drawn between them. I know it's with the dist() and I think I have to make those collisions in the loops but in my code I don't really know where and how I make those collisions. Help please if you can :)
There is my code :
//kinect//
//librairies kinect
import java.nio.*;
import KinectPV2.*;
KinectPV2 kinect;
int vertLoc;
//transformations
float a = 0;
int zval = -50;
float scaleVal = 320;
//value to scale the depth point when accessing each individual point in the PC.
float scaleDepthPoint = 100.0;
//Distance Threashold
int maxD = 4000; // 4m
int minD = 0; // 0m
//openGL object and shader
PGL pgl;
PShader sh;
//VBO buffer location in the GPU
int vertexVboId;
//touchEvent receiver
// on importe la bibliothèque OscP5
import oscP5.*;
import netP5.*;
//création d'un objet OscP5 appelé 'oscP5'
OscP5 oscP5;
NetAddress myRemoteLocation;
//creation des variables qui récupèreront les positions x et y du doigt sur les écrans des smartphones
float positionX, positionY, positionX02, positionY02, positionX03, positionY03;
// creation des particles
import java.util.Iterator;
ArrayList<Part> parts;
float w = 600;
float h = 900;
float g = 1.8;
float noiseoff=0;
//GifMaker gifExport;
color bgc = #495455;
boolean record=false;
public void setup() {
size(1024, 848, P3D);
kinect = new KinectPV2(this);
kinect.enableDepthImg(true);
kinect.enablePointCloud(true);
kinect.setLowThresholdPC(minD);
kinect.setHighThresholdPC(maxD);
kinect.init();
sh = loadShader("frag.glsl", "vert.glsl");
PGL pgl = beginPGL();
IntBuffer intBuffer = IntBuffer.allocate(1);
pgl.genBuffers(1, intBuffer);
//memory location of the VBO
vertexVboId = intBuffer.get(0);
endPGL();
//touchEvent receiver
//paramétrage de l'objet oscP5 qui recevra les données
oscP5 = new OscP5(this, 12000);
myRemoteLocation = new NetAddress("192.168.0.101", 32000);
//au départ, on place notre cercle au centre
positionX = width/2;
positionY = height/2;
//on desactive les dessin des contours
noStroke();
// creation des particules
smooth();
background(bgc);
frameRate(25);
parts = new ArrayList();
}
public void draw() {
background(0);
//draw the depth capture images
//image(kinect.getDepthImage(), 0, 0, 320, 240);
//image(kinect.getPointCloudDepthImage(), 320, 0, 320, 240);
// creation des particles : si record = true alors on lance la fonction création des particules
if (record) {
paint();
paint02();
paint03();
}
updateParticles();
fill(255);
//translate the scene to the center
translate(width / 2, height / 2, zval);
scale(scaleVal, -1 * scaleVal, scaleVal);
rotate(a, 0.0f, 1.0f, 0.0f);
// Threahold of the point Cloud.
kinect.setLowThresholdPC(minD);
kinect.setHighThresholdPC(maxD);
//get the points in 3d space
FloatBuffer pointCloudBuffer = kinect.getPointCloudDepthPos();
// obtain XYZ the values of the point cloud
stroke(0, 0, 0);
for (int i = 0; i < kinect.WIDTHDepth * kinect.HEIGHTDepth; i+=3) {
float x = pointCloudBuffer.get(i*3 + 0) * scaleDepthPoint;
float y = pointCloudBuffer.get(i*3 + 1) * scaleDepthPoint;
float z = pointCloudBuffer.get(i*3 + 2) * scaleDepthPoint;
}
//begin openGL calls and bind the shader
pgl = beginPGL();
sh.bind();
//obtain the vertex location in the shaders.
