From 8988ddcdc58499e70d592f14a4415f96be7005c6 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 19 Aug 2016 10:29:06 +0200 Subject: [PATCH 01/99] Receiving first data elements. --- papart/pom.xml | 14 ++ .../papart/procam/camera/CameraRealSense.java | 207 ++++++++++++++++++ 2 files changed, 221 insertions(+) create mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSense.java diff --git a/papart/pom.xml b/papart/pom.xml index a438cb39..51279584 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -131,6 +131,20 @@ ${platform} runtime + + + org.bytedeco.javacpp-presets + librealsense + 1.9.6-1.2.2 + + + + org.bytedeco.javacpp-presets + librealsense + 1.9.6-1.2.2 + ${platform} + runtime + org.bytedeco.javacpp-presets diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java new file mode 100755 index 00000000..8b030c44 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -0,0 +1,207 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.camera; + +import java.nio.ByteBuffer; +import java.nio.ShortBuffer; +import org.bytedeco.javacpp.BytePointer; +import org.bytedeco.javacpp.Pointer; +import org.bytedeco.javacpp.RealSense; +import org.bytedeco.javacpp.RealSense.context; +import org.bytedeco.javacpp.RealSense.device; +import org.bytedeco.javacpp.indexer.UShortBufferIndexer; +import org.bytedeco.javacpp.indexer.UShortIndexer; +import org.bytedeco.javacpp.opencv_core; +import org.bytedeco.javacpp.opencv_core.IplImage; +import org.bytedeco.javacv.FrameGrabber; +import org.bytedeco.javacv.OpenCVFrameConverter; +import org.bytedeco.javacv.OpenCVFrameGrabber; +import processing.core.PImage; + +/** + * + * @author Jeremy Laviole + */ +public class CameraRealSense extends Camera { + + public static void main(String[] args) { + + context context = new context(); + + System.out.println("Devices found: " + context.get_device_count()); + + device device = context.get_device(0); + + System.out.println("Using device 0, an " + device.get_name()); + System.out.println(" Serial number: " + device.get_serial()); + + device.enable_stream(RealSense.depth, 640, 480, RealSense.z16, 60); + device.enable_stream(RealSense.color, 640, 480, RealSense.rgb8, 60); + + device.start(); + + while(true){ + device.wait_for_frames(); + + System.out.println("Depth scale " + device.get_depth_scale()); +// glPixelTransferf(GL_RED_SCALE, 0xFFFF * dev->get_depth_scale() / 2.0f); + + float scale = device.get_depth_scale(); + Pointer data = (Pointer) device.get_frame_data(RealSense.depth); + ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); + + System.out.println("Capacity :" + bb.capacity()); +// UShortIndexer indexer = new UShortBufferIndexer(_frame_data.asByteBuffer().asShortBuffer()); + + for(int i = 0 ; i < bb.capacity(); i++){ + float value = bb.get(i); + if(value != 0){ + value = value * scale; + System.out.print(value + " "); + } + } +//System.out.println("Data : "+ bb.get(100)); + } + + } +// try{ +// +// }catch(Exception e){ +// System.out.println("Exception: " + e); +// e.printStackTrace(); +// } +// // Configure all streams to run at VGA resolution at 60 frames per second +// dev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60); +// dev->enable_stream(rs::stream::color, 640, 480, rs::format::rgb8, 60); +// dev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60); +// try { dev->enable_stream(rs::stream::infrared2, 640, 480, rs::format::y8, 60); } +// catch(...) { printf("Device does not provide infrared2 stream.\n"); } +// dev->start(); +// +// // Open a GLFW window to display our output +// glfwInit(); +// GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #2", nullptr, nullptr); +// glfwMakeContextCurrent(win); +// while(!glfwWindowShouldClose(win)) +// { +// // Wait for new frame data +// glfwPollEvents(); +// dev->wait_for_frames(); +// +// glClear(GL_COLOR_BUFFER_BIT); +// glPixelZoom(1, -1); +// +// // Display depth data by linearly mapping depth between 0 and 2 meters to the red channel +// glRasterPos2f(-1, 1); +// glPixelTransferf(GL_RED_SCALE, 0xFFFF * dev->get_depth_scale() / 2.0f); +// glDrawPixels(640, 480, GL_RED, GL_UNSIGNED_SHORT, dev->get_frame_data(rs::stream::depth)); +// glPixelTransferf(GL_RED_SCALE, 1.0f); +// +// // Display color image as RGB triples +// glRasterPos2f(0, 1); +// glDrawPixels(640, 480, GL_RGB, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::color)); +// +// // Display infrared image by mapping IR intensity to visible luminance +// glRasterPos2f(-1, 0); +// glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::infrared)); +// +// // Display second infrared image by mapping IR intensity to visible luminance +// if(dev->is_stream_enabled(rs::stream::infrared2)) +// { +// glRasterPos2f(0, 0); +// glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::infrared2)); +// } + + + private OpenCVFrameGrabber grabber; + private final OpenCVFrameConverter.ToIplImage converter; + + protected CameraRealSense(int cameraNo) { +// this.systemNumber = cameraNo; +// this.setPixelFormat(PixelFormat.BGR); +// converter = new OpenCVFrameConverter.ToIplImage(); + } + + @Override + public void start() { +// OpenCVFrameGrabber grabberCV = new OpenCVFrameGrabber(this.systemNumber); +// grabberCV.setImageWidth(width()); +// grabberCV.setImageHeight(height()); +//// grabberCV.setFrameRate(60); +// grabberCV.setImageMode(FrameGrabber.ImageMode.COLOR); +// +// try { +// grabberCV.start(); +// this.grabber = grabberCV; +// this.isConnected = true; +// } catch (Exception e) { +// System.err.println("Could not start frameGrabber... " + e); +// +// System.err.println("Could not camera start frameGrabber... " + e); +// System.err.println("Camera ID " + this.systemNumber + " could not start."); +// System.err.println("Check cable connection, ID and resolution asked."); +// +// this.grabber = null; +// } + } + + @Override + public void grab() { + +// if (this.isClosing()) { +// return; +// } +// try { +// IplImage img = converter.convertToIplImage(grabber.grab()); +// if (img != null) { +// this.updateCurrentImage(img); +// } +// } catch (Exception e) { +// System.err.println("Camera: OpenCV Grab() Error ! " + e); +// } + } + + @Override + public PImage getPImage() { + +// if (currentImage != null) { +// this.checkCamImage(); +// camImage.update(currentImage); +// return camImage; +// } +// // TODO: exceptions !!! + return null; + } + + @Override + public void close() { + this.setClosing(); +// if (grabber != null) { +// try { +// grabber.stop(); +// System.out.println("Stopping grabber (OpencV)"); +// +// } catch (Exception e) { +// System.out.println("Impossible to close " + e); +// } +// } + } + +} From 550acfb9b0d54a8d4c41ce036ad77f7d7459ea23 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 19 Aug 2016 11:09:33 +0200 Subject: [PATCH 02/99] got depth and color from realsense data. --- .../fr/inria/papart/procam/camera/Camera.java | 2 +- .../papart/procam/camera/CameraFactory.java | 3 + .../papart/procam/camera/CameraRealSense.java | 95 +++++++++++++------ 3 files changed, 68 insertions(+), 32 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index e8a17157..f1f41792 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -66,7 +66,7 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { public enum Type { - OPENCV, FFMPEG, OPENCV_DEPTH, PROCESSING, OPEN_KINECT, FLY_CAPTURE, KINECT2_RGB, KINECT2_IR, FAKE + OPENCV, FFMPEG, OPENCV_DEPTH, PROCESSING, OPEN_KINECT, FLY_CAPTURE, KINECT2_RGB, KINECT2_IR, REALSENSE, FAKE } public enum PixelFormat { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index e5c0ad33..ecc92e63 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -52,6 +52,9 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { case OPENCV_DEPTH: camera = new CameraOpenCVDepth(cameraNo); break; + case REALSENSE: + camera = new CameraRealSense(cameraNo); + break; case OPEN_KINECT: camera = new CameraOpenKinect(cameraNo); break; diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 8b030c44..584b7746 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.Papart; import java.nio.ByteBuffer; import java.nio.ShortBuffer; import org.bytedeco.javacpp.BytePointer; @@ -33,6 +34,8 @@ import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.OpenCVFrameConverter; import org.bytedeco.javacv.OpenCVFrameGrabber; +import processing.core.PApplet; +import processing.core.PConstants; import processing.core.PImage; /** @@ -41,7 +44,7 @@ */ public class CameraRealSense extends Camera { - public static void main(String[] args) { + public static void main(String[] args) { context context = new context(); @@ -51,36 +54,36 @@ public static void main(String[] args) { System.out.println("Using device 0, an " + device.get_name()); System.out.println(" Serial number: " + device.get_serial()); - + device.enable_stream(RealSense.depth, 640, 480, RealSense.z16, 60); device.enable_stream(RealSense.color, 640, 480, RealSense.rgb8, 60); - + device.start(); - - while(true){ + + while (true) { device.wait_for_frames(); - + System.out.println("Depth scale " + device.get_depth_scale()); // glPixelTransferf(GL_RED_SCALE, 0xFFFF * dev->get_depth_scale() / 2.0f); float scale = device.get_depth_scale(); Pointer data = (Pointer) device.get_frame_data(RealSense.depth); ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); - + System.out.println("Capacity :" + bb.capacity()); // UShortIndexer indexer = new UShortBufferIndexer(_frame_data.asByteBuffer().asShortBuffer()); - - for(int i = 0 ; i < bb.capacity(); i++){ + + for (int i = 0; i < bb.capacity(); i++) { float value = bb.get(i); - if(value != 0){ + if (value != 0) { value = value * scale; System.out.print(value + " "); } } //System.out.println("Data : "+ bb.get(100)); } - - } + + } // try{ // // }catch(Exception e){ @@ -128,19 +131,32 @@ public static void main(String[] args) { // glRasterPos2f(0, 0); // glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::infrared2)); // } - - - private OpenCVFrameGrabber grabber; - private final OpenCVFrameConverter.ToIplImage converter; + + private device device; + private context context; + PImage testImage; protected CameraRealSense(int cameraNo) { -// this.systemNumber = cameraNo; + + this.systemNumber = cameraNo; // this.setPixelFormat(PixelFormat.BGR); -// converter = new OpenCVFrameConverter.ToIplImage(); + + context = new context(); + device = context.get_device(cameraNo); + + // debug depth image + parent = Papart.getPapart().getApplet(); + + testImage = parent.createImage(640, 480, PApplet.RGB); + device.enable_stream(RealSense.depth, 640, 480, RealSense.z16, 60); + device.enable_stream(RealSense.color, 640, 480, RealSense.rgb8, 60); } @Override public void start() { + device.start(); + } + // OpenCVFrameGrabber grabberCV = new OpenCVFrameGrabber(this.systemNumber); // grabberCV.setImageWidth(width()); // grabberCV.setImageHeight(height()); @@ -160,34 +176,51 @@ public void start() { // // this.grabber = null; // } - } - @Override public void grab() { + System.out.println("Wait for frames..."); + + device.wait_for_frames(); -// if (this.isClosing()) { -// return; -// } -// try { -// IplImage img = converter.convertToIplImage(grabber.grab()); -// if (img != null) { -// this.updateCurrentImage(img); -// } -// } catch (Exception e) { -// System.err.println("Camera: OpenCV Grab() Error ! " + e); + + System.out.println("frames ok"); + testImage.loadPixels(); + int[] pixels = testImage.pixels; + +// float scale = device.get_depth_scale(); +// Pointer data = (Pointer) device.get_frame_data(RealSense.depth); +// ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); +// System.out.println("Sizes: " + pixels.length + " " + bb.limit()); + +// for (int i = 0; i < bb.capacity(); i++) { +// float value = bb.get(i); +// pixels[i] = (int) (value * scale * 1000f); // } + + Pointer data_color = (Pointer) device.get_frame_data(RealSense.color); + ByteBuffer bb_color = data_color.position(0).limit(640 * 480 * 3).asByteBuffer(); + + System.out.println("Sizes " + bb_color.capacity() + " " + pixels.length * 3); + + for (int i = 0; i < bb_color.capacity() / 3; i++) { + pixels[i] = (bb_color.get(i*3 + 0) & 0xFF) >> 0 | + (bb_color.get(i*3 + 1) & 0xFF) << 8 | + (bb_color.get(i*3 + 2) & 0xFF) << 16; + } + testImage.updatePixels(); } @Override public PImage getPImage() { + return testImage; // if (currentImage != null) { // this.checkCamImage(); // camImage.update(currentImage); // return camImage; // } // // TODO: exceptions !!! - return null; +// return null; } @Override From 750bf63f006e31df4ebe27c4c64eba6b56cf914a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 19 Aug 2016 17:16:22 +0200 Subject: [PATCH 03/99] First working version. --- .../analysis/KinectDepthAnalysis.java | 57 ++-- .../papart/depthcam/devices/KinectDevice.java | 6 +- .../papart/depthcam/devices/RealSense.java | 139 ++++++++ papart/src/fr/inria/papart/procam/Papart.java | 12 + papart/src/fr/inria/papart/procam/Utils.java | 14 +- .../inria/papart/procam/camera/CamImage.java | 5 +- .../papart/procam/camera/CamImageColor.java | 17 +- .../papart/procam/camera/CamImageGray.java | 5 +- .../fr/inria/papart/procam/camera/Camera.java | 11 +- .../procam/camera/CameraOpenKinectDepth.java | 6 +- .../papart/procam/camera/CameraRealSense.java | 303 +++++++----------- .../procam/camera/CameraRealSenseDepth.java | 101 ++++++ .../papart/procam/camera/WithTouchInput.java | 31 ++ 13 files changed, 489 insertions(+), 218 deletions(-) create mode 100644 papart/src/fr/inria/papart/depthcam/devices/RealSense.java create mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java create mode 100644 papart/src/fr/inria/papart/procam/camera/WithTouchInput.java diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 92ba65a3..2667d2b0 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -29,11 +29,14 @@ import fr.inria.papart.depthcam.devices.KinectOne; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.INVALID_POINT; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; +import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraOpenKinect; +import fr.inria.papart.procam.camera.CameraRealSense; import java.nio.ByteBuffer; +import java.nio.ShortBuffer; import java.util.ArrayList; import java.util.Iterator; import java.util.concurrent.Callable; @@ -60,6 +63,7 @@ public class KinectDepthAnalysis extends DepthAnalysis { // private variables // Raw data from the Kinect Sensor + protected ShortBuffer depthRawShortBuffer; protected byte[] depthRaw; protected byte[] colorRaw; @@ -115,20 +119,23 @@ private void initMemory() { if (kinectDevice instanceof Kinect360) { depthComputationMethod = new Kinect360Depth(); - } else { - if (kinectDevice instanceof KinectOne) { - depthComputationMethod = new KinectOneDepth(); - } + } + if (kinectDevice instanceof KinectOne) { + depthComputationMethod = new KinectOneDepth(); + } + if (kinectDevice instanceof RealSense) { + float depthScale = ((CameraRealSense) ((RealSense) kinectDevice).getCameraRGB()).getDepthScale(); + depthComputationMethod = new RealSenseDepth(depthScale); } PixelOffset.initStaticMode(kinectDevice.depthWidth(), kinectDevice.depthHeight()); } - - public PVector findDepthAtRGB(PVector v){ + + public PVector findDepthAtRGB(PVector v) { return findDepthAtRGB(v.x, v.y, v.z); } - - public PVector findDepthAtRGB(float x, float y, float z){ + + public PVector findDepthAtRGB(float x, float y, float z) { PVector v = new PVector(x, y, z); PVector v2 = new PVector(); @@ -286,12 +293,11 @@ protected void doForEachValid3DPoint(int precision, DepthPointManiplation manip) } protected void updateRawDepth(opencv_core.IplImage depthImage) { -// ByteBuffer depthBuff = depthImage.imageData().asBuffer(); -// System.out.println("depthRaw size " + depthRaw.length + " image data size " + depthImage.getByteBuffer().capacity()); -// depthBuff.get(depthRaw); - - depthImage.getByteBuffer().get(depthRaw); -// depthImage.imageData().get(depthRaw); + if (kinectDevice().type() == KinectDevice.Type.REALSENSE) { + depthRawShortBuffer = depthImage.imageData().position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); + } else { + depthImage.getByteBuffer().get(depthRaw); + } } protected void updateRawColor(opencv_core.IplImage colorImage) { @@ -325,18 +331,33 @@ public float findDepth(int offset) { } public static final float KINECT_ONE_DEPTH_RATIO = 10f; - + class KinectOneDepth implements DepthComputation { @Override public float findDepth(int offset) { - float d = (depthRaw[offset * 3 + 1] & 0xFF) * 256 + - (depthRaw[offset * 3] & 0xFF); - + float d = (depthRaw[offset * 3 + 1] & 0xFF) * 256 + + (depthRaw[offset * 3] & 0xFF); + return d / KINECT_ONE_DEPTH_RATIO; // / 65535f * 10000f; } } + class RealSenseDepth implements DepthComputation { + + private float depthRatio; + + public RealSenseDepth(float depthRatio) { + this.depthRatio = depthRatio; + } + + @Override + public float findDepth(int offset) { + float d = depthRawShortBuffer.get(offset) * depthRatio * 1000f; + return d; + } + } + public void setNearFarValue(float near, float far) { this.closeThreshold = near; this.farThreshold = far; diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 4b6f46ea..1c9c7b5c 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -35,7 +35,7 @@ public abstract class KinectDevice implements DepthCameraDevice { public enum Type { - ONE, X360, NONE + ONE, X360, REALSENSE, NONE } // IR and Depth image size public static int WIDTH; @@ -81,6 +81,10 @@ public static KinectDevice createKinect360(PApplet parent) { public static KinectDevice createKinectOne(PApplet parent) { return new KinectOne(parent); } + + public static KinectDevice createRealSense(PApplet parent) { + return new RealSense(parent); + } public void setStereoCalibration(String fileName) { HomographyCalibration calib = new HomographyCalibration(); diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java new file mode 100644 index 00000000..550234bb --- /dev/null +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -0,0 +1,139 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.depthcam.devices; + +import fr.inria.papart.multitouch.KinectTouchInput; +import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.camera.Camera; +import fr.inria.papart.procam.camera.CameraFactory; +import fr.inria.papart.procam.camera.CameraOpenCVDepth; +import fr.inria.papart.procam.camera.CameraOpenKinectDepth; +import fr.inria.papart.procam.camera.CameraRealSense; +import fr.inria.papart.procam.camera.CameraRealSenseDepth; +import processing.core.PApplet; + +/** + * + * @author Jeremy Laviole + */ +public final class RealSense extends KinectDevice { + + protected CameraRealSense cameraRGB; + protected CameraRealSenseDepth cameraDepth; + + public RealSense(PApplet parent) { + initSize(); + this.parent = parent; + initRGB(); + initDepth(); + + // get the stereo ? + setStereoCalibration(Papart.kinectStereoCalib); + } + + public RealSense(PApplet parent, CameraRealSense cameraRGB) { + initSize(); + this.parent = parent; + this.cameraRGB = cameraRGB; + initDepth(); + + // TODO: get the extrinsics ! +// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); + setStereoCalibration(Papart.kinectStereoCalib); + } + + public static final int CAMERA_WIDTH = 640; + public static final int CAMERA_WIDTH_RGB = 1920; + public static final int CAMERA_HEIGHT = 480; + public static final int CAMERA_HEIGHT_RGB = 1080; + + private void initSize() { + // IR and Depth image size + WIDTH = 640; + HEIGHT = 480; + SIZE = WIDTH * HEIGHT; + + // RGB image size + RGB_WIDTH = 1920; + RGB_HEIGHT = 1080; + RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; + } + + public void close() { + cameraRGB.close(); +// cameraIR.close(); + cameraDepth.close(); + } + + final void initRGB() { + cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); + cameraRGB.setParent(parent); + cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); + // TODO: calibration + cameraRGB.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); + cameraRGB.start(); + } + + final void initIR() { + // NO IR yet. + +// cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); +// cameraIR.setParent(parent); +//// cameraIR.setSize(WIDTH, HEIGHT); +// cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// cameraIR.start(); + } + + final void initDepth() { + cameraDepth = cameraRGB.getDepthCamera(); + cameraDepth.setParent(parent); + // TODO: calibration... + cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); + } + + @Override + public Camera getCameraRGB() { + return cameraRGB; + } + + public Camera getCameraIR() { + throw new UnsupportedOperationException("Not supported yet."); + } + + public Camera getCameraDepth() { + return cameraDepth; + } + + @Override + public int rawDepthSize() { + return SIZE * 2; + } + + @Override + public void setTouch(KinectTouchInput kinectTouchInput) { + cameraDepth.setTouchInput(kinectTouchInput); + } + + @Override + public Type type() { + return Type.REALSENSE; + } + +} diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 9d472858..ac7bc493 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -36,10 +36,12 @@ import fr.inria.papart.depthcam.analysis.KinectDepthAnalysis; import fr.inria.papart.depthcam.devices.KinectDevice; import fr.inria.papart.depthcam.devices.KinectOne; +import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.camera.CameraFactory; +import fr.inria.papart.procam.camera.CameraRealSense; import java.io.File; import java.lang.reflect.Constructor; import java.util.Set; @@ -599,6 +601,7 @@ private void tryLoadExtrinsics() { } } + @Deprecated public void initKinectCamera(float quality) { assert (!cameraInitialized); kinectDevice = loadDefaultCameraKinect(); @@ -609,6 +612,8 @@ public void initKinectCamera(float quality) { checkInitialization(); } + //really deprecated ? + @Deprecated public void startDefaultKinectCamera() { assert (!cameraInitialized); kinectDevice = loadDefaultCameraKinect(); @@ -765,6 +770,13 @@ public void useKinectOne(boolean kinectOne) { */ public KinectDevice loadDefaultCameraKinect() { CameraConfiguration kinectConfiguration = Papart.getDefaultKinectConfiguration(applet); + if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE) { + if (cameraTracking != null && cameraTracking instanceof CameraRealSense) { + return new RealSense(applet, (CameraRealSense)cameraTracking); + } else { + return new RealSense(applet); + } + } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT) { return new Kinect360(applet); diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index f747d10a..745599eb 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -590,7 +590,6 @@ static public void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) { for (int i = 0; i < bgr.capacity(); i += 3) { bgr.get(tmpArr); - argb.put(tmpArr[2]); argb.put(tmpArr[1]); argb.put(tmpArr[0]); @@ -598,6 +597,19 @@ static public void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) { } argb.rewind(); } + + static public void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { + byte[] tmpArr = new byte[3]; + + for (int i = 0; i < bgr.capacity(); i += 3) { + bgr.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[1]); + argb.put(tmpArr[2]); + argb.put((byte) 255); + } + argb.rewind(); + } // TODO private static byte[] kinectByteArray = null; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImage.java b/papart/src/fr/inria/papart/procam/camera/CamImage.java index dcda5203..a4409b30 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImage.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImage.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.camera.Camera.PixelFormat; import java.awt.Image; import java.nio.ByteBuffer; import org.bytedeco.javacpp.opencv_core.IplImage; @@ -33,9 +34,11 @@ public abstract class CamImage extends PImage { protected Object bufferSink = null; protected ByteBuffer natBuffer = null; + protected Camera.PixelFormat incomingFormat; - protected CamImage(PApplet parent, int width, int height, int format) { + protected CamImage(PApplet parent, int width, int height, int format, PixelFormat incomingFormat) { super(width, height, format); + this.incomingFormat = incomingFormat; camInit(parent); } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index b4041968..1223034a 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -36,13 +36,12 @@ public class CamImageColor extends CamImage { protected ByteBuffer argbBuffer; - public CamImageColor(PApplet parent, Image img) { super(parent, img); } - - public CamImageColor(PApplet parent, int width, int height) { - super(parent, width, height, ARGB); + + public CamImageColor(PApplet parent, int width, int height, Camera.PixelFormat format) { + super(parent, width, height, ARGB, format); } @Override @@ -65,8 +64,16 @@ protected final void camInit(PApplet parent) { public void update(IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer bgrBuffer = iplImage.getByteBuffer(); - Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); + + if (this.incomingFormat == Camera.PixelFormat.BGR) { + Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); + } + if (this.incomingFormat == Camera.PixelFormat.RGB) { + System.out.println("Here!"); + Utils.byteBufferRGBtoARGB(bgrBuffer, argbBuffer); + } tex.copyBufferFromSource(null, argbBuffer, width, height); + } } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index 08a34682..20d8114f 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.camera.Camera.PixelFormat; import java.awt.Image; import java.nio.ByteBuffer; import org.bytedeco.javacpp.opencv_core; @@ -36,8 +37,8 @@ public CamImageGray(PApplet parent, Image img) { super(parent, img); } - public CamImageGray(PApplet parent, int width, int height) { - super(parent, width, height, GRAY); + public CamImageGray(PApplet parent, int width, int height, PixelFormat incomingFormat) { + super(parent, width, height, GRAY, incomingFormat); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index f1f41792..dd0068df 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -339,9 +339,7 @@ public void forceCurrentImage(IplImage img) { * @param img */ protected void updateCurrentImage(IplImage img) { - if (undistort) { - if (pdp == null || !pdp.handleDistorsions()) { System.err.println("I cannot distort the image for processing. The " + "calibration did not contain information. "); @@ -368,12 +366,15 @@ protected void updateCurrentImage(IplImage img) { */ protected void checkCamImage() { if (camImage == null) { - if (this.isPixelFormatGray()) { - camImage = new CamImageGray(parent, width(), height()); + camImage = new CamImageGray(parent, width(), height(), this.format); } if (this.isPixelFormatColor()) { - camImage = new CamImageColor(parent, width(), height()); + camImage = new CamImageColor(parent, width(), height(), this.format); + } + + if(!this.isPixelFormatColor() && !this.isPixelFormatGray()){ + System.out.println("Error: No pixel format set for the camera!"); } } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java index ad0e6f58..c17dc3b0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java @@ -30,7 +30,7 @@ * * @author Jeremy Laviole */ -public class CameraOpenKinectDepth extends Camera { +public class CameraOpenKinectDepth extends Camera implements WithTouchInput{ private CameraOpenKinect parent; private int depthFormat = freenect.FREENECT_DEPTH_MM; @@ -91,10 +91,12 @@ public void close() { setClosing(); } + @Override public KinectTouchInput getTouchInput() { return touchInput; } - + + @Override public void setTouchInput(KinectTouchInput touchInput) { this.touchInput = touchInput; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 584b7746..7ad97c1d 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,24 +19,11 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.Papart; -import java.nio.ByteBuffer; -import java.nio.ShortBuffer; -import org.bytedeco.javacpp.BytePointer; -import org.bytedeco.javacpp.Pointer; import org.bytedeco.javacpp.RealSense; -import org.bytedeco.javacpp.RealSense.context; -import org.bytedeco.javacpp.RealSense.device; -import org.bytedeco.javacpp.indexer.UShortBufferIndexer; -import org.bytedeco.javacpp.indexer.UShortIndexer; -import org.bytedeco.javacpp.opencv_core; import org.bytedeco.javacpp.opencv_core.IplImage; -import org.bytedeco.javacv.FrameGrabber; -import org.bytedeco.javacv.OpenCVFrameConverter; -import org.bytedeco.javacv.OpenCVFrameGrabber; -import processing.core.PApplet; -import processing.core.PConstants; +import org.bytedeco.javacv.RealSenseFrameGrabber; import processing.core.PImage; +import processing.core.PMatrix3D; /** * @@ -44,197 +31,147 @@ */ public class CameraRealSense extends Camera { - public static void main(String[] args) { - - context context = new context(); - - System.out.println("Devices found: " + context.get_device_count()); - - device device = context.get_device(0); - - System.out.println("Using device 0, an " + device.get_name()); - System.out.println(" Serial number: " + device.get_serial()); - - device.enable_stream(RealSense.depth, 640, 480, RealSense.z16, 60); - device.enable_stream(RealSense.color, 640, 480, RealSense.rgb8, 60); - - device.start(); - - while (true) { - device.wait_for_frames(); - - System.out.println("Depth scale " + device.get_depth_scale()); -// glPixelTransferf(GL_RED_SCALE, 0xFFFF * dev->get_depth_scale() / 2.0f); - - float scale = device.get_depth_scale(); - Pointer data = (Pointer) device.get_frame_data(RealSense.depth); - ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); - - System.out.println("Capacity :" + bb.capacity()); -// UShortIndexer indexer = new UShortBufferIndexer(_frame_data.asByteBuffer().asShortBuffer()); - - for (int i = 0; i < bb.capacity(); i++) { - float value = bb.get(i); - if (value != 0) { - value = value * scale; - System.out.print(value + " "); - } - } -//System.out.println("Data : "+ bb.get(100)); - } - - } -// try{ -// -// }catch(Exception e){ -// System.out.println("Exception: " + e); -// e.printStackTrace(); -// } -// // Configure all streams to run at VGA resolution at 60 frames per second -// dev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60); -// dev->enable_stream(rs::stream::color, 640, 480, rs::format::rgb8, 60); -// dev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60); -// try { dev->enable_stream(rs::stream::infrared2, 640, 480, rs::format::y8, 60); } -// catch(...) { printf("Device does not provide infrared2 stream.\n"); } -// dev->start(); -// -// // Open a GLFW window to display our output -// glfwInit(); -// GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #2", nullptr, nullptr); -// glfwMakeContextCurrent(win); -// while(!glfwWindowShouldClose(win)) -// { -// // Wait for new frame data -// glfwPollEvents(); -// dev->wait_for_frames(); -// -// glClear(GL_COLOR_BUFFER_BIT); -// glPixelZoom(1, -1); -// -// // Display depth data by linearly mapping depth between 0 and 2 meters to the red channel -// glRasterPos2f(-1, 1); -// glPixelTransferf(GL_RED_SCALE, 0xFFFF * dev->get_depth_scale() / 2.0f); -// glDrawPixels(640, 480, GL_RED, GL_UNSIGNED_SHORT, dev->get_frame_data(rs::stream::depth)); -// glPixelTransferf(GL_RED_SCALE, 1.0f); -// -// // Display color image as RGB triples -// glRasterPos2f(0, 1); -// glDrawPixels(640, 480, GL_RGB, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::color)); -// -// // Display infrared image by mapping IR intensity to visible luminance -// glRasterPos2f(-1, 0); -// glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::infrared)); -// -// // Display second infrared image by mapping IR intensity to visible luminance -// if(dev->is_stream_enabled(rs::stream::infrared2)) -// { -// glRasterPos2f(0, 0); -// glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, dev->get_frame_data(rs::stream::infrared2)); -// } - - private device device; - private context context; - PImage testImage; - + protected RealSenseFrameGrabber grabber; + protected CameraRealSenseDepth depthCamera; + private boolean useDepth = true; + protected CameraRealSense(int cameraNo) { - this.systemNumber = cameraNo; -// this.setPixelFormat(PixelFormat.BGR); - - context = new context(); - device = context.get_device(cameraNo); - - // debug depth image - parent = Papart.getPapart().getApplet(); + setPixelFormat(PixelFormat.RGB); + depthCamera = new CameraRealSenseDepth(this); + } + + public CameraRealSenseDepth getDepthCamera(){ + return this.depthCamera; + } + + public PMatrix3D getHardwareExtrinsics(){ + + RealSense.extrinsics _extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.depth, RealSense.color); + // TODO: read this and convert to PMatrix3D + return new PMatrix3D(); + } + + public float getDepthScale(){ + return grabber.getDepthScale(); - testImage = parent.createImage(640, 480, PApplet.RGB); - device.enable_stream(RealSense.depth, 640, 480, RealSense.z16, 60); - device.enable_stream(RealSense.color, 640, 480, RealSense.rgb8, 60); + } + public void useDepth(boolean useDepth){ + this.useDepth = useDepth; } @Override public void start() { - device.start(); + grabber = new RealSenseFrameGrabber(this.systemNumber); + grabber.setImageWidth(width()); + grabber.setImageHeight(height()); + grabber.enableColorStream(); + + if(useDepth){ + depthCamera.start(); + } + + try { + grabber.start(); + this.isConnected = true; + } catch (Exception e) { + System.err.println("Could not start frameGrabber... " + e); + System.err.println("Could not camera start frameGrabber... " + e); + System.err.println("Camera ID " + this.systemNumber + " could not start."); + System.err.println("Check cable connection, ID and resolution asked."); + + this.grabber = null; + } } -// OpenCVFrameGrabber grabberCV = new OpenCVFrameGrabber(this.systemNumber); -// grabberCV.setImageWidth(width()); -// grabberCV.setImageHeight(height()); -//// grabberCV.setFrameRate(60); -// grabberCV.setImageMode(FrameGrabber.ImageMode.COLOR); -// -// try { -// grabberCV.start(); -// this.grabber = grabberCV; -// this.isConnected = true; -// } catch (Exception e) { -// System.err.println("Could not start frameGrabber... " + e); -// -// System.err.println("Could not camera start frameGrabber... " + e); -// System.err.println("Camera ID " + this.systemNumber + " could not start."); -// System.err.println("Check cable connection, ID and resolution asked."); -// -// this.grabber = null; -// } @Override public void grab() { - System.out.println("Wait for frames..."); - - device.wait_for_frames(); - - System.out.println("frames ok"); - testImage.loadPixels(); - int[] pixels = testImage.pixels; - -// float scale = device.get_depth_scale(); -// Pointer data = (Pointer) device.get_frame_data(RealSense.depth); -// ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); -// System.out.println("Sizes: " + pixels.length + " " + bb.limit()); + if (this.isClosing()) { + return; + } + // update the images. + try { + grabber.grab(); + + // get the color + IplImage img = grabber.grabVideo(); +// updateCurrentImage(img); + + currentImage = img; + + if(useDepth){ +// depthCamera.grab(); + } -// for (int i = 0; i < bb.capacity(); i++) { -// float value = bb.get(i); -// pixels[i] = (int) (value * scale * 1000f); -// } - - Pointer data_color = (Pointer) device.get_frame_data(RealSense.color); - ByteBuffer bb_color = data_color.position(0).limit(640 * 480 * 3).asByteBuffer(); - - System.out.println("Sizes " + bb_color.capacity() + " " + pixels.length * 3); - - for (int i = 0; i < bb_color.capacity() / 3; i++) { - pixels[i] = (bb_color.get(i*3 + 0) & 0xFF) >> 0 | - (bb_color.get(i*3 + 1) & 0xFF) << 8 | - (bb_color.get(i*3 + 2) & 0xFF) << 16; + } catch (Exception e) { + System.out.println("Exception :" + e); + e.printStackTrace(); } - testImage.updatePixels(); + } + + public IplImage getDepthImage(){ + return depthCamera.getIplImage(); + } + + public PImage getDepthPImage(){ + return depthCamera.getPImage(); } +// public void grab() { +// System.out.println("Wait for frames..."); +// device.wait_for_frames(); +// System.out.println("frames ok"); +// testImage.loadPixels(); +// int[] pixels = testImage.pixels; +// +//// float scale = device.get_depth_scale(); +//// Pointer data = (Pointer) device.get_frame_data(RealSense.depth); +//// ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); +//// System.out.println("Sizes: " + pixels.length + " " + bb.limit()); +// +//// for (int i = 0; i < bb.capacity(); i++) { +//// float value = bb.get(i); +//// pixels[i] = (int) (value * scale * 1000f); +//// } +// +// Pointer data_color = (Pointer) device.get_frame_data(RealSense.color); +// ByteBuffer bb_color = data_color.position(0).limit(640 * 480 * 3).asByteBuffer(); +// +// System.out.println("Sizes " + bb_color.capacity() + " " + pixels.length * 3); +// +// for (int i = 0; i < bb_color.capacity() / 3; i++) { +// pixels[i] = (bb_color.get(i*3 + 0) & 0xFF) >> 0 | +// (bb_color.get(i*3 + 1) & 0xFF) << 8 | +// (bb_color.get(i*3 + 2) & 0xFF) << 16; +// } +// testImage.updatePixels(); +// } + @Override public PImage getPImage() { - - return testImage; -// if (currentImage != null) { -// this.checkCamImage(); -// camImage.update(currentImage); -// return camImage; -// } -// // TODO: exceptions !!! -// return null; + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; } + @Override public void close() { this.setClosing(); -// if (grabber != null) { -// try { -// grabber.stop(); -// System.out.println("Stopping grabber (OpencV)"); -// -// } catch (Exception e) { -// System.out.println("Impossible to close " + e); -// } -// } + if (grabber != null) { + try { + grabber.stop(); + System.out.println("Stopping grabber (RealSense)"); + + } catch (Exception e) { + System.out.println("Impossible to close " + e); + } + } } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java new file mode 100755 index 00000000..559e0cf8 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -0,0 +1,101 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.camera; + +import fr.inria.papart.multitouch.KinectTouchInput; +import processing.core.PImage; + +/** + * + * @author Jeremy Laviole + */ +public class CameraRealSenseDepth extends Camera implements WithTouchInput { + + CameraRealSense colorCamera; + private KinectTouchInput touchInput; + + protected CameraRealSenseDepth(CameraRealSense colorCamera) { + this.colorCamera = colorCamera; + } + + @Override + public void start() { + colorCamera.grabber.setDepthImageWidth(width()); + colorCamera.grabber.setDepthImageHeight(height()); + colorCamera.grabber.enableDepthStream(); + this.isConnected = true; + } + + @Override + public void grab() { + System.out.println("grab in realSense depth "); + if (this.isClosing()) { + return; + } + + // update the images. + try { + currentImage = colorCamera.grabber.grabDepth(); + + System.out.println("Raw DepthImage " + currentImage); + if (touchInput != null) { + touchInput.lock(); + touchInput.update(); + touchInput.getTouch2DColors(colorCamera.currentImage); + touchInput.unlock(); + } else if (touchInput != null) { + System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); + } + } catch (Exception e) { + System.out.println("Exception :" + e); + e.printStackTrace(); + } + } + + @Override + public PImage getPImage() { + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; + } + + @Override + public KinectTouchInput getTouchInput() { + return touchInput; + } + + @Override + public void setTouchInput(KinectTouchInput touchInput) { + this.touchInput = touchInput; + } + + @Override + public void close() { + this.setClosing(); + colorCamera.useDepth(false); + colorCamera.grabber.disableDepthStream(); + + } + +} diff --git a/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java b/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java new file mode 100644 index 00000000..8841e20d --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java @@ -0,0 +1,31 @@ +/* + * Copyright (C) 2016 Jérémy Laviole - jeremy.laviole@inria.fr. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, + * MA 02110-1301 USA + */ +package fr.inria.papart.procam.camera; + +import fr.inria.papart.multitouch.KinectTouchInput; + +/** + * + * @author Jérémy Laviole - jeremy.laviole@inria.fr + */ +public interface WithTouchInput { + + public KinectTouchInput getTouchInput(); + public void setTouchInput(KinectTouchInput touchInput) ; +} From 478f9e598876f76d74582907283597327ca30f13 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 24 Aug 2016 15:34:06 +0200 Subject: [PATCH 04/99] cleaning --- papart/data/markers/test1.cfg | 1 - 1 file changed, 1 deletion(-) delete mode 120000 papart/data/markers/test1.cfg diff --git a/papart/data/markers/test1.cfg b/papart/data/markers/test1.cfg deleted file mode 120000 index d9fd5234..00000000 --- a/papart/data/markers/test1.cfg +++ /dev/null @@ -1 +0,0 @@ -/home/jiii/papart/markerGen/artoolkitPlus/test1.cfg \ No newline at end of file From f1d0ae252a1b2712c5ff2bf4797c3d23fdc1ce24 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 25 Aug 2016 14:39:19 +0200 Subject: [PATCH 05/99] Work in progress librealsense. --- papart/pom.xml | 4 +- .../papart/depthcam/devices/Kinect360.java | 1 + .../papart/depthcam/devices/KinectDevice.java | 2 + .../papart/depthcam/devices/RealSense.java | 7 +-- papart/src/fr/inria/papart/procam/Papart.java | 1 - .../papart/procam/camera/CameraRealSense.java | 53 ++++++++++--------- 6 files changed, 37 insertions(+), 31 deletions(-) diff --git a/papart/pom.xml b/papart/pom.xml index 51279584..c5261f0e 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -135,13 +135,13 @@ org.bytedeco.javacpp-presets librealsense - 1.9.6-1.2.2 + 1.9.6-1.2 org.bytedeco.javacpp-presets librealsense - 1.9.6-1.2.2 + 1.9.6-1.2 ${platform} runtime diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index 4b826cc3..310a8690 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -46,6 +46,7 @@ public Kinect360(PApplet parent) { camera.setParent(parent); camera.setCalibration(Papart.kinectRGBCalib); camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); + setStereoCalibration(Papart.kinectStereoCalib); camera.start(); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 1c9c7b5c..9183858c 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -93,6 +93,8 @@ public void setStereoCalibration(String fileName) { } public void setStereoCalibration(PMatrix3D matrix) { + System.out.println("Set stereo calib " + this); + matrix.print(); KinectRGBIRCalibration.set(matrix); KinectRGBIRCalibrationInv = KinectRGBIRCalibration.get(); KinectRGBIRCalibrationInv.invert(); diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 550234bb..ba10e6bb 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -45,7 +45,8 @@ public RealSense(PApplet parent) { initDepth(); // get the stereo ? - setStereoCalibration(Papart.kinectStereoCalib); + setStereoCalibration(cameraRGB.getHardwareExtrinsics()); +// setStereoCalibration(Papart.kinectStereoCalib); } public RealSense(PApplet parent, CameraRealSense cameraRGB) { @@ -55,8 +56,8 @@ public RealSense(PApplet parent, CameraRealSense cameraRGB) { initDepth(); // TODO: get the extrinsics ! -// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); - setStereoCalibration(Papart.kinectStereoCalib); + setStereoCalibration(cameraRGB.getHardwareExtrinsics()); +// setStereoCalibration(Papart.kinectStereoCalib); } public static final int CAMERA_WIDTH = 640; diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index ac7bc493..ee471fe6 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -795,7 +795,6 @@ public KinectDevice loadDefaultCameraKinect() { private void loadDefaultTouchKinect() { - kinectDevice.setStereoCalibration(kinectStereoCalib); kinectDepthAnalysis = new KinectDepthAnalysis(this.applet, kinectDevice); PlaneAndProjectionCalibration calibration = new PlaneAndProjectionCalibration(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 7ad97c1d..c5531daa 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import java.nio.FloatBuffer; import org.bytedeco.javacpp.RealSense; import org.bytedeco.javacpp.opencv_core.IplImage; import org.bytedeco.javacv.RealSenseFrameGrabber; @@ -34,29 +35,33 @@ public class CameraRealSense extends Camera { protected RealSenseFrameGrabber grabber; protected CameraRealSenseDepth depthCamera; private boolean useDepth = true; - + protected CameraRealSense(int cameraNo) { this.systemNumber = cameraNo; setPixelFormat(PixelFormat.RGB); depthCamera = new CameraRealSenseDepth(this); } - - public CameraRealSenseDepth getDepthCamera(){ + + public CameraRealSenseDepth getDepthCamera() { return this.depthCamera; } - - public PMatrix3D getHardwareExtrinsics(){ - - RealSense.extrinsics _extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.depth, RealSense.color); - // TODO: read this and convert to PMatrix3D - return new PMatrix3D(); + + public PMatrix3D getHardwareExtrinsics() { + RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); + FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); + return new PMatrix3D( + fb.get(0),fb.get(1),fb.get(2), fb.get(9) * 1000f, + fb.get(3),fb.get(4),fb.get(5), fb.get(10)* 1000f, + fb.get(6),fb.get(7),fb.get(8), fb.get(11)* 1000f, + 0, 0, 0, 1); } - - public float getDepthScale(){ + + public float getDepthScale() { return grabber.getDepthScale(); - + } - public void useDepth(boolean useDepth){ + + public void useDepth(boolean useDepth) { this.useDepth = useDepth; } @@ -66,11 +71,11 @@ public void start() { grabber.setImageWidth(width()); grabber.setImageHeight(height()); grabber.enableColorStream(); - - if(useDepth){ + + if (useDepth) { depthCamera.start(); } - + try { grabber.start(); this.isConnected = true; @@ -99,8 +104,8 @@ public void grab() { // updateCurrentImage(img); currentImage = img; - - if(useDepth){ + + if (useDepth) { // depthCamera.grab(); } @@ -109,12 +114,12 @@ public void grab() { e.printStackTrace(); } } - - public IplImage getDepthImage(){ + + public IplImage getDepthImage() { return depthCamera.getIplImage(); } - - public PImage getDepthPImage(){ + + public PImage getDepthPImage() { return depthCamera.getPImage(); } @@ -147,7 +152,6 @@ public PImage getDepthPImage(){ // } // testImage.updatePixels(); // } - @Override public PImage getPImage() { this.checkCamImage(); @@ -159,7 +163,6 @@ public PImage getPImage() { return null; } - @Override public void close() { this.setClosing(); @@ -167,7 +170,7 @@ public void close() { try { grabber.stop(); System.out.println("Stopping grabber (RealSense)"); - + } catch (Exception e) { System.out.println("Impossible to close " + e); } From 7c4e03e88cfe89ca0981286d71a83e731b0ce1ff Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 20 Oct 2016 12:36:21 +0200 Subject: [PATCH 06/99] resolution problem fixed for color camera, cleaning messages. --- .../fr/inria/papart/procam/camera/CamImageColor.java | 10 ++++------ .../fr/inria/papart/procam/camera/CameraRealSense.java | 8 ++++++++ .../papart/procam/camera/CameraRealSenseDepth.java | 4 ---- 3 files changed, 12 insertions(+), 10 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index 1223034a..b0705ced 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -56,24 +56,22 @@ protected final void camInit(PApplet parent) { tex.setBufferSource(this); // Second time with bufferSource. tex = ((PGraphicsOpenGL) parent.g).getTexture(this); - argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); } @Override public void update(IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); - ByteBuffer bgrBuffer = iplImage.getByteBuffer(); + ByteBuffer imageBuffer = iplImage.getByteBuffer(); if (this.incomingFormat == Camera.PixelFormat.BGR) { - Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); + Utils.byteBufferBRGtoARGB(imageBuffer, argbBuffer); } if (this.incomingFormat == Camera.PixelFormat.RGB) { - System.out.println("Here!"); - Utils.byteBufferRGBtoARGB(bgrBuffer, argbBuffer); + Utils.byteBufferRGBtoARGB(imageBuffer, argbBuffer); } tex.copyBufferFromSource(null, argbBuffer, width, height); - + argbBuffer.rewind(); } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index c5531daa..5936f10a 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -20,8 +20,11 @@ package fr.inria.papart.procam.camera; import java.nio.FloatBuffer; +import java.util.logging.Level; +import java.util.logging.Logger; import org.bytedeco.javacpp.RealSense; import org.bytedeco.javacpp.opencv_core.IplImage; +import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.RealSenseFrameGrabber; import processing.core.PImage; import processing.core.PMatrix3D; @@ -37,6 +40,11 @@ public class CameraRealSense extends Camera { private boolean useDepth = true; protected CameraRealSense(int cameraNo) { + try { + RealSenseFrameGrabber.tryLoad(); + } catch (FrameGrabber.Exception ex) { + Logger.getLogger(CameraRealSense.class.getName()).log(Level.SEVERE, null, ex); + } this.systemNumber = cameraNo; setPixelFormat(PixelFormat.RGB); depthCamera = new CameraRealSenseDepth(this); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index 559e0cf8..fee9a670 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -45,16 +45,12 @@ public void start() { @Override public void grab() { - System.out.println("grab in realSense depth "); if (this.isClosing()) { return; } - // update the images. try { currentImage = colorCamera.grabber.grabDepth(); - - System.out.println("Raw DepthImage " + currentImage); if (touchInput != null) { touchInput.lock(); touchInput.update(); From 731e6edd1ffe051b360371cb17ed48f0ed0f76e3 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 20 Oct 2016 14:24:59 +0200 Subject: [PATCH 07/99] - Calibration from the device. added calibration for realsense sr300 --- .../data/calibration/saved/camera-SR300.yaml | 71 +++++++++++++++++++ .../papart/depthcam/devices/RealSense.java | 38 +++++++--- papart/src/fr/inria/papart/procam/Papart.java | 2 +- .../papart/procam/ProjectiveDeviceP.java | 15 +++- .../fr/inria/papart/procam/camera/Camera.java | 23 +++--- .../papart/procam/camera/CameraRealSense.java | 18 +++-- .../procam/camera/CameraRealSenseDepth.java | 12 ++++ 7 files changed, 156 insertions(+), 23 deletions(-) create mode 100644 papart/data/calibration/saved/camera-SR300.yaml diff --git a/papart/data/calibration/saved/camera-SR300.yaml b/papart/data/calibration/saved/camera-SR300.yaml new file mode 100644 index 00000000..07b57b62 --- /dev/null +++ b/papart/data/calibration/saved/camera-SR300.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 1920 + imageHeight: 1080 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 1.3656188960945180e+03, 0., 9.3637455568984967e+02, 0., + 1.3658996568328641e+03, 5.2242843924517877e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.2177352964304565e-01, -2.6007913105329256e-01, + -5.9578551006836851e-03, -1.4334539897586079e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -1.7607844755616370e-01, -1.2820713376722212e-01, + 1.5460774537187465e+00, 3.9691618786981451e+01, + -2.0418669774626716e+02, 6.4351403964187080e+02, + -1.7811130302287448e-01, -1.4706364694033458e-01, + 1.5843252636738345e+00, 4.5596623077623697e+01, + -2.2165788108081981e+02, 6.3827216502127044e+02, + 2.4781484476754240e-01, -6.7208474024433540e-01, + 3.0240918432584216e+00, 3.0597905812808028e+02, + 8.7979651732451387e+01, 6.0729733866327001e+02, + -1.2602515731264630e-02, 1.0104651192342044e-01, + -1.7992790663995890e+00, -1.1842522426386454e+02, + 3.2234544947681246e+02, 7.6469853273604872e+02, + 5.1147621677178085e-03, 1.7371891574406548e-01, + -1.8097693911394694e+00, -8.9179918593347736e+01, + 2.6838940269947079e+02, 7.7410825633252318e+02, + -1.1794349372064081e-01, 1.9322399324060713e-01, + -3.0305507980128330e+00, 2.1837440238945572e+02, + 3.0684021053236972e+02, 7.1485559885164059e+02, + -1.3753434037022760e-01, 1.8470375069357825e-01, + -3.1243272857107169e+00, 2.5517623452792574e+02, + 3.2064272373774821e+02, 7.0213260954811710e+02, + 1.0433239555743316e-01, -2.8159889631200224e-01, + 3.1030888317227983e+00, 2.3864305820545394e+02, + 4.8062175037148895e+00, 5.9512481887669003e+02, + 1.1115187521034058e-01, -1.7039573484898449e-01, + 3.1095106342789514e+00, 2.4488515071801882e+02, + 6.2753077906758733e+01, 5.9891939499910268e+02, + -1.1577350344439789e-01, 7.9903129906887749e-02, + -3.1169111581000437e+00, 2.4176659799043321e+02, + 1.1668424414898595e+02, 5.9571494908538386e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 4.1340083848000114e-01, 3.9111806492508300e-01, + 9.7959596925818160e-01, 5.7347563761640497e-01, + 5.0807880449963017e-01, 7.0972237707286367e-01, + 8.7904455182929297e-01, 6.3547446324029178e-01, + 5.8412414368759535e-01, 5.0332289266443064e-01 ] + avgReprojErr: 6.3779671784126868e-01 + maxReprojErr: 2.4731437660509830e+00 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index ba10e6bb..3ab44242 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -45,8 +45,16 @@ public RealSense(PApplet parent) { initDepth(); // get the stereo ? - setStereoCalibration(cameraRGB.getHardwareExtrinsics()); + setStereoCalibration(cameraRGB.getHardwareExtrinsics()); // setStereoCalibration(Papart.kinectStereoCalib); + + try { + cameraRGB.useHarwareIntrinsics(); + cameraDepth.useHarwareIntrinsics(); + } catch (Exception e) { + System.out.println("Hardware intrinsics problem: " + e); + e.printStackTrace(); + } } public RealSense(PApplet parent, CameraRealSense cameraRGB) { @@ -59,7 +67,7 @@ public RealSense(PApplet parent, CameraRealSense cameraRGB) { setStereoCalibration(cameraRGB.getHardwareExtrinsics()); // setStereoCalibration(Papart.kinectStereoCalib); } - + public static final int CAMERA_WIDTH = 640; public static final int CAMERA_WIDTH_RGB = 1920; public static final int CAMERA_HEIGHT = 480; @@ -84,17 +92,29 @@ public void close() { } final void initRGB() { - cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); - cameraRGB.setParent(parent); - cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); - // TODO: calibration - cameraRGB.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); + // Check if it is the default camera... + Papart papart = Papart.getPapart(); + + if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { + // use the ID + int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); + + cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); + cameraRGB.setParent(parent); + // use the calibration + cameraRGB.setCalibration(Papart.cameraCalib); + } else { + cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); + cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); + cameraRGB.setParent(parent); + cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); + } cameraRGB.start(); } final void initIR() { // NO IR yet. - + // cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); // cameraIR.setParent(parent); //// cameraIR.setSize(WIDTH, HEIGHT); @@ -115,7 +135,7 @@ public Camera getCameraRGB() { } public Camera getCameraIR() { - throw new UnsupportedOperationException("Not supported yet."); + throw new UnsupportedOperationException("Not supported yet."); } public Camera getCameraDepth() { diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index ee471fe6..2e69bb5b 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -612,7 +612,7 @@ public void initKinectCamera(float quality) { checkInitialization(); } - //really deprecated ? + //WARNING not really deprecated !!! @Deprecated public void startDefaultKinectCamera() { assert (!cameraInitialized); diff --git a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java index 6ca371e4..5a784e79 100755 --- a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java +++ b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java @@ -430,7 +430,20 @@ public void saveCameraTo(PApplet applet, String filename) { public void saveProjectorTo(PApplet applet, String filename) { saveTo(applet, filename, false); } - + + public static ProjectiveDeviceP createSimpleDevice(float fx, float fy, float cx, float cy, int w, int h) { + ProjectiveDeviceP p = new ProjectiveDeviceP(); + p.handleDistorsion = false; + p.w = w; + p.h = h; + p.intrinsics = new PMatrix3D(fx, 0, cx, 0, + 0, fy, cy, 0, + 0, 0, 0, 0, + 0, 0, 0, 0); + p.updateFromIntrinsics(); + p.device = null; + return p; + } public static ProjectiveDeviceP loadCameraDevice(PApplet parent, String filename) throws Exception { return loadCameraDevice(parent, filename, 0); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index dd0068df..45f83bfa 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -139,26 +139,33 @@ protected void checkParameters() { if (this.systemNumber == -1 && cameraDescription == null) { throw new RuntimeException("Camera: initalization failed"); } + } + public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { + this.calibrationFile = "noFile"; + pdp = ProjectiveDeviceP.createSimpleDevice(fx, fy, cx, cy, w, h); + updateCalibration(); } public void setCalibration(String fileName) { try { this.calibrationFile = fileName; - pdp = ProjectiveDeviceP.loadCameraDevice(parent, fileName); - camIntrinsicsP3D = pdp.getIntrinsics(); - this.width = pdp.getWidth(); - this.height = pdp.getHeight(); - this.undistort = pdp.handleDistorsions(); + updateCalibration(); } catch (Exception e) { e.printStackTrace(); - System.err.println("Camera: error reading the calibration " + pdp + "file" + fileName + " \n" + e); } } + private void updateCalibration() { + camIntrinsicsP3D = pdp.getIntrinsics(); + this.width = pdp.getWidth(); + this.height = pdp.getHeight(); + this.undistort = pdp.handleDistorsions(); + } + public PImage getPImageCopy() { PImage out = parent.createImage(this.width, this.height, RGB); Utils.IplImageToPImage(currentImage, false, out); @@ -372,8 +379,8 @@ protected void checkCamImage() { if (this.isPixelFormatColor()) { camImage = new CamImageColor(parent, width(), height(), this.format); } - - if(!this.isPixelFormatColor() && !this.isPixelFormatGray()){ + + if (!this.isPixelFormatColor() && !this.isPixelFormatGray()) { System.out.println("Error: No pixel format set for the camera!"); } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 5936f10a..71df76ff 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -58,12 +58,22 @@ public PMatrix3D getHardwareExtrinsics() { RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); return new PMatrix3D( - fb.get(0),fb.get(1),fb.get(2), fb.get(9) * 1000f, - fb.get(3),fb.get(4),fb.get(5), fb.get(10)* 1000f, - fb.get(6),fb.get(7),fb.get(8), fb.get(11)* 1000f, + fb.get(0),fb.get(3),fb.get(6), -fb.get(9) * 1000f, + fb.get(1),fb.get(4),fb.get(7), fb.get(10)* 1000f, + fb.get(2),fb.get(5),fb.get(8), fb.get(11)* 1000f, 0, 0, 0, 1); } - + + public void useHarwareIntrinsics(){ + RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.color); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + this.setSimpleCalibration(fx, fy, cx, cy, this.width, this.height); + } + public float getDepthScale() { return grabber.getDepthScale(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index fee9a670..dccc9ad1 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -20,6 +20,8 @@ package fr.inria.papart.procam.camera; import fr.inria.papart.multitouch.KinectTouchInput; +import java.nio.FloatBuffer; +import org.bytedeco.javacpp.RealSense; import processing.core.PImage; /** @@ -34,6 +36,16 @@ public class CameraRealSenseDepth extends Camera implements WithTouchInput { protected CameraRealSenseDepth(CameraRealSense colorCamera) { this.colorCamera = colorCamera; } + + public void useHarwareIntrinsics(){ + RealSense.intrinsics intrinsics = colorCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + setSimpleCalibration(fx, fy, cx, cy, width(), height()); + } @Override public void start() { From c826eae9aaac24bd1c19422ca50fc76274f8e805 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 20 Oct 2016 14:50:22 +0200 Subject: [PATCH 08/99] Depth calibration for SR300 --- .../calibration/saved/camera-SR300-depth.yaml | 71 +++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 papart/data/calibration/saved/camera-SR300-depth.yaml diff --git a/papart/data/calibration/saved/camera-SR300-depth.yaml b/papart/data/calibration/saved/camera-SR300-depth.yaml new file mode 100644 index 00000000..c9eef5ec --- /dev/null +++ b/papart/data/calibration/saved/camera-SR300-depth.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 640 + imageHeight: 480 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 4.761198e+02, 0., 3.1486e+02, 0., + 4.761198e+02, 2.460912e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.2177352964304565e-01, -2.6007913105329256e-01, + -5.9578551006836851e-03, -1.4334539897586079e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -1.7607844755616370e-01, -1.2820713376722212e-01, + 1.5460774537187465e+00, 3.9691618786981451e+01, + -2.0418669774626716e+02, 6.4351403964187080e+02, + -1.7811130302287448e-01, -1.4706364694033458e-01, + 1.5843252636738345e+00, 4.5596623077623697e+01, + -2.2165788108081981e+02, 6.3827216502127044e+02, + 2.4781484476754240e-01, -6.7208474024433540e-01, + 3.0240918432584216e+00, 3.0597905812808028e+02, + 8.7979651732451387e+01, 6.0729733866327001e+02, + -1.2602515731264630e-02, 1.0104651192342044e-01, + -1.7992790663995890e+00, -1.1842522426386454e+02, + 3.2234544947681246e+02, 7.6469853273604872e+02, + 5.1147621677178085e-03, 1.7371891574406548e-01, + -1.8097693911394694e+00, -8.9179918593347736e+01, + 2.6838940269947079e+02, 7.7410825633252318e+02, + -1.1794349372064081e-01, 1.9322399324060713e-01, + -3.0305507980128330e+00, 2.1837440238945572e+02, + 3.0684021053236972e+02, 7.1485559885164059e+02, + -1.3753434037022760e-01, 1.8470375069357825e-01, + -3.1243272857107169e+00, 2.5517623452792574e+02, + 3.2064272373774821e+02, 7.0213260954811710e+02, + 1.0433239555743316e-01, -2.8159889631200224e-01, + 3.1030888317227983e+00, 2.3864305820545394e+02, + 4.8062175037148895e+00, 5.9512481887669003e+02, + 1.1115187521034058e-01, -1.7039573484898449e-01, + 3.1095106342789514e+00, 2.4488515071801882e+02, + 6.2753077906758733e+01, 5.9891939499910268e+02, + -1.1577350344439789e-01, 7.9903129906887749e-02, + -3.1169111581000437e+00, 2.4176659799043321e+02, + 1.1668424414898595e+02, 5.9571494908538386e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 4.1340083848000114e-01, 3.9111806492508300e-01, + 9.7959596925818160e-01, 5.7347563761640497e-01, + 5.0807880449963017e-01, 7.0972237707286367e-01, + 8.7904455182929297e-01, 6.3547446324029178e-01, + 5.8412414368759535e-01, 5.0332289266443064e-01 ] + avgReprojErr: 6.3779671784126868e-01 + maxReprojErr: 2.4731437660509830e+00 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. From 02739b38b63bc16d0ef4fea12117c4d893a49a73 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 20 Oct 2016 19:28:30 +0200 Subject: [PATCH 09/99] Work in progress. --- .../papart/depthcam/devices/KinectDevice.java | 2 - .../papart/depthcam/devices/RealSense.java | 71 +++++++++++-------- .../fr/inria/papart/procam/camera/Camera.java | 2 +- .../papart/procam/camera/CameraRealSense.java | 2 +- .../procam/camera/CameraRealSenseDepth.java | 4 +- 5 files changed, 46 insertions(+), 35 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 9183858c..1c9c7b5c 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -93,8 +93,6 @@ public void setStereoCalibration(String fileName) { } public void setStereoCalibration(PMatrix3D matrix) { - System.out.println("Set stereo calib " + this); - matrix.print(); KinectRGBIRCalibration.set(matrix); KinectRGBIRCalibrationInv = KinectRGBIRCalibration.get(); KinectRGBIRCalibrationInv.invert(); diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 3ab44242..9866f696 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -42,36 +42,54 @@ public RealSense(PApplet parent) { initSize(); this.parent = parent; initRGB(); - initDepth(); + + cameraRGB.start(); + + cameraDepth = cameraRGB.getDepthCamera(); + + // TODO: setSize is not working on camera side... + //cameraDepth.setSize(WIDTH, HEIGHT); + cameraDepth.setParent(parent); + + // TODO: calibration... +// cameraDepth.useHarwareIntrinsics(); // get the stereo ? setStereoCalibration(cameraRGB.getHardwareExtrinsics()); // setStereoCalibration(Papart.kinectStereoCalib); - try { - cameraRGB.useHarwareIntrinsics(); - cameraDepth.useHarwareIntrinsics(); - } catch (Exception e) { - System.out.println("Hardware intrinsics problem: " + e); - e.printStackTrace(); - } + cameraRGB.useHarwareIntrinsics(); + cameraDepth.useHarwareIntrinsics(); + +// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); + +// cameraRGB.getProjectiveDevice().getIntrinsics().print(); + + // Warning Start both depth & color camera for now. + } public RealSense(PApplet parent, CameraRealSense cameraRGB) { - initSize(); - this.parent = parent; - this.cameraRGB = cameraRGB; - initDepth(); - - // TODO: get the extrinsics ! - setStereoCalibration(cameraRGB.getHardwareExtrinsics()); -// setStereoCalibration(Papart.kinectStereoCalib); + throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); +// initSize(); +// this.parent = parent; +// this.cameraRGB = cameraRGB; +// +// cameraDepth = cameraRGB.getDepthCamera(); +// cameraDepth.setParent(parent); +// // TODO: calibration... +// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// +// // TODO: get the extrinsics ! +// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); +//// setStereoCalibration(Papart.kinectStereoCalib); } public static final int CAMERA_WIDTH = 640; - public static final int CAMERA_WIDTH_RGB = 1920; public static final int CAMERA_HEIGHT = 480; - public static final int CAMERA_HEIGHT_RGB = 1080; + +// public static final int CAMERA_WIDTH_RGB = 1920; +// public static final int CAMERA_HEIGHT_RGB = 1080; private void initSize() { // IR and Depth image size @@ -80,14 +98,13 @@ private void initSize() { SIZE = WIDTH * HEIGHT; // RGB image size - RGB_WIDTH = 1920; - RGB_HEIGHT = 1080; + RGB_WIDTH = 960; + RGB_HEIGHT = 540; RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; } public void close() { cameraRGB.close(); -// cameraIR.close(); cameraDepth.close(); } @@ -96,6 +113,7 @@ final void initRGB() { Papart papart = Papart.getPapart(); if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { + System.out.println("REALSENSE: Using configuration ID & Resolution."); // use the ID int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); @@ -104,12 +122,14 @@ final void initRGB() { // use the calibration cameraRGB.setCalibration(Papart.cameraCalib); } else { + + System.out.println("REALSENSE: Using DEFAULT configuration."); cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); cameraRGB.setParent(parent); cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); } - cameraRGB.start(); + } final void initIR() { @@ -122,13 +142,6 @@ final void initIR() { // cameraIR.start(); } - final void initDepth() { - cameraDepth = cameraRGB.getDepthCamera(); - cameraDepth.setParent(parent); - // TODO: calibration... - cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - } - @Override public Camera getCameraRGB() { return cameraRGB; diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 45f83bfa..e31b0122 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -142,7 +142,7 @@ protected void checkParameters() { } public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { - this.calibrationFile = "noFile"; + this.calibrationFile = "manual calibration"; pdp = ProjectiveDeviceP.createSimpleDevice(fx, fy, cx, cy, w, h); updateCalibration(); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 71df76ff..564d3613 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -47,6 +47,7 @@ protected CameraRealSense(int cameraNo) { } this.systemNumber = cameraNo; setPixelFormat(PixelFormat.RGB); + grabber = new RealSenseFrameGrabber(this.systemNumber); depthCamera = new CameraRealSenseDepth(this); } @@ -85,7 +86,6 @@ public void useDepth(boolean useDepth) { @Override public void start() { - grabber = new RealSenseFrameGrabber(this.systemNumber); grabber.setImageWidth(width()); grabber.setImageHeight(height()); grabber.enableColorStream(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index dccc9ad1..cf42ac2c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -36,8 +36,8 @@ public class CameraRealSenseDepth extends Camera implements WithTouchInput { protected CameraRealSenseDepth(CameraRealSense colorCamera) { this.colorCamera = colorCamera; } - - public void useHarwareIntrinsics(){ + + public void useHarwareIntrinsics() { RealSense.intrinsics intrinsics = colorCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); float cx = fb.get(2); From fe9b5ff303b23a60838ea31219617614b0c9d085 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 21 Oct 2016 10:08:58 +0200 Subject: [PATCH 10/99] Extended compatibility with vanilla Processing. --- .../tracking/MarkerBoardARToolKitPlus.java | 2 +- .../fr/inria/papart/tracking/MarkerSvg.java | 11 +- .../papart/tracking/PShapeSVGExtended.java | 1998 +++++++++++++++++ 3 files changed, 2004 insertions(+), 7 deletions(-) create mode 100644 papart/src/fr/inria/papart/tracking/PShapeSVGExtended.java diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java index 4bb8d52b..9457f4c9 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java @@ -120,7 +120,7 @@ protected void addTrackerImpl(Camera camera) { System.err.println("Init ARTOOLKIT Error " + camera.getCalibrationARToolkit() + " " + this.getFileName()); } - loadSizeConfig(); + // loadSizeConfig(); // float[] transfo = new float[16]; // for (int i = 0; i < 3; i++) { // transfo[12 + i] = 0; diff --git a/papart/src/fr/inria/papart/tracking/MarkerSvg.java b/papart/src/fr/inria/papart/tracking/MarkerSvg.java index 6e13704d..bf40a53f 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerSvg.java +++ b/papart/src/fr/inria/papart/tracking/MarkerSvg.java @@ -27,7 +27,6 @@ import processing.core.PMatrix2D; import processing.core.PMatrix3D; import processing.core.PShape; -import processing.core.PShapeSVG; import processing.core.PVector; import processing.data.XML; @@ -98,10 +97,10 @@ public static float mmToPixel() { return 1.0f / pixelToMm(); } - static private void findMarkers(PShapeSVG shape, ArrayList markers) { + static private void findMarkers(PShapeSVGExtended shape, ArrayList markers) { try { for (PShape child : shape.getChildren()) { - findMarkers((PShapeSVG) child, markers); + findMarkers((PShapeSVGExtended) child, markers); } } catch (NullPointerException npe) { // Sometimes no child causes a null pointer exception. @@ -128,9 +127,9 @@ static public MarkerList getMarkersFromSVG(XML xml) { float pageHeight = computeSize(xml.getString("height")); // System.out.println("Height : " + pageHeight); - PShape svg = new PShapeSVG(xml); + PShape svg = new PShapeSVGExtended(xml); ArrayList markersSVG = new ArrayList<>(); - findMarkers((PShapeSVG) svg, markersSVG); + findMarkers((PShapeSVGExtended) svg, markersSVG); // ArrayList markers = new ArrayList<>(); MarkerList markers = new MarkerList(); @@ -177,7 +176,7 @@ static public MarkerList getMarkersFromSVG(XML xml) { private static PMatrix getMatrix(PShape shape) { - PMatrix matrix = shape.getMatrix(); + PMatrix matrix = ((PShapeSVGExtended)shape).getMatrix(); boolean useParams = true; float[] params = null; diff --git a/papart/src/fr/inria/papart/tracking/PShapeSVGExtended.java b/papart/src/fr/inria/papart/tracking/PShapeSVGExtended.java new file mode 100644 index 00000000..77c5b0de --- /dev/null +++ b/papart/src/fr/inria/papart/tracking/PShapeSVGExtended.java @@ -0,0 +1,1998 @@ +/* -*- mode: java; c-basic-offset: 2; indent-tabs-mode: nil -*- */ + +/* + Part of the Processing project - http://processing.org + + Copyright (c) 2012-15 The Processing Foundation + Copyright (c) 2006-12 Ben Fry and Casey Reas + Copyright (c) 2004-06 Michael Chang + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License version 2.1 as published by the Free Software Foundation. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA +*/ + +package fr.inria.papart.tracking; + +import static java.awt.Font.BOLD; +import static java.awt.Font.ITALIC; +import static java.awt.Font.PLAIN; +import processing.data.*; + +// TODO replace these with PMatrix2D +import java.awt.geom.AffineTransform; +import java.awt.geom.Point2D; + +import java.util.Map; +import java.util.HashMap; +import processing.core.PApplet; +import processing.core.PConstants; +import processing.core.PFont; +import processing.core.PGraphics; +import processing.core.PMatrix; +import processing.core.PMatrix2D; +import processing.core.PShape; + + +/** + * This class is not part of the Processing API and should not be used + * directly. Instead, use loadShape() and methods like it, which will make + * use of this class. Using this class directly will cause your code to break + * when combined with future versions of Processing. + *

