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Processing sketch to make a 3D printable STL file from the Kinect (in progress)
import processing.opengl.*;
import unlekker.util.*;
import unlekker.modelbuilder.*;
import SimpleOpenNI.*;
SimpleOpenNI kinect;
boolean scanning = false;
boolean scanned = false;
int maxZ = 2000;
UGeometry model;
UVertexList vertexList;
void setup() {
size(1024, 768, OPENGL);
kinect = new SimpleOpenNI(this);
kinect.enableDepth();
model = new UGeometry();
vertexList = new UVertexList();
}
void draw() {
background(0);
kinect.update();
translate(width/2, height/2, -1000);
rotateX(radians(180));
if (scanned) {
lights();
fill(200);
model.draw(this);
}
else {
if (scanning) {
model.beginShape(TRIANGLES);
}
PVector[] depthPoints = kinect.depthMapRealWorld();
int spacing = 3;
// cleanup pass
for (int y = 0; y < 480; y+=spacing) {
for (int x = 0; x < 640; x+= spacing) {
int i = y * 640 + x;
PVector p = depthPoints[i];
if (p.z < 10 || p.z > maxZ) {
PVector realWorld = new PVector();
PVector projective = new PVector(x, y, maxZ);
kinect.convertProjectiveToRealWorld(projective, realWorld);
depthPoints[i] = realWorld;
}
}
}
for (int y = 0; y < 480 -spacing; y+=spacing) {
for (int x = 0; x < 640 -spacing; x+= spacing) {
int i = y * 640 + x;
int nw = i;
int ne = nw + spacing;
int sw = i + 640 * spacing;
int se = sw + spacing;
if (scanning) {
if (!allZero(depthPoints[nw]) && !allZero(depthPoints[ne]) && !allZero(depthPoints[sw]) && !allZero(depthPoints[se])) {
model.addFace(new UVec3(depthPoints[nw].x, depthPoints[nw].y, depthPoints[nw].z),
new UVec3(depthPoints[ne].x, depthPoints[ne].y, depthPoints[ne].z),
new UVec3(depthPoints[sw].x, depthPoints[sw].y, depthPoints[sw].z));
model.addFace(new UVec3(depthPoints[ne].x, depthPoints[ne].y, depthPoints[ne].z),
new UVec3(depthPoints[se].x, depthPoints[se].y, depthPoints[se].z),
new UVec3(depthPoints[sw].x, depthPoints[sw].y, depthPoints[sw].z));
}
}
else {
stroke(255);
PVector currentPoint = depthPoints[i];
if (currentPoint.z < maxZ) {
point(currentPoint.x, currentPoint.y, currentPoint.z);
}
}
}
}
if (scanning) {
model.endShape();
scanning = false;
model.writeSTL(this, "scan_"+random(1000)+".stl");
scanned = true;
}
}
}
boolean allZero(PVector p) {
return (p.x == 0 && p.y == 0 && p.z == 0);
}
void keyPressed() {
println(maxZ);
if (key == '.') {
maxZ += 100;
}
else if (key ==',') {
maxZ -= 100;
}
else if (key == 'r') {
scanned = false;
scanning = false;
model.reset();
}
else {
scanning = !scanning;
}
}
@Minicomputadores

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Minicomputadores commented Mar 7, 2019

Hi Dear, how are you?
This code look like amazing, I have tried run in Processing IDE and after many times I give up ...
Now I got this error:
The method addFace(UVec3[]) in the type UGeometry is not applicable for the arguments (UVec3, UVec3, UVec3)
Do you know what i did wrong?

Thanks million !

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