//useful to know what shader to use when drawing the vertex positions
vertLoc = pgl.getAttribLocation(sh.glProgram, "vertex");
pgl.enableVertexAttribArray(vertLoc);
//data size times 3 for each XYZ coordinate
int vertData = kinect.WIDTHDepth * kinect.HEIGHTDepth * 3;
//bind vertex positions to the VBO
{
pgl.bindBuffer(PGL.ARRAY_BUFFER, vertexVboId);
// fill VBO with data
pgl.bufferData(PGL.ARRAY_BUFFER, Float.BYTES * vertData, pointCloudBuffer, PGL.DYNAMIC_DRAW);
// associate currently bound VBO with shader attribute
pgl.vertexAttribPointer(vertLoc, 3, PGL.FLOAT, false, Float.BYTES * 3, 0 );
}
// unbind VBOs
pgl.bindBuffer(PGL.ARRAY_BUFFER, 0);
//draw the point buffer as a set of POINTS
pgl.drawArrays(PGL.POINTS, 0, vertData);
//disable the vertex positions
pgl.disableVertexAttribArray(vertLoc);
//finish drawing
sh.unbind();
endPGL();
stroke(255, 0, 0);
text(frameRate, 50, height - 50);
}
//touchEvent receiver
// fonction creation des particles pour le smartphone 01
void paint() {
float tx = positionX;
float ty = positionY;
color c1 = #FFFFFF;
color c2 = #FFFFFF;
float x = random(w);
float y = random(h);
float t=15+random(20);
color c = lerpColor(c1, c2, random(1));
Part p = new Part(tx, ty, random(5)+1, c);
p.velocity.x=0;
p.velocity.y=0;
p.acceleration.x=random(1)-.5;
p.acceleration.y=random(1)-.5;
p.life=1;
parts.add(p);
}
// fonction creation des particles pour le smartphone 02
void paint02() {
float tx = positionX02;
float ty = positionY02;
color c1 = #FFFFFF;
color c2 = #FFFFFF;
float x = random(w);
float y = random(h);
float t=15+random(20);
color c = lerpColor(c1, c2, random(1));
Part p = new Part(tx, ty, random(5)+1, c);
p.velocity.x=0;
p.velocity.y=0;
p.acceleration.x=random(1)-.5;
p.acceleration.y=random(1)-.5;
p.life=1;
parts.add(p);
}
// fonction creation des particles pour le smartphone 03
void paint03() {
float tx = positionX03;
float ty = positionY03;
color c1 = #FFFFFF;
color c2 = #FFFFFF;
float x = random(w);
float y = random(h);
float t=15+random(20);
color c = lerpColor(c1, c2, random(1));
Part p = new Part(tx, ty, random(5)+1, c);
p.velocity.x=0;
p.velocity.y=0;
p.acceleration.x=random(1)-.5;
p.acceleration.y=random(1)-.5;
p.life=1;
parts.add(p);
}
void updateParticles() {
if (parts.size()>=0) {
for (int i = parts.size()-1; i >= 0; i--) {
Part p = (Part) parts.get(i);
p.update();
//p.render();
if (p.life<0) {
parts.remove(p);
}
}
for (Part p : parts) {
// p.update();
p.render();
}
}
}
//class pour les particules
class Part {
float life = 1;
float maxspeed=10;
// float g=1.8;
PVector position = new PVector(0, 0);
PVector velocity = new PVector(0, 0);
PVector acceleration = new PVector(0, 0);
float size = 10;
color c;
float min_d = 90;
Part nei = null;
Part(float x, float y, float size, color c) {
position.x=x;
position.y=y;
this.size = size;
this.c=c;
}
void update() {
life-=.01;
// size=random(5);
if (position.x>w) {
position.x=0;
} else if (position.x<0) {
position.x=w;
}
if (position.y>h) {
position.y=0;
} else if (position.y<0) {
position.y=w;
}
//collision entre particules et génération des lignes entre elles
for (Part p : parts) {
if (p!=this) {
float d = PVector.dist(p.position, position);
if (d<min_d) {
acceleration = PVector.sub(p.position, position);
acceleration.normalize();
acceleration.mult(.1);
pushMatrix();
translate(position.x, position.y);
//stroke(c, 110-d/min_d*100);
stroke(255, 1+life*155);
//strokeWeight(d/min_d*2);
// line(-velocity.x, -velocity.y, 0, 0);
line(p.position.x-position.x, p.position.y-position.y, 0, 0);
popMatrix();
}
}
}
velocity.add(acceleration);
velocity.limit(3);
position.add(velocity);
}
void render() {
pushMatrix();
translate(position.x, position.y);
//stroke(c);
// line(-velocity.x, -velocity.y, 0, 0);
//line(nei.position.x-position.x, nei.position.y-position.y, 0, 0);
noStroke();
fill(c, 3+life*255);
//fill(c);
//rectMode(CENTER);
//rect(0, 0, size+6, size+6);
ellipseMode(CENTER);
// taille particules
ellipse(0, 0, size+1, size+1);
popMatrix();
}
//
}
// methode oscevent permettant d'ecouter les evenements OSC
void oscEvent(OscMessage theOscMessage) {
// si l'applet reçoit un messag OSC avec l'address pattern "/positionsCurseur"