+ * SVG stands for Scalable Vector Graphics, a portable graphics format. + * It is a vector format so it allows for "infinite" resolution and relatively + * small file sizes. Most modern media software can view SVG files, including + * Adobe products, Firefox, etc. Illustrator and Inkscape can edit SVG files. + * View the SVG specification here. + *

+ * We have no intention of turning this into a full-featured SVG library. + * The goal of this project is a basic shape importer that originally was small + * enough to be included with applets, meaning that its download size should be + * in the neighborhood of 25-30 Kb. Though we're far less limited nowadays on + * size constraints, we remain extremely limited in terms of time, and do not + * have volunteers who are available to maintain a larger SVG library. + *

+ * For more sophisticated import/export, consider the + * Batik + * library from the Apache Software Foundation. + *

+ * Batik is used in the SVG Export library in Processing 3, however using it + * for full SVG import is still a considerable amount of work. Wiring it to + * Java2D wouldn't be too bad, but using it with OpenGL, JavaFX, and features + * like begin/endRecord() and begin/endRaw() would be considerable effort. + *

+ * Future improvements to this library may focus on this properly supporting + * a specific subset of SVG, for instance the simpler SVG profiles known as + * SVG Tiny or Basic, + * although we still would not support the interactivity options. + * + *

+ * + * A minimal example program using SVG: + * (assuming a working moo.svg is in your data folder) + * + * 

+ * PShape moo;
+ *
+ * void setup() {
+ *   size(400, 400);
+ *   moo = loadShape("moo.svg");
+ * }
+ * void draw() {
+ *   background(255);
+ *   shape(moo, mouseX, mouseY);
+ * }
+ *
+ */ +public class PShapeSVGExtended extends PShape { + XML element; + + /// Values between 0 and 1. + protected float opacity; + float strokeOpacity; + float fillOpacity; + + /** Width of containing SVG (used for percentages). */ + protected float svgWidth; + + /** Height of containing SVG (used for percentages). */ + protected float svgHeight; + + /** √((w² + h²)/2) of containing SVG (used for percentages). */ + protected float svgSizeXY; + + protected Gradient strokeGradient; + String strokeName; // id of another object, gradients only? + + protected Gradient fillGradient; + String fillName; // id of another object + + private String imagePath; + + + /** + * Initializes a new SVG object from the given XML object. + */ + public PShapeSVGExtended(XML svg) { + this(null, svg, true); + + if (!svg.getName().equals("svg")) { + if (svg.getName().toLowerCase().equals("html")) { + // Common case is that files aren't downloaded properly + throw new RuntimeException("This appears to be a web page, not an SVG file."); + } else { + throw new RuntimeException("The root node is not , it's <" + svg.getName() + ">"); + } + } + } + + + protected PShapeSVGExtended(PShapeSVGExtended parent, XML properties, boolean parseKids) { + setParent(parent); + + // Need to get width/height in early. + if (properties.getName().equals("svg")) { + String unitWidth = properties.getString("width"); + String unitHeight = properties.getString("height"); + + // Can't handle width/height as percentages easily. I'm just going + // to put in 100 as a dummy value, beacuse this means that it will + // come out as a reasonable value. + if (unitWidth != null) width = parseUnitSize(unitWidth, 100); + if (unitHeight != null) height = parseUnitSize(unitHeight, 100); + + String viewBoxStr = properties.getString("viewBox"); + if (viewBoxStr != null) { + float[] viewBox = PApplet.parseFloat(PApplet.splitTokens(viewBoxStr)); + if (unitWidth == null || unitHeight == null) { + // Not proper parsing of the viewBox, but will cover us for cases where + // the width and height of the object is not specified. + width = viewBox[2]; + height = viewBox[3]; + } else { + // http://www.w3.org/TR/SVG/coords.html#ViewBoxAttribute + // TODO: preserveAspectRatio. + if (matrix == null) matrix = new PMatrix2D(); + matrix.scale(width/viewBox[2], height/viewBox[3]); + matrix.translate(-viewBox[0], -viewBox[1]); + } + } + + // Negative size is illegal. + if (width < 0 || height < 0) + throw new RuntimeException(": width (" + width + + ") and height (" + height + ") must not be negative."); + + // It's technically valid to have width or height == 0. Not specified at + // all is what to test for. + if ((unitWidth == null || unitHeight == null) && viewBoxStr == null) { + //throw new RuntimeException("width/height not specified"); + PGraphics.showWarning("The width and/or height is not " + + "readable in the tag of this file."); + // For the spec, the default is 100% and 100%. For purposes + // here, insert a dummy value because this is prolly just a + // font or something for which the w/h doesn't matter. + width = 1; + height = 1; + } + + svgWidth = width; + svgHeight = height; + svgSizeXY = PApplet.sqrt((svgWidth*svgWidth + svgHeight*svgHeight)/2.0f); + } + + element = properties; + name = properties.getString("id"); + // @#$(* adobe illustrator mangles names of objects when re-saving + if (name != null) { + while (true) { + String[] m = PApplet.match(name, "_x([A-Za-z0-9]{2})_"); + if (m == null) break; + char repair = (char) PApplet.unhex(m[1]); + name = name.replace(m[0], "" + repair); + } + } + + String displayStr = properties.getString("display", "inline"); + visible = !displayStr.equals("none"); + + String transformStr = properties.getString("transform"); + if (transformStr != null) { + if (matrix == null) { + matrix = parseTransform(transformStr); + } else { + matrix.preApply(parseTransform(transformStr)); + } + } + + if (parseKids) { + parseColors(properties); + parseChildren(properties); + } + } + + + // Broken out so that subclasses can copy any additional variables + // (i.e. fillGradientPaint and strokeGradientPaint) + protected void setParent(PShapeSVGExtended parent) { + // Need to set this so that findChild() works. + // Otherwise 'parent' is null until addChild() is called later. + this.parent = parent; + + if (parent == null) { + // set values to their defaults according to the SVG spec + stroke = false; + strokeColor = 0xff000000; + strokeWeight = 1; + strokeCap = PConstants.SQUARE; // equivalent to BUTT in svg spec + strokeJoin = PConstants.MITER; + strokeGradient = null; +// strokeGradientPaint = null; + strokeName = null; + + fill = true; + fillColor = 0xff000000; + fillGradient = null; +// fillGradientPaint = null; + fillName = null; + + //hasTransform = false; + //transformation = null; //new float[] { 1, 0, 0, 1, 0, 0 }; + + // svgWidth, svgHeight, and svgXYSize done below. + + strokeOpacity = 1; + fillOpacity = 1; + opacity = 1; + + } else { + stroke = parent.stroke; + strokeColor = parent.strokeColor; + strokeWeight = parent.strokeWeight; + strokeCap = parent.strokeCap; + strokeJoin = parent.strokeJoin; + strokeGradient = parent.strokeGradient; +// strokeGradientPaint = parent.strokeGradientPaint; + strokeName = parent.strokeName; + + fill = parent.fill; + fillColor = parent.fillColor; + fillGradient = parent.fillGradient; +// fillGradientPaint = parent.fillGradientPaint; + fillName = parent.fillName; + + svgWidth = parent.svgWidth; + svgHeight = parent.svgHeight; + svgSizeXY = parent.svgSizeXY; + + opacity = parent.opacity; + } + + // The rect and ellipse modes are set to CORNER since it is the expected + // mode for svg shapes. + rectMode = CORNER; + ellipseMode = CORNER; + } + + + /** Factory method for subclasses. */ + protected PShapeSVGExtended createShape(PShapeSVGExtended parent, XML properties, boolean parseKids) { + return new PShapeSVGExtended(parent, properties, parseKids); + } + + + protected void parseChildren(XML graphics) { + XML[] elements = graphics.getChildren(); + children = new PShape[elements.length]; + childCount = 0; + + for (XML elem : elements) { + PShape kid = parseChild(elem); + if (kid != null) addChild(kid); + } + children = (PShape[]) PApplet.subset(children, 0, childCount); + } + + + /** + * Parse a child XML element. + * Override this method to add parsing for more SVG elements. + */ + protected PShape parseChild(XML elem) { +// System.err.println("parsing child in pshape " + elem.getName()); + String name = elem.getName(); + PShapeSVGExtended shape = null; + + + if (name == null) { + // just some whitespace that can be ignored (hopefully) + + } else if (name.equals("g")) { + shape = createShape(this, elem, true); + + } else if (name.equals("defs")) { + // generally this will contain gradient info, so may + // as well just throw it into a group element for parsing + shape = createShape(this, elem, true); + + } else if (name.equals("line")) { + shape = createShape(this, elem, true); + shape.parseLine(); + + } else if (name.equals("circle")) { + shape = createShape(this, elem, true); + shape.parseEllipse(true); + + } else if (name.equals("ellipse")) { + shape = createShape(this, elem, true); + shape.parseEllipse(false); + + } else if (name.equals("rect")) { + shape = createShape(this, elem, true); + shape.parseRect(); + + } else if (name.equals("image")) { + shape = createShape(this, elem, true); + shape.parseImage(); + + } else if (name.equals("polygon")) { + shape = createShape(this, elem, true); + shape.parsePoly(true); + + } else if (name.equals("polyline")) { + shape = createShape(this, elem, true); + shape.parsePoly(false); + + } else if (name.equals("path")) { + shape = createShape(this, elem, true); + shape.parsePath(); + + } else if (name.equals("radialGradient")) { + return new RadialGradient(this, elem); + + } else if (name.equals("linearGradient")) { + return new LinearGradient(this, elem); + + } else if (name.equals("font")) { + return new Font(this, elem); + +// } else if (name.equals("font-face")) { +// return new FontFace(this, elem); + +// } else if (name.equals("glyph") || name.equals("missing-glyph")) { +// return new FontGlyph(this, elem); + + } else if (name.equals("text")) { // || name.equals("font")) { + return new Text(this, elem); + + } else if (name.equals("tspan")) { + return new LineOfText(this, elem); + + } else if (name.equals("filter")) { + PGraphics.showWarning("Filters are not supported."); + + } else if (name.equals("mask")) { + PGraphics.showWarning("Masks are not supported."); + + } else if (name.equals("pattern")) { + PGraphics.showWarning("Patterns are not supported."); + + } else if (name.equals("stop")) { + // stop tag is handled by gradient parser, so don't warn about it + + } else if (name.equals("sodipodi:namedview")) { + // these are always in Inkscape files, the warnings get tedious + + } else if (name.equals("metadata") + || name.equals("title") || name.equals("desc")) { + // fontforge just stuffs in as a comment. + // All harmless stuff, irrelevant to rendering. + return null; + + } else if (!name.startsWith("#")) { + PGraphics.showWarning("Ignoring <" + name + "> tag."); +// new Exception().printStackTrace(); + } + return shape; + } + + + protected void parseLine() { + kind = LINE; + family = PRIMITIVE; + params = new float[] { + getFloatWithUnit(element, "x1", svgWidth), + getFloatWithUnit(element, "y1", svgHeight), + getFloatWithUnit(element, "x2", svgWidth), + getFloatWithUnit(element, "y2", svgHeight) + }; + } + + + /** + * Handles parsing ellipse and circle tags. + * @param circle true if this is a circle and not an ellipse + */ + protected void parseEllipse(boolean circle) { + kind = ELLIPSE; + family = PRIMITIVE; + params = new float[4]; + + params[0] = getFloatWithUnit(element, "cx", svgWidth); + params[1] = getFloatWithUnit(element, "cy", svgHeight); + + float rx, ry; + if (circle) { + rx = ry = getFloatWithUnit(element, "r", svgSizeXY); + } else { + rx = getFloatWithUnit(element, "rx", svgWidth); + ry = getFloatWithUnit(element, "ry", svgHeight); + } + params[0] -= rx; + params[1] -= ry; + + params[2] = rx*2; + params[3] = ry*2; + } + + + protected void parseRect() { + kind = RECT; + family = PRIMITIVE; + params = new float[] { + getFloatWithUnit(element, "x", svgWidth), + getFloatWithUnit(element, "y", svgHeight), + getFloatWithUnit(element, "width", svgWidth), + getFloatWithUnit(element, "height", svgHeight) + }; + } + + + protected void parseImage() { + kind = RECT; + textureMode = NORMAL; + + family = PRIMITIVE; + params = new float[] { + getFloatWithUnit(element, "x", svgWidth), + getFloatWithUnit(element, "y", svgHeight), + getFloatWithUnit(element, "width", svgWidth), + getFloatWithUnit(element, "height", svgHeight) + }; + + this.imagePath = element.getString("xlink:href"); + } + + /** + * Parse a polyline or polygon from an SVG file. + * Syntax defined at http://www.w3.org/TR/SVG/shapes.html#PointsBNF + * @param close true if shape is closed (polygon), false if not (polyline) + */ + protected void parsePoly(boolean close) { + family = PATH; + this.close = close; + + String pointsAttr = element.getString("points"); + if (pointsAttr != null) { + String[] pointsBuffer = PApplet.splitTokens(pointsAttr); + vertexCount = pointsBuffer.length; + vertices = new float[vertexCount][2]; + for (int i = 0; i < vertexCount; i++) { + String pb[] = PApplet.splitTokens(pointsBuffer[i], ", \t\r\n"); + vertices[i][X] = Float.parseFloat(pb[0]); + vertices[i][Y] = Float.parseFloat(pb[1]); + } + } + } + + + protected void parsePath() { + family = PATH; + kind = 0; + + String pathData = element.getString("d"); + if (pathData == null || PApplet.trim(pathData).length() == 0) { + return; + } + char[] pathDataChars = pathData.toCharArray(); + + StringBuilder pathBuffer = new StringBuilder(); + boolean lastSeparate = false; + + for (int i = 0; i < pathDataChars.length; i++) { + char c = pathDataChars[i]; + boolean separate = false; + + if (c == 'M' || c == 'm' || + c == 'L' || c == 'l' || + c == 'H' || c == 'h' || + c == 'V' || c == 'v' || + c == 'C' || c == 'c' || // beziers + c == 'S' || c == 's' || + c == 'Q' || c == 'q' || // quadratic beziers + c == 'T' || c == 't' || + c == 'A' || c == 'a' || // elliptical arc + c == 'Z' || c == 'z' || // closepath + c == ',') { + separate = true; + if (i != 0) { + pathBuffer.append("|"); + } + } + if (c == 'Z' || c == 'z') { + separate = false; + } + if (c == '-' && !lastSeparate) { + // allow for 'e' notation in numbers, e.g. 2.10e-9 + // http://dev.processing.org/bugs/show_bug.cgi?id=1408 + if (i == 0 || pathDataChars[i-1] != 'e') { + pathBuffer.append("|"); + } + } + if (c != ',') { + pathBuffer.append(c); //"" + pathDataBuffer.charAt(i)); + } + if (separate && c != ',' && c != '-') { + pathBuffer.append("|"); + } + lastSeparate = separate; + } + + // use whitespace constant to get rid of extra spaces and CR or LF + String[] pathTokens = + PApplet.splitTokens(pathBuffer.toString(), "|" + WHITESPACE); + vertices = new float[pathTokens.length][2]; + vertexCodes = new int[pathTokens.length]; + + float cx = 0; + float cy = 0; + int i = 0; + + char implicitCommand = '\0'; +// char prevCommand = '\0'; + boolean prevCurve = false; + float ctrlX, ctrlY; + // store values for closepath so that relative coords work properly + float movetoX = 0; + float movetoY = 0; + + while (i < pathTokens.length) { + char c = pathTokens[i].charAt(0); + if (((c >= '0' && c <= '9') || (c == '-')) && implicitCommand != '\0') { + c = implicitCommand; + i--; + } else { + implicitCommand = c; + } + switch (c) { + + case 'M': // M - move to (absolute) + cx = PApplet.parseFloat(pathTokens[i + 1]); + cy = PApplet.parseFloat(pathTokens[i + 2]); + movetoX = cx; + movetoY = cy; + parsePathMoveto(cx, cy); + implicitCommand = 'L'; + i += 3; + break; + + case 'm': // m - move to (relative) + cx = cx + PApplet.parseFloat(pathTokens[i + 1]); + cy = cy + PApplet.parseFloat(pathTokens[i + 2]); + movetoX = cx; + movetoY = cy; + parsePathMoveto(cx, cy); + implicitCommand = 'l'; + i += 3; + break; + + case 'L': + cx = PApplet.parseFloat(pathTokens[i + 1]); + cy = PApplet.parseFloat(pathTokens[i + 2]); + parsePathLineto(cx, cy); + i += 3; + break; + + case 'l': + cx = cx + PApplet.parseFloat(pathTokens[i + 1]); + cy = cy + PApplet.parseFloat(pathTokens[i + 2]); + parsePathLineto(cx, cy); + i += 3; + break; + + // horizontal lineto absolute + case 'H': + cx = PApplet.parseFloat(pathTokens[i + 1]); + parsePathLineto(cx, cy); + i += 2; + break; + + // horizontal lineto relative + case 'h': + cx = cx + PApplet.parseFloat(pathTokens[i + 1]); + parsePathLineto(cx, cy); + i += 2; + break; + + case 'V': + cy = PApplet.parseFloat(pathTokens[i + 1]); + parsePathLineto(cx, cy); + i += 2; + break; + + case 'v': + cy = cy + PApplet.parseFloat(pathTokens[i + 1]); + parsePathLineto(cx, cy); + i += 2; + break; + + // C - curve to (absolute) + case 'C': { + float ctrlX1 = PApplet.parseFloat(pathTokens[i + 1]); + float ctrlY1 = PApplet.parseFloat(pathTokens[i + 2]); + float ctrlX2 = PApplet.parseFloat(pathTokens[i + 3]); + float ctrlY2 = PApplet.parseFloat(pathTokens[i + 4]); + float endX = PApplet.parseFloat(pathTokens[i + 5]); + float endY = PApplet.parseFloat(pathTokens[i + 6]); + parsePathCurveto(ctrlX1, ctrlY1, ctrlX2, ctrlY2, endX, endY); + cx = endX; + cy = endY; + i += 7; + prevCurve = true; + } + break; + + // c - curve to (relative) + case 'c': { + float ctrlX1 = cx + PApplet.parseFloat(pathTokens[i + 1]); + float ctrlY1 = cy + PApplet.parseFloat(pathTokens[i + 2]); + float ctrlX2 = cx + PApplet.parseFloat(pathTokens[i + 3]); + float ctrlY2 = cy + PApplet.parseFloat(pathTokens[i + 4]); + float endX = cx + PApplet.parseFloat(pathTokens[i + 5]); + float endY = cy + PApplet.parseFloat(pathTokens[i + 6]); + parsePathCurveto(ctrlX1, ctrlY1, ctrlX2, ctrlY2, endX, endY); + cx = endX; + cy = endY; + i += 7; + prevCurve = true; + } + break; + + // S - curve to shorthand (absolute) + // Draws a cubic Bézier curve from the current point to (x,y). The first + // control point is assumed to be the reflection of the second control + // point on the previous command relative to the current point. + // (x2,y2) is the second control point (i.e., the control point + // at the end of the curve). S (uppercase) indicates that absolute + // coordinates will follow; s (lowercase) indicates that relative + // coordinates will follow. Multiple sets of coordinates may be specified + // to draw a polybézier. At the end of the command, the new current point + // becomes the final (x,y) coordinate pair used in the polybézier. + case 'S': { + // (If there is no previous command or if the previous command was not + // an C, c, S or s, assume the first control point is coincident with + // the current point.) + if (!prevCurve) { + ctrlX = cx; + ctrlY = cy; + } else { + float ppx = vertices[vertexCount-2][X]; + float ppy = vertices[vertexCount-2][Y]; + float px = vertices[vertexCount-1][X]; + float py = vertices[vertexCount-1][Y]; + ctrlX = px + (px - ppx); + ctrlY = py + (py - ppy); + } + float ctrlX2 = PApplet.parseFloat(pathTokens[i + 1]); + float ctrlY2 = PApplet.parseFloat(pathTokens[i + 2]); + float endX = PApplet.parseFloat(pathTokens[i + 3]); + float endY = PApplet.parseFloat(pathTokens[i + 4]); + parsePathCurveto(ctrlX, ctrlY, ctrlX2, ctrlY2, endX, endY); + cx = endX; + cy = endY; + i += 5; + prevCurve = true; + } + break; + + // s - curve to shorthand (relative) + case 's': { + if (!prevCurve) { + ctrlX = cx; + ctrlY = cy; + } else { + float ppx = vertices[vertexCount-2][X]; + float ppy = vertices[vertexCount-2][Y]; + float px = vertices[vertexCount-1][X]; + float py = vertices[vertexCount-1][Y]; + ctrlX = px + (px - ppx); + ctrlY = py + (py - ppy); + } + float ctrlX2 = cx + PApplet.parseFloat(pathTokens[i + 1]); + float ctrlY2 = cy + PApplet.parseFloat(pathTokens[i + 2]); + float endX = cx + PApplet.parseFloat(pathTokens[i + 3]); + float endY = cy + PApplet.parseFloat(pathTokens[i + 4]); + parsePathCurveto(ctrlX, ctrlY, ctrlX2, ctrlY2, endX, endY); + cx = endX; + cy = endY; + i += 5; + prevCurve = true; + } + break; + + // Q - quadratic curve to (absolute) + // Draws a quadratic Bézier curve from the current point to (x,y) using + // (x1,y1) as the control point. Q (uppercase) indicates that absolute + // coordinates will follow; q (lowercase) indicates that relative + // coordinates will follow. Multiple sets of coordinates may be specified + // to draw a polybézier. At the end of the command, the new current point + // becomes the final (x,y) coordinate pair used in the polybézier. + case 'Q': { + ctrlX = PApplet.parseFloat(pathTokens[i + 1]); + ctrlY = PApplet.parseFloat(pathTokens[i + 2]); + float endX = PApplet.parseFloat(pathTokens[i + 3]); + float endY = PApplet.parseFloat(pathTokens[i + 4]); + //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); + parsePathQuadto(ctrlX, ctrlY, endX, endY); + cx = endX; + cy = endY; + i += 5; + prevCurve = true; + } + break; + + // q - quadratic curve to (relative) + case 'q': { + ctrlX = cx + PApplet.parseFloat(pathTokens[i + 1]); + ctrlY = cy + PApplet.parseFloat(pathTokens[i + 2]); + float endX = cx + PApplet.parseFloat(pathTokens[i + 3]); + float endY = cy + PApplet.parseFloat(pathTokens[i + 4]); + //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); + parsePathQuadto(ctrlX, ctrlY, endX, endY); + cx = endX; + cy = endY; + i += 5; + prevCurve = true; + } + break; + + // T - quadratic curveto shorthand (absolute) + // The control point is assumed to be the reflection of the control + // point on the previous command relative to the current point. + case 'T': { + // If there is no previous command or if the previous command was + // not a Q, q, T or t, assume the control point is coincident + // with the current point. + if (!prevCurve) { + ctrlX = cx; + ctrlY = cy; + } else { + float ppx = vertices[vertexCount-2][X]; + float ppy = vertices[vertexCount-2][Y]; + float px = vertices[vertexCount-1][X]; + float py = vertices[vertexCount-1][Y]; + ctrlX = px + (px - ppx); + ctrlY = py + (py - ppy); + } + float endX = PApplet.parseFloat(pathTokens[i + 1]); + float endY = PApplet.parseFloat(pathTokens[i + 2]); + //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); + parsePathQuadto(ctrlX, ctrlY, endX, endY); + cx = endX; + cy = endY; + i += 3; + prevCurve = true; + } + break; + + // t - quadratic curveto shorthand (relative) + case 't': { + if (!prevCurve) { + ctrlX = cx; + ctrlY = cy; + } else { + float ppx = vertices[vertexCount-2][X]; + float ppy = vertices[vertexCount-2][Y]; + float px = vertices[vertexCount-1][X]; + float py = vertices[vertexCount-1][Y]; + ctrlX = px + (px - ppx); + ctrlY = py + (py - ppy); + } + float endX = cx + PApplet.parseFloat(pathTokens[i + 1]); + float endY = cy + PApplet.parseFloat(pathTokens[i + 2]); + //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); + parsePathQuadto(ctrlX, ctrlY, endX, endY); + cx = endX; + cy = endY; + i += 3; + prevCurve = true; + } + break; + + // A - elliptical arc to (absolute) + case 'A': { + float rx = PApplet.parseFloat(pathTokens[i + 1]); + float ry = PApplet.parseFloat(pathTokens[i + 2]); + float angle = PApplet.parseFloat(pathTokens[i + 3]); + boolean fa = PApplet.parseFloat(pathTokens[i + 4]) != 0; + boolean fs = PApplet.parseFloat(pathTokens[i + 5]) != 0; + float endX = PApplet.parseFloat(pathTokens[i + 6]); + float endY = PApplet.parseFloat(pathTokens[i + 7]); + parsePathArcto(cx, cy, rx, ry, angle, fa, fs, endX, endY); + cx = endX; + cy = endY; + i += 8; + prevCurve = true; + } + break; + + // a - elliptical arc to (relative) + case 'a': { + float rx = PApplet.parseFloat(pathTokens[i + 1]); + float ry = PApplet.parseFloat(pathTokens[i + 2]); + float angle = PApplet.parseFloat(pathTokens[i + 3]); + boolean fa = PApplet.parseFloat(pathTokens[i + 4]) != 0; + boolean fs = PApplet.parseFloat(pathTokens[i + 5]) != 0; + float endX = cx + PApplet.parseFloat(pathTokens[i + 6]); + float endY = cy + PApplet.parseFloat(pathTokens[i + 7]); + parsePathArcto(cx, cy, rx, ry, angle, fa, fs, endX, endY); + cx = endX; + cy = endY; + i += 8; + prevCurve = true; + } + break; + + case 'Z': + case 'z': + // since closing the path, the 'current' point needs + // to return back to the last moveto location. + // http://code.google.com/p/processing/issues/detail?id=1058 + cx = movetoX; + cy = movetoY; + close = true; + i++; + break; + + default: + String parsed = + PApplet.join(PApplet.subset(pathTokens, 0, i), ","); + String unparsed = + PApplet.join(PApplet.subset(pathTokens, i), ","); + System.err.println("parsed: " + parsed); + System.err.println("unparsed: " + unparsed); + throw new RuntimeException("shape command not handled: " + pathTokens[i]); + } +// prevCommand = c; + } + } + + +// private void parsePathCheck(int num) { +// if (vertexCount + num-1 >= vertices.length) { +// //vertices = (float[][]) PApplet.expand(vertices); +// float[][] temp = new float[vertexCount << 1][2]; +// System.arraycopy(vertices, 0, temp, 0, vertexCount); +// vertices = temp; +// } +// } + + private void parsePathVertex(float x, float y) { + if (vertexCount == vertices.length) { + //vertices = (float[][]) PApplet.expand(vertices); + float[][] temp = new float[vertexCount << 1][2]; + System.arraycopy(vertices, 0, temp, 0, vertexCount); + vertices = temp; + } + vertices[vertexCount][X] = x; + vertices[vertexCount][Y] = y; + vertexCount++; + } + + + private void parsePathCode(int what) { + if (vertexCodeCount == vertexCodes.length) { + vertexCodes = PApplet.expand(vertexCodes); + } + vertexCodes[vertexCodeCount++] = what; + } + + + private void parsePathMoveto(float px, float py) { + if (vertexCount > 0) { + parsePathCode(BREAK); + } + parsePathCode(VERTEX); + parsePathVertex(px, py); + } + + + private void parsePathLineto(float px, float py) { + parsePathCode(VERTEX); + parsePathVertex(px, py); + } + + + private void parsePathCurveto(float x1, float y1, + float x2, float y2, + float x3, float y3) { + parsePathCode(BEZIER_VERTEX); + parsePathVertex(x1, y1); + parsePathVertex(x2, y2); + parsePathVertex(x3, y3); + } + +// private void parsePathQuadto(float x1, float y1, +// float cx, float cy, +// float x2, float y2) { +// //System.out.println("quadto: " + x1 + "," + y1 + " " + cx + "," + cy + " " + x2 + "," + y2); +//// parsePathCode(BEZIER_VERTEX); +// parsePathCode(QUAD_BEZIER_VERTEX); +// // x1/y1 already covered by last moveto, lineto, or curveto +// +// parsePathVertex(x1 + ((cx-x1)*2/3.0f), y1 + ((cy-y1)*2/3.0f)); +// parsePathVertex(x2 + ((cx-x2)*2/3.0f), y2 + ((cy-y2)*2/3.0f)); +// parsePathVertex(x2, y2); +// } + + private void parsePathQuadto(float cx, float cy, + float x2, float y2) { + //System.out.println("quadto: " + x1 + "," + y1 + " " + cx + "," + cy + " " + x2 + "," + y2); +// parsePathCode(BEZIER_VERTEX); + parsePathCode(QUADRATIC_VERTEX); + // x1/y1 already covered by last moveto, lineto, or curveto + parsePathVertex(cx, cy); + parsePathVertex(x2, y2); + } + + + // Approximates elliptical arc by several bezier segments. + // Meets SVG standard requirements from: + // http://www.w3.org/TR/SVG/paths.html#PathDataEllipticalArcCommands + // http://www.w3.org/TR/SVG/implnote.html#ArcImplementationNotes + // Based on arc to bezier curve equations from: + // http://www.spaceroots.org/documents/ellipse/node22.html + private void parsePathArcto(float x1, float y1, + float rx, float ry, + float angle, + boolean fa, boolean fs, + float x2, float y2) { + if (x1 == x2 && y1 == y2) return; + if (rx == 0 || ry == 0) { parsePathLineto(x2, y2); return; } + + rx = PApplet.abs(rx); ry = PApplet.abs(ry); + + float phi = PApplet.radians(((angle % 360) + 360) % 360); + float cosPhi = PApplet.cos(phi), sinPhi = PApplet.sin(phi); + + float x1r = ( cosPhi * (x1 - x2) + sinPhi * (y1 - y2)) / 2; + float y1r = (-sinPhi * (x1 - x2) + cosPhi * (y1 - y2)) / 2; + + float cxr, cyr; + { + float A = (x1r*x1r) / (rx*rx) + (y1r*y1r) / (ry*ry); + if (A > 1) { + // No solution, scale ellipse up according to SVG standard + float sqrtA = PApplet.sqrt(A); + rx *= sqrtA; cxr = 0; + ry *= sqrtA; cyr = 0; + } else { + float k = ((fa == fs) ? -1f : 1f) * + PApplet.sqrt((rx*rx * ry*ry) / ((rx*rx * y1r*y1r) + (ry*ry * x1r*x1r)) - 1f); + cxr = k * rx * y1r / ry; + cyr = -k * ry * x1r / rx; + } + } + + float cx = cosPhi * cxr - sinPhi * cyr + (x1 + x2) / 2; + float cy = sinPhi * cxr + cosPhi * cyr + (y1 + y2) / 2; + + float phi1, phiDelta; + { + float sx = ( x1r - cxr) / rx, sy = ( y1r - cyr) / ry; + float tx = (-x1r - cxr) / rx, ty = (-y1r - cyr) / ry; + phi1 = PApplet.atan2(sy, sx); + phiDelta = (((PApplet.atan2(ty, tx) - phi1) % TWO_PI) + TWO_PI) % TWO_PI; + if (!fs) phiDelta -= TWO_PI; + } + + // One segment can not cover more that PI, less than PI/2 is + // recommended to avoid visible inaccuracies caused by rounding errors + int segmentCount = PApplet.ceil(PApplet.abs(phiDelta) / TWO_PI * 4); + + float inc = phiDelta / segmentCount; + float a = PApplet.sin(inc) * + (PApplet.sqrt(4 + 3 * PApplet.sq(PApplet.tan(inc / 2))) - 1) / 3; + + float sinPhi1 = PApplet.sin(phi1), cosPhi1 = PApplet.cos(phi1); + + float p1x = x1; + float p1y = y1; + float relq1x = a * (-rx * cosPhi * sinPhi1 - ry * sinPhi * cosPhi1); + float relq1y = a * (-rx * sinPhi * sinPhi1 + ry * cosPhi * cosPhi1); + + for (int i = 0; i < segmentCount; i++) { + float eta = phi1 + (i + 1) * inc; + float sinEta = PApplet.sin(eta), cosEta = PApplet.cos(eta); + + float p2x = cx + rx * cosPhi * cosEta - ry * sinPhi * sinEta; + float p2y = cy + rx * sinPhi * cosEta + ry * cosPhi * sinEta; + float relq2x = a * (-rx * cosPhi * sinEta - ry * sinPhi * cosEta); + float relq2y = a * (-rx * sinPhi * sinEta + ry * cosPhi * cosEta); + + if (i == segmentCount - 1) { p2x = x2; p2y = y2; } + + parsePathCode(BEZIER_VERTEX); + parsePathVertex(p1x + relq1x, p1y + relq1y); + parsePathVertex(p2x - relq2x, p2y - relq2y); + parsePathVertex(p2x, p2y); + + p1x = p2x; relq1x = relq2x; + p1y = p2y; relq1y = relq2y; + } + } + + + /** + * Parse the specified SVG matrix into a PMatrix2D. Note that PMatrix2D + * is rotated relative to the SVG definition, so parameters are rearranged + * here. More about the transformation matrices in + * this section + * of the SVG documentation. + * @param matrixStr text of the matrix param. + * @return a good old-fashioned PMatrix2D + */ + static protected PMatrix2D parseTransform(String matrixStr) { + matrixStr = matrixStr.trim(); + PMatrix2D outgoing = null; + int start = 0; + int stop = -1; + while ((stop = matrixStr.indexOf(')', start)) != -1) { + PMatrix2D m = parseSingleTransform(matrixStr.substring(start, stop+1)); + if (outgoing == null) { + outgoing = m; + } else { + outgoing.apply(m); + } + start = stop + 1; + } + return outgoing; + } + + + static protected PMatrix2D parseSingleTransform(String matrixStr) { + //String[] pieces = PApplet.match(matrixStr, "^\\s*(\\w+)\\((.*)\\)\\s*$"); + String[] pieces = PApplet.match(matrixStr, "[,\\s]*(\\w+)\\((.*)\\)"); + if (pieces == null) { + System.err.println("Could not parse transform " + matrixStr); + return null; + } + float[] m = PApplet.parseFloat(PApplet.splitTokens(pieces[2], ", ")); + if (pieces[1].equals("matrix")) { + return new PMatrix2D(m[0], m[2], m[4], m[1], m[3], m[5]); + + } else if (pieces[1].equals("translate")) { + float tx = m[0]; + float ty = (m.length == 2) ? m[1] : m[0]; + return new PMatrix2D(1, 0, tx, 0, 1, ty); + + } else if (pieces[1].equals("scale")) { + float sx = m[0]; + float sy = (m.length == 2) ? m[1] : m[0]; + return new PMatrix2D(sx, 0, 0, 0, sy, 0); + + } else if (pieces[1].equals("rotate")) { + float angle = m[0]; + + if (m.length == 1) { + float c = PApplet.cos(angle); + float s = PApplet.sin(angle); + // SVG version is cos(a) sin(a) -sin(a) cos(a) 0 0 + return new PMatrix2D(c, -s, 0, s, c, 0); + + } else if (m.length == 3) { + PMatrix2D mat = new PMatrix2D(0, 1, m[1], 1, 0, m[2]); + mat.rotate(m[0]); + mat.translate(-m[1], -m[2]); + return mat; + } + + } else if (pieces[1].equals("skewX")) { + return new PMatrix2D(1, 0, 1, PApplet.tan(m[0]), 0, 0); + + } else if (pieces[1].equals("skewY")) { + return new PMatrix2D(1, 0, 1, 0, PApplet.tan(m[0]), 0); + } + return null; + } + + + protected void parseColors(XML properties) { + if (properties.hasAttribute("opacity")) { + String opacityText = properties.getString("opacity"); + setOpacity(opacityText); + } + + if (properties.hasAttribute("stroke")) { + String strokeText = properties.getString("stroke"); + setColor(strokeText, false); + } + + if (properties.hasAttribute("stroke-opacity")) { + String strokeOpacityText = properties.getString("stroke-opacity"); + setStrokeOpacity(strokeOpacityText); + } + + if (properties.hasAttribute("stroke-width")) { + // if NaN (i.e. if it's 'inherit') then default back to the inherit setting + String lineweight = properties.getString("stroke-width"); + setStrokeWeight(lineweight); + } + + if (properties.hasAttribute("stroke-linejoin")) { + String linejoin = properties.getString("stroke-linejoin"); + setStrokeJoin(linejoin); + } + + if (properties.hasAttribute("stroke-linecap")) { + String linecap = properties.getString("stroke-linecap"); + setStrokeCap(linecap); + } + + // fill defaults to black (though stroke defaults to "none") + // http://www.w3.org/TR/SVG/painting.html#FillProperties + if (properties.hasAttribute("fill")) { + String fillText = properties.getString("fill"); + setColor(fillText, true); + } + + if (properties.hasAttribute("fill-opacity")) { + String fillOpacityText = properties.getString("fill-opacity"); + setFillOpacity(fillOpacityText); + } + + if (properties.hasAttribute("style")) { + String styleText = properties.getString("style"); + String[] styleTokens = PApplet.splitTokens(styleText, ";"); + + //PApplet.println(styleTokens); + for (int i = 0; i < styleTokens.length; i++) { + String[] tokens = PApplet.splitTokens(styleTokens[i], ":"); + //PApplet.println(tokens); + + tokens[0] = PApplet.trim(tokens[0]); + + if (tokens[0].equals("fill")) { + setColor(tokens[1], true); + + } else if(tokens[0].equals("fill-opacity")) { + setFillOpacity(tokens[1]); + + } else if(tokens[0].equals("stroke")) { + setColor(tokens[1], false); + + } else if(tokens[0].equals("stroke-width")) { + setStrokeWeight(tokens[1]); + + } else if(tokens[0].equals("stroke-linecap")) { + setStrokeCap(tokens[1]); + + } else if(tokens[0].equals("stroke-linejoin")) { + setStrokeJoin(tokens[1]); + + } else if(tokens[0].equals("stroke-opacity")) { + setStrokeOpacity(tokens[1]); + + } else if(tokens[0].equals("opacity")) { + setOpacity(tokens[1]); + + } else { + // Other attributes are not yet implemented + } + } + } + } + + + void setOpacity(String opacityText) { + opacity = PApplet.parseFloat(opacityText); + strokeColor = ((int) (opacity * 255)) << 24 | strokeColor & 0xFFFFFF; + fillColor = ((int) (opacity * 255)) << 24 | fillColor & 0xFFFFFF; + } + + + void setStrokeWeight(String lineweight) { + strokeWeight = parseUnitSize(lineweight, svgSizeXY); + } + + + void setStrokeOpacity(String opacityText) { + strokeOpacity = PApplet.parseFloat(opacityText); + strokeColor = ((int) (strokeOpacity * 255)) << 24 | strokeColor & 0xFFFFFF; + } + + + void setStrokeJoin(String linejoin) { + if (linejoin.equals("inherit")) { + // do nothing, will inherit automatically + + } else if (linejoin.equals("miter")) { + strokeJoin = PConstants.MITER; + + } else if (linejoin.equals("round")) { + strokeJoin = PConstants.ROUND; + + } else if (linejoin.equals("bevel")) { + strokeJoin = PConstants.BEVEL; + } + } + + + void setStrokeCap(String linecap) { + if (linecap.equals("inherit")) { + // do nothing, will inherit automatically + + } else if (linecap.equals("butt")) { + strokeCap = PConstants.SQUARE; + + } else if (linecap.equals("round")) { + strokeCap = PConstants.ROUND; + + } else if (linecap.equals("square")) { + strokeCap = PConstants.PROJECT; + } + } + + + void setFillOpacity(String opacityText) { + fillOpacity = PApplet.parseFloat(opacityText); + fillColor = ((int) (fillOpacity * 255)) << 24 | fillColor & 0xFFFFFF; + } + + + void setColor(String colorText, boolean isFill) { + colorText = colorText.trim(); + int opacityMask = fillColor & 0xFF000000; + boolean visible = true; + int color = 0; + String name = ""; +// String lColorText = colorText.toLowerCase(); + Gradient gradient = null; +// Object paint = null; + if (colorText.equals("none")) { + visible = false; + } else if (colorText.startsWith("url(#")) { + name = colorText.substring(5, colorText.length() - 1); + Object object = findChild(name); + if (object instanceof Gradient) { + gradient = (Gradient) object; + // in 3.0a11, do this on first draw inside PShapeJava2D +// paint = calcGradientPaint(gradient); //, opacity); + } else { +// visible = false; + System.err.println("url " + name + " refers to unexpected data: " + object); + } + } else { + // Prints errors itself. + color = opacityMask | parseSimpleColor(colorText); + } + if (isFill) { + fill = visible; + fillColor = color; + fillName = name; + fillGradient = gradient; +// fillGradientPaint = paint; + } else { + stroke = visible; + strokeColor = color; + strokeName = name; + strokeGradient = gradient; +// strokeGradientPaint = paint; + } + } + + + /** + * Parses the "color" datatype only, and prints an error if it is not of this form. + * http://www.w3.org/TR/SVG/types.html#DataTypeColor + * @return 0xRRGGBB (no alpha). Zero on error. + */ + static protected int parseSimpleColor(String colorText) { + colorText = colorText.toLowerCase().trim(); + //if (colorNames.containsKey(colorText)) { + if (colorNames.hasKey(colorText)) { + return colorNames.get(colorText); + } else if (colorText.startsWith("#")) { + if (colorText.length() == 4) { + // Short form: #ABC, transform to long form #AABBCC + colorText = colorText.replaceAll("^#(.)(.)(.)$", "#$1$1$2$2$3$3"); + } + return (Integer.parseInt(colorText.substring(1), 16)) & 0xFFFFFF; + //System.out.println("hex for fill is " + PApplet.hex(fillColor)); + } else if (colorText.startsWith("rgb")) { + return parseRGB(colorText); + } else { + System.err.println("Cannot parse \"" + colorText + "\"."); + return 0; + } + } + + + /** + * Deliberately conforms to the HTML 4.01 color spec + en-gb grey, rather + * than the (unlikely to be useful) entire 147-color system used in SVG. + */ + static protected IntDict colorNames = new IntDict(new Object[][] { + { "aqua", 0x00ffff }, + { "black", 0x000000 }, + { "blue", 0x0000ff }, + { "fuchsia", 0xff00ff }, + { "gray", 0x808080 }, + { "grey", 0x808080 }, + { "green", 0x008000 }, + { "lime", 0x00ff00 }, + { "maroon", 0x800000 }, + { "navy", 0x000080 }, + { "olive", 0x808000 }, + { "purple", 0x800080 }, + { "red", 0xff0000 }, + { "silver", 0xc0c0c0 }, + { "teal", 0x008080 }, + { "white", 0xffffff }, + { "yellow", 0xffff00 } + }); + + /* + static protected Map colorNames; + static { + colorNames = new HashMap(); + colorNames.put("aqua", 0x00ffff); + colorNames.put("black", 0x000000); + colorNames.put("blue", 0x0000ff); + colorNames.put("fuchsia", 0xff00ff); + colorNames.put("gray", 0x808080); + colorNames.put("grey", 0x808080); + colorNames.put("green", 0x008000); + colorNames.put("lime", 0x00ff00); + colorNames.put("maroon", 0x800000); + colorNames.put("navy", 0x000080); + colorNames.put("olive", 0x808000); + colorNames.put("purple", 0x800080); + colorNames.put("red", 0xff0000); + colorNames.put("silver", 0xc0c0c0); + colorNames.put("teal", 0x008080); + colorNames.put("white", 0xffffff); + colorNames.put("yellow", 0xffff00); + } + */ + + static protected int parseRGB(String what) { + int leftParen = what.indexOf('(') + 1; + int rightParen = what.indexOf(')'); + String sub = what.substring(leftParen, rightParen); + String[] values = PApplet.splitTokens(sub, ", "); + int rgbValue = 0; + if (values.length == 3) { + // Color spec allows for rgb values to be percentages. + for (int i = 0; i < 3; i++) { + rgbValue <<= 8; + if (values[i].endsWith("%")) { + rgbValue |= (int)(PApplet.constrain(255*parseFloatOrPercent(values[i]), 0, 255)); + } else { + rgbValue |= PApplet.constrain(PApplet.parseInt(values[i]), 0, 255); + } + } + } else System.err.println("Could not read color \"" + what + "\"."); + + return rgbValue; + } + + + //static protected Map parseStyleAttributes(String style) { + static protected StringDict parseStyleAttributes(String style) { + //Map table = new HashMap(); + StringDict table = new StringDict(); +// if (style == null) return table; + if (style != null) { + String[] pieces = style.split(";"); + for (int i = 0; i < pieces.length; i++) { + String[] parts = pieces[i].split(":"); + //table.put(parts[0], parts[1]); + table.set(parts[0], parts[1]); + } + } + return table; + } + + + /** + * Used in place of element.getFloatAttribute(a) because we can + * have a unit suffix (length or coordinate). + * @param element what to parse + * @param attribute name of the attribute to get + * @param relativeTo (float) Used for %. When relative to viewbox, should + * be svgWidth for horizontal dimentions, svgHeight for vertical, and + * svgXYSize for anything else. + * @return unit-parsed version of the data + */ + static protected float getFloatWithUnit(XML element, String attribute, float relativeTo) { + String val = element.getString(attribute); + return (val == null) ? 0 : parseUnitSize(val, relativeTo); + } + + + /** + * Parse a size that may have a suffix for its units. + * This assumes 90dpi, which implies, as given in the + * units spec: + *
    + *
  • "1pt" equals "1.25px" (and therefore 1.25 user units) + *
  • "1pc" equals "15px" (and therefore 15 user units) + *
  • "1mm" would be "3.543307px" (3.543307 user units) + *
  • "1cm" equals "35.43307px" (and therefore 35.43307 user units) + *
  • "1in" equals "90px" (and therefore 90 user units) + *
+ * @param relativeTo (float) Used for %. When relative to viewbox, should + * be svgWidth for horizontal dimentions, svgHeight for vertical, and + * svgXYSize for anything else. + */ + static protected float parseUnitSize(String text, float relativeTo) { + int len = text.length() - 2; + + if (text.endsWith("pt")) { + return PApplet.parseFloat(text.substring(0, len)) * 1.25f; + } else if (text.endsWith("pc")) { + return PApplet.parseFloat(text.substring(0, len)) * 15; + } else if (text.endsWith("mm")) { + return PApplet.parseFloat(text.substring(0, len)) * 3.543307f; + } else if (text.endsWith("cm")) { + return PApplet.parseFloat(text.substring(0, len)) * 35.43307f; + } else if (text.endsWith("in")) { + return PApplet.parseFloat(text.substring(0, len)) * 90; + } else if (text.endsWith("px")) { + return PApplet.parseFloat(text.substring(0, len)); + } else if (text.endsWith("%")) { + return relativeTo * parseFloatOrPercent(text); + } else { + return PApplet.parseFloat(text); + } + } + + + static protected float parseFloatOrPercent(String text) { + text = text.trim(); + if (text.endsWith("%")) { + return Float.parseFloat(text.substring(0, text.length() - 1)) / 100.0f; + } else { + return Float.parseFloat(text); + } + } + + + // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . + + + static public class Gradient extends PShapeSVGExtended { + AffineTransform transform; + + public float[] offset; + public int[] color; + public int count; + + public Gradient(PShapeSVGExtended parent, XML properties) { + super(parent, properties, true); + + XML elements[] = properties.getChildren(); + offset = new float[elements.length]; + color = new int[elements.length]; + + // + for (int i = 0; i < elements.length; i++) { + XML elem = elements[i]; + String name = elem.getName(); + if (name.equals("stop")) { + String offsetAttr = elem.getString("offset"); + offset[count] = parseFloatOrPercent(offsetAttr); + + String style = elem.getString("style"); + //Map styles = parseStyleAttributes(style); + StringDict styles = parseStyleAttributes(style); + + String colorStr = styles.get("stop-color"); + if (colorStr == null) { + colorStr = elem.getString("stop-color"); + if (colorStr == null) colorStr = "#000000"; + } + String opacityStr = styles.get("stop-opacity"); + if (opacityStr == null) { + opacityStr = elem.getString("stop-opacity"); + if (opacityStr == null) opacityStr = "1"; + } + int tupacity = PApplet.constrain( + (int)(PApplet.parseFloat(opacityStr) * 255), 0, 255); + color[count] = (tupacity << 24) | parseSimpleColor(colorStr); + count++; + } + } + offset = PApplet.subset(offset, 0, count); + color = PApplet.subset(color, 0, count); + } + } + + + public class LinearGradient extends Gradient { + public float x1, y1, x2, y2; + + public LinearGradient(PShapeSVGExtended parent, XML properties) { + super(parent, properties); + + this.x1 = getFloatWithUnit(properties, "x1", svgWidth); + this.y1 = getFloatWithUnit(properties, "y1", svgHeight); + this.x2 = getFloatWithUnit(properties, "x2", svgWidth); + this.y2 = getFloatWithUnit(properties, "y2", svgHeight); + + String transformStr = + properties.getString("gradientTransform"); + + if (transformStr != null) { + float t[] = parseTransform(transformStr).get(null); + this.transform = new AffineTransform(t[0], t[3], t[1], t[4], t[2], t[5]); + + Point2D t1 = transform.transform(new Point2D.Float(x1, y1), null); + Point2D t2 = transform.transform(new Point2D.Float(x2, y2), null); + + this.x1 = (float) t1.getX(); + this.y1 = (float) t1.getY(); + this.x2 = (float) t2.getX(); + this.y2 = (float) t2.getY(); + } + } + } + + + public class RadialGradient extends Gradient { + public float cx, cy, r; + + public RadialGradient(PShapeSVGExtended parent, XML properties) { + super(parent, properties); + + this.cx = getFloatWithUnit(properties, "cx", svgWidth); + this.cy = getFloatWithUnit(properties, "cy", svgHeight); + this.r = getFloatWithUnit(properties, "r", svgSizeXY); + + String transformStr = + properties.getString("gradientTransform"); + + if (transformStr != null) { + float t[] = parseTransform(transformStr).get(null); + this.transform = new AffineTransform(t[0], t[3], t[1], t[4], t[2], t[5]); + + Point2D t1 = transform.transform(new Point2D.Float(cx, cy), null); + Point2D t2 = transform.transform(new Point2D.Float(cx + r, cy), null); + + this.cx = (float) t1.getX(); + this.cy = (float) t1.getY(); + this.r = (float) (t2.getX() - t1.getX()); + } + } + } + + + // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . + + public static float TEXT_QUALITY = 1; + protected PFont parseFont(XML properties) { + +// FontFace fontFace = new FontFace(this, properties); + String fontFamily = null; + float size = 10; + int weight = PLAIN; // 0 + int italic = 0; + + if (properties.hasAttribute("style")) { + String styleText = properties.getString("style"); + String[] styleTokens = PApplet.splitTokens(styleText, ";"); + + //PApplet.println(styleTokens); + for (int i = 0; i < styleTokens.length; i++) { + + String[] tokens = PApplet.splitTokens(styleTokens[i], ":"); + //PApplet.println(tokens); + + tokens[0] = PApplet.trim(tokens[0]); + + if (tokens[0].equals("font-style")) { + // PApplet.println("font-style: " + tokens[1]); + if (tokens[1].contains("italic")) { + italic = ITALIC; + } + } else if (tokens[0].equals("font-variant")) { + // PApplet.println("font-variant: " + tokens[1]); + // setFillOpacity(tokens[1]); + + } else if (tokens[0].equals("font-weight")) { + // PApplet.println("font-weight: " + tokens[1]); + + if (tokens[1].contains("bold")) { + weight = BOLD; + // PApplet.println("Bold weight ! "); + } + + + } else if (tokens[0].equals("font-stretch")) { + // not supported. + + } else if (tokens[0].equals("font-size")) { + // PApplet.println("font-size: " + tokens[1]); + size = Float.parseFloat(tokens[1].split("px")[0]); + // PApplet.println("font-size-parsed: " + size); + } else if (tokens[0].equals("line-height")) { + // not supported + + } else if (tokens[0].equals("font-family")) { + PApplet.println("Font-family: " + tokens[1]); + fontFamily = tokens[1]; + if(fontFamily.contains("'")){ + fontFamily = fontFamily.replace("'", ""); + } + + } else if (tokens[0].equals("text-align")) { + // not supported + + } else if (tokens[0].equals("letter-spacing")) { + // not supported + + } else if (tokens[0].equals("word-spacing")) { + // not supported + + } else if (tokens[0].equals("writing-mode")) { + // not supported + + } else if (tokens[0].equals("text-anchor")) { + // not supported + + } else { + // Other attributes are not yet implemented + } + } + } + if (fontFamily == null) { + return null; + } + size = size * TEXT_QUALITY; + + return createFont(fontFamily, weight | italic, size, true); + } + + protected PFont createFont(String name, int weight, float size, boolean smooth) { + +// System.out.println("Try to create a font of " + name + " family, " + weight); + java.awt.Font baseFont = new java.awt.Font(name, weight, (int) size); // PFont.findFont(name);ç + +// System.out.println("Resulting family : " + baseFont.getFamily() + " " + baseFont.getStyle()); + PFont outputPFont = new PFont(baseFont.deriveFont(size), smooth, null); + +// System.out.println("Resulting PFont family : " + outputPFont.getName()); + return outputPFont; + } + + public static class Text extends PShapeSVGExtended { + + protected PFont font; + + public Text(PShapeSVGExtended parent, XML properties) { + super(parent, properties, true); + + // get location + float x = Float.parseFloat(properties.getString("x")); + float y = Float.parseFloat(properties.getString("y")); + + if (matrix == null) { + matrix = new PMatrix2D(); + } + matrix.translate(x, y); + + family = GROUP; + + font = parseFont(properties); + + } + +// @Override +// public void drawImpl(PGraphics g){ +// } + } + + public static class LineOfText extends PShapeSVGExtended { + + String textToDisplay; + PFont font; + + public LineOfText(PShapeSVGExtended parent, XML properties) { + + // TODO: child should ideally be parsed too... + // for inline content. + super(parent, properties, false); + +// // get location + float x = Float.parseFloat(properties.getString("x")); + float y = Float.parseFloat(properties.getString("y")); + + float parentX = Float.parseFloat(parent.element.getString("x")); + float parentY = Float.parseFloat(parent.element.getString("y")); + + if (matrix == null) matrix = new PMatrix2D(); + matrix.translate(x - parentX, (y - parentY) / 2f); + + // get the first properties + parseColors(properties); + font = parseFont(properties); + + // It is a line.. + boolean isALine = properties.getString("role") == "line"; + // NO inline content yet. + if (this.childCount > 0) { + } + + String text = properties.getContent(); + textToDisplay = text; + } + + @Override + public void drawImpl(PGraphics g) { + if (font == null) { + font = ((Text) parent).font; + if (font == null) { + return; + } + } + + pre(g); + g.textFont(font, font.getSize() / TEXT_QUALITY); + g.text(textToDisplay, 0, 0); + post(g); + } + + } + + public static class Font extends PShapeSVGExtended { + public FontFace face; + + public Map namedGlyphs; + public Map unicodeGlyphs; + + public int glyphCount; + public FontGlyph[] glyphs; + public FontGlyph missingGlyph; + + int horizAdvX; + + + public Font(PShapeSVGExtended parent, XML properties) { + super(parent, properties, false); +// handle(parent, properties); + + XML[] elements = properties.getChildren(); + + horizAdvX = properties.getInt("horiz-adv-x", 0); + + namedGlyphs = new HashMap(); + unicodeGlyphs = new HashMap(); + glyphCount = 0; + glyphs = new FontGlyph[elements.length]; + + for (int i = 0; i < elements.length; i++) { + String name = elements[i].getName(); + XML elem = elements[i]; + if (name == null) { + // skip it + } else if (name.equals("glyph")) { + FontGlyph fg = new FontGlyph(this, elem, this); + if (fg.isLegit()) { + if (fg.name != null) { + namedGlyphs.put(fg.name, fg); + } + if (fg.unicode != 0) { + unicodeGlyphs.put(Character.valueOf(fg.unicode), fg); + } + } + glyphs[glyphCount++] = fg; + + } else if (name.equals("missing-glyph")) { +// System.out.println("got missing glyph inside "); + missingGlyph = new FontGlyph(this, elem, this); + } else if (name.equals("font-face")) { + face = new FontFace(this, elem); + } else { + System.err.println("Ignoring " + name + " inside "); + } + } + } + + + protected void drawShape() { + // does nothing for fonts + } + + + public void drawString(PGraphics g, String str, float x, float y, float size) { + // 1) scale by the 1.0/unitsPerEm + // 2) scale up by a font size + g.pushMatrix(); + float s = size / face.unitsPerEm; + //System.out.println("scale is " + s); + // swap y coord at the same time, since fonts have y=0 at baseline + g.translate(x, y); + g.scale(s, -s); + char[] c = str.toCharArray(); + for (int i = 0; i < c.length; i++) { + // call draw on each char (pulling it w/ the unicode table) + FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c[i])); + if (fg != null) { + fg.draw(g); + // add horizAdvX/unitsPerEm to the x coordinate along the way + g.translate(fg.horizAdvX, 0); + } else { + System.err.println("'" + c[i] + "' not available."); + } + } + g.popMatrix(); + } + + + public void drawChar(PGraphics g, char c, float x, float y, float size) { + g.pushMatrix(); + float s = size / face.unitsPerEm; + g.translate(x, y); + g.scale(s, -s); + FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c)); + if (fg != null) g.shape(fg); + g.popMatrix(); + } + + + public float textWidth(String str, float size) { + float w = 0; + char[] c = str.toCharArray(); + for (int i = 0; i < c.length; i++) { + // call draw on each char (pulling it w/ the unicode table) + FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c[i])); + if (fg != null) { + w += (float) fg.horizAdvX / face.unitsPerEm; + } + } + return w * size; + } + } + + + // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . + + + static class FontFace extends PShapeSVGExtended { + int horizOriginX; // dflt 0 + int horizOriginY; // dflt 0 +// int horizAdvX; // no dflt? + int vertOriginX; // dflt horizAdvX/2 + int vertOriginY; // dflt ascent + int vertAdvY; // dflt 1em (unitsPerEm value) + + String fontFamily; + int fontWeight; // can also be normal or bold (also comma separated) + String fontStretch; + int unitsPerEm; // dflt 1000 + int[] panose1; // dflt "0 0 0 0 0 0 0 0 0 0" + int ascent; + int descent; + int[] bbox; // spec says comma separated, tho not w/ forge + int underlineThickness; + int underlinePosition; + //String unicodeRange; // gonna ignore for now + + + public FontFace(PShapeSVGExtended parent, XML properties) { + super(parent, properties, true); + + unitsPerEm = properties.getInt("units-per-em", 1000); + } + + + protected void drawShape() { + // nothing to draw in the font face attribute + } + } + + + // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . + + + public static class FontGlyph extends PShapeSVGExtended { // extends Path + public String name; + char unicode; + int horizAdvX; + + public FontGlyph(PShapeSVGExtended parent, XML properties, Font font) { + super(parent, properties, true); + super.parsePath(); // ?? + + name = properties.getString("glyph-name"); + String u = properties.getString("unicode"); + unicode = 0; + if (u != null) { + if (u.length() == 1) { + unicode = u.charAt(0); + //System.out.println("unicode for " + name + " is " + u); + } else { + System.err.println("unicode for " + name + + " is more than one char: " + u); + } + } + if (properties.hasAttribute("horiz-adv-x")) { + horizAdvX = properties.getInt("horiz-adv-x"); + } else { + horizAdvX = font.horizAdvX; + } + } + + + protected boolean isLegit() { // TODO need a better way to handle this... + return vertexCount != 0; + } + } + + + // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . + + + /** + * Get a particular element based on its SVG ID. When editing SVG by hand, + * this is the id="" tag on any SVG element. When editing from Illustrator, + * these IDs can be edited by expanding the layers palette. The names used + * in the layers palette, both for the layers or the shapes and groups + * beneath them can be used here. + * 
+   * // This code grabs "Layer 3" and the shapes beneath it.
