Sensing Machines FBOs

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();
}

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());
}

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;
};

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;
    }
}

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;
    }
}

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;
};

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();
    }
}

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;
};

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;
    }
}

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;
};

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);
    }
}

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;
};

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;
    }
}

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;
};

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());
}

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;
};

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;
    }
}

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;
};