if (theOscMessage.checkAddrPattern("/positionsCurseur")==true) {
//on assigne les valeurs de l'index 0, de type integer (.intValue) du message OSC
//à la variable positionX que l'on assignera à la coordonnée x de notre cercle
positionX = theOscMessage.get(0).intValue();
//on assigne les valeurs de l'index 1, de type integer (.intValue) du message OSC
//à la variable positionY que l'on assignera à la coordonnée y de notre cercle
positionY = theOscMessage.get(1).intValue();
record=true;
} else if (theOscMessage.checkAddrPattern("/positionsCurseur02")==true) {
//on assigne les valeurs de l'index 0, de type integer (.intValue) du message OSC
//à la variable positionX que l'on assignera à la coordonnée x de notre cercle
positionX02 = theOscMessage.get(0).intValue();
//on assigne les valeurs de l'index 1, de type integer (.intValue) du message OSC
//à la variable positionY que l'on assignera à la coordonnée y de notre cercle
positionY02 = theOscMessage.get(1).intValue();
record=true;
} else if (theOscMessage.checkAddrPattern("/positionsCurseur03")==true) {
//on assigne les valeurs de l'index 0, de type integer (.intValue) du message OSC
//à la variable positionX que l'on assignera à la coordonnée x de notre cercle
positionX03 = theOscMessage.get(0).intValue();
//on assigne les valeurs de l'index 1, de type integer (.intValue) du message OSC
//à la variable positionY que l'on assignera à la coordonnée y de notre cercle
positionY03 = theOscMessage.get(1).intValue();
record=true;
}
}
/*
public void mousePressed() {
// saveFrame();
}
public void keyPressed() {
if (key == 'a') {
zval +=10;
println("Z Value "+zval);
}
if (key == 's') {
zval -= 10;
println("Z Value "+zval);
}
if (key == 'z') {
scaleVal += 0.1;
println("Scale scene: "+scaleVal);
}
if (key == 'x') {
scaleVal -= 0.1;
println("Scale scene: "+scaleVal);
}
if (key == 'q') {
a += 0.1;
println("rotate scene: "+ a);
}
if (key == 'w') {
a -= 0.1;
println("rotate scene: "+a);
}
if (key == '1') {
minD += 10;
println("Change min: "+minD);
}
if (key == '2') {
minD -= 10;
println("Change min: "+minD);
}
if (key == '3') {
maxD += 10;
println("Change max: "+maxD);
}
if (key == '4') {
maxD -= 10;
println("Change max: "+maxD);
}
if(key == 'c'){
scaleDepthPoint += 1;
println("Change Scale Depth Point: "+scaleDepthPoint);
}
if(key == 'v'){
scaleDepthPoint -= 1;
println("Change Scale Depth Point: "+scaleDepthPoint);
}
}
*/
/*
Simple class that manager saving each FloatBuffer and writes the data into a OBJ file
*/
class FrameBuffer {
FloatBuffer frame;
//id of the frame
int frameId;
FrameBuffer(FloatBuffer f) {
frame = clone(f);
}
void setFrameId(int fId) {
frameId = fId;
}
/*
Writing of the obj file,
*/
void saveOBJFrame() {
int vertData = 1024 * 848;
String[] points = new String[vertData];
//Iterate through all the XYZ points
for (int i = 0; i < vertData; i++) {
float x = frame.get(i*3 + 0);
float y = frame.get(i*3 + 1);
float z = frame.get(i*3 + 3);
points[i] = "v "+x+" "+y+" "+z;
}
saveStrings("data/frame0"+frameId+".obj", points);
println("Done Saving Frame "+frameId);
}
//Simple function that copys the FloatBuffer to another FloatBuffer
public FloatBuffer clone(FloatBuffer original) {
FloatBuffer clone = FloatBuffer.allocate(original.capacity());
original.rewind();//copy from the beginning
clone.put(original);
original.rewind();
clone.flip();
return clone;
}
}
//camera information based on the Kinect v2 hardware
static class CameraParams {
static float cx = 254.878f;
static float cy = 205.395f;
static float fx = 365.456f;
static float fy = 365.456f;
static float k1 = 0.0905474;
static float k2 = -0.26819;
static float k3 = 0.0950862;
static float p1 = 0.0;
static float p2 = 0.0;
}
//calculte the xyz camera position based on the depth data
PVector depthToPointCloudPos(int x, int y, float depthValue) {
PVector point = new PVector();
point.z = (depthValue);// / (1.0f); // Convert from mm to meters
point.x = (x - CameraParams.cx) * point.z / CameraParams.fx;
point.y = (y - CameraParams.cy) * point.z / CameraParams.fy;
return point;
}
If someone know how to create colision and create lines between my particles (created with the paint02() and Class Part) and the points of the cloud I will be thanksfull ! :)