+   * PShape layer3 = svg.getChild("Layer 3");
+   *
+ */ + @Override + public PShape getChild(String name) { + PShape found = super.getChild(name); + if (found == null) { + // Otherwise try with underscores instead of spaces + // (this is how Illustrator handles spaces in the layer names). + found = super.getChild(name.replace(' ', '_')); + } + // Set bounding box based on the parent bounding box + if (found != null) { +// found.x = this.x; +// found.y = this.y; + found.width = this.width; + found.height = this.height; + } + return found; + } + + public PMatrix getMatrix(){ + return this.matrix; + } + + + /** + * Prints out the SVG document. Useful for parsing. + */ + public void print() { + PApplet.println(element.toString()); + } +} From 7624fbc0ecc1b0aef12b6fa1d7dae42a720c508f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 21 Oct 2016 10:09:47 +0200 Subject: [PATCH 11/99] Vanilla processing instead of custom. --- papart/pom.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/papart/pom.xml b/papart/pom.xml index c5261f0e..a36b5c97 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -162,7 +162,7 @@ org.processing core - 3.1.2-papart-SNAPSHOT + 3.1.2 From 7f9b47da31619b27521d7997258cfb9a275246f2 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 26 Oct 2016 15:08:35 +0200 Subject: [PATCH 12/99] =?UTF-8?q?WIP=20-=C2=A0NOT=C2=A0WORKING?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- papart/SR300.txt | 38 +++++++++++ .../papart/depthcam/devices/RealSense.java | 63 ++++++++----------- .../papart/procam/camera/CameraRealSense.java | 11 ++++ 3 files changed, 76 insertions(+), 36 deletions(-) create mode 100644 papart/SR300.txt diff --git a/papart/SR300.txt b/papart/SR300.txt new file mode 100644 index 00000000..a52f0f50 --- /dev/null +++ b/papart/SR300.txt @@ -0,0 +1,38 @@ +## Working options + +## Not working auto range + +# Change les points 3D +F200_FILTER_OPTION +0 - 7 + +# F200_ACCURACY +1 - 3 + +# F200_CONFIDENCE_THRESHOLD +0 - 15 + +# F200_LASER_POWER +0 - 1 (more has no effect) + +# Color Options + +# COLOR_SHARPNESS +0 - 100 + +# COLOR_GAMMA +100 - 500 // 300 - mid + +# COLOR_GAIN +0 - 128 + +# COLOR_CONTRAST +0 - 100 + +# COLOR_BRIGHTNESS +-64 - 64 + + +IVCAM options preset +0 - 8 + diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 9866f696..17b3b674 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -34,41 +34,31 @@ * @author Jeremy Laviole */ public final class RealSense extends KinectDevice { - + protected CameraRealSense cameraRGB; protected CameraRealSenseDepth cameraDepth; - + public RealSense(PApplet parent) { initSize(); this.parent = parent; - initRGB(); + initCamera(); + // Warning Start both depth & color camera for now. cameraRGB.start(); cameraDepth = cameraRGB.getDepthCamera(); - - // TODO: setSize is not working on camera side... - //cameraDepth.setSize(WIDTH, HEIGHT); - cameraDepth.setParent(parent); - - // TODO: calibration... -// cameraDepth.useHarwareIntrinsics(); - // get the stereo ? setStereoCalibration(cameraRGB.getHardwareExtrinsics()); // setStereoCalibration(Papart.kinectStereoCalib); - cameraRGB.useHarwareIntrinsics(); - cameraDepth.useHarwareIntrinsics(); - -// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// cameraRGB.useHarwareIntrinsics(); +// cameraDepth.useHarwareIntrinsics(); + cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300-960.yaml"); + cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); // cameraRGB.getProjectiveDevice().getIntrinsics().print(); - - // Warning Start both depth & color camera for now. - } - + public RealSense(PApplet parent, CameraRealSense cameraRGB) { throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); // initSize(); @@ -84,13 +74,12 @@ public RealSense(PApplet parent, CameraRealSense cameraRGB) { // setStereoCalibration(cameraRGB.getHardwareExtrinsics()); //// setStereoCalibration(Papart.kinectStereoCalib); } - + public static final int CAMERA_WIDTH = 640; public static final int CAMERA_HEIGHT = 480; // public static final int CAMERA_WIDTH_RGB = 1920; // public static final int CAMERA_HEIGHT_RGB = 1080; - private void initSize() { // IR and Depth image size WIDTH = 640; @@ -102,36 +91,38 @@ private void initSize() { RGB_HEIGHT = 540; RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; } - + public void close() { cameraRGB.close(); cameraDepth.close(); } - - final void initRGB() { + + final void initCamera() { // Check if it is the default camera... Papart papart = Papart.getPapart(); - + if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { System.out.println("REALSENSE: Using configuration ID & Resolution."); // use the ID int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); - + cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); cameraRGB.setParent(parent); // use the calibration cameraRGB.setCalibration(Papart.cameraCalib); } else { - + System.out.println("REALSENSE: Using DEFAULT configuration."); cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); cameraRGB.setParent(parent); cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); } - + + cameraDepth = cameraRGB.getDepthCamera(); + cameraDepth.setSize(WIDTH, HEIGHT); } - + final void initIR() { // NO IR yet. @@ -141,33 +132,33 @@ final void initIR() { // cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); // cameraIR.start(); } - + @Override public Camera getCameraRGB() { return cameraRGB; } - + public Camera getCameraIR() { throw new UnsupportedOperationException("Not supported yet."); } - + public Camera getCameraDepth() { return cameraDepth; } - + @Override public int rawDepthSize() { return SIZE * 2; } - + @Override public void setTouch(KinectTouchInput kinectTouchInput) { cameraDepth.setTouchInput(kinectTouchInput); } - + @Override public Type type() { return Type.REALSENSE; } - + } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 564d3613..bbd08ae0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -26,6 +26,7 @@ import org.bytedeco.javacpp.opencv_core.IplImage; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.RealSenseFrameGrabber; +import processing.core.PApplet; import processing.core.PImage; import processing.core.PMatrix3D; @@ -50,6 +51,16 @@ protected CameraRealSense(int cameraNo) { grabber = new RealSenseFrameGrabber(this.systemNumber); depthCamera = new CameraRealSenseDepth(this); } + + @Override + public void setParent(PApplet parent){ + super.setParent(parent); + depthCamera.setParent(parent); + } + + public RealSenseFrameGrabber getFrameGrabber(){ + return this.grabber; + } public CameraRealSenseDepth getDepthCamera() { return this.depthCamera; From 063eea306ac07c688b89467b78f103c364a50257 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 26 Oct 2016 15:31:05 +0200 Subject: [PATCH 13/99] Working again, thep setSize is problematic... It MUST be done after the start, to investigate. --- .../papart/depthcam/devices/RealSense.java | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 17b3b674..9d6fa413 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -47,15 +47,18 @@ public RealSense(PApplet parent) { cameraRGB.start(); cameraDepth = cameraRGB.getDepthCamera(); - + cameraDepth = cameraRGB.getDepthCamera(); + cameraDepth.setSize(WIDTH, HEIGHT); + cameraDepth.setParent(parent); + setStereoCalibration(cameraRGB.getHardwareExtrinsics()); // setStereoCalibration(Papart.kinectStereoCalib); -// cameraRGB.useHarwareIntrinsics(); -// cameraDepth.useHarwareIntrinsics(); + cameraRGB.useHarwareIntrinsics(); + cameraDepth.useHarwareIntrinsics(); - cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300-960.yaml"); - cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300-960.yaml"); +// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); // cameraRGB.getProjectiveDevice().getIntrinsics().print(); } @@ -118,9 +121,7 @@ final void initCamera() { cameraRGB.setParent(parent); cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); } - - cameraDepth = cameraRGB.getDepthCamera(); - cameraDepth.setSize(WIDTH, HEIGHT); + } final void initIR() { From 692649d9d0ba16dd6b8f11f57de5a17c16065e72 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 26 Oct 2016 16:05:45 +0200 Subject: [PATCH 14/99] RealSense 960 working good. --- .../papart/depthcam/devices/RealSense.java | 53 ++++++++----------- 1 file changed, 22 insertions(+), 31 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 9d6fa413..5573fab9 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -34,34 +34,23 @@ * @author Jeremy Laviole */ public final class RealSense extends KinectDevice { - + protected CameraRealSense cameraRGB; protected CameraRealSenseDepth cameraDepth; - + public RealSense(PApplet parent) { initSize(); this.parent = parent; - initCamera(); + initCameras(); // Warning Start both depth & color camera for now. cameraRGB.start(); - - cameraDepth = cameraRGB.getDepthCamera(); - cameraDepth = cameraRGB.getDepthCamera(); - cameraDepth.setSize(WIDTH, HEIGHT); - cameraDepth.setParent(parent); - - setStereoCalibration(cameraRGB.getHardwareExtrinsics()); -// setStereoCalibration(Papart.kinectStereoCalib); + setStereoCalibration(cameraRGB.getHardwareExtrinsics()); cameraRGB.useHarwareIntrinsics(); cameraDepth.useHarwareIntrinsics(); - -// cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300-960.yaml"); -// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -// cameraRGB.getProjectiveDevice().getIntrinsics().print(); } - + public RealSense(PApplet parent, CameraRealSense cameraRGB) { throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); // initSize(); @@ -77,7 +66,7 @@ public RealSense(PApplet parent, CameraRealSense cameraRGB) { // setStereoCalibration(cameraRGB.getHardwareExtrinsics()); //// setStereoCalibration(Papart.kinectStereoCalib); } - + public static final int CAMERA_WIDTH = 640; public static final int CAMERA_HEIGHT = 480; @@ -94,27 +83,27 @@ private void initSize() { RGB_HEIGHT = 540; RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; } - + public void close() { cameraRGB.close(); cameraDepth.close(); } - - final void initCamera() { + + final void initCameras() { // Check if it is the default camera... Papart papart = Papart.getPapart(); - + if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { System.out.println("REALSENSE: Using configuration ID & Resolution."); // use the ID int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); - + cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); cameraRGB.setParent(parent); // use the calibration cameraRGB.setCalibration(Papart.cameraCalib); } else { - + System.out.println("REALSENSE: Using DEFAULT configuration."); cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); @@ -122,8 +111,10 @@ final void initCamera() { cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); } + cameraDepth = cameraRGB.getDepthCamera(); + cameraDepth.setSize(WIDTH, HEIGHT); } - + final void initIR() { // NO IR yet. @@ -133,33 +124,33 @@ final void initIR() { // cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); // cameraIR.start(); } - + @Override public Camera getCameraRGB() { return cameraRGB; } - + public Camera getCameraIR() { throw new UnsupportedOperationException("Not supported yet."); } - + public Camera getCameraDepth() { return cameraDepth; } - + @Override public int rawDepthSize() { return SIZE * 2; } - + @Override public void setTouch(KinectTouchInput kinectTouchInput) { cameraDepth.setTouchInput(kinectTouchInput); } - + @Override public Type type() { return Type.REALSENSE; } - + } From aa9b8798335d21a7cdef5039cd73ff6cea36e7a6 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 26 Oct 2016 17:37:45 +0200 Subject: [PATCH 15/99] Work in progress, to get Color, IR and Depth from RealSense. --- .../analysis/KinectDepthAnalysis.java | 3 +- .../depthcam/devices/RealSense-TMP.java | 173 ++++++++++++++++++ .../papart/depthcam/devices/RealSense.java | 39 ++-- papart/src/fr/inria/papart/procam/Utils.java | 13 ++ .../inria/papart/procam/camera/CamImage.java | 1 + .../papart/procam/camera/CamImageColor.java | 1 + .../papart/procam/camera/CamImageGray.java | 14 +- .../papart/procam/camera/CameraFactory.java | 5 +- .../papart/procam/camera/CameraRealSense.java | 131 ++++++------- .../procam/camera/CameraRealSenseColor.java | 92 ++++++++++ .../procam/camera/CameraRealSenseDepth.java | 24 ++- .../procam/camera/CameraRealSenseIR.java | 92 ++++++++++ 12 files changed, 491 insertions(+), 97 deletions(-) create mode 100644 papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java create mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java create mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 2667d2b0..dc33fa99 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -35,6 +35,7 @@ import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraOpenKinect; import fr.inria.papart.procam.camera.CameraRealSense; +import fr.inria.papart.procam.camera.CameraRealSenseDepth; import java.nio.ByteBuffer; import java.nio.ShortBuffer; import java.util.ArrayList; @@ -124,7 +125,7 @@ private void initMemory() { depthComputationMethod = new KinectOneDepth(); } if (kinectDevice instanceof RealSense) { - float depthScale = ((CameraRealSense) ((RealSense) kinectDevice).getCameraRGB()).getDepthScale(); + float depthScale = ((CameraRealSenseDepth)((RealSense) kinectDevice).getCameraDepth()).getDepthScale(); depthComputationMethod = new RealSenseDepth(depthScale); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java new file mode 100644 index 00000000..6db08abe --- /dev/null +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java @@ -0,0 +1,173 @@ +///* +// * Part of the PapARt project - https://project.inria.fr/papart/ +// * +// * Copyright (C) 2014-2016 Inria +// * Copyright (C) 2011-2013 Bordeaux University +// * +// * This library is free software; you can redistribute it and/or +// * modify it under the terms of the GNU Lesser General Public +// * License as published by the Free Software Foundation, version 2.1. +// * +// * This library is distributed in the hope that it will be useful, +// * but WITHOUT ANY WARRANTY; without even the implied warranty of +// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// * Lesser General Public License for more details. +// * +// * You should have received a copy of the GNU Lesser General +// * Public License along with this library; If not, see +// * . +// */ +//package fr.inria.papart.depthcam.devices; +// +//import fr.inria.papart.multitouch.KinectTouchInput; +//import fr.inria.papart.procam.Papart; +//import fr.inria.papart.procam.camera.Camera; +//import fr.inria.papart.procam.camera.CameraFactory; +//import fr.inria.papart.procam.camera.CameraOpenCVDepth; +//import fr.inria.papart.procam.camera.CameraOpenKinectDepth; +//import fr.inria.papart.procam.camera.CameraRealSense; +//import fr.inria.papart.procam.camera.CameraRealSenseDepth; +//import processing.core.PApplet; +// +///** +// * +// * @author Jeremy Laviole +// */ +//public final class RealSense extends KinectDevice { +// +// protected CameraRealSense cameraRGB; +// protected CameraRealSenseDepth cameraDepth; +// +// public RealSense(PApplet parent) { +// initSize(); +// this.parent = parent; +// initRGB(); +// +// cameraRGB.start(); +// +// cameraDepth = cameraRGB.getDepthCamera(); +// +// // TODO: setSize is not working on camera side... +// cameraDepth.setSize(WIDTH, HEIGHT); +// cameraDepth.setParent(parent); +// +// // TODO: calibration... +//// cameraDepth.useHarwareIntrinsics(); +// +// // get the stereo ? +// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); +//// setStereoCalibration(Papart.kinectStereoCalib); +// +// cameraRGB.useHarwareIntrinsics(); +// cameraDepth.useHarwareIntrinsics(); +// +//// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// +//// cameraRGB.getProjectiveDevice().getIntrinsics().print(); +// +// // Warning Start both depth & color camera for now. +// +// } +// +// public RealSense(PApplet parent, CameraRealSense cameraRGB) { +// throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); +//// initSize(); +//// this.parent = parent; +//// this.cameraRGB = cameraRGB; +//// +//// cameraDepth = cameraRGB.getDepthCamera(); +//// cameraDepth.setParent(parent); +//// // TODO: calibration... +//// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +//// +//// // TODO: get the extrinsics ! +//// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); +////// setStereoCalibration(Papart.kinectStereoCalib); +// } +// +// public static final int CAMERA_WIDTH = 640; +// public static final int CAMERA_HEIGHT = 480; +// +//// public static final int CAMERA_WIDTH_RGB = 1920; +//// public static final int CAMERA_HEIGHT_RGB = 1080; +// +// private void initSize() { +// // IR and Depth image size +// WIDTH = 640; +// HEIGHT = 480; +// SIZE = WIDTH * HEIGHT; +// +// // RGB image size +// RGB_WIDTH = 960; +// RGB_HEIGHT = 540; +// RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; +// } +// +// public void close() { +// cameraRGB.close(); +// cameraDepth.close(); +// } +// +// final void initRGB() { +// // Check if it is the default camera... +// Papart papart = Papart.getPapart(); +// +// if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { +// System.out.println("REALSENSE: Using configuration ID & Resolution."); +// // use the ID +// int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); +// +// cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); +// cameraRGB.setParent(parent); +// // use the calibration +// cameraRGB.setCalibration(Papart.cameraCalib); +// } else { +// +// System.out.println("REALSENSE: Using DEFAULT configuration."); +// cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); +// cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); +// cameraRGB.setParent(parent); +// cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); +// } +// +// } +// +// final void initIR() { +// // NO IR yet. +// +//// cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); +//// cameraIR.setParent(parent); +////// cameraIR.setSize(WIDTH, HEIGHT); +//// cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +//// cameraIR.start(); +// } +// +// @Override +// public Camera getCameraRGB() { +// return cameraRGB; +// } +// +// public Camera getCameraIR() { +// throw new UnsupportedOperationException("Not supported yet."); +// } +// +// public Camera getCameraDepth() { +// return cameraDepth; +// } +// +// @Override +// public int rawDepthSize() { +// return SIZE * 2; +// } +// +// @Override +// public void setTouch(KinectTouchInput kinectTouchInput) { +// cameraDepth.setTouchInput(kinectTouchInput); +// } +// +// @Override +// public Type type() { +// return Type.REALSENSE; +// } +// +//} diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 5573fab9..c90982e1 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -26,7 +26,9 @@ import fr.inria.papart.procam.camera.CameraOpenCVDepth; import fr.inria.papart.procam.camera.CameraOpenKinectDepth; import fr.inria.papart.procam.camera.CameraRealSense; +import fr.inria.papart.procam.camera.CameraRealSenseColor; import fr.inria.papart.procam.camera.CameraRealSenseDepth; +import fr.inria.papart.procam.camera.CameraRealSenseIR; import processing.core.PApplet; /** @@ -35,8 +37,10 @@ */ public final class RealSense extends KinectDevice { - protected CameraRealSense cameraRGB; + protected CameraRealSense cameraRS; protected CameraRealSenseDepth cameraDepth; + protected CameraRealSenseColor cameraColor; + protected CameraRealSenseIR cameraIR; public RealSense(PApplet parent) { initSize(); @@ -44,10 +48,10 @@ public RealSense(PApplet parent) { initCameras(); // Warning Start both depth & color camera for now. - cameraRGB.start(); + cameraRS.start(); - setStereoCalibration(cameraRGB.getHardwareExtrinsics()); - cameraRGB.useHarwareIntrinsics(); + setStereoCalibration(cameraRS.getHardwareExtrinsics()); + cameraColor.useHarwareIntrinsics(); cameraDepth.useHarwareIntrinsics(); } @@ -85,7 +89,7 @@ private void initSize() { } public void close() { - cameraRGB.close(); + cameraRS.close(); cameraDepth.close(); } @@ -98,20 +102,23 @@ final void initCameras() { // use the ID int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); - cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); - cameraRGB.setParent(parent); - // use the calibration - cameraRGB.setCalibration(Papart.cameraCalib); + cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); + cameraRS.setParent(parent); + + cameraColor = cameraRS.getColorCamera(); + cameraColor.setCalibration(Papart.cameraCalib); } else { System.out.println("REALSENSE: Using DEFAULT configuration."); - cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); - cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); - cameraRGB.setParent(parent); - cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); + cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); + cameraRS.setParent(parent); + + cameraColor = cameraRS.getColorCamera(); + cameraColor.setSize(RGB_WIDTH, RGB_HEIGHT); + cameraColor.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); } - cameraDepth = cameraRGB.getDepthCamera(); + cameraDepth = cameraRS.getDepthCamera(); cameraDepth.setSize(WIDTH, HEIGHT); } @@ -127,11 +134,11 @@ final void initIR() { @Override public Camera getCameraRGB() { - return cameraRGB; + return cameraColor; } public Camera getCameraIR() { - throw new UnsupportedOperationException("Not supported yet."); + return cameraIR; } public Camera getCameraDepth() { diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 745599eb..ea5a89f8 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -610,6 +610,19 @@ static public void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { } argb.rewind(); } + + static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] tmpArr = new byte[1]; + + for (int i = 0; i < gray.capacity(); i++) { + gray.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[0]); + argb.put(tmpArr[0]); + argb.put((byte) 255); + } + argb.rewind(); + } // TODO private static byte[] kinectByteArray = null; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImage.java b/papart/src/fr/inria/papart/procam/camera/CamImage.java index a4409b30..0f907986 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImage.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImage.java @@ -39,6 +39,7 @@ public abstract class CamImage extends PImage { protected CamImage(PApplet parent, int width, int height, int format, PixelFormat incomingFormat) { super(width, height, format); this.incomingFormat = incomingFormat; + System.out.println("Creating a CamImage " + width + " " + height + " " + format); camInit(parent); } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index b0705ced..a2d68d39 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -61,6 +61,7 @@ protected final void camInit(PApplet parent) { @Override public void update(IplImage iplImage) { + Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index 20d8114f..59b71fba 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.Utils; import fr.inria.papart.procam.camera.Camera.PixelFormat; import java.awt.Image; import java.nio.ByteBuffer; @@ -33,6 +34,8 @@ */ public class CamImageGray extends CamImage { + protected ByteBuffer argbBuffer; + public CamImageGray(PApplet parent, Image img) { super(parent, img); } @@ -53,18 +56,21 @@ protected final void camInit(PApplet parent) { // Second time with bufferSource. tex = ((PGraphicsOpenGL) parent.g).getTexture(this); -// imageBuffer = ByteBuffer.allocateDirect(this.pixels.length); + argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); } @Override public void update(opencv_core.IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); - ByteBuffer buffer = iplImage.getByteBuffer(); + ByteBuffer imageBuffer = iplImage.getByteBuffer(); + + // P5 does not know real Gray textures, we need to convert it... + Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); // Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); - tex.copyBufferFromSource(null, buffer, width, height); - buffer.rewind(); + tex.copyBufferFromSource(null, argbBuffer, width, height); + imageBuffer.rewind(); } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index ecc92e63..b39a42f0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -39,6 +39,7 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { } Camera camera; + CameraRealSense camRS; switch (type) { case OPENCV: camera = new CameraOpenCV(cameraNo); @@ -53,7 +54,9 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { camera = new CameraOpenCVDepth(cameraNo); break; case REALSENSE: - camera = new CameraRealSense(cameraNo); + camRS = new CameraRealSense(cameraNo); + camRS.useColor(true); + camera = camRS; break; case OPEN_KINECT: camera = new CameraOpenKinect(cameraNo); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index bbd08ae0..97991cdf 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -38,7 +38,11 @@ public class CameraRealSense extends Camera { protected RealSenseFrameGrabber grabber; protected CameraRealSenseDepth depthCamera; + protected CameraRealSenseColor colorCamera; + protected CameraRealSenseIR IRCamera; + private boolean useIR = true; private boolean useDepth = true; + private boolean useColor = true; protected CameraRealSense(int cameraNo) { try { @@ -47,18 +51,23 @@ protected CameraRealSense(int cameraNo) { Logger.getLogger(CameraRealSense.class.getName()).log(Level.SEVERE, null, ex); } this.systemNumber = cameraNo; - setPixelFormat(PixelFormat.RGB); + grabber = new RealSenseFrameGrabber(this.systemNumber); + depthCamera = new CameraRealSenseDepth(this); + colorCamera = new CameraRealSenseColor(this); + IRCamera = new CameraRealSenseIR(this); } - + @Override - public void setParent(PApplet parent){ + public void setParent(PApplet parent) { super.setParent(parent); depthCamera.setParent(parent); + IRCamera.setParent(parent); + colorCamera.setParent(parent); } - - public RealSenseFrameGrabber getFrameGrabber(){ + + public RealSenseFrameGrabber getFrameGrabber() { return this.grabber; } @@ -66,44 +75,52 @@ public CameraRealSenseDepth getDepthCamera() { return this.depthCamera; } + public CameraRealSenseIR getIRCamera() { + return this.IRCamera; + } + + public CameraRealSenseColor getColorCamera() { + return this.colorCamera; + } + public PMatrix3D getHardwareExtrinsics() { RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); return new PMatrix3D( - fb.get(0),fb.get(3),fb.get(6), -fb.get(9) * 1000f, - fb.get(1),fb.get(4),fb.get(7), fb.get(10)* 1000f, - fb.get(2),fb.get(5),fb.get(8), fb.get(11)* 1000f, + fb.get(0), fb.get(3), fb.get(6), -fb.get(9) * 1000f, + fb.get(1), fb.get(4), fb.get(7), fb.get(10) * 1000f, + fb.get(2), fb.get(5), fb.get(8), fb.get(11) * 1000f, 0, 0, 0, 1); } - - public void useHarwareIntrinsics(){ - RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.color); - FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); - float cx = fb.get(2); - float cy = fb.get(3); - float fx = fb.get(4); - float fy = fb.get(5); - this.setSimpleCalibration(fx, fy, cx, cy, this.width, this.height); + + public void useDepth(boolean useDepth) { + this.useDepth = useDepth; } - - public float getDepthScale() { - return grabber.getDepthScale(); + public void useIR(boolean useIR) { + this.useIR = useIR; } - public void useDepth(boolean useDepth) { - this.useDepth = useDepth; + public void useColor(boolean useColor) { + this.useColor = useColor; + } + + public void setSize(int w, int h) { + colorCamera.setSize(w, h); } @Override public void start() { - grabber.setImageWidth(width()); - grabber.setImageHeight(height()); - grabber.enableColorStream(); if (useDepth) { depthCamera.start(); } + if (useColor) { + colorCamera.start(); + } + if (useIR) { + IRCamera.start(); + } try { grabber.start(); @@ -129,15 +146,20 @@ public void grab() { grabber.grab(); // get the color - IplImage img = grabber.grabVideo(); +// IplImage img = grabber.grabVideo(); // updateCurrentImage(img); - - currentImage = img; - +// currentImage = img; +// Auto grab ? +// if (useDepth) { -// depthCamera.grab(); + depthCamera.grab(); + } + if (useColor) { + colorCamera.grab(); + } + if (useIR) { + IRCamera.grab(); } - } catch (Exception e) { System.out.println("Exception :" + e); e.printStackTrace(); @@ -152,43 +174,22 @@ public PImage getDepthPImage() { return depthCamera.getPImage(); } -// public void grab() { -// System.out.println("Wait for frames..."); -// device.wait_for_frames(); -// System.out.println("frames ok"); -// testImage.loadPixels(); -// int[] pixels = testImage.pixels; -// -//// float scale = device.get_depth_scale(); -//// Pointer data = (Pointer) device.get_frame_data(RealSense.depth); -//// ShortBuffer bb = data.position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); -//// System.out.println("Sizes: " + pixels.length + " " + bb.limit()); -// -//// for (int i = 0; i < bb.capacity(); i++) { -//// float value = bb.get(i); -//// pixels[i] = (int) (value * scale * 1000f); -//// } -// -// Pointer data_color = (Pointer) device.get_frame_data(RealSense.color); -// ByteBuffer bb_color = data_color.position(0).limit(640 * 480 * 3).asByteBuffer(); -// -// System.out.println("Sizes " + bb_color.capacity() + " " + pixels.length * 3); -// -// for (int i = 0; i < bb_color.capacity() / 3; i++) { -// pixels[i] = (bb_color.get(i*3 + 0) & 0xFF) >> 0 | -// (bb_color.get(i*3 + 1) & 0xFF) << 8 | -// (bb_color.get(i*3 + 2) & 0xFF) << 16; -// } -// testImage.updatePixels(); -// } + public PImage getColorImage() { + return colorCamera.getPImage(); + } + + public PImage getIRImage() { + return IRCamera.getPImage(); + } + @Override public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; + if (useColor) { + return colorCamera.getPImage(); + } + if (useDepth) { + return IRCamera.getPImage(); } - // TODO: exceptions !!! return null; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java new file mode 100755 index 00000000..ea03afef --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java @@ -0,0 +1,92 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.camera; + +import java.nio.FloatBuffer; +import org.bytedeco.javacpp.RealSense; +import processing.core.PImage; + +/** + * + * @author Jeremy Laviole + */ +public class CameraRealSenseColor extends Camera { + + CameraRealSense mainCamera; + + protected CameraRealSenseColor(CameraRealSense mainCamera) { + setPixelFormat(PixelFormat.RGB); + this.mainCamera = mainCamera; + } + + public void useHarwareIntrinsics() { + RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.color); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + setSimpleCalibration(fx, fy, cx, cy, width(), height()); + } + + @Override + public void start() { + mainCamera.grabber.setImageWidth(width()); + mainCamera.grabber.setImageHeight(height()); + mainCamera.grabber.enableColorStream(); + this.isConnected = true; + } + + @Override + public void grab() { + if (this.isClosing()) { + return; + } + // update the images. + try { + System.out.println("Grabbing color"); + currentImage = mainCamera.grabber.grabVideo(); + + } catch (Exception e) { + System.out.println("Exception :" + e); + e.printStackTrace(); + } + } + + @Override + public PImage getPImage() { + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; + } + + @Override + public void close() { + this.setClosing(); + mainCamera.useColor(false); + mainCamera.grabber.disableColorStream(); + + } + +} diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index cf42ac2c..bbf92404 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -30,15 +30,15 @@ */ public class CameraRealSenseDepth extends Camera implements WithTouchInput { - CameraRealSense colorCamera; + CameraRealSense mainCamera; private KinectTouchInput touchInput; protected CameraRealSenseDepth(CameraRealSense colorCamera) { - this.colorCamera = colorCamera; + this.mainCamera = colorCamera; } public void useHarwareIntrinsics() { - RealSense.intrinsics intrinsics = colorCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); + RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); float cx = fb.get(2); float cy = fb.get(3); @@ -49,12 +49,16 @@ public void useHarwareIntrinsics() { @Override public void start() { - colorCamera.grabber.setDepthImageWidth(width()); - colorCamera.grabber.setDepthImageHeight(height()); - colorCamera.grabber.enableDepthStream(); + mainCamera.grabber.setDepthImageWidth(width()); + mainCamera.grabber.setDepthImageHeight(height()); + mainCamera.grabber.enableDepthStream(); this.isConnected = true; } + public float getDepthScale() { + return mainCamera.grabber.getDepthScale(); + } + @Override public void grab() { if (this.isClosing()) { @@ -62,11 +66,11 @@ public void grab() { } // update the images. try { - currentImage = colorCamera.grabber.grabDepth(); + currentImage = mainCamera.grabber.grabDepth(); if (touchInput != null) { touchInput.lock(); touchInput.update(); - touchInput.getTouch2DColors(colorCamera.currentImage); + touchInput.getTouch2DColors(mainCamera.currentImage); touchInput.unlock(); } else if (touchInput != null) { System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); @@ -101,8 +105,8 @@ public void setTouchInput(KinectTouchInput touchInput) { @Override public void close() { this.setClosing(); - colorCamera.useDepth(false); - colorCamera.grabber.disableDepthStream(); + mainCamera.useDepth(false); + mainCamera.grabber.disableDepthStream(); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java new file mode 100755 index 00000000..4b0fa661 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java @@ -0,0 +1,92 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.camera; + +import java.nio.FloatBuffer; +import org.bytedeco.javacpp.RealSense; +import processing.core.PImage; + +/** + * + * @author Jeremy Laviole + */ +public class CameraRealSenseIR extends Camera { + + CameraRealSense colorCamera; + + protected CameraRealSenseIR(CameraRealSense colorCamera) { + this.colorCamera = colorCamera; + this.width = 640; + this.height = 480; + setPixelFormat(PixelFormat.GRAY); + } + + public void useHarwareIntrinsics() { + RealSense.intrinsics intrinsics = colorCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.infrared); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + setSimpleCalibration(fx, fy, cx, cy, width(), height()); + } + + @Override + public void start() { + colorCamera.grabber.setIRImageWidth(width()); + colorCamera.grabber.setIRImageHeight(height()); + colorCamera.grabber.enableIRStream(); + this.isConnected = true; + } + + @Override + public void grab() { + if (this.isClosing()) { + return; + } + // update the images. + try { + currentImage = colorCamera.grabber.grabIR(); + } catch (Exception e) { + System.out.println("Exception :" + e); + e.printStackTrace(); + } + } + + @Override + public PImage getPImage() { + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; + } + + @Override + public void close() { + this.setClosing(); + colorCamera.useIR(false); + colorCamera.grabber.disableIRStream(); + + } + +} From c6533ddb95bc770fc18e1f6e65c5f6fc1646e23a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 26 Oct 2016 17:52:08 +0200 Subject: [PATCH 16/99] Depth working also. --- papart/src/fr/inria/papart/procam/Utils.java | 12 ++++++++++++ .../fr/inria/papart/procam/camera/CamImageGray.java | 10 +++++++++- papart/src/fr/inria/papart/procam/camera/Camera.java | 3 ++- .../papart/procam/camera/CameraRealSenseDepth.java | 2 ++ 4 files changed, 25 insertions(+), 2 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index ea5a89f8..45a1f089 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -623,6 +623,18 @@ static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { } argb.rewind(); } + static public void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] tmpArr = new byte[2]; + + for (int i = 0; i < gray.capacity(); i +=2) { + gray.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[1]); + argb.put((byte) 128); + argb.put((byte) 255); + } + argb.rewind(); + } // TODO private static byte[] kinectByteArray = null; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index 59b71fba..eba92d9b 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -56,6 +56,7 @@ protected final void camInit(PApplet parent) { // Second time with bufferSource. tex = ((PGraphicsOpenGL) parent.g).getTexture(this); + System.out.println("Allocating.. " + this.pixels.length * 4); argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); } @@ -65,8 +66,15 @@ public void update(opencv_core.IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); + + if(incomingFormat == PixelFormat.GRAY){ // P5 does not know real Gray textures, we need to convert it... - Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); + Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); + } + if(incomingFormat == PixelFormat.REALSENSE_Z16){ + + Utils.byteBufferZ16toARGB(imageBuffer, argbBuffer); + } // Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); tex.copyBufferFromSource(null, argbBuffer, width, height); diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index e31b0122..5e9fb625 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -71,7 +71,7 @@ public enum Type { public enum PixelFormat { - RGB, BGR, ARGB, RGBA, GRAY, DEPTH_KINECT_MM, DEPTH_KINECT_RAW + RGB, BGR, ARGB, RGBA, GRAY, DEPTH_KINECT_MM, DEPTH_KINECT_RAW, REALSENSE_Z16 } protected PixelFormat format; @@ -389,6 +389,7 @@ protected void checkCamImage() { protected boolean isPixelFormatGray() { PixelFormat pixelFormat = getPixelFormat(); return pixelFormat == PixelFormat.GRAY + || pixelFormat == PixelFormat.REALSENSE_Z16 || pixelFormat == PixelFormat.DEPTH_KINECT_MM || pixelFormat == PixelFormat.DEPTH_KINECT_RAW; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index bbf92404..a840f98b 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -34,7 +34,9 @@ public class CameraRealSenseDepth extends Camera implements WithTouchInput { private KinectTouchInput touchInput; protected CameraRealSenseDepth(CameraRealSense colorCamera) { + setPixelFormat(PixelFormat.REALSENSE_Z16); this.mainCamera = colorCamera; + this.setSize(640, 480); } public void useHarwareIntrinsics() { From 0eba0703916e51fddd07f85add3288dccbf496a7 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 27 Oct 2016 11:35:39 +0200 Subject: [PATCH 17/99] Working version -> Depth + Color + IR with realsense. --- .../analysis/KinectDepthAnalysis.java | 14 +++--- .../depthcam/analysis/KinectProcessing.java | 7 +-- .../papart/depthcam/devices/RealSense.java | 50 +++++++------------ .../papart/procam/camera/CamImageGray.java | 18 +++---- .../procam/camera/CameraRealSenseColor.java | 9 ++-- .../procam/camera/CameraRealSenseDepth.java | 5 ++ .../procam/camera/CameraRealSenseIR.java | 23 +++++---- 7 files changed, 58 insertions(+), 68 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index dc33fa99..59c43dd1 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -19,7 +20,6 @@ */ package fr.inria.papart.depthcam.analysis; -import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.calibration.PlaneAndProjectionCalibration; import fr.inria.papart.depthcam.PixelOffset; import fr.inria.papart.depthcam.TouchAttributes; @@ -32,9 +32,6 @@ import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; -import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.CameraOpenKinect; -import fr.inria.papart.procam.camera.CameraRealSense; import fr.inria.papart.procam.camera.CameraRealSenseDepth; import java.nio.ByteBuffer; import java.nio.ShortBuffer; @@ -48,7 +45,6 @@ import org.bytedeco.javacpp.opencv_core; import org.bytedeco.javacpp.opencv_core.IplImage; import processing.core.PApplet; -import processing.core.PMatrix3D; import processing.core.PVector; import toxi.geom.Vec3D; @@ -65,6 +61,7 @@ public class KinectDepthAnalysis extends DepthAnalysis { // private variables // Raw data from the Kinect Sensor protected ShortBuffer depthRawShortBuffer; + protected ByteBuffer depthRawBuffer; protected byte[] depthRaw; protected byte[] colorRaw; @@ -125,7 +122,7 @@ private void initMemory() { depthComputationMethod = new KinectOneDepth(); } if (kinectDevice instanceof RealSense) { - float depthScale = ((CameraRealSenseDepth)((RealSense) kinectDevice).getCameraDepth()).getDepthScale(); + float depthScale = ((CameraRealSenseDepth) ((RealSense) kinectDevice).getCameraDepth()).getDepthScale(); depthComputationMethod = new RealSenseDepth(depthScale); } @@ -293,9 +290,12 @@ protected void doForEachValid3DPoint(int precision, DepthPointManiplation manip) } } + // WARNING MAGIC NUMBER protected void updateRawDepth(opencv_core.IplImage depthImage) { if (kinectDevice().type() == KinectDevice.Type.REALSENSE) { - depthRawShortBuffer = depthImage.imageData().position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); +// depthRawShortBuffer = depthImage.imageData().position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); + depthRawBuffer = depthImage.getByteBuffer(); + depthRawShortBuffer = depthRawBuffer.asShortBuffer(); } else { depthImage.getByteBuffer().get(depthRaw); } diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index 675730a8..e4e59684 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -19,23 +20,17 @@ */ package fr.inria.papart.depthcam.analysis; -import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; -import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.calibration.PlaneAndProjectionCalibration; -import fr.inria.papart.calibration.PlaneCalibration; import fr.inria.papart.depthcam.PixelOffset; import fr.inria.papart.depthcam.devices.KinectDevice; import fr.inria.papart.depthcam.devices.KinectOne; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; -import fr.inria.papart.procam.camera.CameraOpenKinect; import java.util.ArrayList; import java.util.Arrays; -import org.bytedeco.javacpp.indexer.Indexer; import org.bytedeco.javacpp.indexer.UByteIndexer; import org.bytedeco.javacpp.opencv_core; import static org.bytedeco.javacpp.opencv_core.*; import static org.bytedeco.javacpp.opencv_imgproc.*; -import org.bytedeco.javacpp.opencv_core.CvSize; import org.bytedeco.javacpp.opencv_core.IplImage; import processing.core.PApplet; import processing.core.PConstants; diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index c90982e1..74d31c10 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -23,8 +24,6 @@ import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; -import fr.inria.papart.procam.camera.CameraOpenCVDepth; -import fr.inria.papart.procam.camera.CameraOpenKinectDepth; import fr.inria.papart.procam.camera.CameraRealSense; import fr.inria.papart.procam.camera.CameraRealSenseColor; import fr.inria.papart.procam.camera.CameraRealSenseDepth; @@ -53,29 +52,13 @@ public RealSense(PApplet parent) { setStereoCalibration(cameraRS.getHardwareExtrinsics()); cameraColor.useHarwareIntrinsics(); cameraDepth.useHarwareIntrinsics(); + cameraIR.useHarwareIntrinsics(); } public RealSense(PApplet parent, CameraRealSense cameraRGB) { throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); -// initSize(); -// this.parent = parent; -// this.cameraRGB = cameraRGB; -// -// cameraDepth = cameraRGB.getDepthCamera(); -// cameraDepth.setParent(parent); -// // TODO: calibration... -// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -// -// // TODO: get the extrinsics ! -// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); -//// setStereoCalibration(Papart.kinectStereoCalib); } - public static final int CAMERA_WIDTH = 640; - public static final int CAMERA_HEIGHT = 480; - -// public static final int CAMERA_WIDTH_RGB = 1920; -// public static final int CAMERA_HEIGHT_RGB = 1080; private void initSize() { // IR and Depth image size WIDTH = 640; @@ -96,7 +79,6 @@ public void close() { final void initCameras() { // Check if it is the default camera... Papart papart = Papart.getPapart(); - if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { System.out.println("REALSENSE: Using configuration ID & Resolution."); // use the ID @@ -109,7 +91,6 @@ final void initCameras() { cameraColor.setCalibration(Papart.cameraCalib); } else { - System.out.println("REALSENSE: Using DEFAULT configuration."); cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); cameraRS.setParent(parent); @@ -120,28 +101,31 @@ final void initCameras() { cameraDepth = cameraRS.getDepthCamera(); cameraDepth.setSize(WIDTH, HEIGHT); + + cameraIR = cameraRS.getIRCamera(); + cameraIR.setSize(WIDTH, HEIGHT); } - - final void initIR() { - // NO IR yet. - -// cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); -// cameraIR.setParent(parent); -//// cameraIR.setSize(WIDTH, HEIGHT); -// cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -// cameraIR.start(); + + public void grab(){ + cameraRS.grab(); + } + + public CameraRealSense getMainCamera(){ + return cameraRS; } @Override - public Camera getCameraRGB() { + public CameraRealSenseColor getCameraRGB() { return cameraColor; } - public Camera getCameraIR() { + @Override + public CameraRealSenseIR getCameraIR() { return cameraIR; } - public Camera getCameraDepth() { + @Override + public CameraRealSenseDepth getCameraDepth() { return cameraDepth; } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index eba92d9b..839373da 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -35,7 +36,7 @@ public class CamImageGray extends CamImage { protected ByteBuffer argbBuffer; - + public CamImageGray(PApplet parent, Image img) { super(parent, img); } @@ -56,8 +57,7 @@ protected final void camInit(PApplet parent) { // Second time with bufferSource. tex = ((PGraphicsOpenGL) parent.g).getTexture(this); - System.out.println("Allocating.. " + this.pixels.length * 4); - argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); + argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); } @Override @@ -66,16 +66,14 @@ public void update(opencv_core.IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); - - if(incomingFormat == PixelFormat.GRAY){ - // P5 does not know real Gray textures, we need to convert it... + if (incomingFormat == PixelFormat.GRAY) { + // P5 does not know real Gray textures, we need to convert it... Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); - } - if(incomingFormat == PixelFormat.REALSENSE_Z16){ - + } + if (incomingFormat == PixelFormat.REALSENSE_Z16) { Utils.byteBufferZ16toARGB(imageBuffer, argbBuffer); } - + // Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); tex.copyBufferFromSource(null, argbBuffer, width, height); imageBuffer.rewind(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java index ea03afef..cbd52e9f 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -29,12 +30,16 @@ */ public class CameraRealSenseColor extends Camera { - CameraRealSense mainCamera; + private CameraRealSense mainCamera; protected CameraRealSenseColor(CameraRealSense mainCamera) { setPixelFormat(PixelFormat.RGB); this.mainCamera = mainCamera; } + + public CameraRealSense getMainCamera(){ + return mainCamera; + } public void useHarwareIntrinsics() { RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.color); @@ -61,9 +66,7 @@ public void grab() { } // update the images. try { - System.out.println("Grabbing color"); currentImage = mainCamera.grabber.grabVideo(); - } catch (Exception e) { System.out.println("Exception :" + e); e.printStackTrace(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java index a840f98b..ed6f3018 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -39,6 +40,10 @@ protected CameraRealSenseDepth(CameraRealSense colorCamera) { this.setSize(640, 480); } + public CameraRealSense getMainCamera() { + return mainCamera; + } + public void useHarwareIntrinsics() { RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java index 4b0fa661..b6a62653 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -29,17 +30,21 @@ */ public class CameraRealSenseIR extends Camera { - CameraRealSense colorCamera; + CameraRealSense mainCamera; protected CameraRealSenseIR(CameraRealSense colorCamera) { - this.colorCamera = colorCamera; + this.mainCamera = colorCamera; this.width = 640; this.height = 480; setPixelFormat(PixelFormat.GRAY); } + public CameraRealSense getMainCamera() { + return mainCamera; + } + public void useHarwareIntrinsics() { - RealSense.intrinsics intrinsics = colorCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.infrared); + RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.infrared); FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); float cx = fb.get(2); float cy = fb.get(3); @@ -50,9 +55,9 @@ public void useHarwareIntrinsics() { @Override public void start() { - colorCamera.grabber.setIRImageWidth(width()); - colorCamera.grabber.setIRImageHeight(height()); - colorCamera.grabber.enableIRStream(); + mainCamera.grabber.setIRImageWidth(width()); + mainCamera.grabber.setIRImageHeight(height()); + mainCamera.grabber.enableIRStream(); this.isConnected = true; } @@ -63,7 +68,7 @@ public void grab() { } // update the images. try { - currentImage = colorCamera.grabber.grabIR(); + currentImage = mainCamera.grabber.grabIR(); } catch (Exception e) { System.out.println("Exception :" + e); e.printStackTrace(); @@ -84,8 +89,8 @@ public PImage getPImage() { @Override public void close() { this.setClosing(); - colorCamera.useIR(false); - colorCamera.grabber.disableIRStream(); + mainCamera.useIR(false); + mainCamera.grabber.disableIRStream(); } From 9158d6167dd9396b601e0f7eebc245aed0c107f6 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 27 Oct 2016 14:29:26 +0200 Subject: [PATCH 18/99] RealSenseCamera AR --- .../papart/calibration/CalibrationPopup.java | 2 +- .../calibration/CalibrationVideoPopup.java | 2 +- .../papart/depthcam/devices/Kinect360.java | 10 + .../papart/depthcam/devices/KinectDevice.java | 12 - .../depthcam/devices/RealSense-TMP.java | 173 --------- .../papart/depthcam/devices/RealSense.java | 36 +- papart/src/fr/inria/papart/procam/Papart.java | 107 +++--- .../fr/inria/papart/procam/PaperScreen.java | 4 +- .../inria/papart/procam/PaperTouchScreen.java | 6 +- .../fr/inria/papart/procam/camera/Camera.java | 24 +- .../papart/procam/camera/CameraFactory.java | 15 +- .../papart/procam/camera/CameraRealSense.java | 333 ++++++++++++++++-- .../procam/camera/CameraRealSenseColor.java | 1 + .../papart/procam/camera/CameraThread.java | 23 +- 14 files changed, 425 insertions(+), 323 deletions(-) delete mode 100644 papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 0ecc84d2..66cc6dc0 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -127,7 +127,7 @@ public void setup() { calibrationApp.pre(); board = calibrationApp.getBoard(); - cameraTracking = Papart.getPapart().getCameraTracking(); + cameraTracking = Papart.getPapart().getPublicCameraTracking(); projector = Papart.getPapart().getProjectorDisplay(); projector.setCalibrationMode(true); diff --git a/papart/src/fr/inria/papart/calibration/CalibrationVideoPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationVideoPopup.java index 7c6c9de4..565cfa27 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationVideoPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationVideoPopup.java @@ -63,7 +63,7 @@ public void setSize() { frame.setUndecorated(true); frame.addNotify(); // surface.setLocation(screenOffsetX, screenOffsetY); - cameraTracking = Papart.getPapart().getCameraTracking(); + cameraTracking = Papart.getPapart().getPublicCameraTracking(); surface.setSize(cameraTracking.width(), cameraTracking.height()); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index 310a8690..e7b11f63 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -49,6 +49,16 @@ public Kinect360(PApplet parent) { setStereoCalibration(Papart.kinectStereoCalib); camera.start(); } + public Kinect360(PApplet parent, CameraOpenKinect camera) { + initSizes(parent); + this.camera = camera; +// camera = (CameraOpenKinect) CameraFactory.createCamera(Camera.Type.OPEN_KINECT, 0); +// camera.setParent(parent); +// camera.setCalibration(Papart.kinectRGBCalib); + camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); + setStereoCalibration(Papart.kinectStereoCalib); + camera.start(); + } private void initSizes(PApplet parent) { this.parent = parent; diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 1c9c7b5c..8858b28e 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -74,18 +74,6 @@ public void close() { getCameraRGB().close(); } - public static KinectDevice createKinect360(PApplet parent) { - return new Kinect360(parent); - } - - public static KinectDevice createKinectOne(PApplet parent) { - return new KinectOne(parent); - } - - public static KinectDevice createRealSense(PApplet parent) { - return new RealSense(parent); - } - public void setStereoCalibration(String fileName) { HomographyCalibration calib = new HomographyCalibration(); calib.loadFrom(parent, fileName); diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java deleted file mode 100644 index 6db08abe..00000000 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense-TMP.java +++ /dev/null @@ -1,173 +0,0 @@ -///* -// * Part of the PapARt project - https://project.inria.fr/papart/ -// * -// * Copyright (C) 2014-2016 Inria -// * Copyright (C) 2011-2013 Bordeaux University -// * -// * This library is free software; you can redistribute it and/or -// * modify it under the terms of the GNU Lesser General Public -// * License as published by the Free Software Foundation, version 2.1. -// * -// * This library is distributed in the hope that it will be useful, -// * but WITHOUT ANY WARRANTY; without even the implied warranty of -// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -// * Lesser General Public License for more details. -// * -// * You should have received a copy of the GNU Lesser General -// * Public License along with this library; If not, see -// * . -// */ -//package fr.inria.papart.depthcam.devices; -// -//import fr.inria.papart.multitouch.KinectTouchInput; -//import fr.inria.papart.procam.Papart; -//import fr.inria.papart.procam.camera.Camera; -//import fr.inria.papart.procam.camera.CameraFactory; -//import fr.inria.papart.procam.camera.CameraOpenCVDepth; -//import fr.inria.papart.procam.camera.CameraOpenKinectDepth; -//import fr.inria.papart.procam.camera.CameraRealSense; -//import fr.inria.papart.procam.camera.CameraRealSenseDepth; -//import processing.core.PApplet; -// -///** -// * -// * @author Jeremy Laviole -// */ -//public final class RealSense extends KinectDevice { -// -// protected CameraRealSense cameraRGB; -// protected CameraRealSenseDepth cameraDepth; -// -// public RealSense(PApplet parent) { -// initSize(); -// this.parent = parent; -// initRGB(); -// -// cameraRGB.start(); -// -// cameraDepth = cameraRGB.getDepthCamera(); -// -// // TODO: setSize is not working on camera side... -// cameraDepth.setSize(WIDTH, HEIGHT); -// cameraDepth.setParent(parent); -// -// // TODO: calibration... -//// cameraDepth.useHarwareIntrinsics(); -// -// // get the stereo ? -// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); -//// setStereoCalibration(Papart.kinectStereoCalib); -// -// cameraRGB.useHarwareIntrinsics(); -// cameraDepth.useHarwareIntrinsics(); -// -//// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -// -//// cameraRGB.getProjectiveDevice().getIntrinsics().print(); -// -// // Warning Start both depth & color camera for now. -// -// } -// -// public RealSense(PApplet parent, CameraRealSense cameraRGB) { -// throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); -//// initSize(); -//// this.parent = parent; -//// this.cameraRGB = cameraRGB; -//// -//// cameraDepth = cameraRGB.getDepthCamera(); -//// cameraDepth.setParent(parent); -//// // TODO: calibration... -//// cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -//// -//// // TODO: get the extrinsics ! -//// setStereoCalibration(cameraRGB.getHardwareExtrinsics()); -////// setStereoCalibration(Papart.kinectStereoCalib); -// } -// -// public static final int CAMERA_WIDTH = 640; -// public static final int CAMERA_HEIGHT = 480; -// -//// public static final int CAMERA_WIDTH_RGB = 1920; -//// public static final int CAMERA_HEIGHT_RGB = 1080; -// -// private void initSize() { -// // IR and Depth image size -// WIDTH = 640; -// HEIGHT = 480; -// SIZE = WIDTH * HEIGHT; -// -// // RGB image size -// RGB_WIDTH = 960; -// RGB_HEIGHT = 540; -// RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; -// } -// -// public void close() { -// cameraRGB.close(); -// cameraDepth.close(); -// } -// -// final void initRGB() { -// // Check if it is the default camera... -// Papart papart = Papart.getPapart(); -// -// if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { -// System.out.println("REALSENSE: Using configuration ID & Resolution."); -// // use the ID -// int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); -// -// cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); -// cameraRGB.setParent(parent); -// // use the calibration -// cameraRGB.setCalibration(Papart.cameraCalib); -// } else { -// -// System.out.println("REALSENSE: Using DEFAULT configuration."); -// cameraRGB = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); -// cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); -// cameraRGB.setParent(parent); -// cameraRGB.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); -// } -// -// } -// -// final void initIR() { -// // NO IR yet. -// -//// cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); -//// cameraIR.setParent(parent); -////// cameraIR.setSize(WIDTH, HEIGHT); -//// cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); -//// cameraIR.start(); -// } -// -// @Override -// public Camera getCameraRGB() { -// return cameraRGB; -// } -// -// public Camera getCameraIR() { -// throw new UnsupportedOperationException("Not supported yet."); -// } -// -// public Camera getCameraDepth() { -// return cameraDepth; -// } -// -// @Override -// public int rawDepthSize() { -// return SIZE * 2; -// } -// -// @Override -// public void setTouch(KinectTouchInput kinectTouchInput) { -// cameraDepth.setTouchInput(kinectTouchInput); -// } -// -// @Override -// public Type type() { -// return Type.REALSENSE; -// } -// -//} diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 74d31c10..cbe36179 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -56,7 +56,23 @@ public RealSense(PApplet parent) { } public RealSense(PApplet parent, CameraRealSense cameraRGB) { - throw new UnsupportedOperationException("Not supported yet: RealSense(PApplet parent, CameraRealSense cameraRGB)"); + initSize(); + this.parent = parent; + + cameraColor = cameraRS.getColorCamera(); + cameraDepth = cameraRS.getDepthCamera(); + cameraIR = cameraRS.getIRCamera(); + + cameraDepth.setSize(WIDTH, HEIGHT); + cameraIR.setSize(WIDTH, HEIGHT); + + // Warning Start both depth & color camera for now. + cameraRS.start(); + + setStereoCalibration(cameraRS.getHardwareExtrinsics()); + cameraColor.useHarwareIntrinsics(); + cameraDepth.useHarwareIntrinsics(); + cameraIR.useHarwareIntrinsics(); } private void initSize() { @@ -79,19 +95,15 @@ public void close() { final void initCameras() { // Check if it is the default camera... Papart papart = Papart.getPapart(); - if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE) { + if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE_RGB) { System.out.println("REALSENSE: Using configuration ID & Resolution."); // use the ID int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); - cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, id); - cameraRS.setParent(parent); - cameraColor = cameraRS.getColorCamera(); cameraColor.setCalibration(Papart.cameraCalib); } else { - - cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE, 0); + cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE_RGB, 0); cameraRS.setParent(parent); cameraColor = cameraRS.getColorCamera(); @@ -101,16 +113,16 @@ final void initCameras() { cameraDepth = cameraRS.getDepthCamera(); cameraDepth.setSize(WIDTH, HEIGHT); - + cameraIR = cameraRS.getIRCamera(); cameraIR.setSize(WIDTH, HEIGHT); } - - public void grab(){ + + public void grab() { cameraRS.grab(); } - - public CameraRealSense getMainCamera(){ + + public CameraRealSense getMainCamera() { return cameraRS; } diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 2e69bb5b..4e8c55a0 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -41,6 +41,7 @@ import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.camera.CameraFactory; +import fr.inria.papart.procam.camera.CameraOpenKinect; import fr.inria.papart.procam.camera.CameraRealSense; import java.io.File; import java.lang.reflect.Constructor; @@ -298,19 +299,6 @@ public static Papart projection2D(PApplet applet) { return papart; } - public static KinectDevice loadDefaultKinectDevice(PApplet applet) { - CameraConfiguration kinectConfiguration = Papart.getDefaultKinectConfiguration(applet); - - if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT) { - return new Kinect360(applet); - } - if (kinectConfiguration.getCameraType() == Camera.Type.KINECT2_RGB) { - return new KinectOne(applet); - } - System.err.println("Papart: Could not identify default Kinect Device."); - return null; - } - private boolean shouldSetWindowLocation = false; private boolean shouldSetWindowSize = false; @@ -539,7 +527,7 @@ public PlaneCalibration getTablePlane() { */ public void moveToTablePosition(PaperScreen paperScreen) { paperScreen.useManualLocation(true); - paperScreen.screen.setMainLocation(HomographyCalibration.getMatFrom(applet, tablePosition), cameraTracking); + paperScreen.screen.setMainLocation(HomographyCalibration.getMatFrom(applet, tablePosition), getPublicCameraTracking()); } @Deprecated @@ -588,7 +576,7 @@ public void initProjectorCamera(String cameraNo, Camera.Type cameraType, String cameraTracking.start(); loadTracking(cameraCalib); cameraTracking.setThread(); - projector.setCamera(cameraTracking); + projector.setCamera(getPublicCameraTracking()); checkInitialization(); } @@ -601,25 +589,6 @@ private void tryLoadExtrinsics() { } } - @Deprecated - public void initKinectCamera(float quality) { - assert (!cameraInitialized); - kinectDevice = loadDefaultCameraKinect(); - cameraTracking = kinectDevice.getCameraRGB(); - loadTracking(kinectRGBCalib); - cameraTracking.setThread(); - initARDisplay(quality); - checkInitialization(); - } - - //WARNING not really deprecated !!! - @Deprecated - public void startDefaultKinectCamera() { - assert (!cameraInitialized); - kinectDevice = loadDefaultCameraKinect(); - cameraTracking = kinectDevice.getCameraRGB(); - } - /** * Initialize the default camera for object tracking. * @@ -678,7 +647,7 @@ private void initProjectorDisplay(float quality) { private void initARDisplay(float quality) { assert (this.cameraTracking != null && this.applet != null); - arDisplay = new ARDisplay(this.applet, cameraTracking); + arDisplay = new ARDisplay(this.applet, getPublicCameraTracking()); arDisplay.setZNearFar(zNear, zFar); arDisplay.setQuality(quality); arDisplay.init(); @@ -710,7 +679,7 @@ private void checkInitialization() { private void loadTracking(String calibrationPath) { // TODO: check if file exists ! Camera.convertARParams(this.applet, calibrationPath, camCalibARtoolkit); - cameraTracking.initMarkerDetection(camCalibARtoolkit); + getPublicCameraTracking().initMarkerDetection(camCalibARtoolkit); // The camera view is handled in another thread; cameraInitialized = true; @@ -722,21 +691,19 @@ private void loadTracking(String calibrationPath) { */ public void loadTouchInputKinectOnly() { - if (this.kinectDevice == null) { - kinectDevice = loadDefaultCameraKinect(); - cameraTracking = kinectDevice.getCameraRGB(); - kinectDevice.getCameraRGB().setThread(); - kinectDevice.getCameraDepth().setThread(); - cameraInitialized = true; - - checkInitialization(); - } + loadDefaultCameraKinect(); +// cameraTracking = kinectDevice.getCameraRGB(); +// kinectDevice.getCameraRGB().setThread(); +// kinectDevice.getCameraDepth().setThread(); +// cameraInitialized = true; loadDefaultTouchKinect(); + // Specific ? PMatrix3D extr = kinectDevice.getStereoCalibration(); kinectDevice.setExtrinsics(extr); + // Specific ((KinectTouchInput) this.touchInput).useRawDepth(); } @@ -746,10 +713,10 @@ public void loadTouchInputKinectOnly() { * */ public void loadTouchInput() { - kinectDevice = loadDefaultCameraKinect(); - kinectDevice.getCameraRGB().setThread(); - kinectDevice.getCameraDepth().setThread(); + loadDefaultCameraKinect(); +// kinectDevice.getCameraRGB().setThread(); +// kinectDevice.getCameraDepth().setThread(); loadDefaultTouchKinect(); // setExtrinsics must after the kinect stereo calibration is loaded @@ -768,33 +735,35 @@ public void useKinectOne(boolean kinectOne) { * * @return */ - public KinectDevice loadDefaultCameraKinect() { + public void loadDefaultCameraKinect() { + CameraConfiguration kinectConfiguration = Papart.getDefaultKinectConfiguration(applet); - if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE) { - if (cameraTracking != null && cameraTracking instanceof CameraRealSense) { - return new RealSense(applet, (CameraRealSense)cameraTracking); - } else { - return new RealSense(applet); - } + + // If the camera is not instanciated, it is not correct ! + if (cameraTracking == null) { + System.err.println("You must choose a camera to create a DepthCamera."); + } + + if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE_RGB + || kinectConfiguration.getCameraType() == Camera.Type.REALSENSE_IR) { + kinectDevice = new RealSense(applet, (CameraRealSense) cameraTracking); + return; } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT) { - return new Kinect360(applet); + kinectDevice = new Kinect360(applet, (CameraOpenKinect) cameraTracking); + return; } - if (kinectConfiguration.getCameraType() == Camera.Type.KINECT2_RGB) { - if (this.cameraTracking == null) { - return new KinectOne(applet); - } else { - return new KinectOne(applet, cameraTracking); - } + if (kinectConfiguration.getCameraType() == Camera.Type.KINECT2_RGB) { + kinectDevice = new KinectOne(applet, cameraTracking); + return; } System.err.println("Could not load the Kinect !" + "Camera Type " + kinectConfiguration.getCameraType()); - return null; + kinectDevice = null; } private void loadDefaultTouchKinect() { - kinectDepthAnalysis = new KinectDepthAnalysis(this.applet, kinectDevice); PlaneAndProjectionCalibration calibration = new PlaneAndProjectionCalibration(); @@ -873,7 +842,7 @@ public void startTracking() { System.err.println("Start Tracking requires a Camera..."); return; } - this.cameraTracking.trackSheets(true); + this.getPublicCameraTracking().trackSheets(true); } public void stop() { @@ -928,7 +897,13 @@ public ARDisplay getARDisplay() { } public Camera getCameraTracking() { -// assert (cameraInitialized); + return this.cameraTracking; + } + + public Camera getPublicCameraTracking() { + if (cameraTracking instanceof CameraRealSense) { + return ((CameraRealSense) cameraTracking).getActingCamera(); + } return this.cameraTracking; } diff --git a/papart/src/fr/inria/papart/procam/PaperScreen.java b/papart/src/fr/inria/papart/procam/PaperScreen.java index b4b987be..bf093224 100755 --- a/papart/src/fr/inria/papart/procam/PaperScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperScreen.java @@ -26,8 +26,6 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.procam.display.BaseDisplay; import fr.inria.papart.procam.display.ARDisplay; -import fr.inria.papart.drawingapp.DrawUtils; -import static fr.inria.papart.procam.Papart.tablePosition; import fr.inria.papart.tracking.ObjectFinder; import java.awt.Image; import java.util.ArrayList; @@ -102,7 +100,7 @@ public PaperScreen() { this.parent = papart.getApplet(); this.isWithoutCamera = papart.isWithoutCamera(); if (!this.isWithoutCamera) { - this.cameraTracking = papart.getCameraTracking(); + this.cameraTracking = papart.getPublicCameraTracking(); } mainDisplay = papart.getDisplay(); displays.add(papart.getDisplay()); diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index 10843ca6..a59bca74 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -50,7 +50,7 @@ public PaperTouchScreen() { } public PaperTouchScreen(Papart papart) { - this(papart.getCameraTracking(), + this(papart.getPublicCameraTracking(), papart.getDisplay(), papart.getTouchInput()); } @@ -260,10 +260,10 @@ public int getColorOccurencesFrom(PVector coord, int radius, int col, int thresh return k; } - public int getColorFrom3D(PVector point){ + public int getColorFrom3D(PVector point) { return getColorAt(getPxCoordinates(point)); } - + /** * Unsafe do not use unless you are sure. */ diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 5e9fb625..571f33a6 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -28,9 +28,6 @@ import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; -import fr.inria.papart.procam.camera.CamImage; -import fr.inria.papart.procam.camera.CamImageColor; -import fr.inria.papart.procam.camera.CamImageGray; import fr.inria.papart.tracking.DetectedMarker; import fr.inria.papart.tracking.MarkerList; import org.bytedeco.javacpp.opencv_core.CvMat; @@ -65,8 +62,8 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { private boolean hasExtrinsics = false; public enum Type { - - OPENCV, FFMPEG, OPENCV_DEPTH, PROCESSING, OPEN_KINECT, FLY_CAPTURE, KINECT2_RGB, KINECT2_IR, REALSENSE, FAKE + OPENCV, FFMPEG, OPENCV_DEPTH, PROCESSING, OPEN_KINECT, FLY_CAPTURE, KINECT2_RGB, KINECT2_IR, + REALSENSE_RGB, REALSENSE_IR, REALSENSE_DEPTH, FAKE } public enum PixelFormat { @@ -100,14 +97,15 @@ public enum PixelFormat { protected PApplet parent = null; private List sheets = null; - - protected final Semaphore sheetsSemaphore = new Semaphore(1); + private final Semaphore sheetsSemaphore = new Semaphore(1); // ARToolkit protected String calibrationARToolkit; + protected CameraThread thread = null; - private CameraThread thread = null; - + protected List getSheets(){ + return sheets; + } abstract public void start(); @Override @@ -265,6 +263,10 @@ public String getCalibrationARToolkit() { return calibrationARToolkit; } + + protected Semaphore getSheetSemaphore(){ + return sheetsSemaphore; + } /** * Add a markerboard to track with this camera. * @@ -273,9 +275,9 @@ public String getCalibrationARToolkit() { public void trackMarkerBoard(MarkerBoard sheet) { sheet.addTracker(parent, this); try { - sheetsSemaphore.acquire(); + getSheetSemaphore().acquire(); this.sheets.add(sheet); - sheetsSemaphore.release(); + getSheetSemaphore().release(); } catch (InterruptedException ex) { System.out.println("Interrupted !"); Logger.getLogger(Camera.class.getName()).log(Level.SEVERE, null, ex); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index b39a42f0..a4649d2c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -53,11 +53,21 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { case OPENCV_DEPTH: camera = new CameraOpenCVDepth(cameraNo); break; - case REALSENSE: + case REALSENSE_RGB: camRS = new CameraRealSense(cameraNo); - camRS.useColor(true); + camRS.actAsColorCamera(true); camera = camRS; break; + case REALSENSE_IR: + camRS = new CameraRealSense(cameraNo); + camRS.actAsIRCamera(true); + camera = camRS; + break; +// case REALSENSE_DEPTH: +// camRS = new CameraRealSense(cameraNo); +// camRS.useColor(true); +// camera = camRS; +// break; case OPEN_KINECT: camera = new CameraOpenKinect(cameraNo); break; @@ -90,6 +100,7 @@ public static Camera createCamera(Camera.Type type, String description, String f break; case PROCESSING: camera = new CameraProcessing(description); + break; default: boolean isInt = checkInt(description); if (!isInt) { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 97991cdf..cd8ab9c2 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,7 +19,12 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.ProjectiveDeviceP; +import