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FYF_kinect_servo_processing_WIP
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PImage shadow; | |
import org.openkinect.freenect.*; | |
import org.openkinect.processing.*; | |
import processing.serial.*; | |
PVector a = new PVector(150, 0); | |
PVector b = new PVector(0, 150); | |
float angle; | |
PVector v1; | |
PVector v2; | |
float q; | |
float len; | |
float root; | |
Serial myPort; | |
Kinect kinect; | |
PImage img; | |
float minThresh = 200; | |
float maxThresh = 600; | |
float sumX = 0; | |
float sumY = 0; | |
float totalPixels = 0; | |
void setup() { | |
size(500, 480); | |
shadow = loadImage("shadow.png"); | |
String portName = Serial.list()[2]; //change the 0 to a 1 or 2 etc. to match your port | |
myPort = new Serial(this, portName, 9600); | |
kinect = new Kinect(this); | |
kinect.initDepth(); | |
//kinect2.initDevice(); | |
img = createImage(kinect.width, kinect.height, RGB); | |
} | |
void draw() { | |
background(255); | |
img.loadPixels(); | |
//minThresh = map(mouseX, 0, width, 0, 2048); | |
//maxThresh = map(mouseY, 0, height, 0, 2048); | |
sumX = 0; | |
sumY = 0; | |
totalPixels = 0; | |
// Get the raw depth as array of integers | |
int[] depth = kinect.getRawDepth(); | |
for (int x = 0; x < kinect.width; x++) { | |
for (int y = 0; y < kinect.height; y++) { | |
int offset = x + y * kinect.width; | |
int d = depth[offset]; | |
if (d>minThresh && d<maxThresh) { | |
img.pixels[offset] = color(255, 0, 150); | |
sumX += x; | |
sumY += y; | |
totalPixels ++; | |
} | |
else { | |
img.pixels[offset] = color(0); | |
} | |
} | |
img.updatePixels(); | |
image(img,0,0); | |
float avgX = sumX/ totalPixels; | |
float avgY = sumY/ totalPixels; | |
fill(255); | |
ellipse(avgX, avgY, 20,20); | |
println(avgX + " " + avgY); | |
/* | |
fill(255); | |
textSize(32); | |
text(minThresh + " " + maxThresh, 10,64); | |
*/ | |
pushMatrix(); | |
translate(width/2, height/2); | |
fill(0); | |
line(0, 0, a.x, a.y); | |
line(0, 0, b.x, b.y); | |
b.set(avgX-width/2, avgY-height/2, 0); | |
//if (mousePressed) { | |
// a.set(mouseX-width/2, mouseY-height/2, 0); | |
// } | |
// angle = angle(a, b); | |
float an = atan2(b.y, b.x) - atan2(a.y, a.x); | |
if (an < 0) an += TWO_PI; | |
an = angle; | |
// drawArc(); | |
//ellipse(0, 0, 50, 50); | |
fill(255); | |
text(int(degrees(angle)), 0, 0); | |
q = degrees(angle); | |
text(int(q), 50, 50); | |
myPort.write(int(degrees(angle))/4); | |
popMatrix(); | |
translate(width/2, height/2); | |
rotate(radians(q+90)); | |
len = sq(avgX-300) + sq(avgY-200); | |
root = sqrt(len); | |
println(root); | |
image(shadow, -50, 0, 100, root); | |
} | |
//void drawArc() { | |
// float angleStart = angle(new PVector(1, 0), a); | |
// float angleEnd = angle(new PVector(1, 0), b); | |
//arc(0, 0, 150, 150, angleStart, angleEnd); | |
//if (angleEnd < angleStart) { | |
// arc(0, 0, 150, 150, angleStart, TWO_PI); | |
//arc(0, 0, 150, 150, 0, angleEnd); | |
// } | |
//} | |
//float angle(PVector v1, PVector v2) { | |
// float a = atan2(v2.y, v2.x) - atan2(v1.y, v1.x); | |
// if (a < 0) a += TWO_PI; | |
// return a; | |
} |
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