fr.inria.papart.tracking.DetectedMarker; +import fr.inria.papart.tracking.MarkerBoard; import java.nio.FloatBuffer; +import java.util.List; +import java.util.concurrent.Semaphore; import java.util.logging.Level; import java.util.logging.Logger; import org.bytedeco.javacpp.RealSense; @@ -29,6 +34,7 @@ import processing.core.PApplet; import processing.core.PImage; import processing.core.PMatrix3D; +import processing.core.PVector; /** * @@ -44,6 +50,11 @@ public class CameraRealSense extends Camera { private boolean useDepth = true; private boolean useColor = true; + private boolean actAsColorCamera = false; + private boolean actAsIRCamera = false; + + private Camera actAsCamera = null; + protected CameraRealSense(int cameraNo) { try { RealSenseFrameGrabber.tryLoad(); @@ -83,6 +94,10 @@ public CameraRealSenseColor getColorCamera() { return this.colorCamera; } + public Camera getActingCamera() { + return this.actAsCamera; + } + public PMatrix3D getHardwareExtrinsics() { RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); @@ -93,18 +108,6 @@ public PMatrix3D getHardwareExtrinsics() { 0, 0, 0, 1); } - public void useDepth(boolean useDepth) { - this.useDepth = useDepth; - } - - public void useIR(boolean useIR) { - this.useIR = useIR; - } - - public void useColor(boolean useColor) { - this.useColor = useColor; - } - public void setSize(int w, int h) { colorCamera.setSize(w, h); } @@ -145,20 +148,22 @@ public void grab() { try { grabber.grab(); - // get the color -// IplImage img = grabber.grabVideo(); -// updateCurrentImage(img); -// currentImage = img; -// Auto grab ? -// - if (useDepth) { - depthCamera.grab(); - } if (useColor) { colorCamera.grab(); + if (actAsColorCamera) { + currentImage = colorCamera.currentImage; + } } + if (useIR) { IRCamera.grab(); + if (actAsIRCamera) { + currentImage = IRCamera.currentImage; + } + } + + if (useDepth) { + depthCamera.grab(); } } catch (Exception e) { System.out.println("Exception :" + e); @@ -182,17 +187,6 @@ public PImage getIRImage() { return IRCamera.getPImage(); } - @Override - public PImage getPImage() { - if (useColor) { - return colorCamera.getPImage(); - } - if (useDepth) { - return IRCamera.getPImage(); - } - return null; - } - @Override public void close() { this.setClosing(); @@ -207,4 +201,279 @@ public void close() { } } + public void useDepth(boolean useDepth) { + this.useDepth = useDepth; + } + + public void useIR(boolean useIR) { + this.useIR = useIR; + } + + public void useColor(boolean useColor) { + this.useColor = useColor; + } + + public void actAsColorCamera(boolean isColorCam) { + this.actAsColorCamera = isColorCam; + if (isColorCam) { + actAsCamera = colorCamera; + } + } + + public void actAsIRCamera(boolean isIRCam) { + this.actAsIRCamera = isIRCam; + if (isIRCam) { + actAsCamera = IRCamera; + } + } + + // Generated delegate methods... + @Override + public PImage getPImage() { + return actAsCamera.getPImage(); + } + + @Override + public String toString() { + return actAsCamera.toString(); + } + + @Override + public PImage getImage() { + return actAsCamera.getImage(); + } + + @Override + void setMarkers(DetectedMarker[] detectedMarkers) { + actAsCamera.setMarkers(detectedMarkers); + } + + @Override + protected void checkParameters() { + actAsCamera.checkParameters(); + } + + @Override + public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { + actAsCamera.setSimpleCalibration(fx, fy, cx, cy, w, h); + } + + @Override + public void setCalibration(String fileName) { + actAsCamera.setCalibration(fileName); + } + + @Override + public PImage getPImageCopy() { + return actAsCamera.getPImageCopy(); + } + + @Override + public PImage getPImageCopy(PApplet context) { + return actAsCamera.getPImageCopy(context); + } + + @Override + public PImage getPImageCopyTo(PImage out) { + return actAsCamera.getPImageCopyTo(out); + } + + @Override + public void setCameraDevice(String description) { + actAsCamera.setCameraDevice(description); + } + + @Override + protected String getCameraDevice() { + return actAsCamera.getCameraDevice(); + } + + @Override + public void setSystemNumber(int systemNumber) { + actAsCamera.setSystemNumber(systemNumber); + } + + @Override + public void setFrameRate(int frameRate) { + actAsCamera.setFrameRate(frameRate); + } + + @Override + public int width() { + return actAsCamera.width(); + } + + @Override + public int height() { + return actAsCamera.height(); + } + + @Override + public int getFrameRate() { + return actAsCamera.getFrameRate(); + } + + @Override + public boolean isUndistort() { + return actAsCamera.isUndistort(); + } + + @Override + public void setUndistort(boolean undistort) { + actAsCamera.setUndistort(undistort); + } + + @Override + public boolean isCalibrated() { + return actAsCamera.isCalibrated(); + } + + @Override + public String getCalibrationFile() { + return actAsCamera.getCalibrationFile(); + } + + @Override + public void initMarkerDetection(String calibrationARToolkit) { + actAsCamera.initMarkerDetection(calibrationARToolkit); + } + + @Override + public String getCalibrationARToolkit() { + return actAsCamera.getCalibrationARToolkit(); + } +// +// @Override +// public void trackMarkerBoard(MarkerBoard sheet) { +// sheet.addTracker(parent, actAsCamera); +// try { +// getSheetSemaphore().acquire(); +// actAsCamera.getSheets().add(sheet); +// getSheetSemaphore().release(); +// } catch (InterruptedException ex) { +// System.out.println("Interrupted !"); +// Logger.getLogger(Camera.class.getName()).log(Level.SEVERE, null, ex); +// } catch (NullPointerException e) { +// throw new RuntimeException("Marker detection not initialized. " + e); +// } +// } + + @Override + public void trackMarkerBoard(MarkerBoard sheet) { + System.out.println("In trackMarkerboard in CameaRealSense BAAAADD"); + actAsCamera.trackMarkerBoard(sheet); + } + + @Override + public void trackSheets(boolean auto) { + actAsCamera.trackSheets(auto); + } + + @Override + public boolean tracks(MarkerBoard board) { + return actAsCamera.tracks(board); + } + + @Override + public List getTrackedSheets() { + return actAsCamera.getTrackedSheets(); + } + + @Override + public DetectedMarker[] getDetectedMarkers() { + return actAsCamera.getDetectedMarkers(); + } + + @Override + protected Semaphore getSheetSemaphore() { + return actAsCamera.getSheetSemaphore(); + } + // + @Override + public void setThread() { + if (thread == null) { + thread = new CameraThread(this); + thread.setCompute(actAsCamera.trackSheets); + actAsCamera.thread = thread; + thread.start(); + } else { + System.err.println("Camera: Error Thread already launched"); + } + } + + @Override + public void forceCurrentImage(IplImage img) { + actAsCamera.forceCurrentImage(img); + } + + @Override + protected void updateCurrentImage(IplImage img) { + actAsCamera.updateCurrentImage(img); + } + + @Override + protected void checkCamImage() { + actAsCamera.checkCamImage(); + } + + @Override + protected boolean isPixelFormatGray() { + return actAsCamera.isPixelFormatGray(); + } + + @Override + protected boolean isPixelFormatColor() { + return actAsCamera.isPixelFormatColor(); + } + + @Override + public IplImage getIplImage() { + return actAsCamera.getIplImage(); + } + + @Override + public ProjectiveDeviceP getProjectiveDevice() { + return actAsCamera.getProjectiveDevice(); + } + + @Override + protected void setClosing() { + actAsCamera.setClosing(); + } + + @Override + public boolean isClosing() { + return actAsCamera.isClosing(); + } + + @Override + public PixelFormat getPixelFormat() { + return actAsCamera.getPixelFormat(); + } + + @Override + public void setPixelFormat(PixelFormat format) { + actAsCamera.setPixelFormat(format); + } + + @Override + public boolean hasExtrinsics() { + return actAsCamera.hasExtrinsics(); + } + + @Override + public PMatrix3D getExtrinsics() { + return actAsCamera.getExtrinsics(); + } + + @Override + public void setExtrinsics(PMatrix3D extrinsics) { + actAsCamera.setExtrinsics(extrinsics); + } + + @Override + public PVector getViewPoint(PVector point) { + return actAsCamera.getViewPoint(point); + } + } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java index cbd52e9f..0656eac0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java @@ -64,6 +64,7 @@ public void grab() { if (this.isClosing()) { return; } + // update the images. try { currentImage = mainCamera.grabber.grabVideo(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 6657018c..6b8674a6 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -30,9 +30,6 @@ import java.util.logging.Level; import java.util.logging.Logger; import org.bytedeco.javacpp.ARToolKitPlus; -import static org.bytedeco.javacpp.ARToolKitPlus.MARKER_ID_BCH; -import static org.bytedeco.javacpp.ARToolKitPlus.PIXEL_FORMAT_LUM; -import static org.bytedeco.javacpp.ARToolKitPlus.UNDIST_NONE; import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8U; import static org.bytedeco.javacpp.opencv_imgproc.CV_BGR2GRAY; import static org.bytedeco.javacpp.opencv_imgproc.cvCvtColor; @@ -44,6 +41,7 @@ class CameraThread extends Thread { private final Camera camera; + Camera cameraForMarkerboard; private boolean compute; private IplImage image, grayImage; private DetectedMarker[] detectedMarkers; @@ -72,11 +70,20 @@ private void initThreadPool() { // threadPool = Executors.newCachedThreadPool(); } + + @Override public void run() { + + cameraForMarkerboard = camera; + if (camera instanceof CameraRealSense) { + cameraForMarkerboard = ((CameraRealSense) camera).getActingCamera(); + } + while (!stop) { camera.grab(); image = camera.getIplImage(); + // TODO: check if img can be null... if (image != null && compute && !camera.getTrackedSheets().isEmpty()) { this.compute(); @@ -87,7 +94,7 @@ public void run() { public void compute() { try { - camera.sheetsSemaphore.acquire(); + camera.getSheetSemaphore().acquire(); tryComputeGrayScale(); tryToFindMarkers(); @@ -95,7 +102,7 @@ public void compute() { // updateSequential(); updateParallel(); - camera.sheetsSemaphore.release(); + camera.getSheetSemaphore().release(); } catch (InterruptedException ex) { Logger.getLogger(CameraThread.class.getName()).log(Level.SEVERE, null, ex); } @@ -156,10 +163,12 @@ protected void updateSequential() { } protected void updateBoardLocation(MarkerBoard markerBoard) { + + // The markerboard will know the real camera, not the top-level camera. if (markerBoard.useGrayscaleImages()) { - markerBoard.updateLocation(camera, grayImage, this.detectedMarkers); + markerBoard.updateLocation(cameraForMarkerboard, grayImage, this.detectedMarkers); } else { - markerBoard.updateLocation(camera, image, null); + markerBoard.updateLocation(cameraForMarkerboard, image, null); } } From 5d1c19d4d2612ee031525a145aed2a008e47057e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 27 Oct 2016 14:34:04 +0200 Subject: [PATCH 19/99] grayscale support for tracking. --- .../fr/inria/papart/procam/camera/CameraThread.java | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 6b8674a6..411eae06 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -41,7 +41,7 @@ class CameraThread extends Thread { private final Camera camera; - Camera cameraForMarkerboard; + Camera cameraForMarkerboard; private boolean compute; private IplImage image, grayImage; private DetectedMarker[] detectedMarkers; @@ -70,8 +70,6 @@ private void initThreadPool() { // threadPool = Executors.newCachedThreadPool(); } - - @Override public void run() { @@ -109,6 +107,12 @@ public void compute() { } private void tryComputeGrayScale() { + + if (image.depth() == IPL_DEPTH_8U) { + grayImage = image; + return; + } + for (MarkerBoard sheet : camera.getTrackedSheets()) { if (sheet.useGrayscaleImages()) { if (grayImage == null) { From 38f4d82d116de330954a3e18394ca1257e66813e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 27 Oct 2016 23:16:25 +0200 Subject: [PATCH 20/99] Kinect, IR tracking and viewing. --- .../fr/inria/papart/procam/camera/Camera.java | 4 ++-- .../papart/procam/camera/CameraFactory.java | 5 +++++ .../procam/camera/CameraOpenKinect.java | 20 ++++++++++++++----- .../papart/procam/camera/CameraThread.java | 3 ++- 4 files changed, 24 insertions(+), 8 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 571f33a6..f5b116a9 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -62,8 +62,8 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { private boolean hasExtrinsics = false; public enum Type { - OPENCV, FFMPEG, OPENCV_DEPTH, PROCESSING, OPEN_KINECT, FLY_CAPTURE, KINECT2_RGB, KINECT2_IR, - REALSENSE_RGB, REALSENSE_IR, REALSENSE_DEPTH, FAKE + OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, OPEN_KINECT_IR, FLY_CAPTURE, KINECT2_RGB, REALSENSE_RGB, REALSENSE_IR, KINECT2_IR, + REALSENSE_DEPTH, OPENCV_DEPTH, FAKE } public enum PixelFormat { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index a4649d2c..6391777c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -68,8 +68,13 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { // camRS.useColor(true); // camera = camRS; // break; + case OPEN_KINECT_IR: + camera = new CameraOpenKinect(cameraNo); + ((CameraOpenKinect) camera).getIRVideo(); + break; case OPEN_KINECT: camera = new CameraOpenKinect(cameraNo); + ((CameraOpenKinect) camera).getRGBVideo(); break; case FLY_CAPTURE: camera = new CameraFlyCapture(cameraNo); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index c136bb74..3cea0eeb 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -38,13 +38,24 @@ public class CameraOpenKinect extends Camera implements Displayable { private boolean isGrabbingDepth = false; protected OpenKinectFrameGrabber grabber; - private CameraOpenKinectDepth depthCamera; + int kinectVideoFormat; + private final CameraOpenKinectDepth depthCamera; protected CameraOpenKinect(int cameraNo) { this.systemNumber = cameraNo; - this.setPixelFormat(PixelFormat.BGR); depthCamera = new CameraOpenKinectDepth(this); + getRGBVideo(); + } + + public void getIRVideo() { + this.setPixelFormat(PixelFormat.GRAY); + kinectVideoFormat = freenect.FREENECT_VIDEO_IR_8BIT; + } + + public void getRGBVideo() { + this.setPixelFormat(PixelFormat.BGR); + kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; } @Override @@ -55,7 +66,7 @@ public void start() { try { grabber.start(); - grabber.setVideoFormat(freenect.FREENECT_VIDEO_RGB); + grabber.setVideoFormat(kinectVideoFormat); depthCamera.start(); @@ -107,7 +118,7 @@ public void close() { System.out.println("Stopping KinectGrabber"); this.stopThread(); grabber.stop(); - if(this.isGrabbingDepth){ + if (this.isGrabbingDepth) { depthCamera.close(); } } catch (Exception e) { @@ -149,6 +160,5 @@ public PImage getDisplayedOn(PApplet display) { public boolean canBeDisplayedOn(PApplet display) { return imageMap.containsKey(display); } - } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 411eae06..1adb0cd5 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -108,7 +108,8 @@ public void compute() { private void tryComputeGrayScale() { - if (image.depth() == IPL_DEPTH_8U) { +// if (image.depth() == IPL_DEPTH_8U) { + if (image.nChannels() == 1) { grayImage = image; return; } From c801a0d26d213862fefb15febe0d8bb7dbad14b2 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 3 Nov 2016 11:55:14 +0100 Subject: [PATCH 21/99] work in progress -> Kinect 2 rgb image received. --- .../papart/procam/camera/CamImageColor.java | 9 +- .../fr/inria/papart/procam/camera/Camera.java | 2 +- .../papart/procam/camera/CameraFactory.java | 3 + .../procam/camera/CameraOpenKinect2.java | 115 ++++++++++++++++++ 4 files changed, 126 insertions(+), 3 deletions(-) create mode 100755 papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index a2d68d39..23c87536 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -56,12 +56,14 @@ protected final void camInit(PApplet parent) { tex.setBufferSource(this); // Second time with bufferSource. tex = ((PGraphicsOpenGL) parent.g).getTexture(this); - argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); + if (this.incomingFormat != Camera.PixelFormat.ARGB) { + argbBuffer = ByteBuffer.allocateDirect(this.pixels.length * 4); + } } @Override public void update(IplImage iplImage) { - + Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); @@ -71,6 +73,9 @@ public void update(IplImage iplImage) { if (this.incomingFormat == Camera.PixelFormat.RGB) { Utils.byteBufferRGBtoARGB(imageBuffer, argbBuffer); } + if (this.incomingFormat == Camera.PixelFormat.ARGB) { + argbBuffer = iplImage.getByteBuffer(); + } tex.copyBufferFromSource(null, argbBuffer, width, height); argbBuffer.rewind(); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index f5b116a9..70c4d7c3 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -63,7 +63,7 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { public enum Type { OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, OPEN_KINECT_IR, FLY_CAPTURE, KINECT2_RGB, REALSENSE_RGB, REALSENSE_IR, KINECT2_IR, - REALSENSE_DEPTH, OPENCV_DEPTH, FAKE + REALSENSE_DEPTH, OPENCV_DEPTH, OPEN_KINECT_2_RGB, FAKE } public enum PixelFormat { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index 6391777c..64e6fc84 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -44,6 +44,9 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { case OPENCV: camera = new CameraOpenCV(cameraNo); break; + case OPEN_KINECT_2_RGB: // Hack for now with V4L loopback. + camera = new CameraOpenKinect2(0); + break; case KINECT2_RGB: // Hack for now with V4L loopback. camera = new CameraOpenCV(0); break; diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java new file mode 100755 index 00000000..54a586c0 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -0,0 +1,115 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.camera; + +import org.bytedeco.javacpp.opencv_core.IplImage; +import org.bytedeco.javacv.OpenKinect2FrameGrabber; +import processing.core.PImage; + +/** + * + * @author Jeremy Laviole + */ +public class CameraOpenKinect2 extends Camera { + + protected OpenKinect2FrameGrabber grabber; + + protected CameraOpenKinect2(int cameraNo) { + this.systemNumber = cameraNo; + this.setPixelFormat(PixelFormat.ARGB); + } + +// public void getIRVideo() { +// this.setPixelFormat(PixelFormat.GRAY); +// kinectVideoFormat = freenect.FREENECT_VIDEO_IR_8BIT; +// } + @Override + public void start() { + + grabber = new OpenKinect2FrameGrabber(this.systemNumber); + grabber.enableColorStream(); + try { + + grabber.start(); + this.isConnected = true; + } catch (Exception e) { + System.err.println("Could not Kinect start frameGrabber... " + e); + System.err.println("Kinect ID " + this.systemNumber + " could not start."); + System.err.println("Check cable connection and ID."); + } + } + + @Override + public void grab() { + + if (this.isClosing()) { + return; + } + + try { + grabber.grab(); + IplImage img = grabber.getVideoImage(); + updateCurrentImage(img); + + } catch (Exception e) { + System.err.println("Camera: OpenKinect2 Grab() Error ! " + e); + e.printStackTrace(); + } + } + + @Override + public PImage getPImage() { + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; + } + + @Override + public void close() { + setClosing(); + if (grabber != null) { + try { + System.out.println("Stopping OpenKinect2Grabber"); + this.stopThread(); + grabber.stop(); + } catch (Exception e) { + } + } + + } + +// public void setTouch(KinectTouchInput touchInput) { +// this.setGrabDepth(true); +// depthCamera.setTouchInput(touchInput); +// } +// +// public CameraOpenKinectDepth getDepthCamera() { +// this.setGrabDepth(true); +// return this.depthCamera; +// } +// +// public void setGrabDepth(boolean grabDepth) { +// this.isGrabbingDepth = grabDepth; +// } +} From 02641de9da1a4f9c235e1a9b96f103ffcee5cbf0 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 8 Nov 2016 17:16:30 +0100 Subject: [PATCH 22/99] big WIP in the camera handling. new? features Kinect 2: RGB, IR & Depth? RealSense : RGB, IR & Depth --- .../calibration/CalibrationExtrinsic.java | 17 - .../analysis/KinectDepthAnalysis.java | 4 +- .../depthcam/devices/DepthCameraDevice.java | 35 -- .../papart/depthcam/devices/Kinect360.java | 6 +- .../papart/depthcam/devices/KinectDevice.java | 17 +- .../papart/depthcam/devices/KinectOne.java | 9 +- .../papart/depthcam/devices/RealSense.java | 31 +- .../papart/multitouch/KinectTouchInput.java | 1 - papart/src/fr/inria/papart/procam/Utils.java | 47 +- .../inria/papart/procam/camera/CamImage.java | 2 +- .../papart/procam/camera/CamImageColor.java | 1 - .../papart/procam/camera/CamImageGray.java | 14 +- .../fr/inria/papart/procam/camera/Camera.java | 18 +- .../papart/procam/camera/CameraFactory.java | 11 +- .../procam/camera/CameraOpenKinect2.java | 117 +++-- .../procam/camera/CameraOpenKinectDepth.java | 10 + .../procam/camera/CameraRGBIRDepth.java | 424 +++++++++++++++++ .../papart/procam/camera/CameraRealSense.java | 449 ++++-------------- .../procam/camera/CameraRealSenseColor.java | 96 ---- .../procam/camera/CameraRealSenseDepth.java | 120 ----- .../procam/camera/CameraRealSenseIR.java | 97 ---- .../inria/papart/procam/camera/SubCamera.java | 72 +++ .../papart/procam/camera/SubDepthCamera.java | 68 +++ .../papart/procam/camera/WithTouchInput.java | 3 + 24 files changed, 838 insertions(+), 831 deletions(-) delete mode 100644 papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java create mode 100644 papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java delete mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java delete mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java delete mode 100755 papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java create mode 100644 papart/src/fr/inria/papart/procam/camera/SubCamera.java create mode 100644 papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index de47bfd2..6ca2dee2 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -19,34 +19,17 @@ */ package fr.inria.papart.calibration; -import static fr.inria.papart.calibration.CalibrationPopup.KINECT_ARTOOLKIT_NAME; -import fr.inria.papart.depthcam.devices.Kinect360; import fr.inria.papart.depthcam.devices.KinectDevice; import fr.inria.papart.depthcam.devices.KinectDevice.Type; -import fr.inria.papart.depthcam.devices.KinectOne; import fr.inria.papart.multitouch.KinectTouchInput; -import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.Papart; -import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.ProjectorAsCamera; -import fr.inria.papart.procam.camera.TrackedView; import fr.inria.papart.procam.display.ProjectorDisplay; -import fr.inria.skatolo.gui.group.Textarea; import java.util.ArrayList; -import org.bytedeco.javacpp.opencv_core; -import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8U; -import static org.bytedeco.javacpp.opencv_imgproc.CV_BGR2GRAY; -import static org.bytedeco.javacpp.opencv_imgproc.cvCvtColor; import processing.core.PApplet; -import static processing.core.PApplet.println; import processing.core.PMatrix3D; import processing.core.PVector; import toxi.geom.Plane; -import toxi.geom.Ray3D; -import toxi.geom.ReadonlyVec3D; import toxi.geom.Vec3D; -import static processing.core.PApplet.println; /** * diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 59c43dd1..b8e98e54 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -32,7 +32,7 @@ import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; -import fr.inria.papart.procam.camera.CameraRealSenseDepth; +import fr.inria.papart.procam.camera.CameraRealSense; import java.nio.ByteBuffer; import java.nio.ShortBuffer; import java.util.ArrayList; @@ -122,7 +122,7 @@ private void initMemory() { depthComputationMethod = new KinectOneDepth(); } if (kinectDevice instanceof RealSense) { - float depthScale = ((CameraRealSenseDepth) ((RealSense) kinectDevice).getCameraDepth()).getDepthScale(); + float depthScale = ((CameraRealSense) ((RealSense) kinectDevice).getMainCamera()).getDepthScale(); depthComputationMethod = new RealSenseDepth(depthScale); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java deleted file mode 100644 index 6080b755..00000000 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.depthcam.devices; - -/** - * - * @author Jérémy Laviole - jeremy.laviole@inria.fr - */ -public interface DepthCameraDevice { - - public int colorWidth(); - public int colorHeight(); - public int colorSize(); - - public int depthWidth(); - public int depthHeight(); - public int depthSize(); -} diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index e7b11f63..ebfd6cf4 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -71,17 +71,17 @@ private void initSizes(PApplet parent) { } @Override - public Camera getCameraRGB() { + public SubCamera getCameraRGB() { return camera; } @Override - public Camera getCameraIR() { + public SubCamera getCameraIR() { throw new UnsupportedOperationException("Not supported yet."); } @Override - public Camera getCameraDepth() { + public SubCamera getCameraDepth() { return camera.getDepthCamera(); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 8858b28e..3b988d92 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -23,6 +23,8 @@ import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.HasExtrinsics; import fr.inria.papart.procam.camera.Camera; +import fr.inria.papart.procam.camera.SubCamera; +import fr.inria.papart.procam.camera.SubDepthCamera; import processing.core.PApplet; import processing.core.PMatrix3D; import processing.core.PVector; @@ -32,7 +34,7 @@ * * @author Jérémy Laviole - jeremy.laviole@inria.fr */ -public abstract class KinectDevice implements DepthCameraDevice { +public abstract class KinectDevice { public enum Type { ONE, X360, REALSENSE, NONE @@ -57,11 +59,11 @@ public enum Type { protected PApplet parent; - abstract public Camera getCameraRGB(); + abstract public SubCamera getCameraRGB(); - abstract public Camera getCameraIR(); + abstract public SubCamera getCameraIR(); - abstract public Camera getCameraDepth(); + abstract public SubDepthCamera getCameraDepth(); abstract public int rawDepthSize(); @@ -138,32 +140,27 @@ public int findColorOffset(float x, float y, float z) { return getCameraRGB().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); } - @Override + // TODO: find the use of all this.. public int colorWidth() { return RGB_WIDTH; } - @Override public int colorHeight() { return RGB_HEIGHT; } - @Override public int colorSize() { return RGB_SIZE; } - @Override public int depthWidth() { return WIDTH; } - @Override public int depthHeight() { return HEIGHT; } - @Override public int depthSize() { return SIZE; } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java index e588d307..cda80c11 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java @@ -25,6 +25,7 @@ import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenCVDepth; import fr.inria.papart.procam.camera.CameraOpenKinectDepth; +import fr.inria.papart.procam.camera.SubCamera; import processing.core.PApplet; /** @@ -55,7 +56,7 @@ public KinectOne(PApplet parent, Camera cameraRGB) { setStereoCalibration(Papart.kinectStereoCalib); } - + public static final int CAMERA_WIDTH = 512; public static final int CAMERA_WIDTH_RGB = 1920; public static final int CAMERA_HEIGHT = 424; @@ -106,15 +107,15 @@ final void initDepth() { } @Override - public Camera getCameraRGB() { + public SubCamera getCameraRGB() { return cameraRGB; } - public Camera getCameraIR() { + public SubCamera getCameraIR() { return cameraIR; } - public Camera getCameraDepth() { + public SubDepthCamera getCameraDepth() { return cameraDepth; } diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index cbe36179..0c6cb1d4 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -25,9 +25,8 @@ import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraRealSense; -import fr.inria.papart.procam.camera.CameraRealSenseColor; -import fr.inria.papart.procam.camera.CameraRealSenseDepth; -import fr.inria.papart.procam.camera.CameraRealSenseIR; +import fr.inria.papart.procam.camera.SubCamera; +import fr.inria.papart.procam.camera.SubDepthCamera; import processing.core.PApplet; /** @@ -37,9 +36,9 @@ public final class RealSense extends KinectDevice { protected CameraRealSense cameraRS; - protected CameraRealSenseDepth cameraDepth; - protected CameraRealSenseColor cameraColor; - protected CameraRealSenseIR cameraIR; + protected SubDepthCamera cameraDepth; + protected SubCamera cameraColor; + protected SubCamera cameraIR; public RealSense(PApplet parent) { initSize(); @@ -50,9 +49,7 @@ public RealSense(PApplet parent) { cameraRS.start(); setStereoCalibration(cameraRS.getHardwareExtrinsics()); - cameraColor.useHarwareIntrinsics(); - cameraDepth.useHarwareIntrinsics(); - cameraIR.useHarwareIntrinsics(); + useHardwareIntrinsics(); } public RealSense(PApplet parent, CameraRealSense cameraRGB) { @@ -70,9 +67,13 @@ public RealSense(PApplet parent, CameraRealSense cameraRGB) { cameraRS.start(); setStereoCalibration(cameraRS.getHardwareExtrinsics()); - cameraColor.useHarwareIntrinsics(); - cameraDepth.useHarwareIntrinsics(); - cameraIR.useHarwareIntrinsics(); + useHardwareIntrinsics(); + } + + private void useHardwareIntrinsics() { + CameraRealSense.useHarwareIntrinsics(cameraColor, cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraDepth, cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraIR, cameraRS.getFrameGrabber()); } private void initSize() { @@ -127,17 +128,17 @@ public CameraRealSense getMainCamera() { } @Override - public CameraRealSenseColor getCameraRGB() { + public SubCamera getCameraRGB() { return cameraColor; } @Override - public CameraRealSenseIR getCameraIR() { + public SubCamera getCameraIR() { return cameraIR; } @Override - public CameraRealSenseDepth getCameraDepth() { + public SubDepthCamera getCameraDepth() { return cameraDepth; } diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index d506c80d..90c34cc7 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -99,7 +99,6 @@ public void setTouchDetectionCalibration3D(PlanarTouchCalibration touchCalib) { @Override public void update() { try { - IplImage depthImage = kinectDevice.getCameraDepth().getIplImage(); IplImage colImage = kinectDevice.getCameraRGB().getIplImage(); diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 45a1f089..3d38b06e 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -39,6 +39,8 @@ import toxi.geom.Matrix4x4; import toxi.geom.Vec3D; import java.io.*; +import java.nio.FloatBuffer; +import static processing.core.PConstants.HSB; /** * @@ -597,7 +599,7 @@ static public void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) { } argb.rewind(); } - + static public void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { byte[] tmpArr = new byte[3]; @@ -610,7 +612,7 @@ static public void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { } argb.rewind(); } - + static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { byte[] tmpArr = new byte[1]; @@ -622,11 +624,50 @@ static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { argb.put((byte) 255); } argb.rewind(); + argb.rewind(); } + + static public void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) { + + FloatBuffer floatGray = gray.asFloatBuffer(); + float[] tmpArr = new float[1]; + + for (int i = 0; i < argb.capacity(); i += 4) { + floatGray.get(tmpArr); + + byte v = (byte) (tmpArr[0] / 65535.0 * 255); +// byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) 255); + } + argb.rewind(); + } + + static public void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) { + FloatBuffer floatGray = gray.asFloatBuffer(); + float[] tmpArr = new float[1]; + + for (int i = 0; i < argb.capacity(); i += 4) { + floatGray.get(tmpArr); + + // 8 meters + byte v = (byte) (tmpArr[0] / 8000 * 255); +// byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) 255); + } + argb.rewind(); + } + static public void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) { byte[] tmpArr = new byte[2]; - for (int i = 0; i < gray.capacity(); i +=2) { + gray.rewind(); + for (int i = 0; i < argb.capacity(); i += 4) { gray.get(tmpArr); argb.put(tmpArr[0]); argb.put(tmpArr[1]); diff --git a/papart/src/fr/inria/papart/procam/camera/CamImage.java b/papart/src/fr/inria/papart/procam/camera/CamImage.java index 0f907986..6cc07327 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImage.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImage.java @@ -39,7 +39,7 @@ public abstract class CamImage extends PImage { protected CamImage(PApplet parent, int width, int height, int format, PixelFormat incomingFormat) { super(width, height, format); this.incomingFormat = incomingFormat; - System.out.println("Creating a CamImage " + width + " " + height + " " + format); + System.out.println("Creating a CamImage " + width + " " + height + " " + format + " " + incomingFormat.name()); camInit(parent); } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index 23c87536..4f6fd870 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -63,7 +63,6 @@ protected final void camInit(PApplet parent) { @Override public void update(IplImage iplImage) { - Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index 839373da..fa49a710 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -65,11 +65,23 @@ public void update(opencv_core.IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); - + System.out.println("Sizes: " + imageBuffer.limit() + " " + this.pixels.length + " " + argbBuffer.limit()); + if (imageBuffer == null || imageBuffer.limit() == 0 || imageBuffer.capacity() == 0) { + System.out.println("imageBuffer null: The incoming image is empty."); + return; + } if (incomingFormat == PixelFormat.GRAY) { // P5 does not know real Gray textures, we need to convert it... Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); } + if (incomingFormat == PixelFormat.GRAY_32) { + // P5 does not know real Gray textures, we need to convert it... + Utils.byteBufferGRAY32toARGB(imageBuffer, argbBuffer); + } + if (incomingFormat == PixelFormat.FLOAT_DEPTH_KINECT2) { + // P5 does not know real Gray textures, we need to convert it... + Utils.byteBufferDepthK2toARGB(imageBuffer, argbBuffer); + } if (incomingFormat == PixelFormat.REALSENSE_Z16) { Utils.byteBufferZ16toARGB(imageBuffer, argbBuffer); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 70c4d7c3..79f5c0b0 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -62,13 +62,13 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { private boolean hasExtrinsics = false; public enum Type { - OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, OPEN_KINECT_IR, FLY_CAPTURE, KINECT2_RGB, REALSENSE_RGB, REALSENSE_IR, KINECT2_IR, - REALSENSE_DEPTH, OPENCV_DEPTH, OPEN_KINECT_2_RGB, FAKE + OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, OPEN_KINECT_IR, FLY_CAPTURE, KINECT2_RGB, REALSENSE_RGB, REALSENSE_IR, KINECT2_IR, + REALSENSE_DEPTH, OPENCV_DEPTH, OPEN_KINECT_2_RGB, OPEN_KINECT_2_IR, FAKE } public enum PixelFormat { - RGB, BGR, ARGB, RGBA, GRAY, DEPTH_KINECT_MM, DEPTH_KINECT_RAW, REALSENSE_Z16 + RGB, BGR, ARGB, RGBA, GRAY, GRAY_32, FLOAT_DEPTH_KINECT2, DEPTH_KINECT_MM, DEPTH_KINECT_RAW, REALSENSE_Z16 } protected PixelFormat format; @@ -103,9 +103,10 @@ public enum PixelFormat { protected String calibrationARToolkit; protected CameraThread thread = null; - protected List getSheets(){ + protected List getSheets() { return sheets; } + abstract public void start(); @Override @@ -139,6 +140,9 @@ protected void checkParameters() { } } + public void setSimpleCalibration(float fx, float fy, float cx, float cy) { + setSimpleCalibration(fx, fy, cx, cy, width(), height()); + } public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { this.calibrationFile = "manual calibration"; pdp = ProjectiveDeviceP.createSimpleDevice(fx, fy, cx, cy, w, h); @@ -263,10 +267,10 @@ public String getCalibrationARToolkit() { return calibrationARToolkit; } - - protected Semaphore getSheetSemaphore(){ + protected Semaphore getSheetSemaphore() { return sheetsSemaphore; } + /** * Add a markerboard to track with this camera. * @@ -391,7 +395,9 @@ protected void checkCamImage() { protected boolean isPixelFormatGray() { PixelFormat pixelFormat = getPixelFormat(); return pixelFormat == PixelFormat.GRAY + || pixelFormat == PixelFormat.GRAY_32 || pixelFormat == PixelFormat.REALSENSE_Z16 + || pixelFormat == PixelFormat.FLOAT_DEPTH_KINECT2 || pixelFormat == PixelFormat.DEPTH_KINECT_MM || pixelFormat == PixelFormat.DEPTH_KINECT_RAW; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index 64e6fc84..6786d91c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -44,8 +44,13 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { case OPENCV: camera = new CameraOpenCV(cameraNo); break; - case OPEN_KINECT_2_RGB: // Hack for now with V4L loopback. + case OPEN_KINECT_2_RGB: camera = new CameraOpenKinect2(0); + ((CameraRGBIRDepth)camera).actAsColorCamera(); + break; + case OPEN_KINECT_2_IR: + camera = new CameraOpenKinect2(0); + ((CameraRGBIRDepth)camera).actAsIRCamera(); break; case KINECT2_RGB: // Hack for now with V4L loopback. camera = new CameraOpenCV(0); @@ -58,12 +63,12 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { break; case REALSENSE_RGB: camRS = new CameraRealSense(cameraNo); - camRS.actAsColorCamera(true); + camRS.actAsColorCamera(); camera = camRS; break; case REALSENSE_IR: camRS = new CameraRealSense(cameraNo); - camRS.actAsIRCamera(true); + camRS.actAsIRCamera(); camera = camRS; break; // case REALSENSE_DEPTH: diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index 54a586c0..5a19e399 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -19,34 +19,44 @@ */ package fr.inria.papart.procam.camera; -import org.bytedeco.javacpp.opencv_core.IplImage; import org.bytedeco.javacv.OpenKinect2FrameGrabber; -import processing.core.PImage; /** * * @author Jeremy Laviole */ -public class CameraOpenKinect2 extends Camera { +public class CameraOpenKinect2 extends CameraRGBIRDepth { protected OpenKinect2FrameGrabber grabber; protected CameraOpenKinect2(int cameraNo) { this.systemNumber = cameraNo; - this.setPixelFormat(PixelFormat.ARGB); + + depthCamera = new SubDepthCamera(this); + depthCamera.setPixelFormat(PixelFormat.FLOAT_DEPTH_KINECT2); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(512, 424); + + colorCamera = new SubCamera(this); + colorCamera.setPixelFormat(PixelFormat.ARGB); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(1920, 1080); + + IRCamera = new SubCamera(this); + IRCamera.setPixelFormat(PixelFormat.GRAY_32); + IRCamera.type = SubCamera.Type.IR; + IRCamera.setSize(512, 424); } -// public void getIRVideo() { -// this.setPixelFormat(PixelFormat.GRAY); -// kinectVideoFormat = freenect.FREENECT_VIDEO_IR_8BIT; -// } @Override public void start() { - grabber = new OpenKinect2FrameGrabber(this.systemNumber); - grabber.enableColorStream(); - try { + colorCamera.start(); + IRCamera.start(); + depthCamera.start(); + + try { grabber.start(); this.isConnected = true; } catch (Exception e) { @@ -57,32 +67,8 @@ public void start() { } @Override - public void grab() { - - if (this.isClosing()) { - return; - } - - try { - grabber.grab(); - IplImage img = grabber.getVideoImage(); - updateCurrentImage(img); - - } catch (Exception e) { - System.err.println("Camera: OpenKinect2 Grab() Error ! " + e); - e.printStackTrace(); - } - } - - @Override - public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; + protected void internalGrab() throws Exception { + grabber.grab(); } @Override @@ -96,20 +82,51 @@ public void close() { } catch (Exception e) { } } + } + @Override + public void enableIR() { + grabber.enableIRStream(); + } + + @Override + public void disableIR() { + // Not implemented yet. + } + + @Override + public void enableDepth() { + grabber.enableDepthStream(); + } + + @Override + public void disableDepth() { + // Not implemented yet. + } + + @Override + public void enableColor() { + grabber.enableColorStream(); + } + + @Override + public void disableColor() { + // Not implemented yet. + } + + @Override + public void grabIR() { + IRCamera.updateCurrentImage(grabber.getIRImage()); + } + + @Override + public void grabDepth() { + depthCamera.currentImage = grabber.getDepthImage(); + } + + @Override + public void grabColor() { + colorCamera.updateCurrentImage(grabber.getVideoImage()); } -// public void setTouch(KinectTouchInput touchInput) { -// this.setGrabDepth(true); -// depthCamera.setTouchInput(touchInput); -// } -// -// public CameraOpenKinectDepth getDepthCamera() { -// this.setGrabDepth(true); -// return this.depthCamera; -// } -// -// public void setGrabDepth(boolean grabDepth) { -// this.isGrabbingDepth = grabDepth; -// } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java index c17dc3b0..432a4909 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java @@ -109,4 +109,14 @@ public void setDepthFormat(int depthFormat) { this.depthFormat = depthFormat; } + @Override + public void newTouchImage() { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. + } + + @Override + public void newTouchImageWithColor(IplImage image) { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. + } + } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java new file mode 100644 index 00000000..0845adf4 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -0,0 +1,424 @@ +/* + * Copyright (C) 2016 jiii. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, + * MA 02110-1301 USA + */ +package fr.inria.papart.procam.camera; + +import fr.inria.papart.procam.ProjectiveDeviceP; +import fr.inria.papart.tracking.DetectedMarker; +import fr.inria.papart.tracking.MarkerBoard; +import java.util.List; +import java.util.concurrent.Semaphore; +import org.bytedeco.javacpp.opencv_core; +import processing.core.PApplet; +import processing.core.PImage; +import processing.core.PMatrix3D; +import processing.core.PVector; + +/** + * + * @author jiii + */ +public abstract class CameraRGBIRDepth extends Camera { + + protected SubDepthCamera depthCamera; + protected SubCamera colorCamera; + protected SubCamera IRCamera; + private SubCamera actAsCamera = null; + + protected boolean useIR = true; + protected boolean useDepth = true; + protected boolean useColor = true; + protected boolean actAsColorCamera = false; + protected boolean actAsIRCamera = false; + + @Override + public void setParent(PApplet parent) { + super.setParent(parent); + depthCamera.setParent(parent); + IRCamera.setParent(parent); + colorCamera.setParent(parent); + } + + public SubDepthCamera getDepthCamera() { + return this.depthCamera; + } + + public SubCamera getIRCamera() { + return this.IRCamera; + } + + public SubCamera getColorCamera() { + return this.colorCamera; + } + + public SubCamera getActingCamera() { + return this.actAsCamera; + } + + public opencv_core.IplImage getDepthImage() { + return depthCamera.getIplImage(); + } + + public PImage getDepthPImage() { + return depthCamera.getPImage(); + } + + public PImage getColorImage() { + return colorCamera.getPImage(); + } + + public PImage getIRImage() { + return IRCamera.getPImage(); + } + + public abstract void enableIR(); + + public abstract void disableIR(); + + public abstract void enableDepth(); + + public abstract void disableDepth(); + + public abstract void enableColor(); + + public abstract void disableColor(); + + public abstract void grabIR(); + + public abstract void grabDepth(); + + public abstract void grabColor(); + + public void disable(SubCamera camera) { + if (camera.type == SubCamera.Type.DEPTH) { + disableDepth(); + } + if (camera.type == SubCamera.Type.IR) { + disableIR(); + } + if (camera.type == SubCamera.Type.COLOR) { + disableColor(); + } + } + + void start(SubCamera camera) { + if (camera.type == SubCamera.Type.DEPTH) { + enableDepth(); + } + if (camera.type == SubCamera.Type.IR) { + enableIR(); + } + if (camera.type == SubCamera.Type.COLOR) { + enableColor(); + } + } + + void grab(SubCamera camera) { + if (camera.type == SubCamera.Type.DEPTH) { + grabDepth(); + } + if (camera.type == SubCamera.Type.IR) { + grabIR(); + } + if (camera.type == SubCamera.Type.COLOR) { + grabColor(); + } + } + + protected abstract void internalGrab() throws Exception; + + @Override + public void grab() { + + if (this.isClosing()) { + return; + } + // update the images. + try { + internalGrab(); + + if (useColor) { + colorCamera.grab(); + } + + if (useIR) { + IRCamera.grab(); + } + + if (useDepth) { + depthCamera.grab(); + } + + if (actAsColorCamera || actAsIRCamera) { + currentImage = actAsCamera.currentImage; + } + } catch (Exception e) { + System.out.println("Exception :" + e); + e.printStackTrace(); + } + } + + public void actAsColorCamera() { + actAsCamera = colorCamera; + } + + public void actAsIRCamera() { + actAsCamera = IRCamera; + } + + // Generated delegate methods... + @Override + public PImage getPImage() { + return actAsCamera.getPImage(); + } + + @Override + public String toString() { + return actAsCamera.toString(); + } + + @Override + public PImage getImage() { + return actAsCamera.getImage(); + } + + @Override + void setMarkers(DetectedMarker[] detectedMarkers) { + actAsCamera.setMarkers(detectedMarkers); + } + + @Override + protected void checkParameters() { + actAsCamera.checkParameters(); + } + + @Override + public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { + actAsCamera.setSimpleCalibration(fx, fy, cx, cy, w, h); + } + + @Override + public void setCalibration(String fileName) { + actAsCamera.setCalibration(fileName); + } + + @Override + public PImage getPImageCopy() { + return actAsCamera.getPImageCopy(); + } + + @Override + public PImage getPImageCopy(PApplet context) { + return actAsCamera.getPImageCopy(context); + } + + @Override + public PImage getPImageCopyTo(PImage out) { + return actAsCamera.getPImageCopyTo(out); + } + + @Override + public void setCameraDevice(String description) { + actAsCamera.setCameraDevice(description); + } + + @Override + protected String getCameraDevice() { + return actAsCamera.getCameraDevice(); + } + + @Override + public void setSystemNumber(int systemNumber) { + actAsCamera.setSystemNumber(systemNumber); + } + + @Override + public void setFrameRate(int frameRate) { + actAsCamera.setFrameRate(frameRate); + } + + @Override + public int width() { + return actAsCamera.width(); + } + + @Override + public int height() { + return actAsCamera.height(); + } + + @Override + public void setSize(int width, int height) { + actAsCamera.setSize(width, height); + } + + @Override + public int getFrameRate() { + return actAsCamera.getFrameRate(); + } + + @Override + public boolean isUndistort() { + return actAsCamera.isUndistort(); + } + + @Override + public void setUndistort(boolean undistort) { + actAsCamera.setUndistort(undistort); + } + + @Override + public boolean isCalibrated() { + return actAsCamera.isCalibrated(); + } + + @Override + public String getCalibrationFile() { + return actAsCamera.getCalibrationFile(); + } + + @Override + public void initMarkerDetection(String calibrationARToolkit) { + actAsCamera.initMarkerDetection(calibrationARToolkit); + } + + @Override + public String getCalibrationARToolkit() { + return actAsCamera.getCalibrationARToolkit(); + } + + @Override + public void trackMarkerBoard(MarkerBoard sheet) { + System.out.println("In trackMarkerboard in CameaRealSense BAAAADD"); + actAsCamera.trackMarkerBoard(sheet); + } + + @Override + public void trackSheets(boolean auto) { + actAsCamera.trackSheets(auto); + } + + @Override + public boolean tracks(MarkerBoard board) { + return actAsCamera.tracks(board); + } + + @Override + public List getTrackedSheets() { + return actAsCamera.getTrackedSheets(); + } + + @Override + public DetectedMarker[] getDetectedMarkers() { + return actAsCamera.getDetectedMarkers(); + } + + @Override + protected Semaphore getSheetSemaphore() { + return actAsCamera.getSheetSemaphore(); + } + + // + @Override + public void setThread() { + if (thread == null) { + thread = new CameraThread(this); + thread.setCompute(actAsCamera.trackSheets); + actAsCamera.thread = thread; + thread.start(); + } else { + System.err.println("Camera: Error Thread already launched"); + } + } + + @Override + public void forceCurrentImage(opencv_core.IplImage img) { + actAsCamera.forceCurrentImage(img); + } + + @Override + protected void updateCurrentImage(opencv_core.IplImage img) { + actAsCamera.updateCurrentImage(img); + } + + @Override + protected void checkCamImage() { + actAsCamera.checkCamImage(); + } + + @Override + protected boolean isPixelFormatGray() { + return actAsCamera.isPixelFormatGray(); + } + + @Override + protected boolean isPixelFormatColor() { + return actAsCamera.isPixelFormatColor(); + } + + @Override + public opencv_core.IplImage getIplImage() { + return actAsCamera.getIplImage(); + } + + @Override + public ProjectiveDeviceP getProjectiveDevice() { + return actAsCamera.getProjectiveDevice(); + } + + @Override + protected void setClosing() { + actAsCamera.setClosing(); + } + + @Override + public boolean isClosing() { + return actAsCamera.isClosing(); + } + + @Override + public Camera.PixelFormat getPixelFormat() { + return actAsCamera.getPixelFormat(); + } + + @Override + public void setPixelFormat(Camera.PixelFormat format) { + actAsCamera.setPixelFormat(format); + } + + @Override + public boolean hasExtrinsics() { + return actAsCamera.hasExtrinsics(); + } + + @Override + public PMatrix3D getExtrinsics() { + return actAsCamera.getExtrinsics(); + } + + @Override + public void setExtrinsics(PMatrix3D extrinsics) { + actAsCamera.setExtrinsics(extrinsics); + } + + @Override + public PVector getViewPoint(PVector point) { + return actAsCamera.getViewPoint(point); + } + +} diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index cd8ab9c2..716a247c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -1,59 +1,39 @@ /* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.tracking.DetectedMarker; -import fr.inria.papart.tracking.MarkerBoard; import java.nio.FloatBuffer; -import java.util.List; -import java.util.concurrent.Semaphore; import java.util.logging.Level; import java.util.logging.Logger; import org.bytedeco.javacpp.RealSense; -import org.bytedeco.javacpp.opencv_core.IplImage; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.RealSenseFrameGrabber; -import processing.core.PApplet; -import processing.core.PImage; import processing.core.PMatrix3D; -import processing.core.PVector; /** * * @author Jeremy Laviole */ -public class CameraRealSense extends Camera { +public class CameraRealSense extends CameraRGBIRDepth { protected RealSenseFrameGrabber grabber; - protected CameraRealSenseDepth depthCamera; - protected CameraRealSenseColor colorCamera; - protected CameraRealSenseIR IRCamera; - private boolean useIR = true; - private boolean useDepth = true; - private boolean useColor = true; - - private boolean actAsColorCamera = false; - private boolean actAsIRCamera = false; - - private Camera actAsCamera = null; protected CameraRealSense(int cameraNo) { try { @@ -65,39 +45,26 @@ protected CameraRealSense(int cameraNo) { grabber = new RealSenseFrameGrabber(this.systemNumber); - depthCamera = new CameraRealSenseDepth(this); - colorCamera = new CameraRealSenseColor(this); - IRCamera = new CameraRealSenseIR(this); - } + depthCamera = new SubDepthCamera(this); + depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); + depthCamera.setSize(640, 480); + depthCamera.type = SubCamera.Type.DEPTH; - @Override - public void setParent(PApplet parent) { - super.setParent(parent); - depthCamera.setParent(parent); - IRCamera.setParent(parent); - colorCamera.setParent(parent); + colorCamera = new SubCamera(this); + colorCamera.setPixelFormat(PixelFormat.RGB); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(960, 540); + + IRCamera = new SubCamera(this); + IRCamera.setSize(640, 480); + IRCamera.setPixelFormat(PixelFormat.GRAY); + IRCamera.type = SubCamera.Type.IR; } public RealSenseFrameGrabber getFrameGrabber() { return this.grabber; } - public CameraRealSenseDepth getDepthCamera() { - return this.depthCamera; - } - - public CameraRealSenseIR getIRCamera() { - return this.IRCamera; - } - - public CameraRealSenseColor getColorCamera() { - return this.colorCamera; - } - - public Camera getActingCamera() { - return this.actAsCamera; - } - public PMatrix3D getHardwareExtrinsics() { RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); @@ -108,29 +75,19 @@ public PMatrix3D getHardwareExtrinsics() { 0, 0, 0, 1); } - public void setSize(int w, int h) { - colorCamera.setSize(w, h); - } - @Override public void start() { - if (useDepth) { - depthCamera.start(); - } - if (useColor) { - colorCamera.start(); - } - if (useIR) { - IRCamera.start(); - } + depthCamera.start(); + colorCamera.start(); + IRCamera.start(); try { grabber.start(); this.isConnected = true; } catch (Exception e) { - System.err.println("Could not start frameGrabber... " + e); - System.err.println("Could not camera start frameGrabber... " + e); + System.err.println("Could not start RealSenseGrabber... " + e); + System.err.println("Could not camera start RealSenseGrabber... " + e); System.err.println("Camera ID " + this.systemNumber + " could not start."); System.err.println("Check cable connection, ID and resolution asked."); @@ -139,52 +96,13 @@ public void start() { } @Override - public void grab() { - - if (this.isClosing()) { - return; - } - // update the images. - try { - grabber.grab(); - - if (useColor) { - colorCamera.grab(); - if (actAsColorCamera) { - currentImage = colorCamera.currentImage; - } - } - - if (useIR) { - IRCamera.grab(); - if (actAsIRCamera) { - currentImage = IRCamera.currentImage; - } - } - - if (useDepth) { - depthCamera.grab(); - } - } catch (Exception e) { - System.out.println("Exception :" + e); - e.printStackTrace(); - } - } - - public IplImage getDepthImage() { - return depthCamera.getIplImage(); - } - - public PImage getDepthPImage() { - return depthCamera.getPImage(); - } - - public PImage getColorImage() { - return colorCamera.getPImage(); + public void internalGrab() throws Exception { + System.out.println("Realsense: main grab"); + grabber.grab(); } - public PImage getIRImage() { - return IRCamera.getPImage(); + public float getDepthScale() { + return grabber.getDepthScale(); } @Override @@ -201,279 +119,78 @@ public void close() { } } - public void useDepth(boolean useDepth) { - this.useDepth = useDepth; - } - - public void useIR(boolean useIR) { - this.useIR = useIR; - } - - public void useColor(boolean useColor) { - this.useColor = useColor; - } - - public void actAsColorCamera(boolean isColorCam) { - this.actAsColorCamera = isColorCam; - if (isColorCam) { - actAsCamera = colorCamera; + public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber grabber) { + int camType = 0; + if (camera.type == SubCamera.Type.COLOR) { + camType = RealSense.color; } - } - - public void actAsIRCamera(boolean isIRCam) { - this.actAsIRCamera = isIRCam; - if (isIRCam) { - actAsCamera = IRCamera; + if (camera.type == SubCamera.Type.IR) { + camType = RealSense.infrared; } - } - - // Generated delegate methods... - @Override - public PImage getPImage() { - return actAsCamera.getPImage(); - } - - @Override - public String toString() { - return actAsCamera.toString(); - } - - @Override - public PImage getImage() { - return actAsCamera.getImage(); - } - - @Override - void setMarkers(DetectedMarker[] detectedMarkers) { - actAsCamera.setMarkers(detectedMarkers); - } - - @Override - protected void checkParameters() { - actAsCamera.checkParameters(); - } - - @Override - public void setSimpleCalibration(float fx, float fy, float cx, float cy, int w, int h) { - actAsCamera.setSimpleCalibration(fx, fy, cx, cy, w, h); - } - - @Override - public void setCalibration(String fileName) { - actAsCamera.setCalibration(fileName); - } - - @Override - public PImage getPImageCopy() { - return actAsCamera.getPImageCopy(); - } - - @Override - public PImage getPImageCopy(PApplet context) { - return actAsCamera.getPImageCopy(context); - } - - @Override - public PImage getPImageCopyTo(PImage out) { - return actAsCamera.getPImageCopyTo(out); - } - - @Override - public void setCameraDevice(String description) { - actAsCamera.setCameraDevice(description); - } - - @Override - protected String getCameraDevice() { - return actAsCamera.getCameraDevice(); - } - - @Override - public void setSystemNumber(int systemNumber) { - actAsCamera.setSystemNumber(systemNumber); - } - - @Override - public void setFrameRate(int frameRate) { - actAsCamera.setFrameRate(frameRate); - } - - @Override - public int width() { - return actAsCamera.width(); - } - - @Override - public int height() { - return actAsCamera.height(); - } - - @Override - public int getFrameRate() { - return actAsCamera.getFrameRate(); - } - - @Override - public boolean isUndistort() { - return actAsCamera.isUndistort(); - } - - @Override - public void setUndistort(boolean undistort) { - actAsCamera.setUndistort(undistort); - } - - @Override - public boolean isCalibrated() { - return actAsCamera.isCalibrated(); - } - - @Override - public String getCalibrationFile() { - return actAsCamera.getCalibrationFile(); - } - - @Override - public void initMarkerDetection(String calibrationARToolkit) { - actAsCamera.initMarkerDetection(calibrationARToolkit); - } - - @Override - public String getCalibrationARToolkit() { - return actAsCamera.getCalibrationARToolkit(); - } -// -// @Override -// public void trackMarkerBoard(MarkerBoard sheet) { -// sheet.addTracker(parent, actAsCamera); -// try { -// getSheetSemaphore().acquire(); -// actAsCamera.getSheets().add(sheet); -// getSheetSemaphore().release(); -// } catch (InterruptedException ex) { -// System.out.println("Interrupted !"); -// Logger.getLogger(Camera.class.getName()).log(Level.SEVERE, null, ex); -// } catch (NullPointerException e) { -// throw new RuntimeException("Marker detection not initialized. " + e); -// } -// } - - @Override - public void trackMarkerBoard(MarkerBoard sheet) { - System.out.println("In trackMarkerboard in CameaRealSense BAAAADD"); - actAsCamera.trackMarkerBoard(sheet); - } - - @Override - public void trackSheets(boolean auto) { - actAsCamera.trackSheets(auto); - } - - @Override - public boolean tracks(MarkerBoard board) { - return actAsCamera.tracks(board); - } - - @Override - public List getTrackedSheets() { - return actAsCamera.getTrackedSheets(); - } - - @Override - public DetectedMarker[] getDetectedMarkers() { - return actAsCamera.getDetectedMarkers(); - } - - @Override - protected Semaphore getSheetSemaphore() { - return actAsCamera.getSheetSemaphore(); - } - // - @Override - public void setThread() { - if (thread == null) { - thread = new CameraThread(this); - thread.setCompute(actAsCamera.trackSheets); - actAsCamera.thread = thread; - thread.start(); - } else { - System.err.println("Camera: Error Thread already launched"); + if (camera.type == SubCamera.Type.DEPTH) { + camType = RealSense.depth; } + RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(camType); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + camera.setSimpleCalibration(fx, fy, cx, cy); } @Override - public void forceCurrentImage(IplImage img) { - actAsCamera.forceCurrentImage(img); - } - - @Override - protected void updateCurrentImage(IplImage img) { - actAsCamera.updateCurrentImage(img); - } - - @Override - protected void checkCamImage() { - actAsCamera.checkCamImage(); - } - - @Override - protected boolean isPixelFormatGray() { - return actAsCamera.isPixelFormatGray(); - } - - @Override - protected boolean isPixelFormatColor() { - return actAsCamera.isPixelFormatColor(); - } - - @Override - public IplImage getIplImage() { - return actAsCamera.getIplImage(); - } - - @Override - public ProjectiveDeviceP getProjectiveDevice() { - return actAsCamera.getProjectiveDevice(); + public void grabColor() { + System.out.println("Realsense: Grab Color"); + colorCamera.updateCurrentImage(grabber.grabVideo()); } @Override - protected void setClosing() { - actAsCamera.setClosing(); + public void grabIR() { + IRCamera.updateCurrentImage(grabber.grabIR()); } @Override - public boolean isClosing() { - return actAsCamera.isClosing(); + public void grabDepth() { + depthCamera.updateCurrentImage(grabber.grabDepth()); + // update the touch input + ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage); } @Override - public PixelFormat getPixelFormat() { - return actAsCamera.getPixelFormat(); + public void enableIR() { + grabber.setIRImageWidth(IRCamera.width()); + grabber.setIRImageHeight(IRCamera.height()); + grabber.enableIRStream(); } @Override - public void setPixelFormat(PixelFormat format) { - actAsCamera.setPixelFormat(format); + public void disableIR() { + grabber.disableIRStream(); } @Override - public boolean hasExtrinsics() { - return actAsCamera.hasExtrinsics(); + public void enableDepth() { + grabber.setDepthImageWidth(depthCamera.width()); + grabber.setDepthImageHeight(depthCamera.height()); + grabber.enableDepthStream(); } @Override - public PMatrix3D getExtrinsics() { - return actAsCamera.getExtrinsics(); + public void disableDepth() { + grabber.disableDepthStream(); } @Override - public void setExtrinsics(PMatrix3D extrinsics) { - actAsCamera.setExtrinsics(extrinsics); + public void enableColor() { + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + grabber.enableColorStream(); } @Override - public PVector getViewPoint(PVector point) { - return actAsCamera.getViewPoint(point); + public void disableColor() { + grabber.disableColorStream(); } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java deleted file mode 100755 index 0656eac0..00000000 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseColor.java +++ /dev/null @@ -1,96 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2016 Jérémy Laviole - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import java.nio.FloatBuffer; -import org.bytedeco.javacpp.RealSense; -import processing.core.PImage; - -/** - * - * @author Jeremy Laviole - */ -public class CameraRealSenseColor extends Camera { - - private CameraRealSense mainCamera; - - protected CameraRealSenseColor(CameraRealSense mainCamera) { - setPixelFormat(PixelFormat.RGB); - this.mainCamera = mainCamera; - } - - public CameraRealSense getMainCamera(){ - return mainCamera; - } - - public void useHarwareIntrinsics() { - RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.color); - FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); - float cx = fb.get(2); - float cy = fb.get(3); - float fx = fb.get(4); - float fy = fb.get(5); - setSimpleCalibration(fx, fy, cx, cy, width(), height()); - } - - @Override - public void start() { - mainCamera.grabber.setImageWidth(width()); - mainCamera.grabber.setImageHeight(height()); - mainCamera.grabber.enableColorStream(); - this.isConnected = true; - } - - @Override - public void grab() { - if (this.isClosing()) { - return; - } - - // update the images. - try { - currentImage = mainCamera.grabber.grabVideo(); - } catch (Exception e) { - System.out.println("Exception :" + e); - e.printStackTrace(); - } - } - - @Override - public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; - } - - @Override - public void close() { - this.setClosing(); - mainCamera.useColor(false); - mainCamera.grabber.disableColorStream(); - - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java deleted file mode 100755 index ed6f3018..00000000 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseDepth.java +++ /dev/null @@ -1,120 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2016 Jérémy Laviole - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import fr.inria.papart.multitouch.KinectTouchInput; -import java.nio.FloatBuffer; -import org.bytedeco.javacpp.RealSense; -import processing.core.PImage; - -/** - * - * @author Jeremy Laviole - */ -public class CameraRealSenseDepth extends Camera implements WithTouchInput { - - CameraRealSense mainCamera; - private KinectTouchInput touchInput; - - protected CameraRealSenseDepth(CameraRealSense colorCamera) { - setPixelFormat(PixelFormat.REALSENSE_Z16); - this.mainCamera = colorCamera; - this.setSize(640, 480); - } - - public CameraRealSense getMainCamera() { - return mainCamera; - } - - public void useHarwareIntrinsics() { - RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.depth); - FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); - float cx = fb.get(2); - float cy = fb.get(3); - float fx = fb.get(4); - float fy = fb.get(5); - setSimpleCalibration(fx, fy, cx, cy, width(), height()); - } - - @Override - public void start() { - mainCamera.grabber.setDepthImageWidth(width()); - mainCamera.grabber.setDepthImageHeight(height()); - mainCamera.grabber.enableDepthStream(); - this.isConnected = true; - } - - public float getDepthScale() { - return mainCamera.grabber.getDepthScale(); - } - - @Override - public void grab() { - if (this.isClosing()) { - return; - } - // update the images. - try { - currentImage = mainCamera.grabber.grabDepth(); - if (touchInput != null) { - touchInput.lock(); - touchInput.update(); - touchInput.getTouch2DColors(mainCamera.currentImage); - touchInput.unlock(); - } else if (touchInput != null) { - System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); - } - } catch (Exception e) { - System.out.println("Exception :" + e); - e.printStackTrace(); - } - } - - @Override - public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; - } - - @Override - public KinectTouchInput getTouchInput() { - return touchInput; - } - - @Override - public void setTouchInput(KinectTouchInput touchInput) { - this.touchInput = touchInput; - } - - @Override - public void close() { - this.setClosing(); - mainCamera.useDepth(false); - mainCamera.grabber.disableDepthStream(); - - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java deleted file mode 100755 index b6a62653..00000000 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSenseIR.java +++ /dev/null @@ -1,97 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2016 Jérémy Laviole - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import java.nio.FloatBuffer; -import org.bytedeco.javacpp.RealSense; -import processing.core.PImage; - -/** - * - * @author Jeremy Laviole - */ -public class CameraRealSenseIR extends Camera { - - CameraRealSense mainCamera; - - protected CameraRealSenseIR(CameraRealSense colorCamera) { - this.mainCamera = colorCamera; - this.width = 640; - this.height = 480; - setPixelFormat(PixelFormat.GRAY); - } - - public CameraRealSense getMainCamera() { - return mainCamera; - } - - public void useHarwareIntrinsics() { - RealSense.intrinsics intrinsics = mainCamera.grabber.getRealSenseDevice().get_stream_intrinsics(RealSense.infrared); - FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); - float cx = fb.get(2); - float cy = fb.get(3); - float fx = fb.get(4); - float fy = fb.get(5); - setSimpleCalibration(fx, fy, cx, cy, width(), height()); - } - - @Override - public void start() { - mainCamera.grabber.setIRImageWidth(width()); - mainCamera.grabber.setIRImageHeight(height()); - mainCamera.grabber.enableIRStream(); - this.isConnected = true; - } - - @Override - public void grab() { - if (this.isClosing()) { - return; - } - // update the images. - try { - currentImage = mainCamera.grabber.grabIR(); - } catch (Exception e) { - System.out.println("Exception :" + e); - e.printStackTrace(); - } - } - - @Override - public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; - } - - @Override - public void close() { - this.setClosing(); - mainCamera.useIR(false); - mainCamera.grabber.disableIRStream(); - - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java new file mode 100644 index 00000000..c8efcbdf --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -0,0 +1,72 @@ +/* + * Copyright (C) 2016 jiii. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, + * MA 02110-1301 USA + */ +package fr.inria.papart.procam.camera; + +import processing.core.PImage; + +/** + * + * @author jiii + */ +public class SubCamera extends Camera { + + public enum Type { + IR, COLOR, DEPTH + } + + protected CameraRGBIRDepth mainCamera; + public Type type; + + public SubCamera(CameraRGBIRDepth mainCamera) { + this.mainCamera = mainCamera; + } + + public Camera getMainCamera() { + return mainCamera; + } + + @Override + public void start() { + mainCamera.start(this); + isConnected = true; + } + + @Override + public void grab() { + mainCamera.grab(this); + } + + @Override + public void close() { + this.setClosing(); + this.isConnected = false; + mainCamera.disable(this); + } + + @Override + public PImage getPImage() { + this.checkCamImage(); + if (currentImage != null) { + camImage.update(currentImage); + return camImage; + } + // TODO: exceptions !!! + return null; + } +} diff --git a/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java b/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java new file mode 100644 index 00000000..be700171 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java @@ -0,0 +1,68 @@ +/* + * Copyright (C) 2016 jiii. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, + * MA 02110-1301 USA + */ +package fr.inria.papart.procam.camera; + +import fr.inria.papart.multitouch.KinectTouchInput; +import fr.inria.papart.multitouch.TouchInput; +import org.bytedeco.javacpp.opencv_core; + +/** + * + * @author jiii + */ +public class SubDepthCamera extends SubCamera implements WithTouchInput{ + + private KinectTouchInput touchInput; + + public SubDepthCamera(CameraRGBIRDepth mainCamera) { + super(mainCamera); + } + + @Override + public KinectTouchInput getTouchInput() { + return touchInput; + } + + @Override + public void setTouchInput(KinectTouchInput touchInput) { + this.touchInput = touchInput; + } + + @Override + public void newTouchImageWithColor(opencv_core.IplImage colorImage) { + if (touchInput != null) { + touchInput.lock(); + touchInput.update(); + touchInput.getTouch2DColors(colorImage); + touchInput.unlock(); + } else if (touchInput != null) { + System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); + } + } + @Override + public void newTouchImage() { + if (touchInput != null) { + touchInput.lock(); + touchInput.update(); + touchInput.unlock(); + } else if (touchInput != null) { + System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); + } + } +} diff --git a/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java b/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java index 8841e20d..62feac8b 100644 --- a/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java +++ b/papart/src/fr/inria/papart/procam/camera/WithTouchInput.java @@ -19,6 +19,7 @@ package fr.inria.papart.procam.camera; import fr.inria.papart.multitouch.KinectTouchInput; +import org.bytedeco.javacpp.opencv_core.IplImage; /** * @@ -28,4 +29,6 @@ public interface WithTouchInput { public KinectTouchInput getTouchInput(); public void setTouchInput(KinectTouchInput touchInput) ; + public void newTouchImage(); + public void newTouchImageWithColor(IplImage image); } From 65a72a065a322d7f94b6802ec3335a224547903a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 8 Nov 2016 17:47:40 +0100 Subject: [PATCH 23/99] Kinect 1 also converted partially. --- papart/src/fr/inria/papart/procam/Utils.java | 17 +++ .../papart/procam/camera/CamImageGray.java | 6 +- .../fr/inria/papart/procam/camera/Camera.java | 5 +- .../papart/procam/camera/CameraFactory.java | 12 +- .../procam/camera/CameraOpenKinect.java | 123 +++++++++--------- .../procam/camera/CameraOpenKinectDepth.java | 122 ----------------- .../procam/camera/CameraRGBIRDepth.java | 27 +++- 7 files changed, 110 insertions(+), 202 deletions(-) delete mode 100755 papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 3d38b06e..09e5ec6d 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -662,6 +662,23 @@ static public void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) { } argb.rewind(); } + static public void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] depthRaw = new byte[2]; + + for (int i = 0; i < argb.capacity(); i += 4) { + gray.get(depthRaw); + + int d = (depthRaw[0] & 0xFF) << 8 | (depthRaw[1] & 0xFF); + + // min depth: 400 + byte dValue = (byte) ((d - 300f) / 3000f * 255f); + argb.put(dValue); + argb.put(dValue); + argb.put(dValue); + argb.put((byte) 255); + } + argb.rewind(); + } static public void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) { byte[] tmpArr = new byte[2]; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index fa49a710..aab07e4d 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -71,17 +71,17 @@ public void update(opencv_core.IplImage iplImage) { return; } if (incomingFormat == PixelFormat.GRAY) { - // P5 does not know real Gray textures, we need to convert it... Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.GRAY_32) { - // P5 does not know real Gray textures, we need to convert it... Utils.byteBufferGRAY32toARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.FLOAT_DEPTH_KINECT2) { - // P5 does not know real Gray textures, we need to convert it... Utils.byteBufferDepthK2toARGB(imageBuffer, argbBuffer); } + if (incomingFormat == PixelFormat.DEPTH_KINECT_MM) { + Utils.byteBufferDepthK1MMtoARGB(imageBuffer, argbBuffer); + } if (incomingFormat == PixelFormat.REALSENSE_Z16) { Utils.byteBufferZ16toARGB(imageBuffer, argbBuffer); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 79f5c0b0..57af6656 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -68,7 +68,7 @@ public enum Type { public enum PixelFormat { - RGB, BGR, ARGB, RGBA, GRAY, GRAY_32, FLOAT_DEPTH_KINECT2, DEPTH_KINECT_MM, DEPTH_KINECT_RAW, REALSENSE_Z16 + RGB, BGR, ARGB, RGBA, GRAY, GRAY_32, FLOAT_DEPTH_KINECT2, DEPTH_KINECT_MM, REALSENSE_Z16 } protected PixelFormat format; @@ -398,8 +398,7 @@ protected boolean isPixelFormatGray() { || pixelFormat == PixelFormat.GRAY_32 || pixelFormat == PixelFormat.REALSENSE_Z16 || pixelFormat == PixelFormat.FLOAT_DEPTH_KINECT2 - || pixelFormat == PixelFormat.DEPTH_KINECT_MM - || pixelFormat == PixelFormat.DEPTH_KINECT_RAW; + || pixelFormat == PixelFormat.DEPTH_KINECT_MM; } protected boolean isPixelFormatColor() { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index 6786d91c..e0460d58 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -39,18 +39,18 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { } Camera camera; - CameraRealSense camRS; + CameraRealSense camRS; switch (type) { case OPENCV: camera = new CameraOpenCV(cameraNo); break; - case OPEN_KINECT_2_RGB: + case OPEN_KINECT_2_RGB: camera = new CameraOpenKinect2(0); - ((CameraRGBIRDepth)camera).actAsColorCamera(); + ((CameraRGBIRDepth) camera).actAsColorCamera(); break; - case OPEN_KINECT_2_IR: + case OPEN_KINECT_2_IR: camera = new CameraOpenKinect2(0); - ((CameraRGBIRDepth)camera).actAsIRCamera(); + ((CameraRGBIRDepth) camera).actAsIRCamera(); break; case KINECT2_RGB: // Hack for now with V4L loopback. camera = new CameraOpenCV(0); @@ -82,7 +82,7 @@ public static Camera createCamera(Camera.Type type, int cameraNo) { break; case OPEN_KINECT: camera = new CameraOpenKinect(cameraNo); - ((CameraOpenKinect) camera).getRGBVideo(); + ((CameraRGBIRDepth) camera).actAsColorCamera(); break; case FLY_CAPTURE: camera = new CameraFlyCapture(cameraNo); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index 3cea0eeb..d69dc7c1 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -23,8 +23,11 @@ import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Utils; import java.util.HashMap; +import java.util.logging.Level; +import java.util.logging.Logger; import org.bytedeco.javacpp.freenect; import org.bytedeco.javacpp.opencv_core.IplImage; +import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.OpenKinectFrameGrabber; import processing.core.PApplet; import processing.core.PImage; @@ -33,36 +36,44 @@ * * @author Jeremy Laviole */ -public class CameraOpenKinect extends Camera implements Displayable { +public class CameraOpenKinect extends CameraRGBIRDepth { - private boolean isGrabbingDepth = false; protected OpenKinectFrameGrabber grabber; - int kinectVideoFormat; - private final CameraOpenKinectDepth depthCamera; protected CameraOpenKinect(int cameraNo) { this.systemNumber = cameraNo; - depthCamera = new CameraOpenKinectDepth(this); + depthCamera = new SubDepthCamera(this); + depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(640, 480); + + colorCamera = new SubCamera(this); + colorCamera.setPixelFormat(PixelFormat.BGR); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(640, 480); getRGBVideo(); + + useIR = false; } public void getIRVideo() { - this.setPixelFormat(PixelFormat.GRAY); + colorCamera.setPixelFormat(PixelFormat.GRAY); kinectVideoFormat = freenect.FREENECT_VIDEO_IR_8BIT; } public void getRGBVideo() { - this.setPixelFormat(PixelFormat.BGR); + colorCamera.setPixelFormat(PixelFormat.BGR); kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; } @Override public void start() { grabber = new OpenKinectFrameGrabber(this.systemNumber); - grabber.setImageWidth(width()); - grabber.setImageHeight(height()); + + colorCamera.start(); + depthCamera.start(); try { grabber.start(); @@ -78,38 +89,6 @@ public void start() { } } - @Override - public void grab() { - - if (this.isClosing()) { - return; - } - - try { - IplImage img = grabber.grabVideo(); - updateCurrentImage(img); - - if (this.isGrabbingDepth) { - depthCamera.grab(); - } - - } catch (Exception e) { - System.err.println("Camera: Kinect Grab() Error ! " + e); - e.printStackTrace(); - } - } - - @Override - public PImage getPImage() { - this.checkCamImage(); - if (currentImage != null) { - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; - } - @Override public void close() { setClosing(); @@ -118,47 +97,67 @@ public void close() { System.out.println("Stopping KinectGrabber"); this.stopThread(); grabber.stop(); - if (this.isGrabbingDepth) { - depthCamera.close(); - } + depthCamera.close(); } catch (Exception e) { } } } - public void setTouch(KinectTouchInput touchInput) { - this.setGrabDepth(true); - depthCamera.setTouchInput(touchInput); + @Override + public void enableIR() { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. } - public CameraOpenKinectDepth getDepthCamera() { - this.setGrabDepth(true); - return this.depthCamera; + @Override + public void disableIR() { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. } - public void setGrabDepth(boolean grabDepth) { - this.isGrabbingDepth = grabDepth; + @Override + public void enableDepth() { } - HashMap imageMap = new HashMap(); + @Override + public void disableDepth() { + } + + @Override + public void enableColor() { + grabber.setImageWidth(width()); + grabber.setImageHeight(height()); + } @Override - public void prepareToDisplayOn(PApplet display) { - PImage image = display.createImage(this.width, this.height, RGB); - imageMap.put(display, image); + public void disableColor() { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. } @Override - public PImage getDisplayedOn(PApplet display) { - PImage image = imageMap.get(display); - Utils.IplImageToPImage(currentImage, false, image); - return image; + public void grabIR() { + throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. + } + + @Override + public void grabDepth() { + try { + depthCamera.currentImage = grabber.grabDepth(); + } catch (FrameGrabber.Exception ex) { + Logger.getLogger(CameraOpenKinect.class.getName()).log(Level.SEVERE, null, ex); + } + } + + @Override + public void grabColor() { + try { + colorCamera.updateCurrentImage(grabber.grabVideo()); + } catch (FrameGrabber.Exception ex) { + Logger.getLogger(CameraOpenKinect.class.getName()).log(Level.SEVERE, null, ex); + } } @Override - public boolean canBeDisplayedOn(PApplet display) { - return imageMap.containsKey(display); + protected void internalGrab() throws Exception { } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java deleted file mode 100755 index 432a4909..00000000 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinectDepth.java +++ /dev/null @@ -1,122 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import fr.inria.papart.multitouch.KinectTouchInput; -import fr.inria.papart.procam.Utils; -import org.bytedeco.javacpp.freenect; -import org.bytedeco.javacpp.opencv_core.IplImage; -import processing.core.PApplet; -import processing.core.PImage; - -/** - * - * @author Jeremy Laviole - */ -public class CameraOpenKinectDepth extends Camera implements WithTouchInput{ - - private CameraOpenKinect parent; - private int depthFormat = freenect.FREENECT_DEPTH_MM; - // other possibility freenect.FREENECT_DEPTH_10_BIT -> Obselete; - - private IplImage depthImage; - private KinectTouchInput touchInput; - private PImage camImageDepth = null; - - protected CameraOpenKinectDepth(CameraOpenKinect parent) { - this.parent = parent; - this.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); - } - - // Nothing, this is virtual... - @Override - public void start() { - parent.grabber.setDepthFormat(depthFormat); - } - - @Override - public void grab() { - try { - IplImage img = parent.grabber.grabDepth(); - - this.currentImage = img; - if (touchInput != null) { - touchInput.lock(); - touchInput.update(); - touchInput.getTouch2DColors(parent.currentImage); - touchInput.unlock(); - } else { - if (touchInput != null) { - System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); - } - } - } catch (Exception e) { - System.err.println("Camera: Kinect Grab depth Error ! " + e); - e.printStackTrace(); - } - - } - - @Override - public PImage getPImage() { - if (camImageDepth == null) { - camImageDepth = parent.parent.createImage(width, height, PApplet.ALPHA); - } - - if (depthImage != null) { - Utils.IplImageToPImageKinect(depthImage, false, camImageDepth); - } - return camImageDepth; - } - - @Override - public void close() { - setClosing(); - } - - @Override - public KinectTouchInput getTouchInput() { - return touchInput; - } - - @Override - public void setTouchInput(KinectTouchInput touchInput) { - this.touchInput = touchInput; - } - - public int getDepthFormat() { - return depthFormat; - } - - public void setDepthFormat(int depthFormat) { - this.depthFormat = depthFormat; - } - - @Override - public void newTouchImage() { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. - } - - @Override - public void newTouchImageWithColor(IplImage image) { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index 0845adf4..08219f18 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -49,9 +49,15 @@ public abstract class CameraRGBIRDepth extends Camera { @Override public void setParent(PApplet parent) { super.setParent(parent); - depthCamera.setParent(parent); - IRCamera.setParent(parent); - colorCamera.setParent(parent); + if (depthCamera != null) { + depthCamera.setParent(parent); + } + if (IRCamera != null) { + IRCamera.setParent(parent); + } + if (colorCamera != null) { + colorCamera.setParent(parent); + } } public SubDepthCamera getDepthCamera() { @@ -75,15 +81,24 @@ public opencv_core.IplImage getDepthImage() { } public PImage getDepthPImage() { - return depthCamera.getPImage(); + if (useDepth) { + return depthCamera.getPImage(); + } + return null; } public PImage getColorImage() { - return colorCamera.getPImage(); + if (useColor) { + return colorCamera.getPImage(); + } + return null; } public PImage getIRImage() { - return IRCamera.getPImage(); + if (useIR) { + return IRCamera.getPImage(); + } + return null; } public abstract void enableIR(); From 48e1e625b7e1ff30ce1669cf3e38bc2973ca648a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 10 Nov 2016 16:07:48 +0100 Subject: [PATCH 24/99] Update on how depth + color cameras are handled. --- papart/src/fr/inria/papart/procam/Papart.java | 5 +- .../inria/papart/procam/camera/CamImage.java | 4 +- .../papart/procam/camera/CamImageColor.java | 1 - .../papart/procam/camera/CamImageGray.java | 6 +- .../fr/inria/papart/procam/camera/Camera.java | 4 +- .../papart/procam/camera/CameraFactory.java | 127 ++++++++---------- .../procam/camera/CameraOpenKinect.java | 76 ++++------- .../procam/camera/CameraOpenKinect2.java | 55 ++++---- .../procam/camera/CameraRGBIRDepth.java | 83 ++++++++++-- .../papart/procam/camera/CameraRealSense.java | 54 +++----- .../inria/papart/procam/camera/SubCamera.java | 5 +- 11 files changed, 218 insertions(+), 202 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 4e8c55a0..12a2894e 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -744,8 +744,7 @@ public void loadDefaultCameraKinect() { System.err.println("You must choose a camera to create a DepthCamera."); } - if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE_RGB - || kinectConfiguration.getCameraType() == Camera.Type.REALSENSE_IR) { + if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE) { kinectDevice = new RealSense(applet, (CameraRealSense) cameraTracking); return; } @@ -755,7 +754,7 @@ public void loadDefaultCameraKinect() { return; } - if (kinectConfiguration.getCameraType() == Camera.Type.KINECT2_RGB) { + if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT_2) { kinectDevice = new KinectOne(applet, cameraTracking); return; } diff --git a/papart/src/fr/inria/papart/procam/camera/CamImage.java b/papart/src/fr/inria/papart/procam/camera/CamImage.java index 6cc07327..b7da58a0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImage.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImage.java @@ -38,9 +38,11 @@ public abstract class CamImage extends PImage { protected CamImage(PApplet parent, int width, int height, int format, PixelFormat incomingFormat) { super(width, height, format); + System.out.println("CamImage: create..."); this.incomingFormat = incomingFormat; - System.out.println("Creating a CamImage " + width + " " + height + " " + format + " " + incomingFormat.name()); + System.out.println("CamImage: Creating a CamImage " + width + " " + height + " " + format + " " + incomingFormat.name()); camInit(parent); + System.out.println("CamImage: done."); } public CamImage(PApplet parent, Image img) { diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index 4f6fd870..d95a342c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -47,7 +47,6 @@ public CamImageColor(PApplet parent, int width, int height, Camera.PixelFormat f @Override protected final void camInit(PApplet parent) { this.parent = parent; - Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); if (tex == null) { throw new RuntimeException("CamImage: Impossible to get the Processing Texture. " diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index aab07e4d..3c21f32b 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -65,11 +65,7 @@ public void update(opencv_core.IplImage iplImage) { Texture tex = ((PGraphicsOpenGL) parent.g).getTexture(this); ByteBuffer imageBuffer = iplImage.getByteBuffer(); - System.out.println("Sizes: " + imageBuffer.limit() + " " + this.pixels.length + " " + argbBuffer.limit()); - if (imageBuffer == null || imageBuffer.limit() == 0 || imageBuffer.capacity() == 0) { - System.out.println("imageBuffer null: The incoming image is empty."); - return; - } + if (incomingFormat == PixelFormat.GRAY) { Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 57af6656..59abd936 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -62,8 +62,8 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { private boolean hasExtrinsics = false; public enum Type { - OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, OPEN_KINECT_IR, FLY_CAPTURE, KINECT2_RGB, REALSENSE_RGB, REALSENSE_IR, KINECT2_IR, - REALSENSE_DEPTH, OPENCV_DEPTH, OPEN_KINECT_2_RGB, OPEN_KINECT_2_IR, FAKE + OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, FLY_CAPTURE, + REALSENSE, OPEN_KINECT_2, FAKE } public enum PixelFormat { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index e0460d58..11de9395 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -27,70 +27,8 @@ */ public class CameraFactory { - /** - * - * @param type either OPENCV_VIDEO or KINECT_VIDEO - * @param cameraNo id of the Camera starting from 0. - * @return - */ - public static Camera createCamera(Camera.Type type, int cameraNo) { - if (type == Type.PROCESSING) { - throw new RuntimeException("PROCESSING_VIDEO requires a String describing the camera."); - } - - Camera camera; - CameraRealSense camRS; - switch (type) { - case OPENCV: - camera = new CameraOpenCV(cameraNo); - break; - case OPEN_KINECT_2_RGB: - camera = new CameraOpenKinect2(0); - ((CameraRGBIRDepth) camera).actAsColorCamera(); - break; - case OPEN_KINECT_2_IR: - camera = new CameraOpenKinect2(0); - ((CameraRGBIRDepth) camera).actAsIRCamera(); - break; - case KINECT2_RGB: // Hack for now with V4L loopback. - camera = new CameraOpenCV(0); - break; - case KINECT2_IR: // Hack for now with V4L loopback. - camera = new CameraOpenCV(2); - break; - case OPENCV_DEPTH: - camera = new CameraOpenCVDepth(cameraNo); - break; - case REALSENSE_RGB: - camRS = new CameraRealSense(cameraNo); - camRS.actAsColorCamera(); - camera = camRS; - break; - case REALSENSE_IR: - camRS = new CameraRealSense(cameraNo); - camRS.actAsIRCamera(); - camera = camRS; - break; -// case REALSENSE_DEPTH: -// camRS = new CameraRealSense(cameraNo); -// camRS.useColor(true); -// camera = camRS; -// break; - case OPEN_KINECT_IR: - camera = new CameraOpenKinect(cameraNo); - ((CameraOpenKinect) camera).getIRVideo(); - break; - case OPEN_KINECT: - camera = new CameraOpenKinect(cameraNo); - ((CameraRGBIRDepth) camera).actAsColorCamera(); - break; - case FLY_CAPTURE: - camera = new CameraFlyCapture(cameraNo); - break; - default: - throw new RuntimeException("ProCam, Camera: Unspported camera Type"); - } - return camera; + public static Camera createCamera(Camera.Type type) { + return createCamera(type, "0", ""); } public static Camera createCamera(Camera.Type type, String description) { @@ -102,11 +40,28 @@ public static Camera createCamera(Camera.Type type, String description) { * @param type must be PROCESSING_VIDEO or FFMPEG * @param description device of the camera (/dev/video0) or name. see the * Processing GettingStartedCamera example to get the name. + * @param format either ffmpeg format information, or RGB, IR, DEPTH to + * specify the default camera type. * @return */ public static Camera createCamera(Camera.Type type, String description, String format) { - Camera camera; + Camera camera = null; + CameraRGBIRDepth cameraMulti = null; + int cameraNo = 0; + boolean isInt = false; + try { + cameraNo = Integer.parseInt(description); + isInt = true; + } catch (NumberFormatException e) { + isInt = false; + } + boolean isRGB = format.equalsIgnoreCase("rgb") || format.equalsIgnoreCase("color"); + boolean isIR = format.equalsIgnoreCase("ir"); + boolean isDepth = format.equalsIgnoreCase("depth"); + + // classes to remove: + // camera = new CameraOpenCVDepth(cameraNo); switch (type) { case FFMPEG: camera = new CameraFFMPEG(description, format); @@ -114,15 +69,45 @@ public static Camera createCamera(Camera.Type type, String description, String f case PROCESSING: camera = new CameraProcessing(description); break; + // Depth Cameras + case OPEN_KINECT_2: + cameraMulti = new CameraOpenKinect2(cameraNo); + break; + case REALSENSE: + cameraMulti = new CameraRealSense(cameraNo); + break; + case OPEN_KINECT: + cameraMulti = new CameraOpenKinect(cameraNo); + break; + case OPENCV: + camera = new CameraOpenCV(cameraNo); + break; + case FLY_CAPTURE: + camera = new CameraFlyCapture(cameraNo); + break; default: - boolean isInt = checkInt(description); - if (!isInt) { - throw new RuntimeException("The description must be a number for this type."); - } - return createCamera(type, Integer.parseInt(description)); + throw new RuntimeException("ProCam, Camera: Unspported camera Type"); } - return camera; + if (cameraMulti != null) { + if (isRGB) { + cameraMulti.setUseColor(true); + cameraMulti.actAsColorCamera(); + } + if (isIR) { + cameraMulti.setUseIR(true); + cameraMulti.actAsIRCamera(); + } + if (isDepth) { + cameraMulti.setUseDepth(true); + cameraMulti.actAsDepthCamera(); + } + return cameraMulti; + } + if (camera != null) { + return camera; + } + throw new RuntimeException("ProCam, Camera: Unspported camera Type"); } private static boolean checkInt(String str) { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index d69dc7c1..f7b67002 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -19,18 +19,11 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.graph.Displayable; -import fr.inria.papart.multitouch.KinectTouchInput; -import fr.inria.papart.procam.Utils; -import java.util.HashMap; import java.util.logging.Level; import java.util.logging.Logger; import org.bytedeco.javacpp.freenect; -import org.bytedeco.javacpp.opencv_core.IplImage; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.OpenKinectFrameGrabber; -import processing.core.PApplet; -import processing.core.PImage; /** * @@ -43,50 +36,31 @@ public class CameraOpenKinect extends CameraRGBIRDepth { protected CameraOpenKinect(int cameraNo) { this.systemNumber = cameraNo; - - depthCamera = new SubDepthCamera(this); - depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); - depthCamera.type = SubCamera.Type.DEPTH; - depthCamera.setSize(640, 480); - - colorCamera = new SubCamera(this); - colorCamera.setPixelFormat(PixelFormat.BGR); - colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(640, 480); - getRGBVideo(); - - useIR = false; - } - - public void getIRVideo() { - colorCamera.setPixelFormat(PixelFormat.GRAY); - kinectVideoFormat = freenect.FREENECT_VIDEO_IR_8BIT; - } - - public void getRGBVideo() { - colorCamera.setPixelFormat(PixelFormat.BGR); - kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; } @Override - public void start() { + public void internalInit() { + if (isUseDepth()) { + depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(640, 480); + } + if (isUseColor()) { + colorCamera.setPixelFormat(PixelFormat.BGR); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(640, 480); + } + if (isUseIR()) { + IRCamera.setPixelFormat(PixelFormat.GRAY); + IRCamera.type = SubCamera.Type.IR; + IRCamera.setSize(640, 480); + } grabber = new OpenKinectFrameGrabber(this.systemNumber); + } - colorCamera.start(); - depthCamera.start(); - - try { - grabber.start(); - grabber.setVideoFormat(kinectVideoFormat); - - depthCamera.start(); - - this.isConnected = true; - } catch (Exception e) { - System.err.println("Could not Kinect start frameGrabber... " + e); - System.err.println("Kinect ID " + this.systemNumber + " could not start."); - System.err.println("Check cable connection and ID."); - } + @Override + public void internalStart() throws FrameGrabber.Exception { + grabber.start(); } @Override @@ -106,12 +80,10 @@ public void close() { @Override public void enableIR() { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. } @Override public void disableIR() { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. } @Override @@ -126,6 +98,8 @@ public void disableDepth() { public void enableColor() { grabber.setImageWidth(width()); grabber.setImageHeight(height()); + kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; + grabber.setVideoFormat(kinectVideoFormat); } @Override @@ -135,7 +109,11 @@ public void disableColor() { @Override public void grabIR() { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. + try { + IRCamera.updateCurrentImage(grabber.grabIR()); + } catch (FrameGrabber.Exception ex) { + Logger.getLogger(CameraOpenKinect.class.getName()).log(Level.SEVERE, null, ex); + } } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index 5a19e399..c08ca4c0 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.OpenKinect2FrameGrabber; /** @@ -31,41 +32,37 @@ public class CameraOpenKinect2 extends CameraRGBIRDepth { protected CameraOpenKinect2(int cameraNo) { this.systemNumber = cameraNo; - - depthCamera = new SubDepthCamera(this); - depthCamera.setPixelFormat(PixelFormat.FLOAT_DEPTH_KINECT2); - depthCamera.type = SubCamera.Type.DEPTH; - depthCamera.setSize(512, 424); - - colorCamera = new SubCamera(this); - colorCamera.setPixelFormat(PixelFormat.ARGB); - colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(1920, 1080); - - IRCamera = new SubCamera(this); - IRCamera.setPixelFormat(PixelFormat.GRAY_32); - IRCamera.type = SubCamera.Type.IR; - IRCamera.setSize(512, 424); } @Override - public void start() { + public void internalInit() { + if (isUseDepth()) { + depthCamera.setPixelFormat(PixelFormat.FLOAT_DEPTH_KINECT2); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(512, 424); + } + if (isUseColor()) { + colorCamera.setPixelFormat(PixelFormat.ARGB); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(1920, 1080); + } + if (isUseIR()) { + IRCamera.setPixelFormat(PixelFormat.GRAY_32); + IRCamera.type = SubCamera.Type.IR; + IRCamera.setSize(512, 424); + } grabber = new OpenKinect2FrameGrabber(this.systemNumber); + } - colorCamera.start(); - IRCamera.start(); - depthCamera.start(); - - try { - grabber.start(); - this.isConnected = true; - } catch (Exception e) { - System.err.println("Could not Kinect start frameGrabber... " + e); - System.err.println("Kinect ID " + this.systemNumber + " could not start."); - System.err.println("Check cable connection and ID."); - } + @Override + public void internalStart() throws FrameGrabber.Exception { + grabber.start(); } + /*** + * Warning BUG: cannot grab in a thread and display as PImage in another. + * @throws Exception + */ @Override protected void internalGrab() throws Exception { grabber.grab(); @@ -76,7 +73,6 @@ public void close() { setClosing(); if (grabber != null) { try { - System.out.println("Stopping OpenKinect2Grabber"); this.stopThread(); grabber.stop(); } catch (Exception e) { @@ -97,6 +93,7 @@ public void disableIR() { @Override public void enableDepth() { grabber.enableDepthStream(); + System.out.println("enable depth stream"); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index 08219f18..b905b12f 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -24,6 +24,7 @@ import java.util.List; import java.util.concurrent.Semaphore; import org.bytedeco.javacpp.opencv_core; +import org.bytedeco.javacv.OpenKinectFrameGrabber; import processing.core.PApplet; import processing.core.PImage; import processing.core.PMatrix3D; @@ -40,11 +41,15 @@ public abstract class CameraRGBIRDepth extends Camera { protected SubCamera IRCamera; private SubCamera actAsCamera = null; - protected boolean useIR = true; - protected boolean useDepth = true; - protected boolean useColor = true; - protected boolean actAsColorCamera = false; - protected boolean actAsIRCamera = false; + protected boolean useIR = false; + protected boolean useDepth = false; + protected boolean useColor = false; + + public CameraRGBIRDepth() { + colorCamera = new SubCamera(this); + depthCamera = new SubDepthCamera(this); + IRCamera = new SubCamera(this); + } @Override public void setParent(PApplet parent) { @@ -155,8 +160,34 @@ void grab(SubCamera camera) { } } + protected abstract void internalStart() throws Exception; + + @Override + public void start() { + try { + internalInit(); + if (isUseColor()) { + colorCamera.start(); + } + if (isUseDepth()) { + depthCamera.start(); + } + if (isUseIR()) { + IRCamera.start(); + } + internalStart(); + this.isConnected = true; + } catch (Exception e) { + System.err.println("Could not Kinect start frameGrabber... " + e); + System.err.println("Kinect ID " + this.systemNumber + " could not start."); + System.err.println("Check cable connection and ID."); + } + } + protected abstract void internalGrab() throws Exception; + protected abstract void internalInit() throws Exception; + @Override public void grab() { @@ -179,7 +210,7 @@ public void grab() { depthCamera.grab(); } - if (actAsColorCamera || actAsIRCamera) { + if (actAsCamera != null) { currentImage = actAsCamera.currentImage; } } catch (Exception e) { @@ -196,6 +227,10 @@ public void actAsIRCamera() { actAsCamera = IRCamera; } + public void actAsDepthCamera() { + actAsCamera = depthCamera; + } + // Generated delegate methods... @Override public PImage getPImage() { @@ -353,8 +388,13 @@ protected Semaphore getSheetSemaphore() { public void setThread() { if (thread == null) { thread = new CameraThread(this); - thread.setCompute(actAsCamera.trackSheets); - actAsCamera.thread = thread; + if (this.actAsCamera != null) { + thread.setCompute(actAsCamera.trackSheets); + actAsCamera.thread = thread; + } else { + thread.setCompute(trackSheets); + } + thread.start(); } else { System.err.println("Camera: Error Thread already launched"); @@ -403,6 +443,9 @@ protected void setClosing() { @Override public boolean isClosing() { + if (actAsCamera == null) { + return super.isClosing(); + } return actAsCamera.isClosing(); } @@ -436,4 +479,28 @@ public PVector getViewPoint(PVector point) { return actAsCamera.getViewPoint(point); } + public boolean isUseIR() { + return useIR; + } + + public void setUseIR(boolean useIR) { + this.useIR = useIR; + } + + public boolean isUseDepth() { + return useDepth; + } + + public void setUseDepth(boolean useDepth) { + this.useDepth = useDepth; + } + + public boolean isUseColor() { + return useColor; + } + + public void setUseColor(boolean useColor) { + this.useColor = useColor; + } + } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 716a247c..7fb3e101 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -43,22 +43,6 @@ protected CameraRealSense(int cameraNo) { } this.systemNumber = cameraNo; - grabber = new RealSenseFrameGrabber(this.systemNumber); - - depthCamera = new SubDepthCamera(this); - depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); - depthCamera.setSize(640, 480); - depthCamera.type = SubCamera.Type.DEPTH; - - colorCamera = new SubCamera(this); - colorCamera.setPixelFormat(PixelFormat.RGB); - colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(960, 540); - - IRCamera = new SubCamera(this); - IRCamera.setSize(640, 480); - IRCamera.setPixelFormat(PixelFormat.GRAY); - IRCamera.type = SubCamera.Type.IR; } public RealSenseFrameGrabber getFrameGrabber() { @@ -76,28 +60,34 @@ public PMatrix3D getHardwareExtrinsics() { } @Override - public void start() { + public void internalInit() { - depthCamera.start(); - colorCamera.start(); - IRCamera.start(); - - try { - grabber.start(); - this.isConnected = true; - } catch (Exception e) { - System.err.println("Could not start RealSenseGrabber... " + e); - System.err.println("Could not camera start RealSenseGrabber... " + e); - System.err.println("Camera ID " + this.systemNumber + " could not start."); - System.err.println("Check cable connection, ID and resolution asked."); - - this.grabber = null; + if (isUseDepth()) { + depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); + depthCamera.setSize(640, 480); + depthCamera.type = SubCamera.Type.DEPTH; + } + if (isUseColor()) { + colorCamera.setPixelFormat(PixelFormat.RGB); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(960, 540); } + if (isUseIR()) { + IRCamera.setSize(640, 480); + IRCamera.setPixelFormat(PixelFormat.GRAY); + IRCamera.type = SubCamera.Type.IR; + } + grabber = new RealSenseFrameGrabber(this.systemNumber); + + } + + @Override + public void internalStart() throws FrameGrabber.Exception { + grabber.start(); } @Override public void internalGrab() throws Exception { - System.out.println("Realsense: main grab"); grabber.grab(); } diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index c8efcbdf..66a56095 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -49,7 +49,9 @@ public void start() { @Override public void grab() { - mainCamera.grab(this); + if (isConnected) { + mainCamera.grab(this); + } } @Override @@ -64,6 +66,7 @@ public PImage getPImage() { this.checkCamImage(); if (currentImage != null) { camImage.update(currentImage); + currentImage = null; return camImage; } // TODO: exceptions !!! From b93de89709eecc65ceb3a94d567392f25624bba0 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Sat, 12 Nov 2016 12:51:54 +0100 Subject: [PATCH 25/99] Work in progress - refactor depth camera support. --- .../calibration/CalibrationExtrinsic.java | 10 +- .../papart/calibration/CalibrationPopup.java | 5 +- .../analysis/KinectDepthAnalysis.java | 31 +++-- .../depthcam/analysis/KinectOpenCV.java | 6 +- .../depthcam/analysis/KinectProcessing.java | 14 +- .../papart/depthcam/devices/Kinect360.java | 81 ++++------- .../papart/depthcam/devices/KinectDevice.java | 96 ++++++------- .../papart/depthcam/devices/KinectOne.java | 124 +++++------------ .../papart/depthcam/devices/RealSense.java | 126 ++++-------------- .../papart/multitouch/KinectTouchInput.java | 4 +- papart/src/fr/inria/papart/procam/Papart.java | 22 +-- .../fr/inria/papart/procam/camera/Camera.java | 4 +- .../papart/procam/camera/CameraRealSense.java | 3 + 13 files changed, 187 insertions(+), 339 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 6ca2dee2..6f6fe918 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -20,9 +20,9 @@ package fr.inria.papart.calibration; import fr.inria.papart.depthcam.devices.KinectDevice; -import fr.inria.papart.depthcam.devices.KinectDevice.Type; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.ProjectorDisplay; import java.util.ArrayList; import processing.core.PApplet; @@ -45,7 +45,7 @@ public class CalibrationExtrinsic { private Papart papart; // Kinect - private KinectDevice.Type kinectType; + private Camera.Type kinectType; private KinectDevice kinectDevice; public CalibrationExtrinsic(PApplet parent) { @@ -61,7 +61,7 @@ public void setDefaultKinect() { this.kinectType = papart.getKinectType(); this.kinectDevice = papart.getKinectDevice(); } - public void setKinect(KinectDevice device, Type type) { + public void setKinect(KinectDevice device, Camera.Type type) { this.kinectType = type; this.kinectDevice = device; } @@ -92,10 +92,10 @@ public void saveProCamExtrinsics(PMatrix3D extr){ } public void calibrateKinect(ArrayList snapshots) { - if (this.kinectType == Type.ONE) { + if (this.kinectType == Camera.Type.OPEN_KINECT_2) { calibrateKinectOne(snapshots); } - if (this.kinectType == Type.X360) { + if (this.kinectType == Camera.Type.OPEN_KINECT) { calibrateKinect360(snapshots); } } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 66cc6dc0..e2c75d2a 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -20,7 +20,6 @@ package fr.inria.papart.calibration; import fr.inria.papart.depthcam.devices.KinectDevice; -import fr.inria.papart.depthcam.devices.KinectDevice.Type; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; @@ -93,7 +92,7 @@ public class CalibrationPopup extends PApplet { private TrackedView projectorView; // Kinect - private KinectDevice.Type kinectType; + private Camera.Type kinectType; // calibrations private ArrayList snapshots = new ArrayList(); @@ -183,7 +182,7 @@ private void initMarkerTrackingFromProjector() { } private void initKinect360(KinectDevice kinectDevice) { - cameraKinect = kinectDevice.getCameraRGB(); + cameraKinect = kinectDevice.getColorCamera(); String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; Camera.convertARParams(this, cameraKinect.getCalibrationFile(), ARToolkitCalib); diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index b8e98e54..f984ab7d 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -32,6 +32,7 @@ import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraRealSense; import java.nio.ByteBuffer; import java.nio.ShortBuffer; @@ -77,24 +78,36 @@ public KinectDevice kinectDevice() { @Override public int getDepthSize() { - return kinectDevice().depthSize(); + return getDepthWidth() * getDepthHeight(); } @Override public int getDepthWidth() { - return kinectDevice().depthWidth(); + return kinectDevice().getDepthCamera().width(); } @Override public int getDepthHeight() { - return kinectDevice().depthHeight(); + return kinectDevice().getDepthCamera().height(); + } + + public int getColorWidth() { + return kinectDevice().getColorCamera().width(); + } + + public int getColorHeight() { + return kinectDevice().getColorCamera().height(); + } + + public int getColorSize() { + return getColorWidth() * getColorHeight(); } public KinectDepthAnalysis(PApplet parent, KinectDevice kinect) { kinectDevice = kinect; DepthAnalysis.papplet = parent; - calibRGB = kinect.getCameraRGB().getProjectiveDevice(); - calibIR = kinect.getCameraDepth().getProjectiveDevice(); + calibRGB = kinect.getColorCamera().getProjectiveDevice(); + calibIR = kinect.getDepthCamera().getProjectiveDevice(); initMemory(); // initThreadPool(); @@ -109,7 +122,7 @@ private void initThreadPool() { } private void initMemory() { - colorRaw = new byte[kinectDevice.colorSize() * 3]; + colorRaw = new byte[getColorSize() * 3]; depthRaw = new byte[kinectDevice.rawDepthSize()]; depthData = new KinectDepthData(this); @@ -126,7 +139,7 @@ private void initMemory() { depthComputationMethod = new RealSenseDepth(depthScale); } - PixelOffset.initStaticMode(kinectDevice.depthWidth(), kinectDevice.depthHeight()); + PixelOffset.initStaticMode(getDepthWidth(), getDepthHeight()); } public PVector findDepthAtRGB(PVector v) { @@ -140,7 +153,7 @@ public PVector findDepthAtRGB(float x, float y, float z) { kinectDevice.getStereoCalibrationInv().mult(v, v2); // v2 is now the location in KinectDepth instead of KinectRGB coordinates. - int worldToPixel = kinectDevice().getCameraDepth().getProjectiveDevice().worldToPixel(v2); + int worldToPixel = kinectDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); return Utils.toPVector(depthData.depthPoints[worldToPixel]); } @@ -292,7 +305,7 @@ protected void doForEachValid3DPoint(int precision, DepthPointManiplation manip) // WARNING MAGIC NUMBER protected void updateRawDepth(opencv_core.IplImage depthImage) { - if (kinectDevice().type() == KinectDevice.Type.REALSENSE) { + if (kinectDevice().type() == Camera.Type.REALSENSE) { // depthRawShortBuffer = depthImage.imageData().position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); depthRawBuffer = depthImage.getByteBuffer(); depthRawShortBuffer = depthRawBuffer.asShortBuffer(); diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java index 1ceeecd0..4a87c92f 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java @@ -45,10 +45,10 @@ public KinectOpenCV(PApplet parent, KinectDevice kinect) { } private void init() { - validPointsIpl = IplImage.create(cvSize(kinectDevice().depthWidth(), - kinectDevice().depthHeight()), + validPointsIpl = IplImage.create(cvSize(getDepthWidth(), + getDepthHeight()), IPL_DEPTH_8U, 3); - validPointsRaw = new byte[kinectDevice().depthSize() * 3]; + validPointsRaw = new byte[getDepthSize()* 3]; } public IplImage update(IplImage depth, IplImage color) { diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index e4e59684..e687d2de 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -59,8 +59,8 @@ public KinectProcessing(PApplet parent, KinectOne kinectOne) { } private void init() { - validPointsPImage = papplet.createImage(kinectDevice().depthWidth(), kinectDevice().depthHeight(), PConstants.RGB); - nativeArrayToErode = IplImage.create(kinectDevice.depthWidth(), kinectDevice.depthHeight(), IPL_DEPTH_8U, 1); + validPointsPImage = papplet.createImage(getDepthWidth(), getDepthHeight(), PConstants.RGB); + nativeArrayToErode = IplImage.create(getDepthWidth(), getDepthHeight(), IPL_DEPTH_8U, 1); erosionIndexer = (UByteIndexer) nativeArrayToErode.createIndexer(); validCopy = Arrays.copyOf(depthData.validPointsMask, depthData.validPointsMask.length); @@ -124,9 +124,9 @@ private void erodePoints2(ArrayList validList, boolean[] arrayToErode, int x = po.x; int y = po.y; - for (int j = y * kinectDevice.depthWidth() - skip; - j <= y * kinectDevice.depthWidth() + skip; - j += kinectDevice.depthWidth() * skip) { + for (int j = y * getDepthWidth() - skip; + j <= y * getDepthWidth() + skip; + j += getDepthWidth() * skip) { for (int i = x - skip; i <= x + skip; i += skip) { int currentIdx = i + j; @@ -144,11 +144,11 @@ private void erodePoints2(ArrayList validList, boolean[] arrayToErode, private void erodePoints(boolean[] arrayToErode) { - for (int i = 0; i < kinectDevice.depthWidth() * kinectDevice.depthHeight(); i++) { + for (int i = 0; i < getDepthWidth() * getDepthHeight(); i++) { erosionIndexer.put(i, arrayToErode[i] ? 1 : 0); } cvErode(nativeArrayToErode, nativeArrayToErode); - for (int i = 0; i < kinectDevice.depthWidth() * kinectDevice.depthHeight(); i++) { + for (int i = 0; i < getDepthWidth() * getDepthHeight(); i++) { arrayToErode[i] = erosionIndexer.get(i) == 1; } diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index ebfd6cf4..2232fb18 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -19,13 +19,12 @@ */ package fr.inria.papart.depthcam.devices; -import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenKinect; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; import processing.core.PApplet; -import processing.core.PMatrix3D; /** * @@ -33,70 +32,42 @@ */ public class Kinect360 extends KinectDevice { - public static final int KINECT_MM = 1; - public static final int KINECT_10BIT = 0; - private final CameraOpenKinect camera; - - public static final int CAMERA_WIDTH = 640; - public static final int CAMERA_HEIGHT = 480; - - public Kinect360(PApplet parent) { - initSizes(parent); - camera = (CameraOpenKinect) CameraFactory.createCamera(Camera.Type.OPEN_KINECT, 0); - camera.setParent(parent); - camera.setCalibration(Papart.kinectRGBCalib); - camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); - setStereoCalibration(Papart.kinectStereoCalib); - camera.start(); - } - public Kinect360(PApplet parent, CameraOpenKinect camera) { - initSizes(parent); - this.camera = camera; -// camera = (CameraOpenKinect) CameraFactory.createCamera(Camera.Type.OPEN_KINECT, 0); +// public Kinect360(PApplet parent) { +// this.parent = parent; +// camera = (CameraOpenKinect) CameraFactory.createCamera(Camera.Type.OPEN_KINECT, "0"); // camera.setParent(parent); // camera.setCalibration(Papart.kinectRGBCalib); +// camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); +// setStereoCalibration(Papart.kinectStereoCalib); +// camera.start(); +// } + + public Kinect360(PApplet parent, CameraOpenKinect camera) { + super(parent, (CameraRGBIRDepth) camera); camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); setStereoCalibration(Papart.kinectStereoCalib); - camera.start(); - } - - private void initSizes(PApplet parent) { - this.parent = parent; - WIDTH = 640; - HEIGHT = 480; - SIZE = WIDTH * HEIGHT; - RGB_WIDTH = 640; - RGB_HEIGHT = 480; - RGB_SIZE = WIDTH * HEIGHT; - } - - @Override - public SubCamera getCameraRGB() { - return camera; - } - - @Override - public SubCamera getCameraIR() { - throw new UnsupportedOperationException("Not supported yet."); + + // -------------------------- + // TODO: find when to start() +// camera.start(); } - - @Override - public SubCamera getCameraDepth() { - return camera.getDepthCamera(); + + public Kinect360(PApplet parent, Camera anotherCamera) { + super(parent, anotherCamera); + this.anotherCamera = anotherCamera; + + initDefaultCamera(); + camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); + setStereoCalibration(Papart.kinectStereoCalib); } @Override public int rawDepthSize() { - return SIZE * 2; - } - - @Override - public void setTouch(KinectTouchInput kinectTouchInput) { - ((CameraOpenKinect) this.getCameraRGB()).setTouch(kinectTouchInput); + return getDepthCamera().width() * getDepthCamera().height() * 2; } @Override - public Type type() { - return Type.X360; + public Camera.Type type() { + return Camera.Type.OPEN_KINECT; } } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java index 3b988d92..e09f3148 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java @@ -22,7 +22,12 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.HasExtrinsics; +import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; +import fr.inria.papart.procam.camera.CameraFactory; +import fr.inria.papart.procam.camera.CameraOpenKinect; +import fr.inria.papart.procam.camera.CameraOpenKinect2; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.SubCamera; import fr.inria.papart.procam.camera.SubDepthCamera; import processing.core.PApplet; @@ -36,18 +41,6 @@ */ public abstract class KinectDevice { - public enum Type { - ONE, X360, REALSENSE, NONE - } - // IR and Depth image size - public static int WIDTH; - public static int HEIGHT; - public static int SIZE; - - // RGB image size - public static int RGB_WIDTH; - public static int RGB_HEIGHT; - public static int RGB_SIZE; private final PMatrix3D KinectRGBIRCalibration = new PMatrix3D(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, @@ -57,23 +50,54 @@ public enum Type { 0, 0, 1, 0, 0, 0, 0, 1); - protected PApplet parent; + protected final PApplet parent; + protected CameraRGBIRDepth camera; + protected Camera anotherCamera = Camera.INVALID_CAMERA; - abstract public SubCamera getCameraRGB(); + public KinectDevice(PApplet parent, Camera anotherCamera) { + this.anotherCamera = anotherCamera; + this.parent = parent; + } - abstract public SubCamera getCameraIR(); + public KinectDevice(PApplet parent, CameraRGBIRDepth mainCamera) { + this.camera = mainCamera; + this.parent = parent; + mainCamera.enableDepth(); + } - abstract public SubDepthCamera getCameraDepth(); + public SubCamera getColorCamera() { + return camera.getColorCamera(); + } + + public SubCamera getIRCamera() { + return camera.getIRCamera(); + } + + public SubDepthCamera getDepthCamera() { + return camera.getDepthCamera(); + } abstract public int rawDepthSize(); - abstract public Type type(); + abstract public Camera.Type type(); - abstract public void setTouch(KinectTouchInput kinectTouchInput); + /*** + * init a depth camera, depth only as there is another color camera. + */ + protected final void initDefaultCamera() { + String id = Papart.getPapart().cameraConfiguration.getCameraName(); + camera = (CameraOpenKinect2) CameraFactory.createCamera(type(), id); + camera.enableDepth(); + camera.setParent(parent); + } public void close() { - getCameraDepth().close(); - getCameraRGB().close(); + getDepthCamera().close(); + getColorCamera().close(); + } + + public void setTouch(KinectTouchInput kinectTouchInput) { + camera.getDepthCamera().setTouchInput(kinectTouchInput); } public void setStereoCalibration(String fileName) { @@ -103,13 +127,13 @@ public PMatrix3D getStereoCalibrationInv() { } public void setExtrinsics(PMatrix3D extr) { - getCameraRGB().setExtrinsics(extr); + getColorCamera().setExtrinsics(extr); // Get color -> Depth PMatrix3D stereo = getStereoCalibrationInv(); PMatrix3D tmp = extr.get(); tmp.apply(stereo); - getCameraDepth().setExtrinsics(tmp); + getDepthCamera().setExtrinsics(tmp); } public int findColorOffset(Vec3D v) { @@ -123,6 +147,7 @@ public int findColorOffset(PVector v) { private PVector vt = new PVector(); private PVector vt2 = new PVector(); + // TODO: this must take into account if we use another camera for tracking. /** * Warning not thread safe. * @@ -137,32 +162,7 @@ public int findColorOffset(float x, float y, float z) { // Ideally use a calibration... // kinectCalibRGB.getExtrinsics().mult(vt, vt2); getStereoCalibration().mult(vt, vt2); - return getCameraRGB().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); - } - - // TODO: find the use of all this.. - public int colorWidth() { - return RGB_WIDTH; - } - - public int colorHeight() { - return RGB_HEIGHT; - } - - public int colorSize() { - return RGB_SIZE; - } - - public int depthWidth() { - return WIDTH; - } - - public int depthHeight() { - return HEIGHT; - } - - public int depthSize() { - return SIZE; + return getColorCamera().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); } } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java index cda80c11..3ca61dc0 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java @@ -23,8 +23,9 @@ import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; -import fr.inria.papart.procam.camera.CameraOpenCVDepth; -import fr.inria.papart.procam.camera.CameraOpenKinectDepth; +import fr.inria.papart.procam.camera.CameraOpenKinect2; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; +import fr.inria.papart.procam.camera.CameraRealSense; import fr.inria.papart.procam.camera.SubCamera; import processing.core.PApplet; @@ -34,104 +35,53 @@ */ public final class KinectOne extends KinectDevice { - protected Camera cameraRGB, cameraIR, cameraDepth; - - public KinectOne(PApplet parent) { - - initSize(); - this.parent = parent; - initRGB(); - initIR(); - initDepth(); +// public KinectOne(PApplet parent) { +// this.parent = parent; +// +// this.parent = parent; +// camera = (CameraRGBIRDepth) CameraFactory.createCamera(Camera.Type.OPEN_KINECT_2, "0"); +// camera.setParent(parent); +// camera.setCalibration(Papart.kinectRGBCalib); +// camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); +// setStereoCalibration(Papart.kinectStereoCalib); +// camera.start(); +// +// +// setStereoCalibration(Papart.kinectStereoCalib); +// } + + public KinectOne(PApplet parent, CameraOpenKinect2 cam) { + super(parent, cam); + + + cam.setParent(parent); + cam.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); + getIRCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); + getDepthCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); setStereoCalibration(Papart.kinectStereoCalib); } + public KinectOne(PApplet parent, Camera incomingCamera) { + super(parent, incomingCamera); - public KinectOne(PApplet parent, Camera cameraRGB) { - initSize(); - this.parent = parent; - this.cameraRGB = cameraRGB; - initIR(); - initDepth(); - - setStereoCalibration(Papart.kinectStereoCalib); - } - - public static final int CAMERA_WIDTH = 512; - public static final int CAMERA_WIDTH_RGB = 1920; - public static final int CAMERA_HEIGHT = 424; - public static final int CAMERA_HEIGHT_RGB = 1080; - - private void initSize() { - // IR and Depth image size - WIDTH = 512; - HEIGHT = 424; - SIZE = WIDTH * HEIGHT; - - // RGB image size - RGB_WIDTH = 1920; - RGB_HEIGHT = 1080; - RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; - } - - public void close() { - cameraRGB.close(); - cameraIR.close(); - cameraDepth.close(); - } - - final void initRGB() { - cameraRGB = CameraFactory.createCamera(Camera.Type.OPENCV, 0); - cameraRGB.setParent(parent); -// cameraRGB.setSize(RGB_WIDTH, RGB_HEIGHT); - cameraRGB.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); - cameraRGB.start(); - } - - final void initIR() { - cameraIR = CameraFactory.createCamera(Camera.Type.OPENCV, 1); - cameraIR.setParent(parent); -// cameraIR.setSize(WIDTH, HEIGHT); - cameraIR.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - cameraIR.start(); - } - - final void initDepth() { - cameraDepth = CameraFactory.createCamera(Camera.Type.OPENCV_DEPTH, 2); - cameraDepth.setParent(parent); -// cameraDepth.setSize(WIDTH, HEIGHT); - cameraDepth.setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - ((CameraOpenCVDepth) cameraDepth).setColorCamera(cameraRGB); + initDefaultCamera(); - cameraDepth.start(); - } - - @Override - public SubCamera getCameraRGB() { - return cameraRGB; - } + // create the camera + incomingCamera.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); + getIRCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); + getDepthCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - public SubCamera getCameraIR() { - return cameraIR; - } - - public SubDepthCamera getCameraDepth() { - return cameraDepth; + setStereoCalibration(Papart.kinectStereoCalib); } @Override public int rawDepthSize() { - return SIZE * 3; - } - - @Override - public void setTouch(KinectTouchInput kinectTouchInput) { - ((CameraOpenCVDepth) cameraDepth).setTouchInput(kinectTouchInput); + return getDepthCamera().width() * getDepthCamera().height() * 2; } @Override - public Type type() { - return Type.ONE; + public Camera.Type type() { + return Camera.Type.OPEN_KINECT_2; } } diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 0c6cb1d4..a496bd72 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -20,13 +20,10 @@ */ package fr.inria.papart.depthcam.devices; -import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.CameraFactory; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.CameraRealSense; -import fr.inria.papart.procam.camera.SubCamera; -import fr.inria.papart.procam.camera.SubDepthCamera; import processing.core.PApplet; /** @@ -35,126 +32,49 @@ */ public final class RealSense extends KinectDevice { - protected CameraRealSense cameraRS; - protected SubDepthCamera cameraDepth; - protected SubCamera cameraColor; - protected SubCamera cameraIR; + CameraRealSense cameraRS; - public RealSense(PApplet parent) { - initSize(); - this.parent = parent; - initCameras(); + public RealSense(PApplet parent, Camera anotherCam) { + super(parent, anotherCam); - // Warning Start both depth & color camera for now. - cameraRS.start(); + initDefaultCamera(); - setStereoCalibration(cameraRS.getHardwareExtrinsics()); - useHardwareIntrinsics(); - } - - public RealSense(PApplet parent, CameraRealSense cameraRGB) { - initSize(); - this.parent = parent; - - cameraColor = cameraRS.getColorCamera(); - cameraDepth = cameraRS.getDepthCamera(); - cameraIR = cameraRS.getIRCamera(); - - cameraDepth.setSize(WIDTH, HEIGHT); - cameraIR.setSize(WIDTH, HEIGHT); - - // Warning Start both depth & color camera for now. - cameraRS.start(); + cameraRS.setCalibration(Papart.kinectRGBCalib); + cameraRS.getDepthCamera().setCalibration(Papart.kinectIRCalib); + setStereoCalibration(Papart.kinectStereoCalib); setStereoCalibration(cameraRS.getHardwareExtrinsics()); - useHardwareIntrinsics(); - } - - private void useHardwareIntrinsics() { - CameraRealSense.useHarwareIntrinsics(cameraColor, cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraDepth, cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraIR, cameraRS.getFrameGrabber()); + useHardwareIntrinsics(cameraRS); } - private void initSize() { - // IR and Depth image size - WIDTH = 640; - HEIGHT = 480; - SIZE = WIDTH * HEIGHT; - - // RGB image size - RGB_WIDTH = 960; - RGB_HEIGHT = 540; - RGB_SIZE = RGB_WIDTH * RGB_HEIGHT; - } - - public void close() { - cameraRS.close(); - cameraDepth.close(); - } - - final void initCameras() { - // Check if it is the default camera... - Papart papart = Papart.getPapart(); - if (papart.cameraConfiguration.getCameraType() == Camera.Type.REALSENSE_RGB) { - System.out.println("REALSENSE: Using configuration ID & Resolution."); - // use the ID - int id = Integer.parseInt(papart.cameraConfiguration.getCameraName()); - - cameraColor = cameraRS.getColorCamera(); - cameraColor.setCalibration(Papart.cameraCalib); - } else { - cameraRS = (CameraRealSense) CameraFactory.createCamera(Camera.Type.REALSENSE_RGB, 0); - cameraRS.setParent(parent); - - cameraColor = cameraRS.getColorCamera(); - cameraColor.setSize(RGB_WIDTH, RGB_HEIGHT); - cameraColor.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); - } + public RealSense(PApplet parent, CameraRealSense cameraRS) { + super(parent, (CameraRGBIRDepth) cameraRS); + +// cameraColor.setCalibration(Papart.cameraCalib); +// cameraColor.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); - cameraDepth = cameraRS.getDepthCamera(); - cameraDepth.setSize(WIDTH, HEIGHT); - - cameraIR = cameraRS.getIRCamera(); - cameraIR.setSize(WIDTH, HEIGHT); + setStereoCalibration(cameraRS.getHardwareExtrinsics()); + useHardwareIntrinsics(cameraRS); } - public void grab() { - cameraRS.grab(); + private void useHardwareIntrinsics(CameraRealSense cameraRS) { + CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); } public CameraRealSense getMainCamera() { return cameraRS; } - @Override - public SubCamera getCameraRGB() { - return cameraColor; - } - - @Override - public SubCamera getCameraIR() { - return cameraIR; - } - - @Override - public SubDepthCamera getCameraDepth() { - return cameraDepth; - } - @Override public int rawDepthSize() { - return SIZE * 2; - } - - @Override - public void setTouch(KinectTouchInput kinectTouchInput) { - cameraDepth.setTouchInput(kinectTouchInput); + return getDepthCamera().width() * getDepthCamera().height() * 2; } @Override - public Type type() { - return Type.REALSENSE; + public Camera.Type type() { + return Camera.Type.REALSENSE; } } diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 90c34cc7..2cc85293 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -99,8 +99,8 @@ public void setTouchDetectionCalibration3D(PlanarTouchCalibration touchCalib) { @Override public void update() { try { - IplImage depthImage = kinectDevice.getCameraDepth().getIplImage(); - IplImage colImage = kinectDevice.getCameraRGB().getIplImage(); + IplImage depthImage = kinectDevice.getDepthCamera().getIplImage(); + IplImage colImage = kinectDevice.getColorCamera().getIplImage(); depthDataSem.acquire(); if (colImage == null || depthImage == null) { diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 12a2894e..8ff2a0c3 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -81,7 +81,7 @@ public class Papart { public static String screenConfig = calibrationFolder + "screenConfiguration.xml"; public static String cameraConfig = calibrationFolder + "cameraConfiguration.xml"; - public static String cameraKinectConfig = calibrationFolder + "cameraKinectConfiguration.xml"; + public static String depthCameraConfig = calibrationFolder + "depthCameraConfiguration.xml"; public static String tablePosition = calibrationFolder + "tablePosition.xml"; public static String planeCalib = calibrationFolder + "PlaneCalibration.xml"; @@ -120,10 +120,6 @@ public class Papart { public CameraConfiguration cameraConfiguration; public ScreenConfiguration screenConfiguration; // TODO: find what to do with these... -// private final int depthFormat = freenect.FREENECT_DEPTH_10BIT; -// private final int kinectFormat = Kinect.KINECT_10BIT; - private final int depthFormat = freenect.FREENECT_DEPTH_MM; - private final int kinectFormat = Kinect360.KINECT_MM; /** * Create the main PapARt object, look at the examples for how to use it. @@ -156,7 +152,7 @@ public static CameraConfiguration getDefaultCameraConfiguration(PApplet applet) public static CameraConfiguration getDefaultKinectConfiguration(PApplet applet) { CameraConfiguration config = new CameraConfiguration(); - config.loadFrom(applet, cameraKinectConfig); + config.loadFrom(applet, depthCameraConfig); return config; } @@ -322,11 +318,6 @@ public void forceCameraSize() { cameraTracking.height()); } - public void forceDepthCameraSize() { - forceWindowSize(kinectDevice.depthWidth(), - kinectDevice.depthHeight()); - } - public void forceWindowSize(int w, int h) { Papart papart = Papart.getPapart(); @@ -737,6 +728,8 @@ public void useKinectOne(boolean kinectOne) { */ public void loadDefaultCameraKinect() { + // Two cases, either the other camera running of the same type + CameraConfiguration kinectConfiguration = Papart.getDefaultKinectConfiguration(applet); // If the camera is not instanciated, it is not correct ! @@ -921,7 +914,7 @@ public boolean isWithoutCamera() { } public Camera getKinectCamera() { - return this.kinectDevice.getCameraRGB(); + return this.kinectDevice.getColorCamera(); } public KinectDevice getKinectDevice() { @@ -932,10 +925,9 @@ public KinectDepthAnalysis getKinectAnalysis() { return this.kinectDepthAnalysis; } - public KinectDevice.Type getKinectType() { + public Camera.Type getKinectType() { if (kinectDevice == null) { - return KinectDevice.Type.NONE; - + return Camera.Type.FAKE; } return kinectDevice.type(); } diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 59abd936..58e19a16 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -62,8 +62,8 @@ public abstract class Camera extends Node implements PConstants, HasExtrinsics { private boolean hasExtrinsics = false; public enum Type { - OPENCV, FFMPEG, PROCESSING, OPEN_KINECT, FLY_CAPTURE, - REALSENSE, OPEN_KINECT_2, FAKE + OPENCV, FFMPEG, PROCESSING, REALSENSE, OPEN_KINECT, OPEN_KINECT_2, FLY_CAPTURE, + FAKE } public enum PixelFormat { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 7fb3e101..4d3fb4dc 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -110,6 +110,9 @@ public void close() { } public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber grabber) { + if(camera == null || camera == Camera.INVALID_CAMERA){ + return; + } int camType = 0; if (camera.type == SubCamera.Type.COLOR) { camType = RealSense.color; From 49291a88e3a9cc2f4a71a0e7f567d860a6bb08e3 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Mon, 14 Nov 2016 16:17:45 +0100 Subject: [PATCH 26/99] Wip -> refactor depth camera. --- .../calibration/CalibrationExtrinsic.java | 6 +-- .../papart/calibration/CalibrationPopup.java | 4 +- .../analysis/KinectDepthAnalysis.java | 8 ++-- .../depthcam/analysis/KinectOpenCV.java | 4 +- .../depthcam/analysis/KinectProcessing.java | 4 +- ...nectDevice.java => DepthCameraDevice.java} | 21 ++------- .../papart/depthcam/devices/Kinect360.java | 29 +++++------- .../papart/depthcam/devices/KinectOne.java | 47 +++++-------------- .../papart/depthcam/devices/RealSense.java | 34 ++++++-------- .../papart/multitouch/KinectTouchInput.java | 6 +-- papart/src/fr/inria/papart/procam/Papart.java | 6 +-- .../procam/camera/CameraOpenKinect.java | 2 + .../procam/camera/CameraRGBIRDepth.java | 22 +++++---- .../inria/papart/procam/camera/SubCamera.java | 3 ++ 14 files changed, 83 insertions(+), 113 deletions(-) rename papart/src/fr/inria/papart/depthcam/devices/{KinectDevice.java => DepthCameraDevice.java} (87%) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 6f6fe918..cee4a6fd 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -19,7 +19,7 @@ */ package fr.inria.papart.calibration; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; @@ -46,7 +46,7 @@ public class CalibrationExtrinsic { // Kinect private Camera.Type kinectType; - private KinectDevice kinectDevice; + private DepthCameraDevice kinectDevice; public CalibrationExtrinsic(PApplet parent) { this.parent = parent; @@ -61,7 +61,7 @@ public void setDefaultKinect() { this.kinectType = papart.getKinectType(); this.kinectDevice = papart.getKinectDevice(); } - public void setKinect(KinectDevice device, Camera.Type type) { + public void setKinect(DepthCameraDevice device, Camera.Type type) { this.kinectType = type; this.kinectDevice = device; } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index e2c75d2a..fd27c6a8 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -19,7 +19,7 @@ */ package fr.inria.papart.calibration; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; @@ -181,7 +181,7 @@ private void initMarkerTrackingFromProjector() { projectorTracker = DetectedMarker.createDetector(projector.getWidth(), projector.getHeight()); } - private void initKinect360(KinectDevice kinectDevice) { + private void initKinect360(DepthCameraDevice kinectDevice) { cameraKinect = kinectDevice.getColorCamera(); String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index f984ab7d..f2bd661e 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -25,7 +25,7 @@ import fr.inria.papart.depthcam.TouchAttributes; import fr.inria.papart.depthcam.devices.Kinect360; import fr.inria.papart.depthcam.devices.KinectDepthData; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.depthcam.devices.KinectOne; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.INVALID_POINT; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; @@ -69,10 +69,10 @@ public class KinectDepthAnalysis extends DepthAnalysis { // static values protected static final float INVALID_DEPTH = -1; - protected KinectDevice kinectDevice; + protected DepthCameraDevice kinectDevice; protected DepthComputation depthComputationMethod; - public KinectDevice kinectDevice() { + public DepthCameraDevice kinectDevice() { return this.kinectDevice; } @@ -103,7 +103,7 @@ public int getColorSize() { return getColorWidth() * getColorHeight(); } - public KinectDepthAnalysis(PApplet parent, KinectDevice kinect) { + public KinectDepthAnalysis(PApplet parent, DepthCameraDevice kinect) { kinectDevice = kinect; DepthAnalysis.papplet = parent; calibRGB = kinect.getColorCamera().getProjectiveDevice(); diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java index 4a87c92f..862047a6 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java @@ -20,7 +20,7 @@ package fr.inria.papart.depthcam.analysis; import fr.inria.papart.depthcam.PixelOffset; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.procam.camera.CameraOpenKinect; import java.nio.ByteBuffer; import java.util.Arrays; @@ -39,7 +39,7 @@ public class KinectOpenCV extends KinectDepthAnalysis { public IplImage validPointsIpl; public byte[] validPointsRaw; - public KinectOpenCV(PApplet parent, KinectDevice kinect) { + public KinectOpenCV(PApplet parent, DepthCameraDevice kinect) { super(parent, kinect); init(); } diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index e687d2de..0c2771f8 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -22,7 +22,7 @@ import fr.inria.papart.calibration.PlaneAndProjectionCalibration; import fr.inria.papart.depthcam.PixelOffset; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.depthcam.devices.KinectOne; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; import java.util.ArrayList; @@ -48,7 +48,7 @@ public class KinectProcessing extends KinectDepthAnalysis { UByteIndexer erosionIndexer; boolean[] validCopy; - public KinectProcessing(PApplet parent, KinectDevice kinect) { + public KinectProcessing(PApplet parent, DepthCameraDevice kinect) { super(parent, kinect); init(); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java similarity index 87% rename from papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java rename to papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index e09f3148..7c01364d 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -21,12 +21,9 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.multitouch.KinectTouchInput; -import fr.inria.papart.procam.HasExtrinsics; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; -import fr.inria.papart.procam.camera.CameraOpenKinect; -import fr.inria.papart.procam.camera.CameraOpenKinect2; import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.SubCamera; import fr.inria.papart.procam.camera.SubDepthCamera; @@ -39,7 +36,7 @@ * * @author Jérémy Laviole - jeremy.laviole@inria.fr */ -public abstract class KinectDevice { +public abstract class DepthCameraDevice { private final PMatrix3D KinectRGBIRCalibration = new PMatrix3D(1, 0, 0, 0, 0, 1, 0, 0, @@ -54,17 +51,10 @@ public abstract class KinectDevice { protected CameraRGBIRDepth camera; protected Camera anotherCamera = Camera.INVALID_CAMERA; - public KinectDevice(PApplet parent, Camera anotherCamera) { - this.anotherCamera = anotherCamera; + public DepthCameraDevice(PApplet parent) { this.parent = parent; } - public KinectDevice(PApplet parent, CameraRGBIRDepth mainCamera) { - this.camera = mainCamera; - this.parent = parent; - mainCamera.enableDepth(); - } - public SubCamera getColorCamera() { return camera.getColorCamera(); } @@ -86,14 +76,13 @@ public SubDepthCamera getDepthCamera() { */ protected final void initDefaultCamera() { String id = Papart.getPapart().cameraConfiguration.getCameraName(); - camera = (CameraOpenKinect2) CameraFactory.createCamera(type(), id); - camera.enableDepth(); + camera = (CameraRGBIRDepth) CameraFactory.createCamera(type(), id); + camera.setUseDepth(true); camera.setParent(parent); } public void close() { - getDepthCamera().close(); - getColorCamera().close(); + camera.close(); } public void setTouch(KinectTouchInput kinectTouchInput) { diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index 2232fb18..160a1e87 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -30,7 +30,7 @@ * * @author Jeremy Laviole */ -public class Kinect360 extends KinectDevice { +public class Kinect360 extends DepthCameraDevice { // public Kinect360(PApplet parent) { // this.parent = parent; @@ -41,24 +41,21 @@ public class Kinect360 extends KinectDevice { // setStereoCalibration(Papart.kinectStereoCalib); // camera.start(); // } - - public Kinect360(PApplet parent, CameraOpenKinect camera) { - super(parent, (CameraRGBIRDepth) camera); - camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); - setStereoCalibration(Papart.kinectStereoCalib); - - // -------------------------- - // TODO: find when to start() -// camera.start(); - } - public Kinect360(PApplet parent, Camera anotherCamera) { - super(parent, anotherCamera); - this.anotherCamera = anotherCamera; - - initDefaultCamera(); + super(parent); + + if (anotherCamera instanceof CameraOpenKinect) { + this.camera = (CameraOpenKinect) anotherCamera; + System.out.println("Use the given Kinect camera"); + } else { + initDefaultCamera(); + System.out.println("init a default Kinect camera"); + this.anotherCamera = anotherCamera; + } + this.camera.setUseDepth(true); camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); setStereoCalibration(Papart.kinectStereoCalib); + camera.start(); } @Override diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java index 3ca61dc0..132c7938 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java @@ -33,45 +33,24 @@ * * @author Jeremy Laviole */ -public final class KinectOne extends KinectDevice { +public final class KinectOne extends DepthCameraDevice { -// public KinectOne(PApplet parent) { -// this.parent = parent; -// -// this.parent = parent; -// camera = (CameraRGBIRDepth) CameraFactory.createCamera(Camera.Type.OPEN_KINECT_2, "0"); -// camera.setParent(parent); -// camera.setCalibration(Papart.kinectRGBCalib); -// camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); -// setStereoCalibration(Papart.kinectStereoCalib); -// camera.start(); -// -// -// setStereoCalibration(Papart.kinectStereoCalib); -// } - - public KinectOne(PApplet parent, CameraOpenKinect2 cam) { - super(parent, cam); - - - cam.setParent(parent); - cam.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); - getIRCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - getDepthCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - - setStereoCalibration(Papart.kinectStereoCalib); - } public KinectOne(PApplet parent, Camera incomingCamera) { - super(parent, incomingCamera); - - initDefaultCamera(); + super(parent); + if (incomingCamera instanceof CameraOpenKinect2) { + this.camera = (CameraOpenKinect2) incomingCamera; + } else { + initDefaultCamera(); + this.anotherCamera = incomingCamera; + } + this.camera.setUseDepth(true); - // create the camera - incomingCamera.setCalibration(Papart.calibrationFolder + "camera-kinect2-rgb.yaml"); - getIRCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); +// getColorCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-RGB.yaml"); +// getIRCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); getDepthCamera().setCalibration(Papart.calibrationFolder + "camera-kinect2-IR.yaml"); - setStereoCalibration(Papart.kinectStereoCalib); + + camera.start(); } @Override diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index a496bd72..da7527f4 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -30,29 +30,25 @@ * * @author Jeremy Laviole */ -public final class RealSense extends KinectDevice { +public final class RealSense extends DepthCameraDevice { - CameraRealSense cameraRS; + private final CameraRealSense cameraRS; public RealSense(PApplet parent, Camera anotherCam) { - super(parent, anotherCam); - - initDefaultCamera(); - - cameraRS.setCalibration(Papart.kinectRGBCalib); - cameraRS.getDepthCamera().setCalibration(Papart.kinectIRCalib); - setStereoCalibration(Papart.kinectStereoCalib); - - setStereoCalibration(cameraRS.getHardwareExtrinsics()); - useHardwareIntrinsics(cameraRS); - } - - public RealSense(PApplet parent, CameraRealSense cameraRS) { - super(parent, (CameraRGBIRDepth) cameraRS); - -// cameraColor.setCalibration(Papart.cameraCalib); -// cameraColor.setCalibration(Papart.calibrationFolder + "saved/camera-SR300.yaml"); + super(parent); + if (anotherCam instanceof CameraRealSense) { + this.camera = (CameraRealSense) anotherCam; + } else { + initDefaultCamera(); + this.anotherCamera = anotherCam; + } + this.camera.setUseDepth(true); + cameraRS = (CameraRealSense) camera; +// cameraRS.setCalibration(Papart.kinectRGBCalib); +// cameraRS.getDepthCamera().setCalibration(Papart.kinectIRCalib); +// setStereoCalibration(Papart.kinectStereoCalib); + camera.start(); setStereoCalibration(cameraRS.getHardwareExtrinsics()); useHardwareIntrinsics(cameraRS); } diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 2cc85293..20691999 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -30,7 +30,7 @@ import fr.inria.papart.depthcam.analysis.DepthAnalysis; import fr.inria.papart.calibration.PlaneAndProjectionCalibration; import fr.inria.papart.depthcam.analysis.KinectDepthAnalysis; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.procam.display.BaseDisplay; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.camera.CameraOpenKinect; @@ -62,7 +62,7 @@ public class KinectTouchInput extends TouchInput { private final Semaphore depthDataSem = new Semaphore(1); // List of TouchPoints, given to the user - private final KinectDevice kinectDevice; + private final DepthCameraDevice kinectDevice; private PlaneAndProjectionCalibration planeAndProjCalibration; @@ -73,7 +73,7 @@ public class KinectTouchInput extends TouchInput { private final TouchDetectionSimple3D touchDetection3D; public KinectTouchInput(PApplet applet, - KinectDevice kinectDevice, + DepthCameraDevice kinectDevice, KinectDepthAnalysis depthAnalysis, PlaneAndProjectionCalibration calibration) { this.parent = applet; diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 8ff2a0c3..3425a555 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -34,7 +34,7 @@ import fr.inria.papart.calibration.ScreenConfiguration; import fr.inria.papart.depthcam.devices.Kinect360; import fr.inria.papart.depthcam.analysis.KinectDepthAnalysis; -import fr.inria.papart.depthcam.devices.KinectDevice; +import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.depthcam.devices.KinectOne; import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.multitouch.TouchInput; @@ -115,7 +115,7 @@ public class Papart { private PVector frameSize = new PVector(); private boolean isWithoutCamera = false; - public KinectDevice kinectDevice; + public DepthCameraDevice kinectDevice; public CameraConfiguration cameraConfiguration; public ScreenConfiguration screenConfiguration; @@ -917,7 +917,7 @@ public Camera getKinectCamera() { return this.kinectDevice.getColorCamera(); } - public KinectDevice getKinectDevice() { + public DepthCameraDevice getKinectDevice() { return kinectDevice; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index f7b67002..dcf9bd8c 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -40,10 +40,12 @@ protected CameraOpenKinect(int cameraNo) { @Override public void internalInit() { + System.out.println("setting all pix format"); if (isUseDepth()) { depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); depthCamera.type = SubCamera.Type.DEPTH; depthCamera.setSize(640, 480); + System.out.println("setting depth pixel format"); } if (isUseColor()) { colorCamera.setPixelFormat(PixelFormat.BGR); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index b905b12f..96d7d516 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -106,23 +106,23 @@ public PImage getIRImage() { return null; } - public abstract void enableIR(); + protected abstract void enableIR(); - public abstract void disableIR(); + protected abstract void disableIR(); - public abstract void enableDepth(); + protected abstract void enableDepth(); - public abstract void disableDepth(); + protected abstract void disableDepth(); - public abstract void enableColor(); + protected abstract void enableColor(); - public abstract void disableColor(); + protected abstract void disableColor(); - public abstract void grabIR(); + protected abstract void grabIR(); - public abstract void grabDepth(); + protected abstract void grabDepth(); - public abstract void grabColor(); + protected abstract void grabColor(); public void disable(SubCamera camera) { if (camera.type == SubCamera.Type.DEPTH) { @@ -162,8 +162,11 @@ void grab(SubCamera camera) { protected abstract void internalStart() throws Exception; + protected boolean isStarting = false; + @Override public void start() { + isStarting = true; try { internalInit(); if (isUseColor()) { @@ -182,6 +185,7 @@ public void start() { System.err.println("Kinect ID " + this.systemNumber + " could not start."); System.err.println("Check cable connection and ID."); } + isStarting = false; } protected abstract void internalGrab() throws Exception; diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index 66a56095..dcffdade 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -43,6 +43,9 @@ public Camera getMainCamera() { @Override public void start() { + if(!mainCamera.isStarting){ + throw new RuntimeException("Cannot start a subCamera: start the main camera instead."); + } mainCamera.start(this); isConnected = true; } From 45f7c62fef97100c3a309e67d7d404b5d8e8da19 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Mon, 14 Nov 2016 16:17:59 +0100 Subject: [PATCH 27/99] wip depthCamera --- ...ation.xml => depthCameraConfiguration.xml} | 2 +- .../calibration/saved/camera-SR300-960.yaml | 71 +++++++++++++++++++ 2 files changed, 72 insertions(+), 1 deletion(-) rename papart/data/calibration/{cameraKinectConfiguration.xml => depthCameraConfiguration.xml} (50%) create mode 100644 papart/data/calibration/saved/camera-SR300-960.yaml diff --git a/papart/data/calibration/cameraKinectConfiguration.xml b/papart/data/calibration/depthCameraConfiguration.xml similarity index 50% rename from papart/data/calibration/cameraKinectConfiguration.xml rename to papart/data/calibration/depthCameraConfiguration.xml index 40c79d32..3d75175a 100644 --- a/papart/data/calibration/cameraKinectConfiguration.xml +++ b/papart/data/calibration/depthCameraConfiguration.xml @@ -1,4 +1,4 @@ - + diff --git a/papart/data/calibration/saved/camera-SR300-960.yaml b/papart/data/calibration/saved/camera-SR300-960.yaml new file mode 100644 index 00000000..d526bf2a --- /dev/null +++ b/papart/data/calibration/saved/camera-SR300-960.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 960 + imageHeight: 540 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 6.9476211e+02, 0., 4.662133e+02, 0., + 6.9476211e+02, 2.81446e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.2177352964304565e-01, -2.6007913105329256e-01, + -5.9578551006836851e-03, -1.4334539897586079e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -1.7607844755616370e-01, -1.2820713376722212e-01, + 1.5460774537187465e+00, 3.9691618786981451e+01, + -2.0418669774626716e+02, 6.4351403964187080e+02, + -1.7811130302287448e-01, -1.4706364694033458e-01, + 1.5843252636738345e+00, 4.5596623077623697e+01, + -2.2165788108081981e+02, 6.3827216502127044e+02, + 2.4781484476754240e-01, -6.7208474024433540e-01, + 3.0240918432584216e+00, 3.0597905812808028e+02, + 8.7979651732451387e+01, 6.0729733866327001e+02, + -1.2602515731264630e-02, 1.0104651192342044e-01, + -1.7992790663995890e+00, -1.1842522426386454e+02, + 3.2234544947681246e+02, 7.6469853273604872e+02, + 5.1147621677178085e-03, 1.7371891574406548e-01, + -1.8097693911394694e+00, -8.9179918593347736e+01, + 2.6838940269947079e+02, 7.7410825633252318e+02, + -1.1794349372064081e-01, 1.9322399324060713e-01, + -3.0305507980128330e+00, 2.1837440238945572e+02, + 3.0684021053236972e+02, 7.1485559885164059e+02, + -1.3753434037022760e-01, 1.8470375069357825e-01, + -3.1243272857107169e+00, 2.5517623452792574e+02, + 3.2064272373774821e+02, 7.0213260954811710e+02, + 1.0433239555743316e-01, -2.8159889631200224e-01, + 3.1030888317227983e+00, 2.3864305820545394e+02, + 4.8062175037148895e+00, 5.9512481887669003e+02, + 1.1115187521034058e-01, -1.7039573484898449e-01, + 3.1095106342789514e+00, 2.4488515071801882e+02, + 6.2753077906758733e+01, 5.9891939499910268e+02, + -1.1577350344439789e-01, 7.9903129906887749e-02, + -3.1169111581000437e+00, 2.4176659799043321e+02, + 1.1668424414898595e+02, 5.9571494908538386e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 4.1340083848000114e-01, 3.9111806492508300e-01, + 9.7959596925818160e-01, 5.7347563761640497e-01, + 5.0807880449963017e-01, 7.0972237707286367e-01, + 8.7904455182929297e-01, 6.3547446324029178e-01, + 5.8412414368759535e-01, 5.0332289266443064e-01 ] + avgReprojErr: 6.3779671784126868e-01 + maxReprojErr: 2.4731437660509830e+00 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. From cc3576557fb96b79bb6f0d38cab17adc4dc3ab7f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 16 Nov 2016 17:26:30 +0100 Subject: [PATCH 28/99] =?UTF-8?q?Refactor=20in=20progress,=20Kinect1=20&?= =?UTF-8?q?=20Realsense=20working=20well.=20K2=C2=A0support=20skipped=20fo?= =?UTF-8?q?r=20this=20version.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../depthcam/analysis/DepthAnalysis.java | 8 -- .../analysis/KinectDepthAnalysis.java | 57 +++++------ .../depthcam/analysis/KinectOpenCV.java | 2 +- .../depthcam/analysis/KinectProcessing.java | 2 +- .../depthcam/devices/DepthCameraDevice.java | 7 +- .../papart/depthcam/devices/Kinect360.java | 1 + .../papart/depthcam/devices/KinectOne.java | 5 - .../papart/depthcam/devices/RealSense.java | 6 +- papart/src/fr/inria/papart/procam/Papart.java | 95 ++++++++++--------- .../papart/procam/camera/CameraFactory.java | 13 +-- .../procam/camera/CameraOpenKinect.java | 17 ++-- .../procam/camera/CameraOpenKinect2.java | 31 +++++- .../procam/camera/CameraRGBIRDepth.java | 11 ++- .../papart/procam/camera/CameraRealSense.java | 13 ++- .../papart/procam/camera/CameraThread.java | 5 +- .../inria/papart/procam/camera/SubCamera.java | 2 +- .../papart/procam/display/ARDisplay.java | 7 +- 17 files changed, 153 insertions(+), 129 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/analysis/DepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/DepthAnalysis.java index 37b5fef5..d932f707 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/DepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/DepthAnalysis.java @@ -20,16 +20,10 @@ package fr.inria.papart.depthcam.analysis; import fr.inria.papart.depthcam.devices.KinectDepthData; -import fr.inria.papart.calibration.HomographyCalibration; -import fr.inria.papart.calibration.PlaneAndProjectionCalibration; import fr.inria.papart.depthcam.PixelOffset; import org.bytedeco.javacpp.opencv_core.IplImage; -import fr.inria.papart.procam.ProjectiveDeviceP; -import java.nio.ByteBuffer; import processing.core.PApplet; -import processing.core.PMatrix3D; import processing.core.PVector; -import toxi.geom.Plane; import toxi.geom.Vec3D; /** @@ -38,8 +32,6 @@ * * @author jeremy */ -// TODO: -// use the Hardware calibration. public abstract class DepthAnalysis { protected int[] connexity; // TODO: check for Byte instead of int diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index f2bd661e..08c27a55 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -69,11 +69,11 @@ public class KinectDepthAnalysis extends DepthAnalysis { // static values protected static final float INVALID_DEPTH = -1; - protected DepthCameraDevice kinectDevice; + protected DepthCameraDevice depthCameraDevice; protected DepthComputation depthComputationMethod; public DepthCameraDevice kinectDevice() { - return this.kinectDevice; + return this.depthCameraDevice; } @Override @@ -103,11 +103,11 @@ public int getColorSize() { return getColorWidth() * getColorHeight(); } - public KinectDepthAnalysis(PApplet parent, DepthCameraDevice kinect) { - kinectDevice = kinect; + public KinectDepthAnalysis(PApplet parent, DepthCameraDevice depthCamera) { + depthCameraDevice = depthCamera; DepthAnalysis.papplet = parent; - calibRGB = kinect.getColorCamera().getProjectiveDevice(); - calibIR = kinect.getDepthCamera().getProjectiveDevice(); + calibRGB = depthCamera.getColorCamera().getProjectiveDevice(); + calibIR = depthCamera.getDepthCamera().getProjectiveDevice(); initMemory(); // initThreadPool(); @@ -123,40 +123,26 @@ private void initThreadPool() { private void initMemory() { colorRaw = new byte[getColorSize() * 3]; - depthRaw = new byte[kinectDevice.rawDepthSize()]; + depthRaw = new byte[depthCameraDevice.rawDepthSize()]; depthData = new KinectDepthData(this); depthData.projectiveDevice = this.calibIR; - if (kinectDevice instanceof Kinect360) { + if (depthCameraDevice instanceof Kinect360) { depthComputationMethod = new Kinect360Depth(); } - if (kinectDevice instanceof KinectOne) { + if (depthCameraDevice instanceof KinectOne) { depthComputationMethod = new KinectOneDepth(); } - if (kinectDevice instanceof RealSense) { - float depthScale = ((CameraRealSense) ((RealSense) kinectDevice).getMainCamera()).getDepthScale(); + if (depthCameraDevice instanceof RealSense) { + float depthScale = ((CameraRealSense) ((RealSense) depthCameraDevice).getMainCamera()).getDepthScale(); depthComputationMethod = new RealSenseDepth(depthScale); } PixelOffset.initStaticMode(getDepthWidth(), getDepthHeight()); } - public PVector findDepthAtRGB(PVector v) { - return findDepthAtRGB(v.x, v.y, v.z); - } - - public PVector findDepthAtRGB(float x, float y, float z) { - PVector v = new PVector(x, y, z); - PVector v2 = new PVector(); - - kinectDevice.getStereoCalibrationInv().mult(v, v2); - // v2 is now the location in KinectDepth instead of KinectRGB coordinates. - - int worldToPixel = kinectDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); - - return Utils.toPVector(depthData.depthPoints[worldToPixel]); - } + public void update(IplImage depth) { update(depth, 1); @@ -302,11 +288,26 @@ protected void doForEachValid3DPoint(int precision, DepthPointManiplation manip) } } } + + public PVector findDepthAtRGB(PVector v) { + return findDepthAtRGB(v.x, v.y, v.z); + } + + public PVector findDepthAtRGB(float x, float y, float z) { + PVector v = new PVector(x, y, z); + PVector v2 = new PVector(); + + depthCameraDevice.getStereoCalibrationInv().mult(v, v2); + // v2 is now the location in KinectDepth instead of KinectRGB coordinates. + + int worldToPixel = kinectDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); + + return Utils.toPVector(depthData.depthPoints[worldToPixel]); + } // WARNING MAGIC NUMBER protected void updateRawDepth(opencv_core.IplImage depthImage) { if (kinectDevice().type() == Camera.Type.REALSENSE) { -// depthRawShortBuffer = depthImage.imageData().position(0).limit(640 * 480 * 2).asByteBuffer().asShortBuffer(); depthRawBuffer = depthImage.getByteBuffer(); depthRawShortBuffer = depthRawBuffer.asShortBuffer(); } else { @@ -487,7 +488,7 @@ public void execute(Vec3D p, PixelOffset px) { } protected int getPixelColor(int offset) { - int colorOffset = kinectDevice.findColorOffset(depthData.depthPoints[offset]) * 3; + int colorOffset = depthCameraDevice.findColorOffset(depthData.depthPoints[offset]) * 3; int c = (colorRaw[colorOffset + 2] & 0xFF) << 16 | (colorRaw[colorOffset + 1] & 0xFF) << 8 | (colorRaw[colorOffset + 0] & 0xFF); diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java index 862047a6..ab2e357d 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectOpenCV.java @@ -83,7 +83,7 @@ class setImageData implements DepthPointManiplation { public void execute(Vec3D p, PixelOffset px) { depthData.validPointsMask[px.offset] = true; int outputOffset = px.offset * 3; - int colorOffset = kinectDevice.findColorOffset(p) * 3; + int colorOffset = depthCameraDevice.findColorOffset(p) * 3; validPointsRaw[outputOffset + 2] = colorRaw[colorOffset + 2]; validPointsRaw[outputOffset + 1] = colorRaw[colorOffset + 1]; validPointsRaw[outputOffset + 0] = colorRaw[colorOffset + 0]; diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index 0c2771f8..d25769b6 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -262,7 +262,7 @@ private void setFakeColor(int offset, int r, int g, int b) { } private void setPixelColor(int offset) { - int colorOffset = kinectDevice.findColorOffset(depthData.depthPoints[offset]) * 3; + int colorOffset = depthCameraDevice.findColorOffset(depthData.depthPoints[offset]) * 3; int c = (colorRaw[colorOffset + 2] & 0xFF) << 16 | (colorRaw[colorOffset + 1] & 0xFF) << 8 | (colorRaw[colorOffset + 0] & 0xFF); diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index 7c01364d..945a70ae 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -55,6 +55,10 @@ public DepthCameraDevice(PApplet parent) { this.parent = parent; } + public CameraRGBIRDepth getMainCamera() { + return camera; + } + public SubCamera getColorCamera() { return camera.getColorCamera(); } @@ -75,9 +79,10 @@ public SubDepthCamera getDepthCamera() { * init a depth camera, depth only as there is another color camera. */ protected final void initDefaultCamera() { - String id = Papart.getPapart().cameraConfiguration.getCameraName(); + String id = Papart.getDefaultCameraConfiguration(parent).getCameraName(); camera = (CameraRGBIRDepth) CameraFactory.createCamera(type(), id); camera.setUseDepth(true); + camera.setUseColor(true); camera.setParent(parent); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index 160a1e87..0d4e1bc9 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -54,6 +54,7 @@ public Kinect360(PApplet parent, Camera anotherCamera) { } this.camera.setUseDepth(true); camera.getDepthCamera().setCalibration(Papart.kinectIRCalib); + camera.getColorCamera().setCalibration(Papart.kinectRGBCalib); setStereoCalibration(Papart.kinectStereoCalib); camera.start(); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java index 132c7938..ce2b4e48 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java @@ -19,14 +19,9 @@ */ package fr.inria.papart.depthcam.devices; -import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenKinect2; -import fr.inria.papart.procam.camera.CameraRGBIRDepth; -import fr.inria.papart.procam.camera.CameraRealSense; -import fr.inria.papart.procam.camera.SubCamera; import processing.core.PApplet; /** diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index da7527f4..e7e566de 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -55,14 +55,14 @@ public RealSense(PApplet parent, Camera anotherCam) { private void useHardwareIntrinsics(CameraRealSense cameraRS) { CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraRS.getDepthCamera(), cameraRS.getFrameGrabber()); + CameraRealSense.useHarwareIntrinsics(cameraRS.getIRCamera(), cameraRS.getFrameGrabber()); } public CameraRealSense getMainCamera() { return cameraRS; } - + @Override public int rawDepthSize() { return getDepthCamera().width() * getDepthCamera().height() * 2; diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 3425a555..ef4ab8db 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -42,6 +42,7 @@ import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenKinect; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.CameraRealSense; import java.io.File; import java.lang.reflect.Constructor; @@ -115,12 +116,9 @@ public class Papart { private PVector frameSize = new PVector(); private boolean isWithoutCamera = false; - public DepthCameraDevice kinectDevice; + public DepthCameraDevice depthCameraDevice; - public CameraConfiguration cameraConfiguration; - public ScreenConfiguration screenConfiguration; // TODO: find what to do with these... - /** * Create the main PapARt object, look at the examples for how to use it. * @@ -132,9 +130,6 @@ public Papart(Object applet) { this.touchInitialized = false; this.applet = (PApplet) applet; - cameraConfiguration = getDefaultCameraConfiguration(this.applet); - screenConfiguration = getDefaultScreenConfiguration(this.applet); - this.appletClass = applet.getClass(); PFont font = this.applet.loadFont(defaultFont); // TODO: singleton -> Better implementation. @@ -150,7 +145,7 @@ public static CameraConfiguration getDefaultCameraConfiguration(PApplet applet) return config; } - public static CameraConfiguration getDefaultKinectConfiguration(PApplet applet) { + public static CameraConfiguration getDefaultDepthCameraConfiguration(PApplet applet) { CameraConfiguration config = new CameraConfiguration(); config.loadFrom(applet, depthCameraConfig); return config; @@ -393,6 +388,7 @@ public void post() { */ public void defaultFrameLocation() { System.out.println("Setting the frame location..."); + ScreenConfiguration screenConfiguration = getDefaultScreenConfiguration(this.applet); this.applet.frame.setLocation(screenConfiguration.getProjectionScreenOffsetX(), screenConfiguration.getProjectionScreenOffsetY()); @@ -533,13 +529,17 @@ public void initDebug() { } public void initProjectorCamera() { - initProjectorCamera(cameraConfiguration.getCameraName(), - cameraConfiguration.getCameraType(), - cameraConfiguration.getCameraFormat(), + CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(this.applet); + initProjectorCamera(cameraConfiguration, 1); } public void initProjectorCamera(float quality) { + CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(this.applet); + initProjectorCamera(cameraConfiguration, quality); + } + + public void initProjectorCamera(CameraConfiguration cameraConfiguration, float quality) { initProjectorCamera(cameraConfiguration.getCameraName(), cameraConfiguration.getCameraType(), cameraConfiguration.getCameraFormat(), @@ -595,6 +595,11 @@ public void initCamera() { * quality go higher like 2. */ public void initCamera(float quality) { + CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(applet); + initCamera(cameraConfiguration, quality); + } + + public void initCamera(CameraConfiguration cameraConfiguration, float quality) { initCamera(cameraConfiguration.getCameraName(), cameraConfiguration.getCameraType(), cameraConfiguration.getCameraFormat(), @@ -617,7 +622,7 @@ public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFor cameraTracking.setCalibration(cameraCalib); cameraTracking.start(); loadTracking(cameraCalib); - cameraTracking.setThread(); +// cameraTracking.setThread(); initARDisplay(quality); checkInitialization(); @@ -682,7 +687,7 @@ private void loadTracking(String calibrationPath) { */ public void loadTouchInputKinectOnly() { - loadDefaultCameraKinect(); + loadDefaultDepthCamera(); // cameraTracking = kinectDevice.getCameraRGB(); // kinectDevice.getCameraRGB().setThread(); @@ -691,8 +696,8 @@ public void loadTouchInputKinectOnly() { loadDefaultTouchKinect(); // Specific ? - PMatrix3D extr = kinectDevice.getStereoCalibration(); - kinectDevice.setExtrinsics(extr); + PMatrix3D extr = depthCameraDevice.getStereoCalibration(); + depthCameraDevice.setExtrinsics(extr); // Specific ((KinectTouchInput) this.touchInput).useRawDepth(); @@ -704,7 +709,7 @@ public void loadTouchInputKinectOnly() { * */ public void loadTouchInput() { - loadDefaultCameraKinect(); + loadDefaultDepthCamera(); // kinectDevice.getCameraRGB().setThread(); // kinectDevice.getCameraDepth().setThread(); @@ -712,7 +717,7 @@ public void loadTouchInput() { // setExtrinsics must after the kinect stereo calibration is loaded PMatrix3D extr = (Papart.getPapart()).loadCalibration(Papart.kinectTrackingCalib); - kinectDevice.setExtrinsics(extr); + depthCameraDevice.setExtrinsics(extr); } private boolean useKinectOne = true; @@ -726,47 +731,46 @@ public void useKinectOne(boolean kinectOne) { * * @return */ - public void loadDefaultCameraKinect() { + public DepthCameraDevice loadDefaultDepthCamera() { // Two cases, either the other camera running of the same type - - CameraConfiguration kinectConfiguration = Papart.getDefaultKinectConfiguration(applet); - - // If the camera is not instanciated, it is not correct ! - if (cameraTracking == null) { - System.err.println("You must choose a camera to create a DepthCamera."); - } + CameraConfiguration kinectConfiguration = Papart.getDefaultDepthCameraConfiguration(applet); + // If the camera is not instanciated, we use depth + color from the camera. +// if (cameraTracking == null) { +// System.err.println("You must choose a camera to create a DepthCamera."); +// } if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE) { - kinectDevice = new RealSense(applet, (CameraRealSense) cameraTracking); - return; + depthCameraDevice = new RealSense(applet, (CameraRealSense) cameraTracking); } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT) { - kinectDevice = new Kinect360(applet, (CameraOpenKinect) cameraTracking); - return; + depthCameraDevice = new Kinect360(applet, (CameraOpenKinect) cameraTracking); } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT_2) { - kinectDevice = new KinectOne(applet, cameraTracking); - return; + depthCameraDevice = new KinectOne(applet, cameraTracking); + } + + if (depthCameraDevice == null) { + System.err.println("Could not load the depth camera !" + "Camera Type " + kinectConfiguration.getCameraType()); } - System.err.println("Could not load the Kinect !" + "Camera Type " + kinectConfiguration.getCameraType()); - kinectDevice = null; + + return depthCameraDevice; } private void loadDefaultTouchKinect() { - kinectDepthAnalysis = new KinectDepthAnalysis(this.applet, kinectDevice); + kinectDepthAnalysis = new KinectDepthAnalysis(this.applet, depthCameraDevice); PlaneAndProjectionCalibration calibration = new PlaneAndProjectionCalibration(); calibration.loadFrom(this.applet, planeAndProjectionCalib); KinectTouchInput kinectTouchInput = new KinectTouchInput(this.applet, - kinectDevice, + depthCameraDevice, kinectDepthAnalysis, calibration); - kinectDevice.setTouch(kinectTouchInput); + depthCameraDevice.setTouch(kinectTouchInput); kinectTouchInput.setTouchDetectionCalibration(getDefaultTouchCalibration()); kinectTouchInput.setTouchDetectionCalibration3D(getDefaultTouchCalibration3D()); @@ -842,8 +846,8 @@ public void stop() { } public void dispose() { - if (touchInitialized && kinectDevice != null) { - kinectDevice.close(); + if (touchInitialized && depthCameraDevice != null) { + depthCameraDevice.close(); } if (cameraInitialized && cameraTracking != null) { try { @@ -893,8 +897,11 @@ public Camera getCameraTracking() { } public Camera getPublicCameraTracking() { - if (cameraTracking instanceof CameraRealSense) { - return ((CameraRealSense) cameraTracking).getActingCamera(); + if (cameraTracking instanceof CameraRGBIRDepth) { + if (((CameraRGBIRDepth) cameraTracking).getActingCamera() == null) { + throw new RuntimeException("Papart: Impossible to use the mainCamera, use a subCamera or set the ActAsX methods."); + } + return ((CameraRGBIRDepth) cameraTracking).getActingCamera(); } return this.cameraTracking; } @@ -914,11 +921,11 @@ public boolean isWithoutCamera() { } public Camera getKinectCamera() { - return this.kinectDevice.getColorCamera(); + return this.depthCameraDevice.getColorCamera(); } public DepthCameraDevice getKinectDevice() { - return kinectDevice; + return depthCameraDevice; } public KinectDepthAnalysis getKinectAnalysis() { @@ -926,10 +933,10 @@ public KinectDepthAnalysis getKinectAnalysis() { } public Camera.Type getKinectType() { - if (kinectDevice == null) { + if (depthCameraDevice == null) { return Camera.Type.FAKE; } - return kinectDevice.type(); + return depthCameraDevice.type(); } public PApplet getApplet() { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index 11de9395..3190d6c9 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -19,8 +19,6 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.camera.Camera.Type; - /** * * @author Jeremy Laviole @@ -90,7 +88,7 @@ public static Camera createCamera(Camera.Type type, String description, String f } if (cameraMulti != null) { - if (isRGB) { + if (isRGB) { cameraMulti.setUseColor(true); cameraMulti.actAsColorCamera(); } @@ -110,13 +108,4 @@ public static Camera createCamera(Camera.Type type, String description, String f throw new RuntimeException("ProCam, Camera: Unspported camera Type"); } - private static boolean checkInt(String str) { - try { - Integer.parseInt(str); - return true; - } catch (NumberFormatException e) { - return false; - } - } - } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index dcf9bd8c..46b761c9 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -40,24 +40,31 @@ protected CameraOpenKinect(int cameraNo) { @Override public void internalInit() { - System.out.println("setting all pix format"); + + grabber = new OpenKinectFrameGrabber(this.systemNumber); + if (isUseDepth()) { depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); depthCamera.type = SubCamera.Type.DEPTH; depthCamera.setSize(640, 480); - System.out.println("setting depth pixel format"); + + grabber.setDepthFormat(freenect.FREENECT_DEPTH_MM); } if (isUseColor()) { colorCamera.setPixelFormat(PixelFormat.BGR); colorCamera.type = SubCamera.Type.COLOR; colorCamera.setSize(640, 480); + + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; + grabber.setVideoFormat(kinectVideoFormat); } if (isUseIR()) { IRCamera.setPixelFormat(PixelFormat.GRAY); IRCamera.type = SubCamera.Type.IR; IRCamera.setSize(640, 480); } - grabber = new OpenKinectFrameGrabber(this.systemNumber); } @Override @@ -98,10 +105,6 @@ public void disableDepth() { @Override public void enableColor() { - grabber.setImageWidth(width()); - grabber.setImageHeight(height()); - kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; - grabber.setVideoFormat(kinectVideoFormat); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index c08ca4c0..4f36f5ff 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -19,8 +19,10 @@ */ package fr.inria.papart.procam.camera; +import org.bytedeco.javacpp.opencv_core; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.OpenKinect2FrameGrabber; +import processing.core.PImage; /** * @@ -30,8 +32,23 @@ public class CameraOpenKinect2 extends CameraRGBIRDepth { protected OpenKinect2FrameGrabber grabber; + class Kinect2SubCamera extends SubCamera { + + public Kinect2SubCamera(CameraRGBIRDepth mainCamera) { + super(mainCamera); + } + + @Override + public PImage getPImage() { + System.out.println("Kinect2: Get PImage"); + mainCamera.grab(); + return super.getPImage(); + } + } + protected CameraOpenKinect2(int cameraNo) { this.systemNumber = cameraNo; + colorCamera = new Kinect2SubCamera(this); } @Override @@ -56,15 +73,19 @@ public void internalInit() { @Override public void internalStart() throws FrameGrabber.Exception { + System.out.println("K2: Starting..." + Thread.currentThread()); grabber.start(); } - /*** + /** + * * * Warning BUG: cannot grab in a thread and display as PImage in another. - * @throws Exception + * + * @throws Exception */ @Override protected void internalGrab() throws Exception { + System.out.println("Grab called." + Thread.currentThread()); grabber.grab(); } @@ -93,7 +114,6 @@ public void disableIR() { @Override public void enableDepth() { grabber.enableDepthStream(); - System.out.println("enable depth stream"); } @Override @@ -123,7 +143,10 @@ public void grabDepth() { @Override public void grabColor() { - colorCamera.updateCurrentImage(grabber.getVideoImage()); + opencv_core.IplImage videoImage = grabber.getVideoImage(); + if (videoImage != null) { + colorCamera.updateCurrentImage(videoImage); + } } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index 96d7d516..1be77740 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -163,7 +163,7 @@ void grab(SubCamera camera) { protected abstract void internalStart() throws Exception; protected boolean isStarting = false; - + @Override public void start() { isStarting = true; @@ -181,11 +181,12 @@ public void start() { internalStart(); this.isConnected = true; } catch (Exception e) { - System.err.println("Could not Kinect start frameGrabber... " + e); - System.err.println("Kinect ID " + this.systemNumber + " could not start."); + System.err.println("Could not start frameGrabber... " + e); + System.err.println("Depth camera ID " + this.systemNumber + " could not start."); System.err.println("Check cable connection and ID."); + e.printStackTrace(); } - isStarting = false; + isStarting = false; } protected abstract void internalGrab() throws Exception; @@ -358,7 +359,7 @@ public String getCalibrationARToolkit() { @Override public void trackMarkerBoard(MarkerBoard sheet) { - System.out.println("In trackMarkerboard in CameaRealSense BAAAADD"); + System.out.println("In trackMarkerboard in CameaRGBIRDepth BAAAADD"); actAsCamera.trackMarkerBoard(sheet); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 4d3fb4dc..f74bd5c4 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -23,6 +23,7 @@ import java.util.logging.Level; import java.util.logging.Logger; import org.bytedeco.javacpp.RealSense; +import org.bytedeco.javacpp.opencv_core; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.RealSenseFrameGrabber; import processing.core.PMatrix3D; @@ -70,7 +71,9 @@ public void internalInit() { if (isUseColor()) { colorCamera.setPixelFormat(PixelFormat.RGB); colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(960, 540); + if (colorCamera.width == 0 || colorCamera.height == 0) { + colorCamera.setSize(960, 540); + } } if (isUseIR()) { IRCamera.setSize(640, 480); @@ -110,7 +113,7 @@ public void close() { } public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber grabber) { - if(camera == null || camera == Camera.INVALID_CAMERA){ + if (camera == null || camera == Camera.INVALID_CAMERA) { return; } int camType = 0; @@ -134,8 +137,10 @@ public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber @Override public void grabColor() { - System.out.println("Realsense: Grab Color"); - colorCamera.updateCurrentImage(grabber.grabVideo()); + opencv_core.IplImage video = grabber.grabVideo(); + if (video != null) { + colorCamera.updateCurrentImage(video); + } } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 1adb0cd5..ba77d6ce 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -74,8 +74,8 @@ private void initThreadPool() { public void run() { cameraForMarkerboard = camera; - if (camera instanceof CameraRealSense) { - cameraForMarkerboard = ((CameraRealSense) camera).getActingCamera(); + if (camera instanceof CameraRGBIRDepth) { + cameraForMarkerboard = ((CameraRGBIRDepth) camera).getActingCamera(); } while (!stop) { @@ -86,7 +86,6 @@ public void run() { if (image != null && compute && !camera.getTrackedSheets().isEmpty()) { this.compute(); } - } } diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index dcffdade..62cc6479 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -72,7 +72,7 @@ public PImage getPImage() { currentImage = null; return camImage; } + return camImage; // TODO: exceptions !!! - return null; } } diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index b98cfafa..f4ef7433 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -165,8 +165,11 @@ public void draw() { drawScreensOver(); parent.noStroke(); - if (camera != null && camera.getPImage() != null) { - parent.image(camera.getPImage(), 0, 0, parent.width, parent.height); + System.out.println("ARDisplay: GetPImage() "); + PImage img = camera.getPImage(); + + if (camera != null && img != null) { + parent.image(img, 0, 0, parent.width, parent.height); // ((PGraphicsOpenGL) (parent.g)).image(camera.getPImage(), 0, 0, frameWidth, frameHeight); } From 9bb7ff509b90c051e64951b10bdb017c872498d9 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 16 Nov 2016 18:32:47 +0100 Subject: [PATCH 29/99] =?UTF-8?q?Work=20in=20progress,=20depth=20Calibrati?= =?UTF-8?q?on=C2=A0is=20OK.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../fr/inria/papart/depthcam/PointCloud.java | 1 - .../depthcam/devices/KinectPointCloud.java | 40 +++++++++++++------ papart/src/fr/inria/papart/procam/Papart.java | 7 +++- .../papart/procam/camera/CameraThread.java | 1 + .../inria/papart/procam/camera/SubCamera.java | 10 ++--- .../papart/procam/display/ARDisplay.java | 1 - 6 files changed, 39 insertions(+), 21 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/PointCloud.java b/papart/src/fr/inria/papart/depthcam/PointCloud.java index b9cf3f0b..bc6fa070 100755 --- a/papart/src/fr/inria/papart/depthcam/PointCloud.java +++ b/papart/src/fr/inria/papart/depthcam/PointCloud.java @@ -67,7 +67,6 @@ public class PointCloud { protected static final int SIZEOF_FLOAT = Float.SIZE / 8; protected static final int SIZEOF_BYTE = Byte.SIZE / 8; protected boolean usePoints; - private int skip = 1; public PointCloud(PApplet parent, int size) { this.parentApplet = parent; diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectPointCloud.java b/papart/src/fr/inria/papart/depthcam/devices/KinectPointCloud.java index e03337ec..3275c29c 100755 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectPointCloud.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectPointCloud.java @@ -36,12 +36,18 @@ */ public class KinectPointCloud extends PointCloud implements PConstants { + private KinectDepthAnalysis depthAnalysis; + private int precision = 1; + public KinectPointCloud(PApplet parent, KinectDepthAnalysis depthAnalysis, int skip) { super(parent, depthAnalysis.getDepthSize() / (skip * skip)); + this.depthAnalysis = depthAnalysis; + precision = skip; } public KinectPointCloud(PApplet parent, KinectDepthAnalysis depthAnalysis) { this(parent, depthAnalysis, 1); + this.depthAnalysis = depthAnalysis; } public void updateWith(KinectProcessing kinect) { @@ -52,26 +58,34 @@ public void updateWith(KinectProcessing kinect) { nbVertices = 0; nbColors = 0; - int k = 0; - for (int i = 0; i < kinect.getDepthSize(); i++) { +// for (int i = 0; i < kinect.getDepthSize(); i++) { + + int k = 0; // k is the 3D point cloud memory. + for (int y = 0; y < depthAnalysis.getDepthHeight(); y += precision) { + for (int x = 0; x < depthAnalysis.getDepthWidth(); x += precision) { - if (valid[i]) { - Vec3D p = points[i]; - int c = colorsImg.pixels[i]; + int i = x + y * depthAnalysis.getDepthWidth(); + + if (valid[i]) { + Vec3D p = points[i]; + int c = colorsImg.pixels[i]; - verticesJava[k++] = p.x; - verticesJava[k++] = p.y; - verticesJava[k++] = -p.z; - verticesJava[k++] = 1; + verticesJava[k++] = p.x; + verticesJava[k++] = p.y; + verticesJava[k++] = -p.z; + verticesJava[k++] = 1; - int c2 = javaToNativeARGB(c); + int c2 = javaToNativeARGB(c); - nbVertices++; + nbVertices++; + + colorsJava[nbColors++] = c2; + // Think about dividing the color intensity by 255 in the shader... + } - colorsJava[nbColors++] = c2; - // Think about dividing the color intensity by 255 in the shader... } } + verticesNative.rewind(); verticesNative.put(verticesJava, 0, nbVertices * 4); diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index ef4ab8db..222e5f43 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -313,6 +313,11 @@ public void forceCameraSize() { cameraTracking.height()); } + public void forceDepthCameraSize() { + forceWindowSize(depthCameraDevice.getDepthCamera().width(), + depthCameraDevice.getDepthCamera().height()); + } + public void forceWindowSize(int w, int h) { Papart papart = Papart.getPapart(); @@ -622,7 +627,7 @@ public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFor cameraTracking.setCalibration(cameraCalib); cameraTracking.start(); loadTracking(cameraCalib); -// cameraTracking.setThread(); + cameraTracking.setThread(); initARDisplay(quality); checkInitialization(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index ba77d6ce..1a621a82 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -100,6 +100,7 @@ public void compute() { updateParallel(); camera.getSheetSemaphore().release(); + System.out.println("detectedMarkers: " + this.detectedMarkers.length); } catch (InterruptedException ex) { Logger.getLogger(CameraThread.class.getName()).log(Level.SEVERE, null, ex); } diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index 62cc6479..0913d2cf 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -66,13 +66,13 @@ public void close() { @Override public PImage getPImage() { + // TODO: time management to avoid to send multiple times the same + // frame to the graphics card. this.checkCamImage(); - if (currentImage != null) { +// if (currentImage != null) { camImage.update(currentImage); - currentImage = null; - return camImage; - } +// return camImage; +// } return camImage; - // TODO: exceptions !!! } } diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index f4ef7433..620e1e34 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -165,7 +165,6 @@ public void draw() { drawScreensOver(); parent.noStroke(); - System.out.println("ARDisplay: GetPImage() "); PImage img = camera.getPImage(); if (camera != null && img != null) { From 25c0de530ebca9f5d83957b06ac66a6fd493a50f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 18 Nov 2016 21:15:30 +0100 Subject: [PATCH 30/99] Work in progress, more elements working. Calibrations in progress. --- .../calibration/CalibrationExtrinsic.java | 36 +++--- .../papart/calibration/CalibrationPopup.java | 104 ++++++++++------ .../calibration/CalibrationSnapshot.java | 4 +- .../analysis/KinectDepthAnalysis.java | 82 +++++++----- .../depthcam/analysis/KinectProcessing.java | 6 +- .../depthcam/devices/DepthCameraDevice.java | 10 +- .../papart/depthcam/devices/Kinect360.java | 2 +- .../papart/depthcam/devices/KinectOne.java | 1 + .../papart/depthcam/devices/RealSense.java | 20 ++- .../papart/multitouch/KinectTouchInput.java | 81 ++++++++---- .../papart/multitouch/TouchDetection.java | 1 + papart/src/fr/inria/papart/procam/Papart.java | 117 ++++++------------ papart/src/fr/inria/papart/procam/Utils.java | 22 +++- .../fr/inria/papart/procam/camera/Camera.java | 4 + .../procam/camera/CameraOpenKinect.java | 4 +- .../procam/camera/CameraOpenKinect2.java | 1 + .../procam/camera/CameraRGBIRDepth.java | 31 ++++- .../papart/procam/camera/CameraRealSense.java | 39 +++++- .../papart/procam/camera/CameraThread.java | 1 - .../inria/papart/procam/camera/SubCamera.java | 24 +++- .../papart/procam/camera/TrackedView.java | 11 +- .../papart/procam/display/ARDisplay.java | 4 + 22 files changed, 382 insertions(+), 223 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index cee4a6fd..08d39d2e 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -45,8 +45,8 @@ public class CalibrationExtrinsic { private Papart papart; // Kinect - private Camera.Type kinectType; - private DepthCameraDevice kinectDevice; + private Camera.Type depthCameraType; + private DepthCameraDevice depthCameraDevice; public CalibrationExtrinsic(PApplet parent) { this.parent = parent; @@ -57,13 +57,13 @@ void setProjector(ProjectorDisplay projector) { this.projector = projector; } - public void setDefaultKinect() { - this.kinectType = papart.getKinectType(); - this.kinectDevice = papart.getKinectDevice(); + public void setDefaultDepthCamera() { + this.depthCameraType = papart.getDepthCameraType(); + this.depthCameraDevice = papart.getDepthCameraDevice(); } - public void setKinect(DepthCameraDevice device, Camera.Type type) { - this.kinectType = type; - this.kinectDevice = device; + public void setDepthCamera(DepthCameraDevice device, Camera.Type type) { + this.depthCameraType = type; + this.depthCameraDevice = device; } public PMatrix3D getKinectCamExtrinsics() { @@ -77,7 +77,7 @@ public void computeProjectorCameraExtrinsics(ArrayList snap 0, 0, 0, 0); for (CalibrationSnapshot snapshot : snapshots) { - PMatrix3D extr = computeExtrinsics(snapshot.cameraPaper, + PMatrix3D extr = computeExtrinsics(snapshot.mainCameraPaper, snapshot.projectorPaper); Utils.addMatrices(sum, extr); } @@ -92,16 +92,16 @@ public void saveProCamExtrinsics(PMatrix3D extr){ } public void calibrateKinect(ArrayList snapshots) { - if (this.kinectType == Camera.Type.OPEN_KINECT_2) { + if (this.depthCameraType == Camera.Type.OPEN_KINECT_2) { calibrateKinectOne(snapshots); } - if (this.kinectType == Camera.Type.OPEN_KINECT) { + if (this.depthCameraType == Camera.Type.OPEN_KINECT) { calibrateKinect360(snapshots); } } protected void calibrateKinectOne(ArrayList snapshots) { - PMatrix3D kinectExtr = kinectDevice.getStereoCalibration().get(); + PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); kinectExtr.invert(); PlaneCalibration planeCalibCam = computeAveragePlaneCam(snapshots); @@ -133,7 +133,7 @@ protected void calibrateKinect360(ArrayList snapshots) { protected void calibrateKinect360Extr(ArrayList snapshots) { // Depth -> color extrinsics - PMatrix3D kinectExtr = kinectDevice.getStereoCalibration().get(); + PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); // color -> depth extrinsics kinectExtr.invert(); @@ -150,7 +150,7 @@ protected void calibrateKinect360Extr(ArrayList snapshots) public boolean calibrateKinect360Plane(ArrayList snapshots) { // Depth -> color extrinsics - PMatrix3D kinectExtr = kinectDevice.getStereoCalibration().get(); + PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); // color -> depth extrinsics kinectExtr.invert(); @@ -181,7 +181,7 @@ public boolean calibrateKinect360Plane(ArrayList snapshots) public boolean calibrateKinect360PlaneOnly(ArrayList snapshots) { // Depth -> color extrinsics - PMatrix3D kinectExtr = kinectDevice.getStereoCalibration().get(); + PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); // color -> depth extrinsics kinectExtr.invert(); @@ -227,7 +227,7 @@ private PMatrix3D computeKinectCamExtrinsics(ArrayList snap /// depth -> color -> color -> Paper boardFromDepth.preApply(stereoExtr); - PMatrix3D extr = computeExtrinsics(boardFromDepth, snapshot.cameraPaper); + PMatrix3D extr = computeExtrinsics(boardFromDepth, snapshot.mainCameraPaper); Utils.addMatrices(sum, extr); nbCalib++; @@ -281,12 +281,12 @@ private PlaneCalibration computeAveragePlaneCam(ArrayList s int nbPlanes = 0; for (CalibrationSnapshot snapshot : snapshots) { - if (snapshot.cameraPaper == null) { + if (snapshot.mainCameraPaper == null) { continue; } PlaneCalibration cam = PlaneCalibration.CreatePlaneCalibrationFrom( - snapshot.cameraPaper.get(), paperSize); + snapshot.mainCameraPaper.get(), paperSize); Utils.sumPlane(sumCam, cam.getPlane()); nbPlanes++; diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index fd27c6a8..80992262 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 Jérémy Laviole * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -24,6 +25,7 @@ import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.ProjectorAsCamera; +import fr.inria.papart.procam.camera.SubCamera; import fr.inria.papart.procam.camera.TrackedView; import fr.inria.papart.procam.display.ProjectorDisplay; import fr.inria.papart.tracking.DetectedMarker; @@ -34,9 +36,6 @@ import fr.inria.skatolo.gui.group.Textarea; import java.util.ArrayList; import org.bytedeco.javacpp.ARToolKitPlus; -import static org.bytedeco.javacpp.ARToolKitPlus.MARKER_ID_BCH; -import static org.bytedeco.javacpp.ARToolKitPlus.PIXEL_FORMAT_LUM; -import static org.bytedeco.javacpp.ARToolKitPlus.UNDIST_NONE; import org.bytedeco.javacpp.opencv_core; import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8U; import static org.bytedeco.javacpp.opencv_imgproc.CV_BGR2GRAY; @@ -88,12 +87,13 @@ public class CalibrationPopup extends PApplet { // Cameras private Camera cameraTracking; - private Camera cameraKinect; + private Camera cameraFromDepthCam; // can be the same as cameraTracking. private TrackedView projectorView; // Kinect - private Camera.Type kinectType; - + private Camera.Type depthCameraType; + private boolean useExternalColorCamera = false; + // calibrations private ArrayList snapshots = new ArrayList(); private String isProCamCalibrated = NOTHING; @@ -106,7 +106,6 @@ public class CalibrationPopup extends PApplet { private CalibrationExtrinsic calibrationExtrinsic; private PImage backgroundImg; - public CalibrationPopup() { super(); PApplet.runSketch(new String[]{this.getClass().getName()}, this); @@ -120,6 +119,7 @@ public void settings() { @Override public void setup() { + // Papart was created before, already with a camera, projector and Dcam. papart = Papart.getPapart(); cornersFileName = Papart.calibrationFolder + CORNERS_NAME; calibrationApp = new CalibrationApp(); @@ -134,12 +134,32 @@ public void setup() { initProjectorAsCamera(); calibrationExtrinsic.setProjector(projector); - kinectType = papart.getKinectType(); - if (kinectType != Type.NONE) { - if (kinectType == Type.X360) { - initKinect360(papart.getKinectDevice()); + depthCameraType = papart.getDepthCameraType(); + DepthCameraDevice depthCameraDevice = papart.getDepthCameraDevice(); + + // There is a depth camera, and it is started. + if (depthCameraType != Camera.Type.FAKE && depthCameraDevice != null) { + + // There is a depth camera: + // - either the tracking is with the depth camera + // - or it is another camera + // 1. tracking camera is part of a depth camera + if (cameraTracking instanceof SubCamera + && cameraTracking == depthCameraDevice.getMainCamera().getActingCamera()) { + // tracking should be loaded already ! + System.out.println("Calibration with a Depth and color camera in the same device."); + cameraFromDepthCam = cameraTracking; + useExternalColorCamera = false; } - calibrationExtrinsic.setKinect(papart.getKinectDevice(), kinectType); + + // 2. Tracking camera is another camera. + if (!(cameraTracking instanceof SubCamera)) { + // the depth camera + initTrackingOn(papart.getDepthCameraDevice()); + System.out.println("Calibration with a Depth and color camera in DIFFERENT devices."); + useExternalColorCamera = true; + } + calibrationExtrinsic.setDepthCamera(depthCameraDevice, depthCameraType); } initCorners(); @@ -161,7 +181,12 @@ private void initProjectorAsCamera() { projectorView = new TrackedView(); projectorView.setImageWidthPx(projector.getWidth()); projectorView.setImageHeightPx(projector.getHeight()); - projectorView.init(); + + if (cameraTracking.getPixelFormat() == Camera.PixelFormat.GRAY) { + projectorView.init(PApplet.ALPHA); + } else { + projectorView.init(PApplet.GRAY); + } projectorAsCamera = new ProjectorAsCamera(); projectorAsCamera.setCalibration(Papart.projectorCalib); @@ -174,29 +199,29 @@ private void initProjectorAsCamera() { projectorAsCamera.trackMarkerBoard(board); initMarkerTrackingFromProjector(); } - - private ARToolKitPlus.MultiTracker projectorTracker = null; - + + private ARToolKitPlus.MultiTracker projectorTracker = null; + private void initMarkerTrackingFromProjector() { projectorTracker = DetectedMarker.createDetector(projector.getWidth(), projector.getHeight()); } - private void initKinect360(DepthCameraDevice kinectDevice) { - cameraKinect = kinectDevice.getColorCamera(); + private void initTrackingOn(DepthCameraDevice kinectDevice) { + cameraFromDepthCam = kinectDevice.getColorCamera(); String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; - Camera.convertARParams(this, cameraKinect.getCalibrationFile(), ARToolkitCalib); - cameraKinect.initMarkerDetection(ARToolkitCalib); + Camera.convertARParams(this, cameraFromDepthCam.getCalibrationFile(), ARToolkitCalib); + cameraFromDepthCam.initMarkerDetection(ARToolkitCalib); // No display for now... // arDisplayKinect = new ARDisplay(this, cameraKinect); // arDisplayKinect.init(); // arDisplayKinect.manualMode(); // app.addDisplay(arDisplayKinect); - cameraKinect.trackSheets(true); + cameraFromDepthCam.trackSheets(true); // as it does not comes with the display: - cameraKinect.trackMarkerBoard(board); + cameraFromDepthCam.trackMarkerBoard(board); } void reset() { @@ -229,7 +254,7 @@ void initMainGui() { // .setCaptionLabel("Calibration ProCam") .plugTo(this, "calibrateProCam"); - if (kinectType != Type.NONE) { + if (depthCameraType != Camera.Type.FAKE) { skatolo.addBang("calibrateKinect") .setPosition(720, DO_CALIBRATION_HEIGHT) .setCaptionLabel("Plane Calibration"); @@ -242,7 +267,7 @@ public void addCalibration() { new CalibrationSnapshot( currentCamBoard(), currentProjBoard(), - (kinectType == Type.X360) ? currentKinect360Board() : null)); + currentDepthCameraBoard())); } public void clearCalibrations() { @@ -265,8 +290,10 @@ public void calibrateKinect() { } } - private PMatrix3D currentKinect360Board() { - return board.getTransfoMat(cameraKinect).get(); + private PMatrix3D currentDepthCameraBoard() { + if(cameraFromDepthCam == null || cameraFromDepthCam == cameraTracking) + return null; + return board.getTransfoMat(cameraFromDepthCam).get(); } private PMatrix3D currentCamBoard() { @@ -280,7 +307,7 @@ private PMatrix3D currentProjBoard() { } // Detection from Projector's view... DetectedMarker[] markers = DetectedMarker.detect(this.projectorTracker, projImage); - + board.updateLocation(projectorAsCamera, projImage, markers); return board.getTransfoMat(projectorAsCamera); } @@ -290,9 +317,10 @@ private PMatrix3D currentProjBoard() { private opencv_core.IplImage projectorImage() { projectorView.setCorners(corners); opencv_core.IplImage projImage = projectorView.getIplViewOf(cameraTracking); - if(projImage == null) + if (projImage == null) { return null; - + } + if (board.useGrayscaleImages()) { projImage = greyProjectorImage(projImage); } @@ -300,13 +328,19 @@ private opencv_core.IplImage projectorImage() { } private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) { + + if(projImage.nChannels() == 1){ + grayImage = projImage; + return grayImage; + } + if (grayImage == null) { grayImage = opencv_core.IplImage.create(projector.getWidth(), projector.getHeight(), IPL_DEPTH_8U, 1); } - - System.out.println(projImage + " " + grayImage); + + System.out.println(projImage + " " + grayImage); cvCvtColor(projImage, grayImage, CV_BGR2GRAY); // if(test){ @@ -332,7 +366,7 @@ void initMatrixGui() { .setFont(arial) .setLineHeight(14); - if (this.kinectType == Type.X360) { + if (useExternalColorCamera) { System.out.println("Kinect 360 OK..."); kinectMatrixText = skatolo.addTextarea("Kinect") .setPosition(600, MATRICES_HEIGHT) @@ -341,7 +375,7 @@ void initMatrixGui() { .setLineHeight(14) //.setColor(color(128)) ; } else { - System.out.println("Kinect 360 NOT Activated !"); + System.out.println("External camera not activated !"); } } @@ -504,12 +538,12 @@ public void draw() { projectorMatrixText.setText(Utils.matToString(currentProjBoard())); } - if (this.kinectType == Type.X360) { + if (useExternalColorCamera) { if (this.isKinectCalibrated == OK) { cameraMatrixText.setColor(color(0, 255, 0)); cameraMatrixText.setText(Utils.matToString(calibrationExtrinsic.getKinectCamExtrinsics())); } else { - kinectMatrixText.setText(Utils.matToString(currentKinect360Board())); + kinectMatrixText.setText(Utils.matToString(currentDepthCameraBoard())); } } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationSnapshot.java b/papart/src/fr/inria/papart/calibration/CalibrationSnapshot.java index a8a33376..7f0d0318 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationSnapshot.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationSnapshot.java @@ -27,7 +27,7 @@ */ public class CalibrationSnapshot { - PMatrix3D cameraPaper = null; + PMatrix3D mainCameraPaper = null; PMatrix3D projectorPaper = null; PMatrix3D kinectPaper = null; @@ -36,7 +36,7 @@ public CalibrationSnapshot(PMatrix3D cameraPaperCalibration, PMatrix3D kinectPaperCalibration) { if (cameraPaperCalibration != null) { - cameraPaper = cameraPaperCalibration.get(); + mainCameraPaper = cameraPaperCalibration.get(); } if (projectorPaperCalibration != null) { projectorPaper = projectorPaperCalibration.get(); diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 08c27a55..16110408 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -57,7 +57,7 @@ public class KinectDepthAnalysis extends DepthAnalysis { // Configuration private float closeThreshold = 300f, farThreshold = 12000f; - protected ProjectiveDeviceP calibIR, calibRGB; + protected ProjectiveDeviceP calibDepth, calibRGB; // private variables // Raw data from the Kinect Sensor @@ -72,7 +72,9 @@ public class KinectDepthAnalysis extends DepthAnalysis { protected DepthCameraDevice depthCameraDevice; protected DepthComputation depthComputationMethod; - public DepthCameraDevice kinectDevice() { + private Camera colorCamera; + + public DepthCameraDevice getDepthCameraDevice() { return this.depthCameraDevice; } @@ -83,36 +85,60 @@ public int getDepthSize() { @Override public int getDepthWidth() { - return kinectDevice().getDepthCamera().width(); + return getDepthCameraDevice().getDepthCamera().width(); } @Override public int getDepthHeight() { - return kinectDevice().getDepthCamera().height(); + return getDepthCameraDevice().getDepthCamera().height(); } public int getColorWidth() { - return kinectDevice().getColorCamera().width(); + return colorCamera.width(); } public int getColorHeight() { - return kinectDevice().getColorCamera().height(); + return colorCamera.height(); } public int getColorSize() { return getColorWidth() * getColorHeight(); } + private boolean memoryInitialized = false; + public KinectDepthAnalysis(PApplet parent, DepthCameraDevice depthCamera) { - depthCameraDevice = depthCamera; DepthAnalysis.papplet = parent; - calibRGB = depthCamera.getColorCamera().getProjectiveDevice(); - calibIR = depthCamera.getDepthCamera().getProjectiveDevice(); - initMemory(); - + this.depthCameraDevice = depthCamera; + + // DepthCamera sizes should be good here... (says TouchVisu) + // why not ? (calib?) + //----- + +// initMemory(); + updateCalibrations(depthCamera); // initThreadPool(); } + public void updateCalibrations(DepthCameraDevice depthCamera) { + depthCameraDevice = depthCamera; + + if (depthCamera.getMainCamera().isUseIR()) { + colorCamera = depthCamera.getIRCamera(); + } + if (depthCamera.getMainCamera().isUseColor()) { + colorCamera = depthCamera.getColorCamera(); + } + + calibRGB = colorCamera.getProjectiveDevice(); + calibDepth = depthCamera.getDepthCamera().getProjectiveDevice(); + + if (!memoryInitialized) { + initMemory(); + memoryInitialized = true; + } + } + // Thread version... No bonus whatsoever for now. private int nbThreads = 16; private ExecutorService threadPool; @@ -122,12 +148,13 @@ private void initThreadPool() { } private void initMemory() { + System.out.println("Allocations: " + getColorSize() + " " + depthCameraDevice.rawDepthSize()); + colorRaw = new byte[getColorSize() * 3]; depthRaw = new byte[depthCameraDevice.rawDepthSize()]; depthData = new KinectDepthData(this); - depthData.projectiveDevice = this.calibIR; - + depthData.projectiveDevice = this.calibDepth; if (depthCameraDevice instanceof Kinect360) { depthComputationMethod = new Kinect360Depth(); } @@ -142,8 +169,6 @@ private void initMemory() { PixelOffset.initStaticMode(getDepthWidth(), getDepthHeight()); } - - public void update(IplImage depth) { update(depth, 1); } @@ -217,7 +242,7 @@ public void computeDepthAndDo(int precision, DepthPointManiplation manip) { // Vec3D pKinect = calibIR.pixelToWorld(px.x, px.y, d); // depthData.depthPoints[px.offset] = pKinect; - calibIR.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); + calibDepth.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); // System.out.println("Depth " + depthData.depthPoints[px.offset]); manip.execute(depthData.depthPoints[px.offset], px); } @@ -236,7 +261,7 @@ protected void computeDepthAndDo(int precision, DepthPointManiplation manip, Inv // depthData.depthPoints[px.offset] = pKinect; // manip.execute(pKinect, px); - calibIR.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); + calibDepth.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); manip.execute(depthData.depthPoints[px.offset], px); } else { @@ -288,8 +313,8 @@ protected void doForEachValid3DPoint(int precision, DepthPointManiplation manip) } } } - - public PVector findDepthAtRGB(PVector v) { + + public PVector findDepthAtRGB(PVector v) { return findDepthAtRGB(v.x, v.y, v.z); } @@ -300,14 +325,13 @@ public PVector findDepthAtRGB(float x, float y, float z) { depthCameraDevice.getStereoCalibrationInv().mult(v, v2); // v2 is now the location in KinectDepth instead of KinectRGB coordinates. - int worldToPixel = kinectDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); + int worldToPixel = getDepthCameraDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); return Utils.toPVector(depthData.depthPoints[worldToPixel]); } - // WARNING MAGIC NUMBER protected void updateRawDepth(opencv_core.IplImage depthImage) { - if (kinectDevice().type() == Camera.Type.REALSENSE) { + if (getDepthCameraDevice().type() == Camera.Type.REALSENSE) { depthRawBuffer = depthImage.getByteBuffer(); depthRawShortBuffer = depthRawBuffer.asShortBuffer(); } else { @@ -505,7 +529,7 @@ public class PixelList implements Iterable { public PixelList(int precision) { this.precision = precision; this.begin = 0; - this.end = calibIR.getHeight(); + this.end = calibDepth.getHeight(); } /** @@ -528,7 +552,7 @@ public Iterator iterator() { private int x = 0; private int y = begin; private int offset = 0; - private final int width = calibIR.getWidth(); + private final int width = calibDepth.getWidth(); @Override public boolean hasNext() { @@ -603,12 +627,12 @@ public DepthPixelTask(int part, int nbThreads, int precision, DepthPointManiplat public Object call() { int nbParts = nbThreads; - int partSize = nbParts / calibIR.getHeight(); + int partSize = nbParts / calibDepth.getHeight(); int begin = partSize * part; int end; if (part == nbThreads - 1) { - end = calibIR.getHeight(); + end = calibDepth.getHeight(); } else { end = partSize * (part + 1); } @@ -621,7 +645,7 @@ public Object call() { // Vec3D pKinect = calibIR.pixelToWorld(px.x, px.y, d); // depthData.depthPoints[px.offset] = pKinect; - calibIR.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); + calibDepth.pixelToWorld(px.x, px.y, d, depthData.depthPoints[px.offset]); manip.execute(depthData.depthPoints[px.offset], px); } } @@ -642,7 +666,7 @@ public void undistortRGB(opencv_core.IplImage rgb, opencv_core.IplImage out) { * @param out */ public void undistortIR(opencv_core.IplImage ir, opencv_core.IplImage out) { - calibIR.getDevice().undistort(ir, out); + calibDepth.getDevice().undistort(ir, out); } public ProjectiveDeviceP getColorProjectiveDevice() { @@ -650,7 +674,7 @@ public ProjectiveDeviceP getColorProjectiveDevice() { } public ProjectiveDeviceP getDepthProjectiveDevice() { - return calibIR; + return calibDepth; } public byte[] getColorBuffer() { diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index d25769b6..22ab0dfe 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -246,7 +246,9 @@ public void execute(Vec3D p, PixelOffset px) { } class SetImageData implements DepthPointManiplation { - + public SetImageData(){ + super(); + } @Override public void execute(Vec3D p, PixelOffset px) { depthData.validPointsMask[px.offset] = true; @@ -262,6 +264,8 @@ private void setFakeColor(int offset, int r, int g, int b) { } private void setPixelColor(int offset) { + + // TODO: Get a cleaner way go obtain the color... int colorOffset = depthCameraDevice.findColorOffset(depthData.depthPoints[offset]) * 3; int c = (colorRaw[colorOffset + 2] & 0xFF) << 16 | (colorRaw[colorOffset + 1] & 0xFF) << 8 diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index 945a70ae..fb4ac1f5 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -27,6 +27,7 @@ import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.SubCamera; import fr.inria.papart.procam.camera.SubDepthCamera; +import org.bytedeco.javacpp.opencv_core.IplImage; import processing.core.PApplet; import processing.core.PMatrix3D; import processing.core.PVector; @@ -59,6 +60,10 @@ public CameraRGBIRDepth getMainCamera() { return camera; } + public Camera getOtherCamera() { + return anotherCamera; + } + public SubCamera getColorCamera() { return camera.getColorCamera(); } @@ -156,7 +161,10 @@ public int findColorOffset(float x, float y, float z) { // Ideally use a calibration... // kinectCalibRGB.getExtrinsics().mult(vt, vt2); getStereoCalibration().mult(vt, vt2); - return getColorCamera().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); + + // TODO: find a solution for this... + return anotherCamera.getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); +// return getColorCamera.getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); } } diff --git a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java index 0d4e1bc9..8fa56781 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java +++ b/papart/src/fr/inria/papart/depthcam/devices/Kinect360.java @@ -46,7 +46,7 @@ public Kinect360(PApplet parent, Camera anotherCamera) { if (anotherCamera instanceof CameraOpenKinect) { this.camera = (CameraOpenKinect) anotherCamera; - System.out.println("Use the given Kinect camera"); + this.anotherCamera = camera.getActingCamera(); } else { initDefaultCamera(); System.out.println("init a default Kinect camera"); diff --git a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java index ce2b4e48..941ca3cd 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java +++ b/papart/src/fr/inria/papart/depthcam/devices/KinectOne.java @@ -34,6 +34,7 @@ public KinectOne(PApplet parent, Camera incomingCamera) { super(parent); if (incomingCamera instanceof CameraOpenKinect2) { this.camera = (CameraOpenKinect2) incomingCamera; + this.anotherCamera = camera.getActingCamera(); } else { initDefaultCamera(); this.anotherCamera = incomingCamera; diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index e7e566de..f37226d8 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -36,33 +36,29 @@ public final class RealSense extends DepthCameraDevice { public RealSense(PApplet parent, Camera anotherCam) { super(parent); + if (anotherCam instanceof CameraRealSense) { this.camera = (CameraRealSense) anotherCam; + this.camera.setUseDepth(true); } else { initDefaultCamera(); this.anotherCamera = anotherCam; } - this.camera.setUseDepth(true); + + if (this.anotherCamera == null) { + this.anotherCamera = getColorCamera(); + } + cameraRS = (CameraRealSense) camera; -// cameraRS.setCalibration(Papart.kinectRGBCalib); -// cameraRS.getDepthCamera().setCalibration(Papart.kinectIRCalib); // setStereoCalibration(Papart.kinectStereoCalib); - camera.start(); setStereoCalibration(cameraRS.getHardwareExtrinsics()); - useHardwareIntrinsics(cameraRS); - } - - private void useHardwareIntrinsics(CameraRealSense cameraRS) { - CameraRealSense.useHarwareIntrinsics(cameraRS.getColorCamera(), cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraRS.getDepthCamera(), cameraRS.getFrameGrabber()); - CameraRealSense.useHarwareIntrinsics(cameraRS.getIRCamera(), cameraRS.getFrameGrabber()); } public CameraRealSense getMainCamera() { return cameraRS; } - + @Override public int rawDepthSize() { return getDepthCamera().width() * getDepthCamera().height() * 2; diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 20691999..301a08ff 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -69,8 +69,11 @@ public class KinectTouchInput extends TouchInput { // List of TouchPoints, given to the user private final ArrayList touchPoints2D = new ArrayList<>(); private final ArrayList touchPoints3D = new ArrayList<>(); - private final TouchDetectionSimple2D touchDetection2D; - private final TouchDetectionSimple3D touchDetection3D; + private TouchDetectionSimple2D touchDetection2D; + private TouchDetectionSimple3D touchDetection3D; + + private PlanarTouchCalibration touchCalib2D; + private PlanarTouchCalibration touchCalib3D; public KinectTouchInput(PApplet applet, DepthCameraDevice kinectDevice, @@ -80,38 +83,59 @@ public KinectTouchInput(PApplet applet, this.depthAnalysis = depthAnalysis; this.kinectDevice = kinectDevice; this.planeAndProjCalibration = calibration; - this.touchDetection2D = new TouchDetectionSimple2D(depthAnalysis.getDepthSize()); - this.touchDetection3D = new TouchDetectionSimple3D(depthAnalysis.getDepthSize()); } - - public void setPlaneAndProjCalibration(PlaneAndProjectionCalibration papc){ + + public void setPlaneAndProjCalibration(PlaneAndProjectionCalibration papc) { this.planeAndProjCalibration = papc; } public void setTouchDetectionCalibration(PlanarTouchCalibration touchCalib) { - this.touchDetection2D.setCalibration(touchCalib); + touchCalib2D = touchCalib; } public void setTouchDetectionCalibration3D(PlanarTouchCalibration touchCalib) { - this.touchDetection3D.setCalibration(touchCalib); +// this.touchDetection3D.setCalibration(touchCalib); + touchCalib3D = touchCalib; } @Override public void update() { try { - IplImage depthImage = kinectDevice.getDepthCamera().getIplImage(); - IplImage colImage = kinectDevice.getColorCamera().getIplImage(); + IplImage depthImage; + IplImage colImage = null; - depthDataSem.acquire(); - if (colImage == null || depthImage == null) { - System.out.println("No Image."); + // TODO: to only once ? + if (kinectDevice.getMainCamera().isUseColor()) { + colImage = kinectDevice.getColorCamera().getIplImage(); + } + if (kinectDevice.getMainCamera().isUseIR()) { + colImage = kinectDevice.getIRCamera().getIplImage(); + } + + depthImage = kinectDevice.getDepthCamera().getIplImage(); + + if (depthImage == null) { +// System.out.println("No Image. " + colImage + " " + depthImage); return; } + depthDataSem.acquire(); + + // Allocate the data when everything else is ready. + // TODO: all the time ?... + if (touchDetection2D == null) { + int depthSize = kinectDevice.getDepthCamera().width() * kinectDevice.getDepthCamera().height(); + touchDetection2D = new TouchDetectionSimple2D(depthSize); + touchDetection3D = new TouchDetectionSimple3D(depthSize); + + touchDetection2D.setCalibration(touchCalib2D); + touchDetection3D.setCalibration(touchCalib3D); + depthAnalysis.updateCalibrations(kinectDevice); + } + touch2DPrecision = touchDetection2D.getPrecision(); touch3DPrecision = touchDetection3D.getPrecision(); if (touch2DPrecision > 0 && touch3DPrecision > 0) { - depthAnalysis.updateMT(depthImage, colImage, planeAndProjCalibration, touch2DPrecision, touch3DPrecision); findAndTrack2D(); findAndTrack3D(); @@ -249,9 +273,8 @@ public ArrayList getDepthData() { return null; } } - + // TODO: Do the same without the Display, use the extrinsics instead!  - // TODO: Do the same with DepthDataElement instead of DepthPoint ? public ArrayList projectDepthData(ARDisplay display, Screen screen) { ArrayList list = projectDepthData2D(display, screen); @@ -382,13 +405,25 @@ public void getTouchColors(IplImage colorImage, } ByteBuffer cBuff = colorImage.getByteBuffer(); - for (TouchPoint tp : touchPointList) { - int offset = 3 * depthAnalysis.kinectDevice().findColorOffset(tp.getPositionKinect()); - - tp.setColor((255 & 0xFF) << 24 - | (cBuff.get(offset + 2) & 0xFF) << 16 - | (cBuff.get(offset + 1) & 0xFF) << 8 - | (cBuff.get(offset) & 0xFF)); + if (colorImage.nChannels() == 1) { + for (TouchPoint tp : touchPointList) { + int offset = depthAnalysis.getDepthCameraDevice().findColorOffset(tp.getPositionKinect()); + int c = cBuff.get(offset); + tp.setColor((255 & 0xFF) << 24 + | (c & 0xFF) << 16 + | (c & 0xFF) << 8 + | (c & 0xFF)); + } + } + if (colorImage.nChannels() == 3) { + for (TouchPoint tp : touchPointList) { + int offset = 3 * depthAnalysis.getDepthCameraDevice().findColorOffset(tp.getPositionKinect()); + + tp.setColor((255 & 0xFF) << 24 + | (cBuff.get(offset + 2) & 0xFF) << 16 + | (cBuff.get(offset + 1) & 0xFF) << 8 + | (cBuff.get(offset) & 0xFF)); + } } } diff --git a/papart/src/fr/inria/papart/multitouch/TouchDetection.java b/papart/src/fr/inria/papart/multitouch/TouchDetection.java index 2113fd77..d1d884e6 100755 --- a/papart/src/fr/inria/papart/multitouch/TouchDetection.java +++ b/papart/src/fr/inria/papart/multitouch/TouchDetection.java @@ -67,6 +67,7 @@ public TouchDetection(int size) { public abstract ArrayList compute(KinectDepthData dData); protected void allocateMemory(int size) { + System.out.println("Allocating touch memory: " + size); assignedPoints = new boolean[size]; connectedComponentImage = new byte[size]; this.calib = new PlanarTouchCalibration(); diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 222e5f43..a34feb21 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -44,6 +44,7 @@ import fr.inria.papart.procam.camera.CameraOpenKinect; import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.CameraRealSense; +import fr.inria.papart.procam.camera.SubCamera; import java.io.File; import java.lang.reflect.Constructor; import java.util.Set; @@ -198,7 +199,15 @@ public static Papart projection(PApplet applet, float quality) { papart.shouldSetWindowLocation = true; papart.shouldSetWindowSize = true; papart.registerPost(); - papart.initProjectorCamera(quality); + + papart.initProjectorDisplay(quality); + papart.initCamera(); + + papart.tryLoadExtrinsics(); + papart.projector.setCamera(papart.getPublicCameraTracking()); + + papart.checkInitialization(); + papart.registerKey(); return papart; @@ -261,7 +270,9 @@ public static Papart seeThrough(PApplet applet, float quality) { papart.shouldSetWindowSize = true; papart.registerPost(); - papart.initCamera(quality); + papart.initCamera(); + papart.initARDisplay(quality); + papart.checkInitialization(); return papart; } @@ -286,7 +297,6 @@ public static Papart projection2D(PApplet applet) { papart.shouldSetWindowSize = true; papart.registerPost(); -// Panel panel = new Panel(applet); return papart; } @@ -533,49 +543,6 @@ public void initDebug() { initDebugDisplay(); } - public void initProjectorCamera() { - CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(this.applet); - initProjectorCamera(cameraConfiguration, - 1); - } - - public void initProjectorCamera(float quality) { - CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(this.applet); - initProjectorCamera(cameraConfiguration, quality); - } - - public void initProjectorCamera(CameraConfiguration cameraConfiguration, float quality) { - initProjectorCamera(cameraConfiguration.getCameraName(), - cameraConfiguration.getCameraType(), - cameraConfiguration.getCameraFormat(), - quality); - } - - public void initProjectorCamera(String cameraNo, Camera.Type cameraType, String cameraFormat) { - initProjectorCamera(cameraNo, cameraType, cameraFormat, 1); - } - - /** - * Load a projector - camera couple. Default configuration files are used. - * - * @param quality - * @param cameraNo - * @param cameraType - */ - public void initProjectorCamera(String cameraNo, Camera.Type cameraType, String cameraFormat, float quality) { - assert (!cameraInitialized); - initProjectorDisplay(quality); - tryLoadExtrinsics(); - cameraTracking = CameraFactory.createCamera(cameraType, cameraNo, cameraFormat); - cameraTracking.setParent(applet); - cameraTracking.setCalibration(cameraCalib); - cameraTracking.start(); - loadTracking(cameraCalib); - cameraTracking.setThread(); - projector.setCamera(getPublicCameraTracking()); - checkInitialization(); - } - private void tryLoadExtrinsics() { PMatrix3D extrinsics = loadCalibration(cameraProjExtrinsics); if (extrinsics == null) { @@ -590,25 +557,14 @@ private void tryLoadExtrinsics() { * */ public void initCamera() { - initCamera(1); - } - - /** - * Initialize the default camera for object tracking. - * - * @param quality default is 1, to downscale go below 1, try 0.8, for better - * quality go higher like 2. - */ - public void initCamera(float quality) { CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(applet); - initCamera(cameraConfiguration, quality); + initCamera(cameraConfiguration); } - public void initCamera(CameraConfiguration cameraConfiguration, float quality) { + public void initCamera(CameraConfiguration cameraConfiguration) { initCamera(cameraConfiguration.getCameraName(), cameraConfiguration.getCameraType(), - cameraConfiguration.getCameraFormat(), - quality); + cameraConfiguration.getCameraFormat()); } /** @@ -616,21 +572,15 @@ public void initCamera(CameraConfiguration cameraConfiguration, float quality) { * */ public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFormat) { - initCamera(cameraNo, cameraType, cameraFormat, 1); - } - - public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFormat, float quality) { assert (!cameraInitialized); cameraTracking = CameraFactory.createCamera(cameraType, cameraNo, cameraFormat); cameraTracking.setParent(applet); cameraTracking.setCalibration(cameraCalib); - cameraTracking.start(); - loadTracking(cameraCalib); - cameraTracking.setThread(); - - initARDisplay(quality); - checkInitialization(); + // TEST: no more start here... +// cameraTracking.start(); +// loadTracking(cameraCalib); +// cameraTracking.setThread(); } private void initProjectorDisplay(float quality) { @@ -682,8 +632,9 @@ private void loadTracking(String calibrationPath) { Camera.convertARParams(this.applet, calibrationPath, camCalibARtoolkit); getPublicCameraTracking().initMarkerDetection(camCalibARtoolkit); + // CODE to delete ? // The camera view is handled in another thread; - cameraInitialized = true; +// cameraInitialized = true; } /** @@ -693,11 +644,6 @@ private void loadTracking(String calibrationPath) { public void loadTouchInputKinectOnly() { loadDefaultDepthCamera(); - -// cameraTracking = kinectDevice.getCameraRGB(); -// kinectDevice.getCameraRGB().setThread(); -// kinectDevice.getCameraDepth().setThread(); -// cameraInitialized = true; loadDefaultTouchKinect(); // Specific ? @@ -715,9 +661,6 @@ public void loadTouchInputKinectOnly() { */ public void loadTouchInput() { loadDefaultDepthCamera(); - -// kinectDevice.getCameraRGB().setThread(); -// kinectDevice.getCameraDepth().setThread(); loadDefaultTouchKinect(); // setExtrinsics must after the kinect stereo calibration is loaded @@ -761,6 +704,7 @@ public DepthCameraDevice loadDefaultDepthCamera() { System.err.println("Could not load the depth camera !" + "Camera Type " + kinectConfiguration.getCameraType()); } + // At this point, cameraTracking & depth Camera are ready. return depthCameraDevice; } @@ -838,12 +782,23 @@ public void loadSketches() { } + /** + * Start the camera thread, and the tracking. it calls automaticall + * startCameraThread(). + */ public void startTracking() { if (this.cameraTracking == null) { System.err.println("Start Tracking requires a Camera..."); return; } + loadTracking(cameraCalib); this.getPublicCameraTracking().trackSheets(true); + startCameraThread(); + } + + public void startCameraThread() { + cameraTracking.start(); + cameraTracking.setThread(); } public void stop() { @@ -929,7 +884,7 @@ public Camera getKinectCamera() { return this.depthCameraDevice.getColorCamera(); } - public DepthCameraDevice getKinectDevice() { + public DepthCameraDevice getDepthCameraDevice() { return depthCameraDevice; } @@ -937,7 +892,7 @@ public KinectDepthAnalysis getKinectAnalysis() { return this.kinectDepthAnalysis; } - public Camera.Type getKinectType() { + public Camera.Type getDepthCameraType() { if (depthCameraDevice == null) { return Camera.Type.FAKE; } diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 09e5ec6d..f555e983 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -40,6 +40,7 @@ import toxi.geom.Vec3D; import java.io.*; import java.nio.FloatBuffer; +import static processing.core.PConstants.ALPHA; import static processing.core.PConstants.HSB; /** @@ -341,6 +342,12 @@ static public IplImage createImageFrom(PImage in) { 3); } + if (in.format == ALPHA) { + imgOut = cvCreateImage(outSize, // size + IPL_DEPTH_8U, // depth + 1); + } + if (in.format == ARGB) { imgOut = cvCreateImage(outSize, // size IPL_DEPTH_8U, // depth @@ -579,8 +586,14 @@ static public void IplImageToPImage(IplImage img, boolean RGB, PImage ret) { buff.get(arr); for (int i = 0; i < img.width() * img.height(); i++) { - int d = (arr[i] & 0xFF); - ret.pixels[i] = d; + + byte d = arr[i]; +// int d = (arr[i] & 0xFF); + ret.pixels[i] + = (0xFF) << 24 + | (d & 0xFF) << 16 + | (d & 0xFF) << 8 + | (d & 0xFF); } } @@ -662,14 +675,15 @@ static public void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) { } argb.rewind(); } + static public void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) { byte[] depthRaw = new byte[2]; - + for (int i = 0; i < argb.capacity(); i += 4) { gray.get(depthRaw); int d = (depthRaw[0] & 0xFF) << 8 | (depthRaw[1] & 0xFF); - + // min depth: 400 byte dValue = (byte) ((d - 300f) / 3000f * 255f); argb.put(dValue); diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 58e19a16..185d8cad 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -182,6 +182,10 @@ public PImage getPImageCopy() { */ public PImage getPImageCopy(PApplet context) { PImage out = context.createImage(this.width, this.height, RGB); + + if(currentImage.nChannels() == 1){ + + } Utils.IplImageToPImage(currentImage, this.format == PixelFormat.RGB, out); return out; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index 46b761c9..ecb7ec6f 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -47,7 +47,7 @@ public void internalInit() { depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); depthCamera.type = SubCamera.Type.DEPTH; depthCamera.setSize(640, 480); - + grabber.setDepthFormat(freenect.FREENECT_DEPTH_MM); } if (isUseColor()) { @@ -125,6 +125,8 @@ public void grabIR() { public void grabDepth() { try { depthCamera.currentImage = grabber.grabDepth(); + + ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage); } catch (FrameGrabber.Exception ex) { Logger.getLogger(CameraOpenKinect.class.getName()).log(Level.SEVERE, null, ex); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index 4f36f5ff..62329440 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -139,6 +139,7 @@ public void grabIR() { @Override public void grabDepth() { depthCamera.currentImage = grabber.getDepthImage(); + ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index 1be77740..fccaedc6 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -149,14 +149,14 @@ void start(SubCamera camera) { } void grab(SubCamera camera) { - if (camera.type == SubCamera.Type.DEPTH) { - grabDepth(); + if (camera.type == SubCamera.Type.COLOR) { + grabColor(); } if (camera.type == SubCamera.Type.IR) { grabIR(); } - if (camera.type == SubCamera.Type.COLOR) { - grabColor(); + if (camera.type == SubCamera.Type.DEPTH) { + grabDepth(); } } @@ -388,7 +388,28 @@ protected Semaphore getSheetSemaphore() { return actAsCamera.getSheetSemaphore(); } - // + /** + * SetThread called by a subcamera, either color or IR (not checked). + * + * @param subCam + */ + void setThread(SubCamera subCam) { + if (thread == null) { + thread = new CameraThread(this); + thread.setCompute(subCam.trackSheets); + subCam.thread = thread; + + thread.setCompute(trackSheets); + thread.start(); + } else { + System.err.println("Camera: Error Thread already launched"); + } + } + + /** + * Called from aynwhere, start the thread and use the acting camera to track + * sheets of paper. + */ @Override public void setThread() { if (thread == null) { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index f74bd5c4..04107e6d 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.ProjectiveDeviceP; import java.nio.FloatBuffer; import java.util.logging.Level; import java.util.logging.Logger; @@ -43,6 +44,7 @@ protected CameraRealSense(int cameraNo) { Logger.getLogger(CameraRealSense.class.getName()).log(Level.SEVERE, null, ex); } this.systemNumber = cameraNo; + grabber = new RealSenseFrameGrabber(this.systemNumber); } @@ -71,22 +73,44 @@ public void internalInit() { if (isUseColor()) { colorCamera.setPixelFormat(PixelFormat.RGB); colorCamera.type = SubCamera.Type.COLOR; + if (colorCamera.width == 0 || colorCamera.height == 0) { - colorCamera.setSize(960, 540); + System.out.println("Setting default realSense width and height..."); + colorCamera.setSize(1280, 720); + } + + if (colorCamera.width() == 1280) { + grabber.setFrameRate(60); + } + + if (colorCamera.width() == 1920) { + grabber.setFrameRate(30); } } if (isUseIR()) { IRCamera.setSize(640, 480); IRCamera.setPixelFormat(PixelFormat.GRAY); IRCamera.type = SubCamera.Type.IR; + grabber.setIRFrameRate(60); } - grabber = new RealSenseFrameGrabber(this.systemNumber); } @Override public void internalStart() throws FrameGrabber.Exception { grabber.start(); + + // Override the calibration... + if (useColor) { + useHarwareIntrinsics(colorCamera, grabber); + } + if (useDepth) { + useHarwareIntrinsics(depthCamera, grabber); + } + if (useIR) { + useHarwareIntrinsics(IRCamera, grabber); + } + } @Override @@ -152,7 +176,16 @@ public void grabIR() { public void grabDepth() { depthCamera.updateCurrentImage(grabber.grabDepth()); // update the touch input - ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage); + + if (getActingCamera() == IRCamera) { + ((WithTouchInput) depthCamera).newTouchImageWithColor(IRCamera.currentImage); + return; + } + if (getActingCamera() == colorCamera || useColor) { + ((WithTouchInput) depthCamera).newTouchImageWithColor(colorCamera.currentImage); + return; + } + ((WithTouchInput) depthCamera).newTouchImage(); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 1a621a82..ba77d6ce 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -100,7 +100,6 @@ public void compute() { updateParallel(); camera.getSheetSemaphore().release(); - System.out.println("detectedMarkers: " + this.detectedMarkers.length); } catch (InterruptedException ex) { Logger.getLogger(CameraThread.class.getName()).log(Level.SEVERE, null, ex); } diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index 0913d2cf..703720e6 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -43,8 +43,8 @@ public Camera getMainCamera() { @Override public void start() { - if(!mainCamera.isStarting){ - throw new RuntimeException("Cannot start a subCamera: start the main camera instead."); + if (!mainCamera.isStarting) { + throw new RuntimeException("Cannot start a subCamera: start the main camera instead."); } mainCamera.start(this); isConnected = true; @@ -64,15 +64,31 @@ public void close() { mainCamera.disable(this); } + /** + * It makes the camera update continuously. + */ + public void setThread() { + // thread must be of the main camera... + mainCamera.setThread(this); + + if (thread == null) { + thread = new CameraThread(this); + thread.setCompute(this.trackSheets); + thread.start(); + } else { + System.err.println("Camera: Error Thread already launched"); + } + } + @Override public PImage getPImage() { // TODO: time management to avoid to send multiple times the same // frame to the graphics card. this.checkCamImage(); -// if (currentImage != null) { + if (currentImage != null) { camImage.update(currentImage); // return camImage; -// } + } return camImage; } } diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index 45df2f18..9065c362 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -101,8 +101,12 @@ public void setCorners(PVector[] corners) { } public void init() { - extractedImage = new PImage(imageWidthPx, imageHeightPx, PApplet.RGB); - + init(PApplet.RGB); + } + + public void init(int frameType) { + // TODO: Init with good color... + extractedImage = new PImage(imageWidthPx, imageHeightPx, frameType); initiateImageCoordinates(); } @@ -132,6 +136,9 @@ public PImage getViewOf(Camera camera) { this.camera = camera; CvMat homography = computeHomography(); + + // Convert to the good type... + Utils.remapImage(homography, camera.getIplImage(), extractedIplImage, extractedImage); return extractedImage; } diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index 620e1e34..dbe3674b 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -103,6 +103,10 @@ protected void loadCalibration(String calibrationYAML) { } } + public void setCalibration(Camera c){ + setCalibration(c.getProjectiveDevice()); + } + protected void setCalibration(ProjectiveDeviceP pdp) { // Load the camera parameters. // pdp = ProjectiveDeviceP.loadProjectiveDevice(calibrationYAML, 0); From 6adda67d15c1faeebee22c4612339cb738422687 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Mon, 21 Nov 2016 12:54:23 +0100 Subject: [PATCH 31/99] Work in progress, most calib seem to work. --- .../calibration/CalibrationExtrinsic.java | 43 ++++--- .../papart/calibration/CalibrationPopup.java | 19 +-- .../analysis/KinectDepthAnalysis.java | 14 ++- .../depthcam/devices/DepthCameraDevice.java | 7 +- .../papart/depthcam/devices/RealSense.java | 1 - papart/src/fr/inria/papart/procam/Papart.java | 71 ++++++++--- .../papart/procam/ProjectiveDeviceP.java | 4 +- papart/src/fr/inria/papart/procam/Utils.java | 48 +++++++- .../fr/inria/papart/procam/camera/Camera.java | 28 ++--- .../procam/camera/CameraOpenKinect.java | 85 +++++-------- .../procam/camera/CameraOpenKinect2.java | 63 ++++------ .../procam/camera/CameraRGBIRDepth.java | 41 ++----- .../papart/procam/camera/CameraRealSense.java | 116 ++++++++++-------- .../papart/procam/camera/CameraThread.java | 11 +- .../inria/papart/procam/camera/SubCamera.java | 1 - .../papart/procam/camera/TrackedView.java | 29 +++-- .../papart/procam/display/ARDisplay.java | 56 ++++++--- .../tracking/MarkerBoardARToolKitPlus.java | 7 +- .../inria/papart/tracking/MarkerBoardSvg.java | 4 - 19 files changed, 360 insertions(+), 288 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 08d39d2e..3208fc22 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -41,8 +41,8 @@ public class CalibrationExtrinsic { // Cameras private ProjectorDisplay projector; - private PMatrix3D kinectCameraExtrinsics = new PMatrix3D(); - private Papart papart; + private final PMatrix3D kinectCameraExtrinsics = new PMatrix3D(); + private final Papart papart; // Kinect private Camera.Type depthCameraType; @@ -61,6 +61,7 @@ public void setDefaultDepthCamera() { this.depthCameraType = papart.getDepthCameraType(); this.depthCameraDevice = papart.getDepthCameraDevice(); } + public void setDepthCamera(DepthCameraDevice device, Camera.Type type) { this.depthCameraType = type; this.depthCameraDevice = device; @@ -85,22 +86,22 @@ public void computeProjectorCameraExtrinsics(ArrayList snap saveProCamExtrinsics(sum); } - - public void saveProCamExtrinsics(PMatrix3D extr){ - papart.saveCalibration(Papart.cameraProjExtrinsics, extr); - projector.setExtrinsics(extr); + + public void saveProCamExtrinsics(PMatrix3D extr) { + papart.saveCalibration(Papart.cameraProjExtrinsics, extr); + projector.setExtrinsics(extr); } public void calibrateKinect(ArrayList snapshots) { if (this.depthCameraType == Camera.Type.OPEN_KINECT_2) { - calibrateKinectOne(snapshots); + calibrateProjectorDepthCam(snapshots); } if (this.depthCameraType == Camera.Type.OPEN_KINECT) { - calibrateKinect360(snapshots); + calibrateDepthAndExternalCam(snapshots); } } - protected void calibrateKinectOne(ArrayList snapshots) { + protected void calibrateProjectorDepthCam(ArrayList snapshots) { PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); kinectExtr.invert(); @@ -120,18 +121,25 @@ protected void calibrateKinectOne(ArrayList snapshots) { } // move the plane up a little. - planeCalibCam.moveAlongNormal(-7f); + // Value for Kinect 360. + if (depthCameraDevice.type() == Camera.Type.OPEN_KINECT) { + planeCalibCam.moveAlongNormal(-7f); + } + // Value for RealSense. + if (depthCameraDevice.type() == Camera.Type.REALSENSE) { + planeCalibCam.moveAlongNormal(-22f); + } saveKinectPlaneCalibration(planeCalibCam, homography); saveKinectCameraExtrinsics(kinectCameraExtrinsics); } - protected void calibrateKinect360(ArrayList snapshots) { - calibrateKinect360Extr(snapshots); - calibrateKinect360Plane(snapshots); + protected void calibrateDepthAndExternalCam(ArrayList snapshots) { + calibrateDepthToExternalExtr(snapshots); + calibrateDepthCamPlane(snapshots); } - protected void calibrateKinect360Extr(ArrayList snapshots) { + protected void calibrateDepthToExternalExtr(ArrayList snapshots) { // Depth -> color extrinsics PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); @@ -148,7 +156,7 @@ protected void calibrateKinect360Extr(ArrayList snapshots) saveKinectCameraExtrinsics(kinectCameraExtr); } - public boolean calibrateKinect360Plane(ArrayList snapshots) { + public boolean calibrateDepthCamPlane(ArrayList snapshots) { // Depth -> color extrinsics PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); @@ -177,9 +185,8 @@ public boolean calibrateKinect360Plane(ArrayList snapshots) saveKinectPlaneCalibration(planeCalibKinect, homography); return true; } - - - public boolean calibrateKinect360PlaneOnly(ArrayList snapshots) { + + public boolean calibrateDepthCamPlaneOnly(ArrayList snapshots) { // Depth -> color extrinsics PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 80992262..9df3e8f4 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -160,6 +160,8 @@ public void setup() { useExternalColorCamera = true; } calibrationExtrinsic.setDepthCamera(depthCameraDevice, depthCameraType); + } else { + System.out.println("Calibration with a color camera."); } initCorners(); @@ -182,11 +184,12 @@ private void initProjectorAsCamera() { projectorView.setImageWidthPx(projector.getWidth()); projectorView.setImageHeightPx(projector.getHeight()); - if (cameraTracking.getPixelFormat() == Camera.PixelFormat.GRAY) { - projectorView.init(PApplet.ALPHA); - } else { + if (cameraTracking.isPixelFormatGray()) { projectorView.init(PApplet.GRAY); } + if (cameraTracking.isPixelFormatColor()) { + projectorView.init(PApplet.RGB); + } projectorAsCamera = new ProjectorAsCamera(); projectorAsCamera.setCalibration(Papart.projectorCalib); @@ -195,7 +198,7 @@ private void initProjectorAsCamera() { String ARToolkitCalibFile = Papart.calibrationFolder + "projector.cal"; ProjectorAsCamera.convertARProjParams(this, projectorAsCamera.getCalibrationFile(), ARToolkitCalibFile); - projectorAsCamera.initMarkerDetection(ARToolkitCalibFile); + projectorAsCamera.setCalibrationARToolkit(ARToolkitCalibFile); projectorAsCamera.trackMarkerBoard(board); initMarkerTrackingFromProjector(); } @@ -211,7 +214,7 @@ private void initTrackingOn(DepthCameraDevice kinectDevice) { String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; Camera.convertARParams(this, cameraFromDepthCam.getCalibrationFile(), ARToolkitCalib); - cameraFromDepthCam.initMarkerDetection(ARToolkitCalib); + cameraFromDepthCam.setCalibrationARToolkit(ARToolkitCalib); // No display for now... // arDisplayKinect = new ARDisplay(this, cameraKinect); @@ -284,7 +287,7 @@ public void calibrateProCam() { } public void calibrateKinect() { - boolean isCalibOK = calibrationExtrinsic.calibrateKinect360Plane(snapshots); + boolean isCalibOK = calibrationExtrinsic.calibrateDepthCamPlane(snapshots); if (isCalibOK) { this.isKinectCalibrated = OK; } @@ -340,9 +343,7 @@ private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) IPL_DEPTH_8U, 1); } - System.out.println(projImage + " " + grayImage); cvCvtColor(projImage, grayImage, CV_BGR2GRAY); - // if(test){ // cvSaveImage( sketchPath() + "/data/projImage.jpg", grayImage); // cvSaveImage( sketchPath() + "/data/camImage.jpg", camera.getIplImage()); @@ -375,7 +376,7 @@ void initMatrixGui() { .setLineHeight(14) //.setColor(color(128)) ; } else { - System.out.println("External camera not activated !"); + System.out.println("External camera not activated."); } } diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 16110408..b1afd76e 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -155,6 +155,7 @@ private void initMemory() { depthData = new KinectDepthData(this); depthData.projectiveDevice = this.calibDepth; + if (depthCameraDevice instanceof Kinect360) { depthComputationMethod = new Kinect360Depth(); } @@ -322,12 +323,23 @@ public PVector findDepthAtRGB(float x, float y, float z) { PVector v = new PVector(x, y, z); PVector v2 = new PVector(); + // Point is now in the Depth coordinates depthCameraDevice.getStereoCalibrationInv().mult(v, v2); + // v2 is now the location in KinectDepth instead of KinectRGB coordinates. + // Point is now in pixel coordinates int worldToPixel = getDepthCameraDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); - return Utils.toPVector(depthData.depthPoints[worldToPixel]); + // Point viewed in the depth camera point of view. + PVector pointDepth = Utils.toPVector(depthData.depthPoints[worldToPixel]); + + return pointDepth; + // get it back in the RGB point of view. +// PVector out = new PVector(); +// depthCameraDevice.getStereoCalibration().mult(pointDepth, out); +// return out; +// return Utils.toPVector(depthData.depthPoints[worldToPixel]); } protected void updateRawDepth(opencv_core.IplImage depthImage) { diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index fb4ac1f5..c6bdb224 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -22,6 +22,7 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.Utils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraRGBIRDepth; @@ -106,6 +107,8 @@ public void setStereoCalibration(String fileName) { } public void setStereoCalibration(PMatrix3D matrix) { + System.out.println("DepthCameraDevice: Call to setStereoCalibration..."); + matrix.print(); KinectRGBIRCalibration.set(matrix); KinectRGBIRCalibrationInv = KinectRGBIRCalibration.get(); KinectRGBIRCalibrationInv.invert(); @@ -163,8 +166,8 @@ public int findColorOffset(float x, float y, float z) { getStereoCalibration().mult(vt, vt2); // TODO: find a solution for this... - return anotherCamera.getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); + return getColorCamera().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); // return getColorCamera.getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); } - + } diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index f37226d8..e8320ba8 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -51,7 +51,6 @@ public RealSense(PApplet parent, Camera anotherCam) { cameraRS = (CameraRealSense) camera; // setStereoCalibration(Papart.kinectStereoCalib); - setStereoCalibration(cameraRS.getHardwareExtrinsics()); } diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index a34feb21..0cc2eba9 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -48,6 +48,8 @@ import java.io.File; import java.lang.reflect.Constructor; import java.util.Set; +import java.util.logging.Level; +import java.util.logging.Logger; import org.reflections.Reflections; import processing.core.PApplet; import processing.core.PFont; @@ -255,20 +257,20 @@ public static Papart seeThrough(PApplet applet) { */ public static Papart seeThrough(PApplet applet, float quality) { - CameraConfiguration cameraConfiguration = getDefaultCameraConfiguration(applet); - - Camera cameraTracking = CameraFactory.createCamera( - cameraConfiguration.getCameraType(), - cameraConfiguration.getCameraName(), - cameraConfiguration.getCameraFormat()); - cameraTracking.setParent(applet); - cameraTracking.setCalibration(cameraCalib); + ProjectiveDeviceP pdp = null; + try { + pdp = ProjectiveDeviceP.loadCameraDevice(applet, cameraCalib); + } catch (Exception ex) { + Logger.getLogger(Papart.class.getName()).log(Level.SEVERE, null, ex); + } Papart papart = new Papart(applet); - papart.frameSize.set(cameraTracking.width(), cameraTracking.height()); - papart.shouldSetWindowSize = true; - papart.registerPost(); + if (pdp != null) { + papart.frameSize.set(pdp.getWidth(), pdp.getHeight()); + papart.shouldSetWindowSize = true; + papart.registerPost(); + } papart.initCamera(); papart.initARDisplay(quality); @@ -627,14 +629,19 @@ private void checkInitialization() { this.applet.registerMethod("stop", this); } - private void loadTracking(String calibrationPath) { - // TODO: check if file exists ! - Camera.convertARParams(this.applet, calibrationPath, camCalibARtoolkit); - getPublicCameraTracking().initMarkerDetection(camCalibARtoolkit); - - // CODE to delete ? - // The camera view is handled in another thread; -// cameraInitialized = true; + /** + * Only for .cfg marker tracking. + */ + private void setARToolkitCalib() { + // TODO: warning −> used only for .cfg files. + // try to get the params from the camera, instead of the files! + if (cameraTracking.isCalibrated()) { + Camera.convertARParams(this.applet, getPublicCameraTracking().getProjectiveDevice(), camCalibARtoolkit); + getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); + } else { + Camera.convertARParams(this.applet, cameraCalib, camCalibARtoolkit); + getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); + } } /** @@ -782,6 +789,18 @@ public void loadSketches() { } + /** + * Start the tracking without a thread. + */ + public void startTrackingWithoutThread() { + if (this.cameraTracking == null) { + System.err.println("Start Tracking requires a Camera..."); + return; + } + setARToolkitCalib(); + this.getPublicCameraTracking().trackSheets(true); + } + /** * Start the camera thread, and the tracking. it calls automaticall * startCameraThread(). @@ -791,16 +810,28 @@ public void startTracking() { System.err.println("Start Tracking requires a Camera..."); return; } - loadTracking(cameraCalib); + setARToolkitCalib(); this.getPublicCameraTracking().trackSheets(true); startCameraThread(); } public void startCameraThread() { cameraTracking.start(); + + // Calibration might be loaded from the device and require an update. + if(arDisplay != null && !(arDisplay instanceof ProjectorDisplay)){ + System.out.println("Papart: Reload calibration!"); + arDisplay.reloadCalibration(); + } + cameraTracking.setThread(); } + public void startDepthCameraThread() { + depthCameraDevice.getMainCamera().start(); + depthCameraDevice.getMainCamera().setThread(); + } + public void stop() { this.dispose(); } diff --git a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java index 5a784e79..1b8b563c 100755 --- a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java +++ b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java @@ -578,6 +578,8 @@ public void updateFromIntrinsics() { public String toString() { return "intr " + intrinsics.toString() + (extrinsics != null ? " extr " + extrinsics.toString() : " ") + " " - + " width " + w + " height " + h; + + " width " + w + " height " + h + + " fx " + fx + " fy " + fy + + " cx " + cx + " cy " + cy; } } diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index f555e983..902f0b5b 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -41,6 +41,7 @@ import java.io.*; import java.nio.FloatBuffer; import static processing.core.PConstants.ALPHA; +import static processing.core.PConstants.GRAY; import static processing.core.PConstants.HSB; /** @@ -335,6 +336,7 @@ static public IplImage createImageFrom(PImage in) { outSize.width(in.width); outSize.height(in.height); + System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format ); IplImage imgOut = null; if (in.format == RGB) { imgOut = cvCreateImage(outSize, // size @@ -342,7 +344,7 @@ static public IplImage createImageFrom(PImage in) { 3); } - if (in.format == ALPHA) { + if (in.format == ALPHA || in.format == GRAY) { imgOut = cvCreateImage(outSize, // size IPL_DEPTH_8U, // depth 1); @@ -815,7 +817,6 @@ static public void PImageToIplImage2(IplImage img, boolean RGB, PImage ret) { } static public void convertARParam2(PApplet pa, String inputYAML, String outputDAT) throws Exception { - CameraDevice cam = null; // Hack @@ -879,6 +880,49 @@ static public void convertARParam2(PApplet pa, String inputYAML, String outputDA pw.flush(); pw.close(); } + + static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, String outputDAT) throws Exception { + + PrintWriter pw = pa.createWriter(outputDAT); + StringBuffer sb = new StringBuffer(); + + // From ARToolkitPlus... +//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html + sb.append("ARToolKitPlus_CamCal_Rev02\n"); + sb.append(pdp.getWidth()).append(" ").append(pdp.getHeight()).append(" "); + + // cx cy fx fy + sb.append(pdp.getCx()).append(" ").append(pdp.getCy()) + .append(" ").append(pdp.getFx()). + append(" ").append(pdp.getFy()).append(" "); + + // alpha_c // skew factor  + sb.append("0 ").append(" "); + +// if(pdp.handleDistorsions()){ + // TODO: handle the distorsions... +// double[] distort = cam.distortionCoeffs.get(); +// // alpha_c ?  +//// sb.append("0 "); +// // kc(1 - x) -> 6 values +// for (int i = 0; i < distort.length; i++) { +// sb.append(distort[i]).append(" "); +// } +// for (int i = distort.length; i < 6; i++) { +// sb.append("0 "); +// } +// } else { + for (int i = 0; i < 6; i++) { + sb.append("0 "); + } +// } + // undist iterations + sb.append("10\n"); + + pw.print(sb); + pw.flush(); + pw.close(); + } static public void convertProjParam(PApplet pa, String inputYAML, String outputDAT) throws Exception { diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 185d8cad..1ee04897 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -96,7 +96,7 @@ public enum PixelFormat { // Instance variables protected PApplet parent = null; - private List sheets = null; + private final List sheets = Collections.synchronizedList(new ArrayList()); private final Semaphore sheetsSemaphore = new Semaphore(1); // ARToolkit @@ -162,6 +162,7 @@ public void setCalibration(String fileName) { } private void updateCalibration() { + System.out.println("updateCalibrationcalled:"); camIntrinsicsP3D = pdp.getIntrinsics(); this.width = pdp.getWidth(); this.height = pdp.getHeight(); @@ -255,16 +256,8 @@ public String getCalibrationFile() { return this.calibrationFile; } - /** - * Initialize the tracking with ARToolkit plus. - * - * @param calibrationARToolkit - */ - public void initMarkerDetection(String calibrationARToolkit) { - // Marker Detection and view + public void setCalibrationARToolkit(String calibrationARToolkit) { this.calibrationARToolkit = calibrationARToolkit; - this.sheets = Collections.synchronizedList(new ArrayList()); - System.out.println("Init MARKER DETECTION " + this + " " + this.sheets); } public String getCalibrationARToolkit() { @@ -305,8 +298,6 @@ public void trackSheets(boolean auto) { if (thread != null) { thread.setCompute(auto); - } else { - System.err.println("Camera: Error AutoCompute only if threaded."); } } @@ -396,7 +387,7 @@ protected void checkCamImage() { } } - protected boolean isPixelFormatGray() { + public boolean isPixelFormatGray() { PixelFormat pixelFormat = getPixelFormat(); return pixelFormat == PixelFormat.GRAY || pixelFormat == PixelFormat.GRAY_32 @@ -405,7 +396,7 @@ protected boolean isPixelFormatGray() { || pixelFormat == PixelFormat.DEPTH_KINECT_MM; } - protected boolean isPixelFormatColor() { + public boolean isPixelFormatColor() { PixelFormat pixelFormat = getPixelFormat(); return pixelFormat == PixelFormat.ARGB || pixelFormat == PixelFormat.BGR @@ -505,5 +496,14 @@ static public void convertARParams(PApplet parent, String calibrationFile, PApplet.println("Conversion error. " + e); } } + + static public void convertARParams(PApplet parent, ProjectiveDeviceP projectiveDevice, + String calibrationARtoolkit) { + try { + fr.inria.papart.procam.Utils.convertARParamFromDevice(parent, projectiveDevice, calibrationARtoolkit); + } catch (Exception e) { + PApplet.println("Conversion error. " + e); + } + } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index ecb7ec6f..ae953f44 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -36,35 +36,8 @@ public class CameraOpenKinect extends CameraRGBIRDepth { protected CameraOpenKinect(int cameraNo) { this.systemNumber = cameraNo; - } - - @Override - public void internalInit() { - grabber = new OpenKinectFrameGrabber(this.systemNumber); - if (isUseDepth()) { - depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); - depthCamera.type = SubCamera.Type.DEPTH; - depthCamera.setSize(640, 480); - - grabber.setDepthFormat(freenect.FREENECT_DEPTH_MM); - } - if (isUseColor()) { - colorCamera.setPixelFormat(PixelFormat.BGR); - colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(640, 480); - - grabber.setImageWidth(colorCamera.width()); - grabber.setImageHeight(colorCamera.height()); - kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; - grabber.setVideoFormat(kinectVideoFormat); - } - if (isUseIR()) { - IRCamera.setPixelFormat(PixelFormat.GRAY); - IRCamera.type = SubCamera.Type.IR; - IRCamera.setSize(640, 480); - } } @Override @@ -87,31 +60,6 @@ public void close() { } - @Override - public void enableIR() { - } - - @Override - public void disableIR() { - } - - @Override - public void enableDepth() { - } - - @Override - public void disableDepth() { - } - - @Override - public void enableColor() { - } - - @Override - public void disableColor() { - throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates. - } - @Override public void grabIR() { try { @@ -141,6 +89,39 @@ public void grabColor() { } } + @Override + public void setUseDepth(boolean use) { + if (use) { + depthCamera.setPixelFormat(PixelFormat.DEPTH_KINECT_MM); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(640, 480); + grabber.setDepthFormat(freenect.FREENECT_DEPTH_MM); + } + } + + @Override + public void setUseIR(boolean use) { + if (use) { + IRCamera.setPixelFormat(PixelFormat.GRAY); + IRCamera.type = SubCamera.Type.IR; + IRCamera.setSize(640, 480); + } + } + + @Override + public void setUseColor(boolean use) { + if (use) { + colorCamera.setPixelFormat(PixelFormat.BGR); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(640, 480); + + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; + grabber.setVideoFormat(kinectVideoFormat); + } + } + @Override protected void internalGrab() throws Exception { } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index 62329440..7092208b 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -49,31 +49,11 @@ public PImage getPImage() { protected CameraOpenKinect2(int cameraNo) { this.systemNumber = cameraNo; colorCamera = new Kinect2SubCamera(this); - } - - @Override - public void internalInit() { - if (isUseDepth()) { - depthCamera.setPixelFormat(PixelFormat.FLOAT_DEPTH_KINECT2); - depthCamera.type = SubCamera.Type.DEPTH; - depthCamera.setSize(512, 424); - } - if (isUseColor()) { - colorCamera.setPixelFormat(PixelFormat.ARGB); - colorCamera.type = SubCamera.Type.COLOR; - colorCamera.setSize(1920, 1080); - } - if (isUseIR()) { - IRCamera.setPixelFormat(PixelFormat.GRAY_32); - IRCamera.type = SubCamera.Type.IR; - IRCamera.setSize(512, 424); - } grabber = new OpenKinect2FrameGrabber(this.systemNumber); } @Override public void internalStart() throws FrameGrabber.Exception { - System.out.println("K2: Starting..." + Thread.currentThread()); grabber.start(); } @@ -102,33 +82,34 @@ public void close() { } @Override - public void enableIR() { - grabber.enableIRStream(); - } - - @Override - public void disableIR() { - // Not implemented yet. - } - - @Override - public void enableDepth() { - grabber.enableDepthStream(); - } - - @Override - public void disableDepth() { - // Not implemented yet. + public void setUseIR(boolean use) { + if (use) { + IRCamera.setPixelFormat(PixelFormat.GRAY_32); + IRCamera.type = SubCamera.Type.IR; + IRCamera.setSize(512, 424); + grabber.enableIRStream(); + } + this.useIR = use; } @Override - public void enableColor() { - grabber.enableColorStream(); + public void setUseDepth(boolean use) { + if (use) { + depthCamera.setPixelFormat(PixelFormat.FLOAT_DEPTH_KINECT2); + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setSize(512, 424); + grabber.enableDepthStream(); + } } @Override - public void disableColor() { - // Not implemented yet. + public void setUseColor(boolean use) { + if (use) { + colorCamera.setPixelFormat(PixelFormat.ARGB); + colorCamera.type = SubCamera.Type.COLOR; + colorCamera.setSize(1920, 1080); + grabber.enableColorStream(); + } } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index fccaedc6..b5b34745 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -106,18 +106,6 @@ public PImage getIRImage() { return null; } - protected abstract void enableIR(); - - protected abstract void disableIR(); - - protected abstract void enableDepth(); - - protected abstract void disableDepth(); - - protected abstract void enableColor(); - - protected abstract void disableColor(); - protected abstract void grabIR(); protected abstract void grabDepth(); @@ -126,25 +114,13 @@ public PImage getIRImage() { public void disable(SubCamera camera) { if (camera.type == SubCamera.Type.DEPTH) { - disableDepth(); + setUseDepth(false); } if (camera.type == SubCamera.Type.IR) { - disableIR(); + setUseIR(false); } if (camera.type == SubCamera.Type.COLOR) { - disableColor(); - } - } - - void start(SubCamera camera) { - if (camera.type == SubCamera.Type.DEPTH) { - enableDepth(); - } - if (camera.type == SubCamera.Type.IR) { - enableIR(); - } - if (camera.type == SubCamera.Type.COLOR) { - enableColor(); + setUseColor(false); } } @@ -168,7 +144,6 @@ void grab(SubCamera camera) { public void start() { isStarting = true; try { - internalInit(); if (isUseColor()) { colorCamera.start(); } @@ -191,8 +166,6 @@ public void start() { protected abstract void internalGrab() throws Exception; - protected abstract void internalInit() throws Exception; - @Override public void grab() { @@ -348,8 +321,8 @@ public String getCalibrationFile() { } @Override - public void initMarkerDetection(String calibrationARToolkit) { - actAsCamera.initMarkerDetection(calibrationARToolkit); + public void setCalibrationARToolkit(String calibrationARToolkit) { + actAsCamera.setCalibrationARToolkit(calibrationARToolkit); } @Override @@ -443,12 +416,12 @@ protected void checkCamImage() { } @Override - protected boolean isPixelFormatGray() { + public boolean isPixelFormatGray() { return actAsCamera.isPixelFormatGray(); } @Override - protected boolean isPixelFormatColor() { + public boolean isPixelFormatColor() { return actAsCamera.isPixelFormatColor(); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 04107e6d..6155e391 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -19,7 +19,6 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.ProjectiveDeviceP; import java.nio.FloatBuffer; import java.util.logging.Level; import java.util.logging.Logger; @@ -63,41 +62,24 @@ public PMatrix3D getHardwareExtrinsics() { } @Override - public void internalInit() { + public void internalStart() throws FrameGrabber.Exception { - if (isUseDepth()) { - depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); - depthCamera.setSize(640, 480); - depthCamera.type = SubCamera.Type.DEPTH; - } - if (isUseColor()) { - colorCamera.setPixelFormat(PixelFormat.RGB); - colorCamera.type = SubCamera.Type.COLOR; - + if (useColor) { if (colorCamera.width == 0 || colorCamera.height == 0) { - System.out.println("Setting default realSense width and height..."); + System.out.println("Setting default color for Realsense..."); + this.setSize(1280, 720); colorCamera.setSize(1280, 720); } + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + grabber.setFrameRate(30); + if (colorCamera.width() == 1280) { grabber.setFrameRate(60); } - - if (colorCamera.width() == 1920) { - grabber.setFrameRate(30); - } - } - if (isUseIR()) { - IRCamera.setSize(640, 480); - IRCamera.setPixelFormat(PixelFormat.GRAY); - IRCamera.type = SubCamera.Type.IR; - grabber.setIRFrameRate(60); + grabber.enableColorStream(); } - - } - - @Override - public void internalStart() throws FrameGrabber.Exception { grabber.start(); // Override the calibration... @@ -115,6 +97,7 @@ public void internalStart() throws FrameGrabber.Exception { @Override public void internalGrab() throws Exception { + grabber.grab(); } @@ -150,6 +133,7 @@ public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber if (camera.type == SubCamera.Type.DEPTH) { camType = RealSense.depth; } + System.out.println("Setting hardware intrinsics for: " + camera.type.name()); RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(camType); FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); float cx = fb.get(2); @@ -176,7 +160,7 @@ public void grabIR() { public void grabDepth() { depthCamera.updateCurrentImage(grabber.grabDepth()); // update the touch input - + if (getActingCamera() == IRCamera) { ((WithTouchInput) depthCamera).newTouchImageWithColor(IRCamera.currentImage); return; @@ -188,40 +172,64 @@ public void grabDepth() { ((WithTouchInput) depthCamera).newTouchImage(); } - @Override - public void enableIR() { - grabber.setIRImageWidth(IRCamera.width()); - grabber.setIRImageHeight(IRCamera.height()); - grabber.enableIRStream(); + public void setUseIR(boolean use) { + if (use) { + grabber.setIRImageWidth(IRCamera.width()); + grabber.setIRImageHeight(IRCamera.height()); + grabber.enableIRStream(); + } else { + grabber.disableIRStream(); + } + this.useIR = use; } - @Override - public void disableIR() { - grabber.disableIRStream(); - } + public void setUseDepth(boolean use) { + if (use) { + depthCamera.type = SubCamera.Type.DEPTH; + depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); + depthCamera.setSize(640, 480); - @Override - public void enableDepth() { - grabber.setDepthImageWidth(depthCamera.width()); - grabber.setDepthImageHeight(depthCamera.height()); - grabber.enableDepthStream(); + grabber.setDepthImageWidth(depthCamera.width()); + grabber.setDepthImageHeight(depthCamera.height()); + grabber.enableDepthStream(); + getFrameGrabber().setPreset(5); + } else { + grabber.disableDepthStream(); + } + this.useDepth = use; } @Override - public void disableDepth() { - grabber.disableDepthStream(); - } + public void setSize(int w, int h) { + Camera act = getActingCamera(); - @Override - public void enableColor() { - grabber.setImageWidth(colorCamera.width()); - grabber.setImageHeight(colorCamera.height()); - grabber.enableColorStream(); + if (act == null) { + return; + } + act.setSize(w, h); + System.out.println("Setting custom color for Realsense: " + w + " " + h); + if (act == colorCamera) { + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + grabber.setFrameRate(30); + } } - @Override - public void disableColor() { - grabber.disableColorStream(); - } + public void setUseColor(boolean use) { + // todo: boolean or not ? + if (!use) { + grabber.disableColorStream(); + } else { + colorCamera.setPixelFormat(PixelFormat.RGB); + colorCamera.type = SubCamera.Type.COLOR; + // Default values to get Color with multi-touch depth tracking. + this.setSize(1280, 720); + colorCamera.setSize(1280, 720); + grabber.setImageWidth(colorCamera.width()); + grabber.setImageHeight(colorCamera.height()); + grabber.setFrameRate(60); + } + this.useColor = use; + } } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index ba77d6ce..09ae37f8 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -79,11 +79,15 @@ public void run() { } while (!stop) { + camera.grab(); + // If there is no camera for tracking... + if(cameraForMarkerboard == null || !compute || camera.getTrackedSheets().isEmpty()){ + continue; + } + image = camera.getIplImage(); - - // TODO: check if img can be null... - if (image != null && compute && !camera.getTrackedSheets().isEmpty()) { + if (image != null) { this.compute(); } } @@ -167,7 +171,6 @@ protected void updateSequential() { } protected void updateBoardLocation(MarkerBoard markerBoard) { - // The markerboard will know the real camera, not the top-level camera. if (markerBoard.useGrayscaleImages()) { markerBoard.updateLocation(cameraForMarkerboard, grayImage, this.detectedMarkers); diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index 703720e6..8554f58d 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -46,7 +46,6 @@ public void start() { if (!mainCamera.isStarting) { throw new RuntimeException("Cannot start a subCamera: start the main camera instead."); } - mainCamera.start(this); isConnected = true; } diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index 9065c362..e3f3e11a 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -37,7 +37,7 @@ */ public class TrackedView { - private PImage extractedImage = null; + private PImage extractedPImage = null; private IplImage extractedIplImage = null; // private data @@ -103,10 +103,10 @@ public void setCorners(PVector[] corners) { public void init() { init(PApplet.RGB); } - + public void init(int frameType) { // TODO: Init with good color... - extractedImage = new PImage(imageWidthPx, imageHeightPx, frameType); + extractedPImage = new PImage(imageWidthPx, imageHeightPx, frameType); initiateImageCoordinates(); } @@ -124,7 +124,7 @@ private void initiateImageCoordinates() { } public PImage getViewOf(Camera camera) { - if (extractedImage == null) { + if (extractedPImage == null) { System.err.println("You should init the TrackedView before getting the view."); return null; } @@ -136,19 +136,23 @@ public PImage getViewOf(Camera camera) { this.camera = camera; CvMat homography = computeHomography(); - + // Convert to the good type... - - Utils.remapImage(homography, camera.getIplImage(), extractedIplImage, extractedImage); - return extractedImage; + Utils.remapImage(homography, camera.getIplImage(), extractedIplImage, extractedPImage); + return extractedPImage; } public IplImage getIplViewOf(Camera camera) { - if (camera.getIplImage() == null) { + if (extractedPImage == null) { + System.err.println("You should init the TrackedView before getting the view."); + return null; + } + IplImage img = camera.getIplImage(); + if (img == null) { return null; } - this.mainImage = camera.getIplImage(); + this.mainImage = img; this.camera = camera; CvMat homography = computeHomography(); Utils.remapImageIpl(homography, camera.getIplImage(), extractedIplImage); @@ -164,7 +168,10 @@ private CvMat computeHomography() { private void checkMemory() { if (extractedIplImage == null) { - extractedIplImage = Utils.createImageFrom(extractedImage); + extractedIplImage = Utils.createImageFrom(extractedPImage); + if (extractedIplImage == null) { + System.err.println("Impossible to create a View! " + this + " " + extractedPImage); + } } } diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index dbe3674b..e971e39c 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -46,7 +46,7 @@ * * @author jeremy */ -public class ARDisplay extends BaseDisplay implements HasExtrinsics{ +public class ARDisplay extends BaseDisplay implements HasExtrinsics { // public PGraphicsOpenGL graphicsUndist; private PImage mapImg; @@ -67,6 +67,12 @@ public class ARDisplay extends BaseDisplay implements HasExtrinsics{ private boolean distort = false; + /** + * Warning Not used directly. + * + * @param parent + * @param calibrationYAML + */ public ARDisplay(PApplet parent, String calibrationYAML) { super(parent); loadCalibration(calibrationYAML); @@ -103,10 +109,18 @@ protected void loadCalibration(String calibrationYAML) { } } - public void setCalibration(Camera c){ + /** + * * + * Reload the intrinsic calibration from the camera. + */ + public void reloadCalibration() { + setCalibration(camera.getProjectiveDevice()); + } + + public void setCalibration(Camera c) { setCalibration(c.getProjectiveDevice()); } - + protected void setCalibration(ProjectiveDeviceP pdp) { // Load the camera parameters. // pdp = ProjectiveDeviceP.loadProjectiveDevice(calibrationYAML, 0); @@ -121,7 +135,11 @@ protected void setCalibration(ProjectiveDeviceP pdp) { this.frameHeight = pdp.getHeight(); this.drawingSizeX = frameWidth; this.drawingSizeY = frameHeight; - + + if (this.graphics != null) { + updateIntrinsicsRendering(); + } + // TODO: no more distorsions Processing3 test // this.setDistort(pdp.handleDistorsions()); this.setDistort(false); @@ -170,7 +188,7 @@ public void draw() { parent.noStroke(); PImage img = camera.getPImage(); - + if (camera != null && img != null) { parent.image(img, 0, 0, parent.width, parent.height); // ((PGraphicsOpenGL) (parent.g)).image(camera.getPImage(), 0, 0, frameWidth, frameHeight); @@ -203,7 +221,7 @@ public void drawImage(PGraphicsOpenGL g, PImage image, @Override public void renderScreens() { this.graphics.noStroke(); - + for (Screen screen : screens) { if (!screen.isDrawing()) { continue; @@ -461,8 +479,8 @@ public PVector projectPointer(Screen screen, float px, float py) { Ray3D ray = new Ray3D(new Vec3D(originP.x, - originP.y, - originP.z), + originP.y, + originP.z), new Vec3D(viewedPtP.x, viewedPtP.y, viewedPtP.z)); @@ -481,8 +499,8 @@ public PVector projectPointer(Screen screen, float px, float py) { 1f - (res.y() / res.z()), 1); return out; } - - /** + + /** * Computes the 3D coordinates of a projected pixel in the tracking camera * coordinate system. * @@ -498,12 +516,16 @@ public PVector getProjectedPointOnPlane(PlaneCalibration planeCalibCam, float px PVector originP = new PVector(0, 0, 0); PVector viewedPtP = getProjectiveDeviceP().pixelToWorldNormalized(px, py); - // Pass it to the camera point of view (origin) - PMatrix3D proCamExtrinsics = getExtrinsicsInv(); - PVector originC = new PVector(); - PVector viewedPtC = new PVector(); - proCamExtrinsics.mult(originP, originC); - proCamExtrinsics.mult(viewedPtP, viewedPtC); + PVector originC = originP.copy(); + PVector viewedPtC = viewedPtP.copy(); + if (hasExtrinsics()) { + // Pass it to the camera point of view (origin) + PMatrix3D proCamExtrinsics = getExtrinsicsInv(); + originC = new PVector(); + viewedPtC = new PVector(); + proCamExtrinsics.mult(originP, originC); + proCamExtrinsics.mult(viewedPtP, viewedPtC); + } // Second argument is a direction viewedPtC.sub(originC); @@ -523,7 +545,7 @@ public PVector getProjectedPointOnPlane(PlaneCalibration planeCalibCam, float px } return new PVector(inter.x(), inter.y(), inter.z()); - } + } protected PMatrix3D createProjection(PVector nearFar) { diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java index 9457f4c9..55561f06 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java @@ -72,6 +72,9 @@ public MarkerBoardARToolKitPlus(String fileName, float width, float height) { // @Override protected void addTrackerImpl(Camera camera) { + + System.out.println("Starting a ARToolkitPlus tracker for CFG files."); + // create a tracker that does: // - 6x6 sized marker images (required for binary markers) // - samples at a maximum of 6x6 @@ -109,8 +112,8 @@ protected void addTrackerImpl(Camera camera) { tracker.setMarkerMode(ARToolKitPlus.MARKER_ID_BCH); // TODO: find why FULL RES is not working with a FULL HD image. -// tracker.setImageProcessingMode(ARToolKitPlus.IMAGE_FULL_RES); - tracker.setImageProcessingMode(ARToolKitPlus.IMAGE_HALF_RES); + tracker.setImageProcessingMode(ARToolKitPlus.IMAGE_FULL_RES); +// tracker.setImageProcessingMode(ARToolKitPlus.IMAGE_HALF_RES); // tracker.setUseDetectLite(false); tracker.setUseDetectLite(true); diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardSvg.java b/papart/src/fr/inria/papart/tracking/MarkerBoardSvg.java index 349c0eda..db9b511e 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardSvg.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardSvg.java @@ -25,9 +25,6 @@ import static fr.inria.papart.tracking.MarkerBoard.FORCE_UPDATE; import static fr.inria.papart.tracking.MarkerBoard.NORMAL; import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.tracking.DetectedMarker; -import fr.inria.papart.tracking.MarkerList; -import fr.inria.papart.tracking.MarkerSvg; import java.util.ArrayList; import org.bytedeco.javacpp.opencv_core; import processing.core.PMatrix3D; @@ -40,7 +37,6 @@ */ public class MarkerBoardSvg extends MarkerBoard { - private final MarkerList markersFromSVG; public MarkerBoardSvg(String fileName, float width, float height) { From 3c37606e26105ea0975f12adbae0968d9dd8e7f0 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Mon, 21 Nov 2016 15:27:47 +0100 Subject: [PATCH 32/99] realsense depth+color ok. --- .../procam/camera/CameraRGBIRDepth.java | 6 +- .../papart/procam/camera/CameraRealSense.java | 153 +++++++++--------- .../inria/papart/procam/camera/SubCamera.java | 4 + .../papart/procam/camera/SubDepthCamera.java | 4 + 4 files changed, 90 insertions(+), 77 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index b5b34745..cc0b8812 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -46,9 +46,9 @@ public abstract class CameraRGBIRDepth extends Camera { protected boolean useColor = false; public CameraRGBIRDepth() { - colorCamera = new SubCamera(this); - depthCamera = new SubDepthCamera(this); - IRCamera = new SubCamera(this); + colorCamera = new SubCamera(this, SubCamera.Type.COLOR); + depthCamera = new SubDepthCamera(this, SubCamera.Type.DEPTH); + IRCamera = new SubCamera(this, SubCamera.Type.IR); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 6155e391..bf654811 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -51,35 +51,35 @@ public RealSenseFrameGrabber getFrameGrabber() { return this.grabber; } - public PMatrix3D getHardwareExtrinsics() { - RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); - FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); - return new PMatrix3D( - fb.get(0), fb.get(3), fb.get(6), -fb.get(9) * 1000f, - fb.get(1), fb.get(4), fb.get(7), fb.get(10) * 1000f, - fb.get(2), fb.get(5), fb.get(8), fb.get(11) * 1000f, - 0, 0, 0, 1); - } - @Override public void internalStart() throws FrameGrabber.Exception { if (useColor) { - if (colorCamera.width == 0 || colorCamera.height == 0) { - System.out.println("Setting default color for Realsense..."); - this.setSize(1280, 720); - colorCamera.setSize(1280, 720); - } - + System.out.println("Init Camera RealSense: " + colorCamera.width() + " " + colorCamera.height()); grabber.setImageWidth(colorCamera.width()); grabber.setImageHeight(colorCamera.height()); - grabber.setFrameRate(30); - if (colorCamera.width() == 1280) { grabber.setFrameRate(60); + } else { + grabber.setFrameRate(30); } grabber.enableColorStream(); } + + if (useIR) { + grabber.setIRImageWidth(IRCamera.width()); + grabber.setIRImageHeight(IRCamera.height()); + grabber.setIRFrameRate(IRCamera.getFrameRate()); + grabber.enableIRStream(); + } + + if (useDepth) { + grabber.setDepthImageWidth(depthCamera.width()); + grabber.setDepthImageHeight(depthCamera.height()); + grabber.setDepthFrameRate(depthCamera.getFrameRate()); + grabber.setPreset(5); + grabber.enableDepthStream(); + } grabber.start(); // Override the calibration... @@ -92,12 +92,10 @@ public void internalStart() throws FrameGrabber.Exception { if (useIR) { useHarwareIntrinsics(IRCamera, grabber); } - } @Override public void internalGrab() throws Exception { - grabber.grab(); } @@ -119,30 +117,6 @@ public void close() { } } - public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber grabber) { - if (camera == null || camera == Camera.INVALID_CAMERA) { - return; - } - int camType = 0; - if (camera.type == SubCamera.Type.COLOR) { - camType = RealSense.color; - } - if (camera.type == SubCamera.Type.IR) { - camType = RealSense.infrared; - } - if (camera.type == SubCamera.Type.DEPTH) { - camType = RealSense.depth; - } - System.out.println("Setting hardware intrinsics for: " + camera.type.name()); - RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(camType); - FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); - float cx = fb.get(2); - float cy = fb.get(3); - float fx = fb.get(4); - float fy = fb.get(5); - camera.setSimpleCalibration(fx, fy, cx, cy); - } - @Override public void grabColor() { opencv_core.IplImage video = grabber.grabVideo(); @@ -172,64 +146,95 @@ public void grabDepth() { ((WithTouchInput) depthCamera).newTouchImage(); } + @Override public void setUseIR(boolean use) { if (use) { - grabber.setIRImageWidth(IRCamera.width()); - grabber.setIRImageHeight(IRCamera.height()); - grabber.enableIRStream(); + IRCamera.setSize(640, 480); + IRCamera.setPixelFormat(PixelFormat.GRAY); + IRCamera.setFrameRate(30); } else { grabber.disableIRStream(); } this.useIR = use; } + @Override public void setUseDepth(boolean use) { if (use) { - depthCamera.type = SubCamera.Type.DEPTH; depthCamera.setPixelFormat(PixelFormat.REALSENSE_Z16); depthCamera.setSize(640, 480); - - grabber.setDepthImageWidth(depthCamera.width()); - grabber.setDepthImageHeight(depthCamera.height()); - grabber.enableDepthStream(); - getFrameGrabber().setPreset(5); + depthCamera.setFrameRate(30); } else { grabber.disableDepthStream(); } this.useDepth = use; } + public void setUseColor(boolean use) { + // todo: boolean or not ? + if (!use) { + grabber.disableColorStream(); + } else { + colorCamera.setPixelFormat(PixelFormat.RGB); + + // default values +// colorCamera.setSize(1280, 720); + colorCamera.setSize(640, 480); + colorCamera.setFrameRate(30); + + // Default values to get Color with multi-touch depth tracking. +// this.setSize(1280, 720); + } + this.useColor = use; + } + @Override public void setSize(int w, int h) { Camera act = getActingCamera(); if (act == null) { + + // it is likely that the set size was for the color camera then. + if (useColor) { + colorCamera.setSize(w, h); + } return; - } - act.setSize(w, h); - System.out.println("Setting custom color for Realsense: " + w + " " + h); - if (act == colorCamera) { - grabber.setImageWidth(colorCamera.width()); - grabber.setImageHeight(colorCamera.height()); - grabber.setFrameRate(30); + } else { + act.setSize(w, h); } } - public void setUseColor(boolean use) { - // todo: boolean or not ? - if (!use) { - grabber.disableColorStream(); - } else { - colorCamera.setPixelFormat(PixelFormat.RGB); - colorCamera.type = SubCamera.Type.COLOR; + public PMatrix3D getHardwareExtrinsics() { + RealSense.extrinsics extrinsics = grabber.getRealSenseDevice().get_extrinsics(RealSense.color, RealSense.depth); + FloatBuffer fb = extrinsics.position(0).asByteBuffer().asFloatBuffer(); + return new PMatrix3D( + fb.get(0), fb.get(3), fb.get(6), -fb.get(9) * 1000f, + fb.get(1), fb.get(4), fb.get(7), fb.get(10) * 1000f, + fb.get(2), fb.get(5), fb.get(8), fb.get(11) * 1000f, + 0, 0, 0, 1); + } - // Default values to get Color with multi-touch depth tracking. - this.setSize(1280, 720); - colorCamera.setSize(1280, 720); - grabber.setImageWidth(colorCamera.width()); - grabber.setImageHeight(colorCamera.height()); - grabber.setFrameRate(60); + public static void useHarwareIntrinsics(SubCamera camera, RealSenseFrameGrabber grabber) { + if (camera == null || camera == Camera.INVALID_CAMERA) { + return; } - this.useColor = use; + int camType = 0; + if (camera.type == SubCamera.Type.COLOR) { + camType = RealSense.color; + } + if (camera.type == SubCamera.Type.IR) { + camType = RealSense.infrared; + } + if (camera.type == SubCamera.Type.DEPTH) { + camType = RealSense.depth; + } + System.out.println("Setting hardware intrinsics for: " + camera.type.name()); + RealSense.intrinsics intrinsics = grabber.getRealSenseDevice().get_stream_intrinsics(camType); + FloatBuffer fb = intrinsics.position(0).asByteBuffer().asFloatBuffer(); + float cx = fb.get(2); + float cy = fb.get(3); + float fx = fb.get(4); + float fy = fb.get(5); + camera.setSimpleCalibration(fx, fy, cx, cy); } } diff --git a/papart/src/fr/inria/papart/procam/camera/SubCamera.java b/papart/src/fr/inria/papart/procam/camera/SubCamera.java index 8554f58d..ae0320da 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubCamera.java @@ -36,6 +36,10 @@ public enum Type { public SubCamera(CameraRGBIRDepth mainCamera) { this.mainCamera = mainCamera; } + public SubCamera(CameraRGBIRDepth mainCamera, Type type) { + this.mainCamera = mainCamera; + this.type = type; + } public Camera getMainCamera() { return mainCamera; diff --git a/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java b/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java index be700171..5c3e00b7 100644 --- a/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/SubDepthCamera.java @@ -34,6 +34,10 @@ public SubDepthCamera(CameraRGBIRDepth mainCamera) { super(mainCamera); } + public SubDepthCamera(CameraRGBIRDepth mainCamera, Type type) { + super(mainCamera, type); + } + @Override public KinectTouchInput getTouchInput() { return touchInput; From 09ff82c3c1e38c581e18f7ea625eda3c1a81e651 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 13:34:36 +0100 Subject: [PATCH 33/99] Work in progress, cam + depth cam + proj OK. --- .../calibration/CalibrationExtrinsic.java | 17 ++++++----- .../papart/calibration/CalibrationPopup.java | 29 ++++++++++++------- .../depthcam/devices/DepthCameraDevice.java | 2 +- .../papart/depthcam/devices/RealSense.java | 4 +++ papart/src/fr/inria/papart/procam/Papart.java | 16 ++++++++-- .../papart/procam/camera/CameraFactory.java | 1 + .../papart/procam/camera/CameraOpenCV.java | 2 +- .../procam/camera/CameraRGBIRDepth.java | 15 +++++++++- .../papart/procam/camera/CameraRealSense.java | 6 ++-- .../papart/procam/camera/CameraThread.java | 15 +++++++--- .../papart/procam/display/ARDisplay.java | 5 ---- 11 files changed, 77 insertions(+), 35 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 3208fc22..ab16a4b8 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -92,12 +92,11 @@ public void saveProCamExtrinsics(PMatrix3D extr) { projector.setExtrinsics(extr); } - public void calibrateKinect(ArrayList snapshots) { - if (this.depthCameraType == Camera.Type.OPEN_KINECT_2) { - calibrateProjectorDepthCam(snapshots); - } - if (this.depthCameraType == Camera.Type.OPEN_KINECT) { + public void calibrateKinect(ArrayList snapshots, boolean useExternal) { + if (useExternal) { calibrateDepthAndExternalCam(snapshots); + } else { + calibrateProjectorDepthCam(snapshots); } } @@ -127,13 +126,13 @@ protected void calibrateProjectorDepthCam(ArrayList snapsho } // Value for RealSense. if (depthCameraDevice.type() == Camera.Type.REALSENSE) { - planeCalibCam.moveAlongNormal(-22f); + planeCalibCam.moveAlongNormal(-42f); } saveKinectPlaneCalibration(planeCalibCam, homography); saveKinectCameraExtrinsics(kinectCameraExtrinsics); } - + protected void calibrateDepthAndExternalCam(ArrayList snapshots) { calibrateDepthToExternalExtr(snapshots); calibrateDepthCamPlane(snapshots); @@ -181,6 +180,10 @@ public boolean calibrateDepthCamPlane(ArrayList snapshots) // move the plane up a little. planeCalibKinect.flipNormal(); planeCalibKinect.moveAlongNormal(-20f); + + if(depthCameraDevice.type() == Camera.Type.REALSENSE){ + planeCalibKinect.moveAlongNormal(-20f); + } saveKinectPlaneCalibration(planeCalibKinect, homography); return true; diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 9df3e8f4..d2cdd789 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -93,7 +93,7 @@ public class CalibrationPopup extends PApplet { // Kinect private Camera.Type depthCameraType; private boolean useExternalColorCamera = false; - + // calibrations private ArrayList snapshots = new ArrayList(); private String isProCamCalibrated = NOTHING; @@ -210,10 +210,14 @@ private void initMarkerTrackingFromProjector() { } private void initTrackingOn(DepthCameraDevice kinectDevice) { - cameraFromDepthCam = kinectDevice.getColorCamera(); + kinectDevice.getMainCamera().actAsColorCamera(); + kinectDevice.getMainCamera().trackSheets(true); + cameraFromDepthCam = kinectDevice.getColorCamera(); String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; - Camera.convertARParams(this, cameraFromDepthCam.getCalibrationFile(), ARToolkitCalib); + + // Warning, only used for .CFG markers (old). + Camera.convertARParams(this, cameraFromDepthCam.getProjectiveDevice(), ARToolkitCalib); cameraFromDepthCam.setCalibrationARToolkit(ARToolkitCalib); // No display for now... @@ -225,6 +229,8 @@ private void initTrackingOn(DepthCameraDevice kinectDevice) { // as it does not comes with the display: cameraFromDepthCam.trackMarkerBoard(board); + + System.out.println("Tracking from the depth CAmera should be OK. "); } void reset() { @@ -278,15 +284,15 @@ public void clearCalibrations() { reset(); } - public void calibrateProCam() { + public void calibrateProCam(boolean useExternal) { this.isProCamCalibrated = COMPUTING; calibrationExtrinsic.computeProjectorCameraExtrinsics(snapshots); - calibrationExtrinsic.calibrateKinect(snapshots); + calibrationExtrinsic.calibrateKinect(snapshots, useExternalColorCamera); this.isProCamCalibrated = OK; this.isKinectCalibrated = OK; } - public void calibrateKinect() { + public void calibrateKinect(boolean useExternal) { boolean isCalibOK = calibrationExtrinsic.calibrateDepthCamPlane(snapshots); if (isCalibOK) { this.isKinectCalibrated = OK; @@ -294,8 +300,9 @@ public void calibrateKinect() { } private PMatrix3D currentDepthCameraBoard() { - if(cameraFromDepthCam == null || cameraFromDepthCam == cameraTracking) + if (cameraFromDepthCam == null || cameraFromDepthCam == cameraTracking) { return null; + } return board.getTransfoMat(cameraFromDepthCam).get(); } @@ -331,12 +338,12 @@ private opencv_core.IplImage projectorImage() { } private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) { - - if(projImage.nChannels() == 1){ + + if (projImage.nChannels() == 1) { grayImage = projImage; return grayImage; - } - + } + if (grayImage == null) { grayImage = opencv_core.IplImage.create(projector.getWidth(), projector.getHeight(), diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index c6bdb224..ec4ad0a7 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -85,7 +85,7 @@ public SubDepthCamera getDepthCamera() { * init a depth camera, depth only as there is another color camera. */ protected final void initDefaultCamera() { - String id = Papart.getDefaultCameraConfiguration(parent).getCameraName(); + String id = Papart.getDefaultDepthCameraConfiguration(parent).getCameraName(); camera = (CameraRGBIRDepth) CameraFactory.createCamera(type(), id); camera.setUseDepth(true); camera.setUseColor(true); diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index e8320ba8..568d7512 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -52,6 +52,10 @@ public RealSense(PApplet parent, Camera anotherCam) { cameraRS = (CameraRealSense) camera; // setStereoCalibration(Papart.kinectStereoCalib); setStereoCalibration(cameraRS.getHardwareExtrinsics()); + + // TODO: Hacks to try to handle the SR300 distorsions +// camera.getDepthCamera().setCalibration(Papart.SR300IRCalib); +// camera.getIRCamera().setCalibration(Papart.SR300IRCalib); } public CameraRealSense getMainCamera() { diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 0cc2eba9..071d7b0b 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -50,6 +50,7 @@ import java.util.Set; import java.util.logging.Level; import java.util.logging.Logger; +import org.bytedeco.javacv.CameraDevice; import org.reflections.Reflections; import processing.core.PApplet; import processing.core.PFont; @@ -77,6 +78,7 @@ public class Papart { public static String camCalibARtoolkit = calibrationFolder + "camera-projector.cal"; public static String kinectIRCalib = calibrationFolder + "calibration-kinect-IR.yaml"; + public static String SR300IRCalib = calibrationFolder + "calibration-SR300-IR.yaml"; public static String kinectRGBCalib = calibrationFolder + "calibration-kinect-RGB.yaml"; public static String kinectStereoCalib = calibrationFolder + "calibration-kinect-Stereo.xml"; @@ -579,6 +581,8 @@ public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFor cameraTracking = CameraFactory.createCamera(cameraType, cameraNo, cameraFormat); cameraTracking.setParent(applet); cameraTracking.setCalibration(cameraCalib); + + System.out.println("Starting First tracking camera: " + cameraTracking); // TEST: no more start here... // cameraTracking.start(); // loadTracking(cameraCalib); @@ -696,11 +700,11 @@ public DepthCameraDevice loadDefaultDepthCamera() { // System.err.println("You must choose a camera to create a DepthCamera."); // } if (kinectConfiguration.getCameraType() == Camera.Type.REALSENSE) { - depthCameraDevice = new RealSense(applet, (CameraRealSense) cameraTracking); + depthCameraDevice = new RealSense(applet, cameraTracking); } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT) { - depthCameraDevice = new Kinect360(applet, (CameraOpenKinect) cameraTracking); + depthCameraDevice = new Kinect360(applet, cameraTracking); } if (kinectConfiguration.getCameraType() == Camera.Type.OPEN_KINECT_2) { @@ -816,6 +820,8 @@ public void startTracking() { } public void startCameraThread() { + + System.out.println("Starting thread for camera: " + cameraTracking); cameraTracking.start(); // Calibration might be loaded from the device and require an update. @@ -825,6 +831,12 @@ public void startCameraThread() { } cameraTracking.setThread(); + + if(depthCameraDevice != null && + cameraTracking != depthCameraDevice.getMainCamera()){ + depthCameraDevice.getMainCamera().start(); + depthCameraDevice.getMainCamera().setThread(); + } } public void startDepthCameraThread() { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java index 3190d6c9..21b71327 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraFactory.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFactory.java @@ -47,6 +47,7 @@ public static Camera createCamera(Camera.Type type, String description, String f CameraRGBIRDepth cameraMulti = null; int cameraNo = 0; +// System.out.println("CameraFactory: new " + type.name() + ", " + description + " " + format); boolean isInt = false; try { cameraNo = Integer.parseInt(description); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenCV.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenCV.java index 5d9085ed..5dc37793 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenCV.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenCV.java @@ -46,7 +46,7 @@ public void start() { OpenCVFrameGrabber grabberCV = new OpenCVFrameGrabber(this.systemNumber); grabberCV.setImageWidth(width()); grabberCV.setImageHeight(height()); -// grabberCV.setFrameRate(60); + grabberCV.setFrameRate(frameRate); grabberCV.setImageMode(FrameGrabber.ImageMode.COLOR); try { diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java index cc0b8812..a551816a 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRGBIRDepth.java @@ -217,6 +217,9 @@ public PImage getPImage() { @Override public String toString() { + if (actAsCamera == null) { + return "RGBDIR camear"; + } return actAsCamera.toString(); } @@ -398,6 +401,16 @@ public void setThread() { } else { System.err.println("Camera: Error Thread already launched"); } + + if (useDepth) { + depthCamera.thread = thread; + } + if (useColor) { + colorCamera.thread = thread; + } + if (useIR) { + IRCamera.thread = thread; + } } @Override @@ -437,7 +450,7 @@ public ProjectiveDeviceP getProjectiveDevice() { @Override protected void setClosing() { - actAsCamera.setClosing(); + super.setClosing(); } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index bf654811..22b93eb9 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -63,6 +63,7 @@ public void internalStart() throws FrameGrabber.Exception { } else { grabber.setFrameRate(30); } +// grabber.setFrameRate(colorCamera.getFrameRate()); grabber.enableColorStream(); } @@ -178,9 +179,8 @@ public void setUseColor(boolean use) { colorCamera.setPixelFormat(PixelFormat.RGB); // default values -// colorCamera.setSize(1280, 720); - colorCamera.setSize(640, 480); - colorCamera.setFrameRate(30); + colorCamera.setSize(1280, 720); +// colorCamera.setFrameRate(30); // Default values to get Color with multi-touch depth tracking. // this.setSize(1280, 720); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 09ae37f8..89e8adc5 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -72,13 +72,10 @@ private void initThreadPool() { @Override public void run() { - cameraForMarkerboard = camera; - if (camera instanceof CameraRGBIRDepth) { - cameraForMarkerboard = ((CameraRGBIRDepth) camera).getActingCamera(); - } while (!stop) { + checkSubCamera(); camera.grab(); // If there is no camera for tracking... @@ -92,6 +89,16 @@ public void run() { } } } + + private void checkSubCamera(){ + if(!(camera instanceof CameraRGBIRDepth)){ + return; + } + Camera actAsCam = ((CameraRGBIRDepth) camera).getActingCamera(); + if(actAsCam != null){ + cameraForMarkerboard = actAsCam; + } + } public void compute() { try { diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index e971e39c..530d06fd 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -24,20 +24,15 @@ import org.bytedeco.javacv.ProjectiveDevice; import fr.inria.papart.drawingapp.DrawUtils; import fr.inria.papart.multitouch.TouchInput; -import fr.inria.papart.multitouch.TouchPoint; -import fr.inria.papart.procam.HasCamera; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.HasExtrinsics; -import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Screen; -import java.util.ArrayList; import processing.core.PApplet; import processing.core.PImage; import processing.core.PMatrix3D; import processing.core.PVector; import processing.opengl.PShader; -import toxi.geom.Plane; import toxi.geom.Ray3D; import toxi.geom.ReadonlyVec3D; import toxi.geom.Vec3D; From e97cb3fd942f74b82e01b7984db2141bde335b3e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 15:56:51 +0100 Subject: [PATCH 34/99] updated to newer versions of JavaCPP. --- papart/pom.xml | 22 ++++++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) diff --git a/papart/pom.xml b/papart/pom.xml index 46e9de6e..10567805 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -77,22 +77,22 @@ org.bytedeco.javacpp-presets ffmpeg - 2.7.1-1.0 + 3.1.2-1.2 org.bytedeco.javacpp-presets flycapture - 2.7.3.19-1.0 + 2.9.3.43-1.2 org.bytedeco.javacpp-presets libdc1394 - 2.2.3-1.0 + 2.2.4-1.2 org.bytedeco.javacpp-presets videoinput - 0.200-1.0 + 0.200-1.2 @@ -138,6 +138,20 @@ runtime + + org.bytedeco.javacpp-presets librealsense From d4e118aaf166c4d7b8dc9b1dc175fb1128c14600 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 15:57:13 +0100 Subject: [PATCH 35/99] new example of calibrations. Some S300 are fake. --- .../calibration/calibration-SR300-IR.yaml | 57 +++++++++++++++ .../calibration/saved/camera-SR300-720p.yaml | 71 +++++++++++++++++++ .../calibration/saved/camera-SR300-IR.yaml | 57 +++++++++++++++ .../calibration/saved/camera-sr300-1080p.yaml | 71 +++++++++++++++++++ .../data/calibration/saved/projector-P3B.xml | 6 ++ 5 files changed, 262 insertions(+) create mode 100644 papart/data/calibration/calibration-SR300-IR.yaml create mode 100644 papart/data/calibration/saved/camera-SR300-720p.yaml create mode 100644 papart/data/calibration/saved/camera-SR300-IR.yaml create mode 100644 papart/data/calibration/saved/camera-sr300-1080p.yaml create mode 100644 papart/data/calibration/saved/projector-P3B.xml diff --git a/papart/data/calibration/calibration-SR300-IR.yaml b/papart/data/calibration/calibration-SR300-IR.yaml new file mode 100644 index 00000000..a95d8de1 --- /dev/null +++ b/papart/data/calibration/calibration-SR300-IR.yaml @@ -0,0 +1,57 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 640 + imageHeight: 480 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 5.0108531316129177e+02, 0., 3.1123937785847426e+02, 0., + 5.0098158746553992e+02, 2.2758792366760716e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.9267176092789367e-02, 1.1415116817508220e-01, + -4.7560735699466936e-03, 7.1324162329464906e-04 ] + extrParams: !!opencv-matrix + rows: 6 + cols: 6 + dt: d + data: [ -2.7616393151085489e-01, 4.0493829044650781e-01, + -2.9972920623529213e+00, 1.8330924409745330e+02, + 8.4584482716149935e+01, 5.1673274829395302e+02, + -7.6224613024282600e-02, 1.4294486777997414e-01, + -3.0971407865344642e+00, 1.2294785388182116e+02, + 1.9530751459804006e+02, 4.7152663287301186e+02, + -4.1274348016859669e-01, 5.9670753980057251e-02, + -4.4319894409097532e-02, -2.1691112395714833e+02, + -1.0398322427487786e+02, 4.5226914043088146e+02, + -2.5896132099457447e-01, 2.2677976066895894e-02, + -1.5674292653338202e+00, -1.3191801607264307e+02, + 2.0840876104642425e+02, 4.6239150130365539e+02, + -2.7470112720277079e-02, 2.0402533655250372e-02, + -3.0876816059789696e+00, 1.3209886657743695e+02, + 2.1047029210777495e+02, 4.4397170029289146e+02, + -3.2396505058535377e-02, 5.4303790186440833e-02, + -3.1005852646843128e+00, 1.5719446710895525e+02, + 1.9918046885957739e+02, 4.4189906215675313e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 6 + dt: d + data: [ 3.5962951144938232e-01, 4.0430700385527379e-01, + 4.7774842849831095e-01, 4.9068333246640189e-01, + 3.8831823927167580e-01, 4.4406742945905525e-01 ] + avgReprojErr: 4.3133841633122860e-01 + maxReprojErr: 9.6511574460593097e-01 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. diff --git a/papart/data/calibration/saved/camera-SR300-720p.yaml b/papart/data/calibration/saved/camera-SR300-720p.yaml new file mode 100644 index 00000000..3177fe71 --- /dev/null +++ b/papart/data/calibration/saved/camera-SR300-720p.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 1280 + imageHeight: 720 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 6.9476211e+02, 0., 4.662133e+02, 0., + 6.9476211e+02, 2.81446e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.2177352964304565e-01, -2.6007913105329256e-01, + -5.9578551006836851e-03, -1.4334539897586079e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -1.7607844755616370e-01, -1.2820713376722212e-01, + 1.5460774537187465e+00, 3.9691618786981451e+01, + -2.0418669774626716e+02, 6.4351403964187080e+02, + -1.7811130302287448e-01, -1.4706364694033458e-01, + 1.5843252636738345e+00, 4.5596623077623697e+01, + -2.2165788108081981e+02, 6.3827216502127044e+02, + 2.4781484476754240e-01, -6.7208474024433540e-01, + 3.0240918432584216e+00, 3.0597905812808028e+02, + 8.7979651732451387e+01, 6.0729733866327001e+02, + -1.2602515731264630e-02, 1.0104651192342044e-01, + -1.7992790663995890e+00, -1.1842522426386454e+02, + 3.2234544947681246e+02, 7.6469853273604872e+02, + 5.1147621677178085e-03, 1.7371891574406548e-01, + -1.8097693911394694e+00, -8.9179918593347736e+01, + 2.6838940269947079e+02, 7.7410825633252318e+02, + -1.1794349372064081e-01, 1.9322399324060713e-01, + -3.0305507980128330e+00, 2.1837440238945572e+02, + 3.0684021053236972e+02, 7.1485559885164059e+02, + -1.3753434037022760e-01, 1.8470375069357825e-01, + -3.1243272857107169e+00, 2.5517623452792574e+02, + 3.2064272373774821e+02, 7.0213260954811710e+02, + 1.0433239555743316e-01, -2.8159889631200224e-01, + 3.1030888317227983e+00, 2.3864305820545394e+02, + 4.8062175037148895e+00, 5.9512481887669003e+02, + 1.1115187521034058e-01, -1.7039573484898449e-01, + 3.1095106342789514e+00, 2.4488515071801882e+02, + 6.2753077906758733e+01, 5.9891939499910268e+02, + -1.1577350344439789e-01, 7.9903129906887749e-02, + -3.1169111581000437e+00, 2.4176659799043321e+02, + 1.1668424414898595e+02, 5.9571494908538386e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 4.1340083848000114e-01, 3.9111806492508300e-01, + 9.7959596925818160e-01, 5.7347563761640497e-01, + 5.0807880449963017e-01, 7.0972237707286367e-01, + 8.7904455182929297e-01, 6.3547446324029178e-01, + 5.8412414368759535e-01, 5.0332289266443064e-01 ] + avgReprojErr: 6.3779671784126868e-01 + maxReprojErr: 2.4731437660509830e+00 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. diff --git a/papart/data/calibration/saved/camera-SR300-IR.yaml b/papart/data/calibration/saved/camera-SR300-IR.yaml new file mode 100644 index 00000000..a95d8de1 --- /dev/null +++ b/papart/data/calibration/saved/camera-SR300-IR.yaml @@ -0,0 +1,57 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 640 + imageHeight: 480 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 5.0108531316129177e+02, 0., 3.1123937785847426e+02, 0., + 5.0098158746553992e+02, 2.2758792366760716e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.9267176092789367e-02, 1.1415116817508220e-01, + -4.7560735699466936e-03, 7.1324162329464906e-04 ] + extrParams: !!opencv-matrix + rows: 6 + cols: 6 + dt: d + data: [ -2.7616393151085489e-01, 4.0493829044650781e-01, + -2.9972920623529213e+00, 1.8330924409745330e+02, + 8.4584482716149935e+01, 5.1673274829395302e+02, + -7.6224613024282600e-02, 1.4294486777997414e-01, + -3.0971407865344642e+00, 1.2294785388182116e+02, + 1.9530751459804006e+02, 4.7152663287301186e+02, + -4.1274348016859669e-01, 5.9670753980057251e-02, + -4.4319894409097532e-02, -2.1691112395714833e+02, + -1.0398322427487786e+02, 4.5226914043088146e+02, + -2.5896132099457447e-01, 2.2677976066895894e-02, + -1.5674292653338202e+00, -1.3191801607264307e+02, + 2.0840876104642425e+02, 4.6239150130365539e+02, + -2.7470112720277079e-02, 2.0402533655250372e-02, + -3.0876816059789696e+00, 1.3209886657743695e+02, + 2.1047029210777495e+02, 4.4397170029289146e+02, + -3.2396505058535377e-02, 5.4303790186440833e-02, + -3.1005852646843128e+00, 1.5719446710895525e+02, + 1.9918046885957739e+02, 4.4189906215675313e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 6 + dt: d + data: [ 3.5962951144938232e-01, 4.0430700385527379e-01, + 4.7774842849831095e-01, 4.9068333246640189e-01, + 3.8831823927167580e-01, 4.4406742945905525e-01 ] + avgReprojErr: 4.3133841633122860e-01 + maxReprojErr: 9.6511574460593097e-01 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. diff --git a/papart/data/calibration/saved/camera-sr300-1080p.yaml b/papart/data/calibration/saved/camera-sr300-1080p.yaml new file mode 100644 index 00000000..5bf0636e --- /dev/null +++ b/papart/data/calibration/saved/camera-sr300-1080p.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + [] +Camera 0: + imageWidth: 1920 + imageHeight: 1080 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 6.9476211e+02, 0., 4.662133e+02, 0., + 6.9476211e+02, 2.81446e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.2177352964304565e-01, -2.6007913105329256e-01, + -5.9578551006836851e-03, -1.4334539897586079e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -1.7607844755616370e-01, -1.2820713376722212e-01, + 1.5460774537187465e+00, 3.9691618786981451e+01, + -2.0418669774626716e+02, 6.4351403964187080e+02, + -1.7811130302287448e-01, -1.4706364694033458e-01, + 1.5843252636738345e+00, 4.5596623077623697e+01, + -2.2165788108081981e+02, 6.3827216502127044e+02, + 2.4781484476754240e-01, -6.7208474024433540e-01, + 3.0240918432584216e+00, 3.0597905812808028e+02, + 8.7979651732451387e+01, 6.0729733866327001e+02, + -1.2602515731264630e-02, 1.0104651192342044e-01, + -1.7992790663995890e+00, -1.1842522426386454e+02, + 3.2234544947681246e+02, 7.6469853273604872e+02, + 5.1147621677178085e-03, 1.7371891574406548e-01, + -1.8097693911394694e+00, -8.9179918593347736e+01, + 2.6838940269947079e+02, 7.7410825633252318e+02, + -1.1794349372064081e-01, 1.9322399324060713e-01, + -3.0305507980128330e+00, 2.1837440238945572e+02, + 3.0684021053236972e+02, 7.1485559885164059e+02, + -1.3753434037022760e-01, 1.8470375069357825e-01, + -3.1243272857107169e+00, 2.5517623452792574e+02, + 3.2064272373774821e+02, 7.0213260954811710e+02, + 1.0433239555743316e-01, -2.8159889631200224e-01, + 3.1030888317227983e+00, 2.3864305820545394e+02, + 4.8062175037148895e+00, 5.9512481887669003e+02, + 1.1115187521034058e-01, -1.7039573484898449e-01, + 3.1095106342789514e+00, 2.4488515071801882e+02, + 6.2753077906758733e+01, 5.9891939499910268e+02, + -1.1577350344439789e-01, 7.9903129906887749e-02, + -3.1169111581000437e+00, 2.4176659799043321e+02, + 1.1668424414898595e+02, 5.9571494908538386e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 4.1340083848000114e-01, 3.9111806492508300e-01, + 9.7959596925818160e-01, 5.7347563761640497e-01, + 5.0807880449963017e-01, 7.0972237707286367e-01, + 8.7904455182929297e-01, 6.3547446324029178e-01, + 5.8412414368759535e-01, 5.0332289266443064e-01 ] + avgReprojErr: 6.3779671784126868e-01 + maxReprojErr: 2.4731437660509830e+00 + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. diff --git a/papart/data/calibration/saved/projector-P3B.xml b/papart/data/calibration/saved/projector-P3B.xml new file mode 100644 index 00000000..2a191def --- /dev/null +++ b/papart/data/calibration/saved/projector-P3B.xml @@ -0,0 +1,6 @@ + + + + + + From 283cf50476dc7f8445daae3acf4c5ec457152b25 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 15:58:02 +0100 Subject: [PATCH 36/99] New TouchInput initialization, no TouchInputKinectOnly necessary. --- .../src/fr/inria/papart/apps/MultiTouch.java | 2 +- .../depthcam/devices/DepthCameraDevice.java | 23 ++----- .../papart/depthcam/devices/RealSense.java | 2 - .../papart/multitouch/KinectTouchInput.java | 1 + papart/src/fr/inria/papart/procam/Papart.java | 64 ++++++++++--------- 5 files changed, 41 insertions(+), 51 deletions(-) diff --git a/papart/src/fr/inria/papart/apps/MultiTouch.java b/papart/src/fr/inria/papart/apps/MultiTouch.java index dbc1ddb3..cb468c68 100644 --- a/papart/src/fr/inria/papart/apps/MultiTouch.java +++ b/papart/src/fr/inria/papart/apps/MultiTouch.java @@ -47,7 +47,7 @@ public void setup() { Papart papart = Papart.projection2D(this); // arguments are 2D and 3D precision. - papart.loadTouchInputKinectOnly(); + papart.loadTouchInput(); touchInput = (KinectTouchInput) papart.getTouchInput(); frameRate(200); } diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index ec4ad0a7..a6af86a7 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -60,11 +60,11 @@ public DepthCameraDevice(PApplet parent) { public CameraRGBIRDepth getMainCamera() { return camera; } - + public Camera getOtherCamera() { return anotherCamera; } - + public SubCamera getColorCamera() { return camera.getColorCamera(); } @@ -81,7 +81,8 @@ public SubDepthCamera getDepthCamera() { abstract public Camera.Type type(); - /*** + /** + * * * init a depth camera, depth only as there is another color camera. */ protected final void initDefaultCamera() { @@ -107,8 +108,6 @@ public void setStereoCalibration(String fileName) { } public void setStereoCalibration(PMatrix3D matrix) { - System.out.println("DepthCameraDevice: Call to setStereoCalibration..."); - matrix.print(); KinectRGBIRCalibration.set(matrix); KinectRGBIRCalibrationInv = KinectRGBIRCalibration.get(); KinectRGBIRCalibrationInv.invert(); @@ -128,16 +127,6 @@ public PMatrix3D getStereoCalibrationInv() { return KinectRGBIRCalibrationInv; } - public void setExtrinsics(PMatrix3D extr) { - getColorCamera().setExtrinsics(extr); - - // Get color -> Depth - PMatrix3D stereo = getStereoCalibrationInv(); - PMatrix3D tmp = extr.get(); - tmp.apply(stereo); - getDepthCamera().setExtrinsics(tmp); - } - public int findColorOffset(Vec3D v) { return findColorOffset(v.x, v.y, v.z); } @@ -164,10 +153,10 @@ public int findColorOffset(float x, float y, float z) { // Ideally use a calibration... // kinectCalibRGB.getExtrinsics().mult(vt, vt2); getStereoCalibration().mult(vt, vt2); - + // TODO: find a solution for this... return getColorCamera().getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); // return getColorCamera.getProjectiveDevice().worldToPixel(vt2.x, vt2.y, vt2.z); } - + } diff --git a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java index 568d7512..935caa76 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/RealSense.java +++ b/papart/src/fr/inria/papart/depthcam/devices/RealSense.java @@ -20,9 +20,7 @@ */ package fr.inria.papart.depthcam.devices; -import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.procam.camera.CameraRealSense; import processing.core.PApplet; diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 301a08ff..02c21f0f 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -346,6 +346,7 @@ public PVector projectPointToScreen(Screen screen, return out; } + // PaperScreen coordinates as computed here. private PVector projectPointToScreen(Screen screen, BaseDisplay display, Vec3D pKinect, Vec3D pNorm) { diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 071d7b0b..e0d5bc68 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -581,8 +581,8 @@ public void initCamera(String cameraNo, Camera.Type cameraType, String cameraFor cameraTracking = CameraFactory.createCamera(cameraType, cameraNo, cameraFormat); cameraTracking.setParent(applet); cameraTracking.setCalibration(cameraCalib); - - System.out.println("Starting First tracking camera: " + cameraTracking); + + System.out.println("Starting First tracking camera: " + cameraTracking); // TEST: no more start here... // cameraTracking.start(); // loadTracking(cameraCalib); @@ -633,8 +633,8 @@ private void checkInitialization() { this.applet.registerMethod("stop", this); } - /** - * Only for .cfg marker tracking. + /** + * Only for .cfg marker tracking. */ private void setARToolkitCalib() { // TODO: warning −> used only for .cfg files. @@ -648,23 +648,6 @@ private void setARToolkitCalib() { } } - /** - * Touch input when the camera tracking the markers is a Kinect. - * - */ - public void loadTouchInputKinectOnly() { - - loadDefaultDepthCamera(); - loadDefaultTouchKinect(); - - // Specific ? - PMatrix3D extr = depthCameraDevice.getStereoCalibration(); - depthCameraDevice.setExtrinsics(extr); - - // Specific - ((KinectTouchInput) this.touchInput).useRawDepth(); - } - /** * * * Touch input with a Kinect calibrated with the display area. @@ -673,10 +656,29 @@ public void loadTouchInputKinectOnly() { public void loadTouchInput() { loadDefaultDepthCamera(); loadDefaultTouchKinect(); + updateDepthCameraDeviceExtrinsics(); + } + + private void updateDepthCameraDeviceExtrinsics(){ + // Check if depthCamera is the same as the camera ! + if (cameraTracking instanceof CameraRGBIRDepth + && cameraTracking == depthCameraDevice.getMainCamera()) { - // setExtrinsics must after the kinect stereo calibration is loaded - PMatrix3D extr = (Papart.getPapart()).loadCalibration(Papart.kinectTrackingCalib); - depthCameraDevice.setExtrinsics(extr); + // No extrinsic used, it is already in the camera... + depthCameraDevice.getDepthCamera().setExtrinsics(depthCameraDevice.getStereoCalibration()); + + // Specific + ((KinectTouchInput) this.touchInput).useRawDepth(); + + System.out.println("Papart: Using Touchextrinsics from the device."); + } else { + // Two different cameras + // setExtrinsics must after the kinect stereo calibration is loaded + PMatrix3D extr = (Papart.getPapart()).loadCalibration(Papart.kinectTrackingCalib); + extr.invert(); + depthCameraDevice.getDepthCamera().setExtrinsics(extr); + System.out.println("Papart: Using Touchextrinsics from the calibrated File."); + } } private boolean useKinectOne = true; @@ -820,20 +822,20 @@ public void startTracking() { } public void startCameraThread() { - + System.out.println("Starting thread for camera: " + cameraTracking); cameraTracking.start(); - + // Calibration might be loaded from the device and require an update. - if(arDisplay != null && !(arDisplay instanceof ProjectorDisplay)){ + if (arDisplay != null && !(arDisplay instanceof ProjectorDisplay)) { System.out.println("Papart: Reload calibration!"); arDisplay.reloadCalibration(); } - + cameraTracking.setThread(); - - if(depthCameraDevice != null && - cameraTracking != depthCameraDevice.getMainCamera()){ + + if (depthCameraDevice != null + && cameraTracking != depthCameraDevice.getMainCamera()) { depthCameraDevice.getMainCamera().start(); depthCameraDevice.getMainCamera().setThread(); } From 8f7d9e742daaa2ced297aa7ee6b08bb063cb7cee Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 18:11:09 +0100 Subject: [PATCH 37/99] Calib working good again. --- .../papart/calibration/CalibrationExtrinsic.java | 5 +---- .../papart/calibration/CalibrationPopup.java | 8 +++++--- .../papart/procam/camera/ProjectorAsCamera.java | 1 + .../inria/papart/procam/camera/TrackedView.java | 5 ----- .../inria/papart/procam/display/ARDisplay.java | 2 -- .../papart/procam/display/ProjectorDisplay.java | 16 +++++++++++----- 6 files changed, 18 insertions(+), 19 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index ab16a4b8..bcf6fcdd 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -45,7 +45,6 @@ public class CalibrationExtrinsic { private final Papart papart; // Kinect - private Camera.Type depthCameraType; private DepthCameraDevice depthCameraDevice; public CalibrationExtrinsic(PApplet parent) { @@ -58,12 +57,10 @@ void setProjector(ProjectorDisplay projector) { } public void setDefaultDepthCamera() { - this.depthCameraType = papart.getDepthCameraType(); this.depthCameraDevice = papart.getDepthCameraDevice(); } - public void setDepthCamera(DepthCameraDevice device, Camera.Type type) { - this.depthCameraType = type; + public void setDepthCamera(DepthCameraDevice device) { this.depthCameraDevice = device; } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index d2cdd789..5d171bee 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -78,6 +78,8 @@ public class CalibrationPopup extends PApplet { static final String PROJECTOR_ARTOOLKIT_NAME = "projectorCalibration.cal"; static final String KINECT_ARTOOLKIT_NAME = "kinectCalibration.cal"; + private ARToolKitPlus.MultiTracker projectorTracker = null; + // calibration App / board private CalibrationApp calibrationApp; private MarkerBoard board; @@ -159,7 +161,7 @@ public void setup() { System.out.println("Calibration with a Depth and color camera in DIFFERENT devices."); useExternalColorCamera = true; } - calibrationExtrinsic.setDepthCamera(depthCameraDevice, depthCameraType); + calibrationExtrinsic.setDepthCamera(depthCameraDevice); } else { System.out.println("Calibration with a color camera."); } @@ -195,16 +197,16 @@ private void initProjectorAsCamera() { projectorAsCamera.setCalibration(Papart.projectorCalib); projectorAsCamera.setParent(this); + // This is used only for tracking with .cfg markers String ARToolkitCalibFile = Papart.calibrationFolder + "projector.cal"; ProjectorAsCamera.convertARProjParams(this, projectorAsCamera.getCalibrationFile(), ARToolkitCalibFile); projectorAsCamera.setCalibrationARToolkit(ARToolkitCalibFile); + projectorAsCamera.trackMarkerBoard(board); initMarkerTrackingFromProjector(); } - private ARToolKitPlus.MultiTracker projectorTracker = null; - private void initMarkerTrackingFromProjector() { projectorTracker = DetectedMarker.createDetector(projector.getWidth(), projector.getHeight()); } diff --git a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java index abe617ee..fc454db1 100644 --- a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java @@ -37,6 +37,7 @@ public void setImage(IplImage image) { this.currentImage = image; } + @Override public void setCalibration(String fileName) { try { this.calibrationFile = fileName; diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index e3f3e11a..dd514109 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -87,17 +87,12 @@ public TrackedView() { allocateMemory(); } - /** - * - * @param corners - */ public void setCorners(PVector[] corners) { if (corners.length == 4) { for (int i = 0; i < 4; i++) { screenPixelCoordinates[i] = corners[i]; } } - } public void init() { diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index 530d06fd..197c42ee 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -410,9 +410,7 @@ public void loadModelView() { // Setting the projector negative because ARToolkit provides neg Z values this.graphics.scale(1, 1, -1); - // TODO: check ! this.graphics.scale(1f / quality); - } public void endDraw() { diff --git a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java index b6a31e3f..fcaf5665 100755 --- a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java @@ -269,26 +269,32 @@ void projectCornersImage() { g.ellipseMode(PApplet.CENTER); g.noStroke(); - // corner 4 + // corner 4 Yellow 0, 0 g.fill(255, 255, 50); g.translate(0, 0); drawEllipses(g); - // corner 3 + // corner 3 green x, 0 g.translate(g.width, 0); g.fill(50, 255, 50); drawEllipses(g); - // Corner 2 + // Corner 2 Red x,y g.fill(255, 50, 55); g.translate(0, g.height); drawEllipses(g); - // Corner 1 - g.fill(255); + // Corner 1 White 0,y + g.fill(255); g.translate(-g.width, 0); drawEllipses(g); + + // In TrackedView + // 0 is -> 0, h (white) + // 1 is -> w, h (Red) + // 2 is -> w, 0 (Green) + // 3 is -> 0, 0 (Yellow) } void drawEllipses(PGraphicsOpenGL g) { From 7167e39ecbb023ab79590cd538ce0bf4ff6c77b4 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 22 Nov 2016 18:33:08 +0100 Subject: [PATCH 38/99] added P3D custom calibrations. --- .../saved/projector-p3B-Facing.yaml | 260 ++++++++++++++++++ .../saved/projector-p3B-default.yaml | 260 ++++++++++++++++++ 2 files changed, 520 insertions(+) create mode 100644 papart/data/calibration/saved/projector-p3B-Facing.yaml create mode 100644 papart/data/calibration/saved/projector-p3B-default.yaml diff --git a/papart/data/calibration/saved/projector-p3B-Facing.yaml b/papart/data/calibration/saved/projector-p3B-Facing.yaml new file mode 100644 index 00000000..0c149425 --- /dev/null +++ b/papart/data/calibration/saved/projector-p3B-Facing.yaml @@ -0,0 +1,260 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + - Projector 0 +Camera 0: + imageWidth: 640 + imageHeight: 480 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 5.4330694194797138e+02, 0., 3.2813246387174814e+02, 0., + 5.4391399823499341e+02, 2.2636239019263962e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ -1.0915791546794845e-01, 1.5165369264909634e-01, + 1.0733567701286893e-03, 6.4020869566235419e-04 ] + extrParams: !!opencv-matrix + rows: 20 + cols: 6 + dt: d + data: [ 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-1.8020995295895770e-01, + 9.8238404726782047e-01 ] + T: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ 1.1067357202823974e+01, -7.0390837297746913e+01, + -4.3855958230614874e+01 ] + E: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ -1.2764089976276507e+00, -3.0153333043273900e+01, + -7.7248704417973855e+01, 4.4090492740471824e+01, + -3.0799351631285639e+00, -9.6111350564676830e+00, + -7.1089386732617200e+01, -2.6659659806182727e+00, + -4.0679344025381603e+00 ] + F: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ -1.9732341756556793e-08, -4.6562802802395681e-07, + -5.3694600107161258e-04, 6.8150829629382099e-07, + -4.7553532828009189e-08, -2.9357415552722262e-04, + -1.8547824812829414e-03, 3.0152613717838799e-04, + 9.9999999999999989e-01 ] + avgEpipolarErr: 4.5130478957733655e-01 + maxEpipolarErr: 1.6255448850683165e+00 + colorOrder: BGR + avgColorErr: 0. + colorR2: 1. From 53249c4882fc7a879adc7e582463d210b6af6574 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 23 Nov 2016 16:29:31 +0100 Subject: [PATCH 39/99] shaders updated to Processing 3 --- .../fr/inria/papart/procam/display/distortFrag.glsl | 4 ++-- .../fr/inria/papart/procam/display/distortVert.glsl | 11 ++++++----- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/display/distortFrag.glsl b/papart/src/fr/inria/papart/procam/display/distortFrag.glsl index 0ee4bf1e..1927e3e2 100755 --- a/papart/src/fr/inria/papart/procam/display/distortFrag.glsl +++ b/papart/src/fr/inria/papart/procam/display/distortFrag.glsl @@ -3,7 +3,7 @@ precision mediump float; precision mediump int; #endif -uniform sampler2D texture; +uniform sampler2D textureGraphics; uniform sampler2D mapTex; uniform int resX, resY; @@ -29,7 +29,7 @@ void main() { vec2 coord2 = vec2( (mapCoord.x - 0.5) * mag / float(resX), (mapCoord.y - 0.5) * mag / float(resY)); - gl_FragColor = vec4(texture2D(texture, coord2 + vertTexCoord.st ).rgba); + gl_FragColor = vec4(texture2D(textureGraphics, coord2 + vertTexCoord.st ).rgba); // gl_FragColor = vec4(mapCoord.rgb , 1); // gl_FragColor = vec4(coord2.rg, 1 , 1); diff --git a/papart/src/fr/inria/papart/procam/display/distortVert.glsl b/papart/src/fr/inria/papart/procam/display/distortVert.glsl index ca26bfb2..2ca3c2a5 100755 --- a/papart/src/fr/inria/papart/procam/display/distortVert.glsl +++ b/papart/src/fr/inria/papart/procam/display/distortVert.glsl @@ -6,7 +6,7 @@ uniform mat4 transform; uniform mat4 texMatrix; -attribute vec4 vertex; +attribute vec4 position; attribute vec4 color; attribute vec2 texCoord; @@ -15,13 +15,14 @@ varying vec4 vertTexCoord; void main() { - - // vertColor = color; + // Useless... ? + vertColor = color; vertTexCoord = texMatrix * vec4(texCoord, 1.0, 1.0); - gl_TexCoord[0] = gl_MultiTexCoord0; + // Deprecated + // gl_TexCoord[0] = gl_MultiTexCoord0; - gl_Position = transform * vertex; + gl_Position = transform * position; // gl_Position = ftransform(); } From 85a1c2f42d5f75c911c3e823e0759d5e9746ffd1 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 23 Nov 2016 16:48:40 +0100 Subject: [PATCH 40/99] update shader. --- papart/src/fr/inria/papart/procam/display/ARDisplay.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index 197c42ee..9bbe9f63 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -135,8 +135,8 @@ protected void setCalibration(ProjectiveDeviceP pdp) { updateIntrinsicsRendering(); } - // TODO: no more distorsions Processing3 test - // this.setDistort(pdp.handleDistorsions()); + // TODO: To set back when the distorsions are properly computed +// this.setDistort(pdp.handleDistorsions()); this.setDistort(false); } @@ -341,7 +341,8 @@ private void initDistortMap() { parent.colorMode(PApplet.RGB, 255); lensFilter.set("mapTex", mapImg); - lensFilter.set("texture", this.graphics); + // name must not be texture ? + lensFilter.set("textureGraphics", this.graphics); lensFilter.set("resX", (int) (frameWidth * quality)); lensFilter.set("resY", (int) (frameHeight * quality)); lensFilter.set("mag", mag); From 942a171ecb7cfcfb2bb400be5b045e7d3cedc80a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 23 Nov 2016 16:49:01 +0100 Subject: [PATCH 41/99] Get the Frame for debug purposes (ProCamCalib) --- .../papart/procam/camera/CameraRealSense.java | 34 ++++++++++++++----- 1 file changed, 26 insertions(+), 8 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 22b93eb9..c915b6ca 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -24,6 +24,7 @@ import java.util.logging.Logger; import org.bytedeco.javacpp.RealSense; import org.bytedeco.javacpp.opencv_core; +import org.bytedeco.javacv.Frame; import org.bytedeco.javacv.FrameGrabber; import org.bytedeco.javacv.RealSenseFrameGrabber; import processing.core.PMatrix3D; @@ -35,6 +36,7 @@ public class CameraRealSense extends CameraRGBIRDepth { protected RealSenseFrameGrabber grabber; + private boolean useHardwareIntrinsics = true; protected CameraRealSense(int cameraNo) { try { @@ -51,6 +53,10 @@ public RealSenseFrameGrabber getFrameGrabber() { return this.grabber; } + public void useHardwareIntrinsics(boolean use) { + this.useHardwareIntrinsics = use; + } + @Override public void internalStart() throws FrameGrabber.Exception { @@ -84,15 +90,18 @@ public void internalStart() throws FrameGrabber.Exception { grabber.start(); // Override the calibration... - if (useColor) { - useHarwareIntrinsics(colorCamera, grabber); - } - if (useDepth) { - useHarwareIntrinsics(depthCamera, grabber); - } - if (useIR) { - useHarwareIntrinsics(IRCamera, grabber); + if (useHardwareIntrinsics) { + if (useColor) { + useHarwareIntrinsics(colorCamera, grabber); + } + if (useIR) { + useHarwareIntrinsics(IRCamera, grabber); + } + if (useDepth) { + useHarwareIntrinsics(depthCamera, grabber); + } } + } @Override @@ -100,6 +109,15 @@ public void internalGrab() throws Exception { grabber.grab(); } + public Frame grabFrame() { + try { + return grabber.grab(); + } catch (FrameGrabber.Exception ex) { + Logger.getLogger(CameraRealSense.class.getName()).log(Level.SEVERE, null, ex); + } + return null; + } + public float getDepthScale() { return grabber.getDepthScale(); } From d10d839c2e60d7667fd5b0fb0df92273a92d079b Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 24 Nov 2016 17:35:55 +0100 Subject: [PATCH 42/99] Work in progress, improvement on natural feature tracking. --- .../papart/calibration/CalibrationApp.java | 2 +- .../calibration/CalibrationExtrinsic.java | 9 +- .../papart/calibration/CalibrationPopup.java | 107 +++----- papart/src/fr/inria/papart/procam/Papart.java | 4 +- .../fr/inria/papart/procam/PaperScreen.java | 1 + .../papart/procam/ProjectiveDeviceP.java | 3 +- .../papart/procam/camera/CameraThread.java | 16 +- .../procam/camera/ProjectorAsCamera.java | 44 +++ .../papart/procam/camera/TrackedView.java | 27 +- .../fr/inria/papart/tracking/MarkerBoard.java | 35 ++- .../papart/tracking/MarkerBoardFactory.java | 40 ++- .../papart/tracking/MarkerBoardJavaCV.java | 28 +- .../inria/papart/tracking/ObjectFinder.java | 256 +++++++++++------- 13 files changed, 344 insertions(+), 228 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationApp.java b/papart/src/fr/inria/papart/calibration/CalibrationApp.java index f015655f..86d9209e 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationApp.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationApp.java @@ -28,7 +28,7 @@ public class CalibrationApp extends PaperScreen { @Override public void settings() { setDrawingSize(297, 210); - loadMarkerBoard(Papart.markerFolder + Papart.calibrationFileName, 297, 210); + loadMarkerBoard(Papart.markerFolder + Papart.calibrationFileName, 162, 104);// 297, 210); setDrawAroundPaper(); } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index bcf6fcdd..b724e6b2 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -90,6 +90,9 @@ public void saveProCamExtrinsics(PMatrix3D extr) { } public void calibrateKinect(ArrayList snapshots, boolean useExternal) { + if (depthCameraDevice == null) { + return; + } if (useExternal) { calibrateDepthAndExternalCam(snapshots); } else { @@ -129,7 +132,7 @@ protected void calibrateProjectorDepthCam(ArrayList snapsho saveKinectPlaneCalibration(planeCalibCam, homography); saveKinectCameraExtrinsics(kinectCameraExtrinsics); } - + protected void calibrateDepthAndExternalCam(ArrayList snapshots) { calibrateDepthToExternalExtr(snapshots); calibrateDepthCamPlane(snapshots); @@ -177,8 +180,8 @@ public boolean calibrateDepthCamPlane(ArrayList snapshots) // move the plane up a little. planeCalibKinect.flipNormal(); planeCalibKinect.moveAlongNormal(-20f); - - if(depthCameraDevice.type() == Camera.Type.REALSENSE){ + + if (depthCameraDevice.type() == Camera.Type.REALSENSE) { planeCalibKinect.moveAlongNormal(-20f); } diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 5d171bee..0c0ad567 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -23,12 +23,14 @@ import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.PaperScreen; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.ProjectorAsCamera; import fr.inria.papart.procam.camera.SubCamera; import fr.inria.papart.procam.camera.TrackedView; import fr.inria.papart.procam.display.ProjectorDisplay; import fr.inria.papart.tracking.DetectedMarker; +import fr.inria.papart.tracking.MarkerBoardARToolKitPlus; import fr.inria.skatolo.Skatolo; import fr.inria.skatolo.gui.controllers.Toggle; import fr.inria.skatolo.gui.group.Group; @@ -81,7 +83,7 @@ public class CalibrationPopup extends PApplet { private ARToolKitPlus.MultiTracker projectorTracker = null; // calibration App / board - private CalibrationApp calibrationApp; + private PaperScreen calibrationApp; private MarkerBoard board; // Matrices @@ -108,8 +110,9 @@ public class CalibrationPopup extends PApplet { private CalibrationExtrinsic calibrationExtrinsic; private PImage backgroundImg; - public CalibrationPopup() { + public CalibrationPopup(PaperScreen screen) { super(); + this.calibrationApp = screen; PApplet.runSketch(new String[]{this.getClass().getName()}, this); } @@ -124,8 +127,12 @@ public void setup() { // Papart was created before, already with a camera, projector and Dcam. papart = Papart.getPapart(); cornersFileName = Papart.calibrationFolder + CORNERS_NAME; - calibrationApp = new CalibrationApp(); - calibrationApp.pre(); + + if (calibrationApp == null) { + calibrationApp = new CalibrationApp(); + calibrationApp.pre(); + } + board = calibrationApp.getBoard(); cameraTracking = Papart.getPapart().getPublicCameraTracking(); @@ -193,22 +200,31 @@ private void initProjectorAsCamera() { projectorView.init(PApplet.RGB); } - projectorAsCamera = new ProjectorAsCamera(); + projectorAsCamera = new ProjectorAsCamera(projector, cameraTracking, projectorView); projectorAsCamera.setCalibration(Papart.projectorCalib); projectorAsCamera.setParent(this); - // This is used only for tracking with .cfg markers - String ARToolkitCalibFile = Papart.calibrationFolder + "projector.cal"; - ProjectorAsCamera.convertARProjParams(this, projectorAsCamera.getCalibrationFile(), - ARToolkitCalibFile); - projectorAsCamera.setCalibrationARToolkit(ARToolkitCalibFile); + // if it uses gray images. + // All of this needs to be more explicit. + if (board.useGrayImages()) { + projectorAsCamera.setPixelFormat(Camera.PixelFormat.GRAY); + } + if (board.getMarkerType() == MarkerBoard.MarkerType.ARTOOLKITPLUS) { + String ARToolkitCalibFile = Papart.calibrationFolder + "projector.cal"; + ProjectorAsCamera.convertARProjParams(this, projectorAsCamera.getCalibrationFile(), + ARToolkitCalibFile); + projectorAsCamera.setCalibrationARToolkit(ARToolkitCalibFile); + } + if (board.getMarkerType() == MarkerBoard.MarkerType.SVG) { + projectorTracker = DetectedMarker.createDetector(projector.getWidth(), projector.getHeight()); + } + + projectorAsCamera.trackSheets(true); projectorAsCamera.trackMarkerBoard(board); - initMarkerTrackingFromProjector(); - } - private void initMarkerTrackingFromProjector() { - projectorTracker = DetectedMarker.createDetector(projector.getWidth(), projector.getHeight()); + // warrning experimental + projectorAsCamera.setThread(); } private void initTrackingOn(DepthCameraDevice kinectDevice) { @@ -216,23 +232,18 @@ private void initTrackingOn(DepthCameraDevice kinectDevice) { kinectDevice.getMainCamera().trackSheets(true); cameraFromDepthCam = kinectDevice.getColorCamera(); - String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; - // Warning, only used for .CFG markers (old). - Camera.convertARParams(this, cameraFromDepthCam.getProjectiveDevice(), ARToolkitCalib); - cameraFromDepthCam.setCalibrationARToolkit(ARToolkitCalib); + if (board.getMarkerType() == MarkerBoard.MarkerType.ARTOOLKITPLUS) { + String ARToolkitCalib = Papart.calibrationFolder + KINECT_ARTOOLKIT_NAME; + Camera.convertARParams(this, cameraFromDepthCam.getProjectiveDevice(), ARToolkitCalib); + cameraFromDepthCam.setCalibrationARToolkit(ARToolkitCalib); + } // No display for now... -// arDisplayKinect = new ARDisplay(this, cameraKinect); -// arDisplayKinect.init(); -// arDisplayKinect.manualMode(); -// app.addDisplay(arDisplayKinect); cameraFromDepthCam.trackSheets(true); // as it does not comes with the display: cameraFromDepthCam.trackMarkerBoard(board); - - System.out.println("Tracking from the depth CAmera should be OK. "); } void reset() { @@ -313,54 +324,10 @@ private PMatrix3D currentCamBoard() { } private PMatrix3D currentProjBoard() { - opencv_core.IplImage projImage = projectorImage(); - if (projImage == null) { - return new PMatrix3D(); - } - // Detection from Projector's view... - DetectedMarker[] markers = DetectedMarker.detect(this.projectorTracker, projImage); - - board.updateLocation(projectorAsCamera, projImage, markers); return board.getTransfoMat(projectorAsCamera); } - private opencv_core.IplImage grayImage = null; - - private opencv_core.IplImage projectorImage() { - projectorView.setCorners(corners); - opencv_core.IplImage projImage = projectorView.getIplViewOf(cameraTracking); - if (projImage == null) { - return null; - } - - if (board.useGrayscaleImages()) { - projImage = greyProjectorImage(projImage); - } - return projImage; - } - - private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) { - - if (projImage.nChannels() == 1) { - grayImage = projImage; - return grayImage; - } - - if (grayImage == null) { - grayImage = opencv_core.IplImage.create(projector.getWidth(), - projector.getHeight(), - IPL_DEPTH_8U, 1); - } - - cvCvtColor(projImage, grayImage, CV_BGR2GRAY); - // if(test){ - // cvSaveImage( sketchPath() + "/data/projImage.jpg", grayImage); - // cvSaveImage( sketchPath() + "/data/camImage.jpg", camera.getIplImage()); - // } - return grayImage; - } //// Calibrations - void initMatrixGui() { PFont arial = createFont("arial", 12); @@ -534,6 +501,10 @@ public void draw() { } popMatrix(); + // Update the corners. + // TODO: move this when the corners are actally moved. + projectorView.setCorners(corners); + text(this.isProCamCalibrated, 100, DO_CALIBRATION_HEIGHT + 15); text(this.isKinectCalibrated, 300, DO_CALIBRATION_HEIGHT + 15); diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index e0d5bc68..e9bb9c2e 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -164,9 +164,9 @@ public static ScreenConfiguration getDefaultScreenConfiguration(PApplet applet) private CalibrationPopup calibrationPopup = null; - public void calibration() { + public void calibration(PaperScreen screen) { if (calibrationPopup == null) { - calibrationPopup = new CalibrationPopup(); + calibrationPopup = new CalibrationPopup(screen); } else if (calibrationPopup.isHidden()) { calibrationPopup.show(); } else { diff --git a/papart/src/fr/inria/papart/procam/PaperScreen.java b/papart/src/fr/inria/papart/procam/PaperScreen.java index bf093224..6bb6e340 100755 --- a/papart/src/fr/inria/papart/procam/PaperScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperScreen.java @@ -268,6 +268,7 @@ private void trackCurrentMarkerBoard() { } if (!cameraTracking.tracks(markerBoard)) { + System.out.println("Camera. " + cameraTracking + " now tracks " + markerBoard); cameraTracking.trackMarkerBoard(markerBoard); } } diff --git a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java index 1b8b563c..18590810 100755 --- a/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java +++ b/papart/src/fr/inria/papart/procam/ProjectiveDeviceP.java @@ -433,7 +433,8 @@ public void saveProjectorTo(PApplet applet, String filename) { public static ProjectiveDeviceP createSimpleDevice(float fx, float fy, float cx, float cy, int w, int h) { ProjectiveDeviceP p = new ProjectiveDeviceP(); - p.handleDistorsion = false; + // Do not update the handle distorsions ? +// p.handleDistorsion = false; p.w = w; p.h = h; p.intrinsics = new PMatrix3D(fx, 0, cx, 0, diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 89e8adc5..187f13aa 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -76,26 +76,24 @@ public void run() { while (!stop) { checkSubCamera(); - camera.grab(); // If there is no camera for tracking... - if(cameraForMarkerboard == null || !compute || camera.getTrackedSheets().isEmpty()){ + if (cameraForMarkerboard == null || !compute || camera.getTrackedSheets().isEmpty()) { continue; } - image = camera.getIplImage(); if (image != null) { this.compute(); } } } - - private void checkSubCamera(){ - if(!(camera instanceof CameraRGBIRDepth)){ + + private void checkSubCamera() { + if (!(camera instanceof CameraRGBIRDepth)) { return; } Camera actAsCam = ((CameraRGBIRDepth) camera).getActingCamera(); - if(actAsCam != null){ + if (actAsCam != null) { cameraForMarkerboard = actAsCam; } } @@ -125,7 +123,7 @@ private void tryComputeGrayScale() { } for (MarkerBoard sheet : camera.getTrackedSheets()) { - if (sheet.useGrayscaleImages()) { + if (sheet.useMarkers()) { if (grayImage == null) { initGrayScale(); } @@ -179,7 +177,7 @@ protected void updateSequential() { protected void updateBoardLocation(MarkerBoard markerBoard) { // The markerboard will know the real camera, not the top-level camera. - if (markerBoard.useGrayscaleImages()) { + if (markerBoard.useMarkers()) { markerBoard.updateLocation(cameraForMarkerboard, grayImage, this.detectedMarkers); } else { markerBoard.updateLocation(cameraForMarkerboard, image, null); diff --git a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java index fc454db1..56925d37 100644 --- a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java @@ -21,9 +21,14 @@ import fr.inria.papart.procam.ProjectiveDeviceP; import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.display.ProjectorDisplay; import java.util.logging.Level; import java.util.logging.Logger; +import org.bytedeco.javacpp.opencv_core; +import static org.bytedeco.javacpp.opencv_core.IPL_DEPTH_8U; import org.bytedeco.javacpp.opencv_core.IplImage; +import static org.bytedeco.javacpp.opencv_imgproc.CV_BGR2GRAY; +import static org.bytedeco.javacpp.opencv_imgproc.cvCvtColor; import processing.core.PApplet; import processing.core.PImage; @@ -33,6 +38,17 @@ */ public class ProjectorAsCamera extends Camera { + private final TrackedView projectorView; + private final Camera cameraTracking; + private IplImage grayImage; + private final ProjectorDisplay projector; + + public ProjectorAsCamera(ProjectorDisplay projector, Camera cameraTracking, TrackedView view){ + this.projectorView = view; + this.cameraTracking = cameraTracking; + this.projector = projector; + } + public void setImage(IplImage image) { this.currentImage = image; } @@ -88,8 +104,36 @@ public PImage getPImage() { */ @Override public void grab() { + IplImage img = projectorView.getIplViewOf(cameraTracking); + if(img != null){ + currentImage = img; + } + + if(this.format == PixelFormat.GRAY){ + currentImage = greyProjectorImage(img); + } } + + private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) { + if (projImage.nChannels() == 1) { + grayImage = projImage; + return grayImage; + } + + if (grayImage == null) { + grayImage = opencv_core.IplImage.create(projector.getWidth(), + projector.getHeight(), + IPL_DEPTH_8U, 1); + } + + cvCvtColor(projImage, grayImage, CV_BGR2GRAY); + // if(test){ + // cvSaveImage( sketchPath() + "/data/projImage.jpg", grayImage); + // cvSaveImage( sketchPath() + "/data/camImage.jpg", camera.getIplImage()); + // } + return grayImage; + } /** * Not used. */ diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index dd514109..df6c8391 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -87,11 +87,14 @@ public TrackedView() { allocateMemory(); } + private boolean cornersSet = false; + public void setCorners(PVector[] corners) { if (corners.length == 4) { for (int i = 0; i < 4; i++) { screenPixelCoordinates[i] = corners[i]; } + cornersSet = true; } } @@ -119,15 +122,13 @@ private void initiateImageCoordinates() { } public PImage getViewOf(Camera camera) { - if (extractedPImage == null) { - System.err.println("You should init the TrackedView before getting the view."); - return null; - } - if (camera.getIplImage() == null) { + + IplImage img = camera.getIplImage(); + if (!isExtractionReady(img)) { return null; } - this.mainImage = camera.getIplImage(); + this.mainImage = img; this.camera = camera; CvMat homography = computeHomography(); @@ -138,12 +139,8 @@ public PImage getViewOf(Camera camera) { } public IplImage getIplViewOf(Camera camera) { - if (extractedPImage == null) { - System.err.println("You should init the TrackedView before getting the view."); - return null; - } IplImage img = camera.getIplImage(); - if (img == null) { + if (!isExtractionReady(img)) { return null; } @@ -154,6 +151,14 @@ public IplImage getIplViewOf(Camera camera) { return extractedIplImage; } + private boolean isExtractionReady(IplImage img) { + if (extractedPImage == null) { + System.err.println("You should init the TrackedView before getting the view."); + return false; + } + return img != null && cornersSet; + } + private CvMat computeHomography() { checkMemory(); computeCorners(); diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoard.java b/papart/src/fr/inria/papart/tracking/MarkerBoard.java index dd92cb3c..9f714d68 100755 --- a/papart/src/fr/inria/papart/tracking/MarkerBoard.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoard.java @@ -64,16 +64,19 @@ public abstract class MarkerBoard { static public final int FORCE_UPDATE = 3; static public final PMatrix3D INVALID_LOCATION = new PMatrix3D(); - public enum MarkerType { ARTOOLKITPLUS, JAVACV_FINDER, SVG, INVALID } - - protected MarkerBoard(){ + + public MarkerType getMarkerType() { + return type; + } + + protected MarkerBoard() { this.fileName = "Invalid MarkerBoard"; } - + public MarkerBoard(String fileName, float width, float height) { this.fileName = fileName; this.width = width; @@ -89,13 +92,11 @@ public MarkerBoard(String fileName, float width, float height) { } protected abstract void addTrackerImpl(Camera camera); - + public void addTracker(PApplet applet, Camera camera) { // public void addTracker(PApplet applet, Camera camera, ARToolKitPlus.TrackerMultiMarker tracker, float[] transfo) { this.applet = applet; - addTrackerImpl(camera); - this.cameras.add(camera); this.drawingMode.add(false); this.lastPos.add(new PVector()); @@ -103,12 +104,12 @@ public void addTracker(PApplet applet, Camera camera) { this.minDistanceDrawingMode.add(2f); this.nextTimeEvent.add(0); this.updateStatus.add(NORMAL); - OneEuroFilter[] filter = null; this.filters.add(filter); + + addTrackerImpl(camera); } - private int getId(Camera camera) { return cameras.indexOf(camera); } @@ -121,7 +122,7 @@ public void setFiltering(Camera camera, double freq, double minCutOff) { public void removeFiltering(Camera camera) { int id = cameras.indexOf(camera); - filters.remove(id); + filters.set(id, null); } public void setDrawingMode(Camera camera, boolean dm) { @@ -240,12 +241,12 @@ public synchronized void updateLocation(Camera camera, IplImage img, Object glob if (mode == BLOCK_UPDATE && currentTime < endTime) { return; } - + updatePositionImpl(id, currentTime, endTime, mode, camera, img, globalTracking); } + protected abstract void updatePositionImpl(int id, int currentTime, int endTime, int mode, Camera camera, IplImage img, Object globalTracking); - public PMatrix3D getTransfoMat(Camera camera) { return transfos.get(cameras.indexOf(camera)); @@ -266,7 +267,7 @@ public ObjectFinder getObjectTracking(Camera camera) { } public ARToolKitPlus.TrackerMultiMarker getARToolkitTracking(Camera camera) { - assert (this.useGrayscaleImages()); + assert (this.useMarkers()); return (ARToolKitPlus.TrackerMultiMarker) getTracking(camera); } @@ -278,10 +279,14 @@ public boolean useJavaCVFinder() { return this.type == MarkerType.JAVACV_FINDER; } - public boolean useGrayscaleImages() { + public boolean useMarkers() { return this.type == MarkerType.ARTOOLKITPLUS || this.type == MarkerType.SVG; } - + + public boolean useGrayImages() { + return this.type == MarkerType.ARTOOLKITPLUS || this.type == MarkerType.SVG; + } + public boolean useCustomARToolkitBoard() { return this.type == MarkerType.SVG; } diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardFactory.java b/papart/src/fr/inria/papart/tracking/MarkerBoardFactory.java index bce43668..5868decc 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardFactory.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardFactory.java @@ -20,33 +20,48 @@ package fr.inria.papart.tracking; import fr.inria.papart.tracking.MarkerBoard.MarkerType; +import java.util.ArrayList; +import java.util.HashMap; /** * * @author Jérémy Laviole - jeremy.laviole@inria.fr */ public class MarkerBoardFactory { - + private static final HashMap allBoards = new HashMap<>(); + // Todo: error Handling... - public static MarkerBoard create(String fileName, float width, float height){ + public static MarkerBoard create(String fileName, float width, float height) { - MarkerType type = getType(fileName); - if (type == MarkerType.ARTOOLKITPLUS) { - return new MarkerBoardARToolKitPlus(fileName, width, height); - } - if (type == MarkerType.JAVACV_FINDER) { - return new MarkerBoardJavaCV(fileName, width, height); + if(allBoards.containsKey(fileName)){ + return allBoards.get(fileName); } - if (type == MarkerType.SVG) { - return new MarkerBoardSvg(fileName, width, height); + MarkerBoard output = MarkerBoardInvalid.board; + + MarkerType type = getType(fileName); + try { + if (type == MarkerType.ARTOOLKITPLUS) { + output = new MarkerBoardARToolKitPlus(fileName, width, height); + } + if (type == MarkerType.JAVACV_FINDER) { + output = new MarkerBoardJavaCV(fileName, width, height); + } + + if (type == MarkerType.SVG) { + output = new MarkerBoardSvg(fileName, width, height); + } + + allBoards.put(fileName, output); + } catch (Exception e) { + System.err.println("Error loading the markerboard: " + e); } - return MarkerBoardInvalid.board; + return output; } - + private static MarkerType getType(String name) { if (name.endsWith("cfg")) { return MarkerType.ARTOOLKITPLUS; @@ -60,5 +75,4 @@ private static MarkerType getType(String name) { return MarkerType.INVALID; } - } diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java b/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java index e9095ac1..64bca749 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java @@ -43,7 +43,9 @@ public class MarkerBoardJavaCV extends MarkerBoard { private final PVector botLeft = new PVector(); private final PVector botRight = new PVector(); - public MarkerBoardJavaCV(String fileName, float width, float height) { + private opencv_core.IplImage imgToFind; + + public MarkerBoardJavaCV(String fileName, float width, float height) throws Exception { super(fileName, width, height); trackers = new ArrayList(); imagePoints = new PVector[4]; @@ -57,16 +59,21 @@ public MarkerBoardJavaCV(String fileName, float width, float height) { Logger logger = Logger.getLogger(ObjectFinder.class.getName()); logger.setLevel(Level.OFF); this.type = MarkerType.JAVACV_FINDER; + imgToFind = cvLoadImage(this.fileName); + + // TODO: something less violent than a runtime exception... + if (imgToFind == null) { + throw new Exception("MarkerBoardJavaCV: Impossible to load the image: " + this.fileName); + } + } @Override protected void addTrackerImpl(Camera camera) { - opencv_core.IplImage imgToFind = cvLoadImage(this.fileName); ObjectFinder finder = new ObjectFinder(imgToFind); // finder.getSettings().setUseFLANN(true); // finder.getSettings().setMatchesMin(6); - this.trackers.add(finder); this.transfos.add(new PMatrix3D()); } @@ -91,7 +98,6 @@ private PMatrix3D compute3DPos(double[] corners, Camera camera) { // imagePoints[1] = botRight; // imagePoints[2] = topRight; // imagePoints[3] = topLeft; - imagePoints[0] = topLeft; imagePoints[1] = topRight; imagePoints[2] = botRight; @@ -110,16 +116,19 @@ private PMatrix3D compute3DPos(double[] corners, Camera camera) { protected void updatePositionImpl(int id, int currentTime, int endTime, int mode, Camera camera, opencv_core.IplImage img, Object globalTracking) { + try{ ObjectFinder finder = (ObjectFinder) trackers.get(id); // Find the markers double[] corners = finder.find(img); - // one use... HACK - finder = new ObjectFinder(finder.getSettings()); - trackers.set(id, finder); + // one use... HACK -- Why + // why so evil ? +// finder = new ObjectFinder(finder.getSettings()); +// trackers.set(id, finder); if (corners == null) { + System.out.println("corners null, no update"); return; } @@ -141,7 +150,6 @@ protected void updatePositionImpl(int id, int currentTime, int endTime, int mode // { // return; // } - lastDistance.set(id, distance); // if the update is forced if (mode == FORCE_UPDATE && currentTime < endTime) { @@ -169,6 +177,10 @@ protected void updatePositionImpl(int id, int currentTime, int endTime, int mode } else { update(newPos, id); } + + } catch(Exception e ){ + e.printStackTrace(); + } } private void update(PMatrix3D newPos, int id) { diff --git a/papart/src/fr/inria/papart/tracking/ObjectFinder.java b/papart/src/fr/inria/papart/tracking/ObjectFinder.java index 69b17016..7cb0e3a7 100644 --- a/papart/src/fr/inria/papart/tracking/ObjectFinder.java +++ b/papart/src/fr/inria/papart/tracking/ObjectFinder.java @@ -39,13 +39,14 @@ * * @author Samuel Audet * - * ObjectFinder does not work out-of-the-box under Android, because it lacks the standard - * java.beans.beancontext package. We can work around it by doing the following *BEFORE* - * following the instructions in the README.md file: + * ObjectFinder does not work out-of-the-box under Android, because it lacks the + * standard java.beans.beancontext package. We can work around it by doing the + * following *BEFORE* following the instructions in the README.md file: * - * 1. Remove BaseChildSettings.class and BaseSettings.class from javacv.jar - * 2. Follow the instructions in the README.md file - * 3. In your project, define empty classes BaseChildSettings and BaseSettings under the org.bytedeco.javacv package name + * 1. Remove BaseChildSettings.class and BaseSettings.class from javacv.jar 2. + * Follow the instructions in the README.md file 3. In your project, define + * empty classes BaseChildSettings and BaseSettings under the + * org.bytedeco.javacv package name */ public class ObjectFinder { @@ -58,18 +59,18 @@ public ObjectFinder(IplImage objectImage) { settings.objectImage = objectImage; setSettings(settings); } + public ObjectFinder(Settings settings) { setSettings(settings); } public static class Settings extends BaseChildSettings { + IplImage objectImage = null; // ORB detector = ORB.create(); // ORB detector = ORB.create(500/*=500*/, 1.6f /*=1.2f*/, 6 /*=8*/, 31/*=31*/, // 0/*=0*/, 2/*=2*/, ORB.HARRIS_SCORE/*=cv::ORB::HARRIS_SCORE*/, 31 /*=31*/, 20/*=20*/); - - // AKAZE detector = AKAZE.create(); // -> CRAZY memory leaks ?! // AKAZE detector = AKAZE.create(AKAZE.DESCRIPTOR_KAZE, // 0, 3, 0.001f, @@ -79,73 +80,33 @@ public static class Settings extends BaseChildSettings { // int descriptor_size/*=0*/, int descriptor_channels/*=3*/, // float threshold/*=0.001f*/, int nOctaves/*=4*/, // int nOctaveLayers/*=4*/, int diffusivity/*=cv::KAZE::DIFF_PM_G2*/); - // default -// BRISK detector = BRISK.create(30, 3, 1); - BRISK detector = BRISK.create(briskParam1, briskParam2, briskParam3); + BRISK detector = BRISK.create(50, 2, 1); +// BRISK detector = BRISK.create(briskParam1, briskParam2, briskParam3); // MSER detector = MSER.create(); // -> Not implemented. // FastFeatureDetector detector = FastFeatureDetector.create(); // -> Not implemented. // AgastFeatureDetector detector = AgastFeatureDetector.create(); // -> not implemented - double distanceThreshold = 0.75; - int matchesMin = 4; + int matchesMin = 8; double ransacReprojThreshold = 2.0; + +// Flann causes a native crash // boolean useFLANN = true; boolean useFLANN = false; public IplImage getObjectImage() { return objectImage; } + public void setObjectImage(IplImage objectImage) { this.objectImage = objectImage; } -// public int getDescriptorType() { -// return detector.getDescriptorType(); -// } -// public void setDescriptorType(int dtype) { -// detector.setDescriptorType(dtype); -// } -// -// public int getDescriptorSize() { -// return detector.getDescriptorSize(); -// } -// public void setDescriptorSize(int dsize) { -// detector.setDescriptorSize(dsize); -// } -// -// public int getDescriptorChannels() { -// return detector.getDescriptorChannels(); -// } -// public void setDescriptorChannels(int dch) { -// detector.setDescriptorChannels(dch); -// } -// -// public double getThreshold() { -// return detector.getThreshold(); -// } -// public void setThreshold(double threshold) { -// detector.setThreshold(threshold); -// } -// -// public int getNOctaves() { -// return detector.getNOctaves(); -// } -// public void setNOctaves(int nOctaves) { -// detector.setNOctaves(nOctaves); -// } -// -// public int getNOctaveLayers() { -// return detector.getNOctaveLayers(); -// } -// public void setNOctaveLayers(int nOctaveLayers) { -// detector.setNOctaveLayers(nOctaveLayers); -// } - public double getDistanceThreshold() { return distanceThreshold; } + public void setDistanceThreshold(double distanceThreshold) { this.distanceThreshold = distanceThreshold; } @@ -153,6 +114,7 @@ public void setDistanceThreshold(double distanceThreshold) { public int getMatchesMin() { return matchesMin; } + public void setMatchesMin(int matchesMin) { this.matchesMin = matchesMin; } @@ -160,6 +122,7 @@ public void setMatchesMin(int matchesMin) { public double getRansacReprojThreshold() { return ransacReprojThreshold; } + public void setRansacReprojThreshold(double ransacReprojThreshold) { this.ransacReprojThreshold = ransacReprojThreshold; } @@ -167,15 +130,18 @@ public void setRansacReprojThreshold(double ransacReprojThreshold) { public boolean isUseFLANN() { return useFLANN; } + public void setUseFLANN(boolean useFLANN) { this.useFLANN = useFLANN; } } Settings settings; + public Settings getSettings() { return settings; } + public void setSettings(Settings settings) { this.settings = settings; @@ -184,19 +150,19 @@ public void setSettings(Settings settings) { settings.detector.detectAndCompute(cvarrToMat(settings.objectImage), new Mat(), objectKeypoints, objectDescriptors, false); - int total = (int)objectKeypoints.size(); + int total = (int) objectKeypoints.size(); if (settings.useFLANN) { indicesMat = new Mat(total, 2, CV_32SC1); - distsMat = new Mat(total, 2, CV_32FC1); + distsMat = new Mat(total, 2, CV_32FC1); flannIndex = new Index(); indexParams = new LshIndexParams(12, 20, 2); // using LSH Hamming distance searchParams = new SearchParams(64, 0, true); // maximum number of leafs checked } - pt1 = new Mat(total, 1, CV_32FC2); - pt2 = new Mat(total, 1, CV_32FC2); + pt1 = new Mat(total, 1, CV_32FC2); + pt2 = new Mat(total, 1, CV_32FC2); mask = new Mat(total, 1, CV_8UC1); - H = new Mat(3, 3, CV_64FC1); - ptpairs = new ArrayList(2*objectDescriptors.rows()); + H = new Mat(3, 3, CV_64FC1); + ptpairs = new ArrayList(2 * objectDescriptors.rows()); logger.info(total + " object descriptors"); } @@ -211,30 +177,110 @@ public void setSettings(Settings settings) { Mat pt1 = null, pt2 = null, mask = null, H = null; ArrayList ptpairs = null; + CvRect roi = null; + CvRect defaultRoi = null; + public double[] find(IplImage image) { if (objectDescriptors.rows() < settings.getMatchesMin()) { return null; } imageKeypoints = new KeyPointVector(); imageDescriptors = new Mat(); + + // mask is a single channel image. + if (roi == null) { + roi = cvRect(0, 0, image.width(), image.height()); + defaultRoi = cvRect(0, 0, image.width(), image.height()); + } + + cvSetImageROI(image, roi); + +// System.out.println("retreived roi: " + roi.x() + " " + roi.y() + " " + roi.width() + " " + roi.height()); + long startTime = System.currentTimeMillis(); settings.detector.detectAndCompute(cvarrToMat(image), new Mat(), imageKeypoints, imageDescriptors, false); + // cvarrToMat(maskImg), imageKeypoints, imageDescriptors, false); + if (imageDescriptors.rows() < settings.getMatchesMin()) { + // Reset the mask, nothing found. + roi.x(0); + roi.y(0); + roi.width(image.width()); + roi.height(image.height()); return null; } - int total = (int)imageKeypoints.size(); + long endTime = System.currentTimeMillis(); + long totalTime = endTime - startTime; +// System.out.println("Detection time: " + totalTime + " ms."); + int total = (int) imageKeypoints.size(); logger.info(total + " image descriptors"); int w = settings.objectImage.width(); int h = settings.objectImage.height(); - double[] srcCorners = {0, 0, w, 0, w, h, 0, h}; + double[] srcCorners = {0, 0, w, 0, w, h, 0, h}; double[] dstCorners = locatePlanarObject(objectKeypoints, objectDescriptors, - imageKeypoints, imageDescriptors, srcCorners); + imageKeypoints, imageDescriptors, srcCorners, image.roi()); + + if (dstCorners == null) { + roi.x(0); + roi.y(0); + roi.width(image.width()); + roi.height(image.height()); + return null; + } + + adjustROI(image, dstCorners); + // update mask from dstCorners... + +// cvSetImageROI(image, defaultRoi); +// System.out.println("Updated roi: " + roi.x() + " " + roi.y()); return dstCorners; } + private void adjustROI(IplImage image, double[] dstCorners) { + int minX = image.width(), minY = image.height(), maxX = 0, maxY = 0; + for (int i = 0; i < 4; i++) { + int x = (int) dstCorners[i * 2]; + int y = (int) dstCorners[i * 2 + 1]; + if (x < minX) { + minX = x; + } + if (x > maxX) { + maxX = x; + } + if (y < minY) { + minY = y; + } + if (y > maxY) { + maxY = y; + } + } + int larger = 100; + minX -= larger; + maxX += larger; + minY -= larger; + maxY += larger; + if (minX < 0) { + minX = 0; + } + if (maxX >= image.width()) { + maxX = image.width() - 1; + } + if (minY < 0) { + minY = 0; + } + if (maxY >= image.height()) { + maxY = image.height() - 1; + } + roi.x(minX); + roi.y(minY); + roi.width(maxX - minX); + roi.height(maxY - minY); + } + static final int[] bits = new int[256]; + static { for (int i = 0; i < bits.length; i++) { for (int j = i; j != 0; j >>= 1) { @@ -248,8 +294,9 @@ int compareDescriptors(ByteBuffer d1, ByteBuffer d2, int best) { assert d1.limit() - d1.position() == d2.limit() - d2.position(); while (d1.position() < d1.limit()) { totalCost += bits[(d1.get() ^ d2.get()) & 0xFF]; - if (totalCost > best) + if (totalCost > best) { break; + } } return totalCost; } @@ -260,8 +307,8 @@ int naiveNearestNeighbor(ByteBuffer vec, ByteBuffer modelDescriptors) { int size = vec.limit() - vec.position(); for (int i = 0; i * size < modelDescriptors.capacity(); i++) { - ByteBuffer mvec = (ByteBuffer)modelDescriptors.position(i * size).limit((i + 1) * size); - d = compareDescriptors((ByteBuffer)vec.reset(), mvec, dist2); + ByteBuffer mvec = (ByteBuffer) modelDescriptors.position(i * size).limit((i + 1) * size); + d = compareDescriptors((ByteBuffer) vec.reset(), mvec, dist2); if (d < dist1) { dist2 = dist1; dist1 = d; @@ -270,8 +317,9 @@ int naiveNearestNeighbor(ByteBuffer vec, ByteBuffer modelDescriptors) { dist2 = d; } } - if (dist1 < settings.distanceThreshold*dist2) + if (dist1 < settings.distanceThreshold * dist2) { return neighbor; + } return -1; } @@ -281,7 +329,7 @@ void findPairs(Mat objectDescriptors, Mat imageDescriptors) { ByteBuffer imageBuf = imageDescriptors.createBuffer(); for (int i = 0; i * size < objectBuf.capacity(); i++) { - ByteBuffer descriptor = (ByteBuffer)objectBuf.position(i * size).limit((i + 1) * size).mark(); + ByteBuffer descriptor = (ByteBuffer) objectBuf.position(i * size).limit((i + 1) * size).mark(); int nearestNeighbor = naiveNearestNeighbor(descriptor, imageBuf); if (nearestNeighbor >= 0) { ptpairs.add(i); @@ -300,38 +348,52 @@ void flannFindPairs(Mat objectDescriptors, Mat imageDescriptors) { IntBuffer indicesBuf = indicesMat.createBuffer(); IntBuffer distsBuf = distsMat.createBuffer(); for (int i = 0; i < length; i++) { - if (distsBuf.get(2*i) < settings.distanceThreshold*distsBuf.get(2*i+1)) { + if (distsBuf.get(2 * i) < settings.distanceThreshold * distsBuf.get(2 * i + 1)) { ptpairs.add(i); - ptpairs.add(indicesBuf.get(2*i)); + ptpairs.add(indicesBuf.get(2 * i)); } } } - /** a rough implementation for object location */ + /** + * a rough implementation for object location + */ double[] locatePlanarObject(KeyPointVector objectKeypoints, Mat objectDescriptors, - KeyPointVector imageKeypoints, Mat imageDescriptors, double[] srcCorners) { + KeyPointVector imageKeypoints, Mat imageDescriptors, double[] srcCorners, IplROI roi) { ptpairs.clear(); if (settings.useFLANN) { flannFindPairs(objectDescriptors, imageDescriptors); } else { findPairs(objectDescriptors, imageDescriptors); } - int n = ptpairs.size()/2; + int n = ptpairs.size() / 2; logger.info(n + " matching pairs found"); if (n < settings.matchesMin) { return null; } - pt1 .resize(n); - pt2 .resize(n); + int xShift = 0; + int yShift = 0; + if (roi != null) { + xShift = roi.xOffset(); + yShift = roi.yOffset(); + } + + pt1.resize(n); + pt2.resize(n); mask.resize(n); FloatBuffer pt1Idx = pt1.createBuffer(); FloatBuffer pt2Idx = pt2.createBuffer(); for (int i = 0; i < n; i++) { - Point2f p1 = objectKeypoints.get(ptpairs.get(2*i)).pt(); - pt1Idx.put(2*i, p1.x()); pt1Idx.put(2*i+1, p1.y()); - Point2f p2 = imageKeypoints.get(ptpairs.get(2*i+1)).pt(); - pt2Idx.put(2*i, p2.x()); pt2Idx.put(2*i+1, p2.y()); + Point2f p1 = objectKeypoints.get(ptpairs.get(2 * i)).pt(); + pt1Idx.put(2 * i, p1.x()); + pt1Idx.put(2 * i + 1, p1.y()); + Point2f p2 = imageKeypoints.get(ptpairs.get(2 * i + 1)).pt(); + pt2Idx.put(2 * i, p2.x() + xShift); + pt2Idx.put(2 * i + 1, p2.y() + yShift); + +// System.out.println("KeyPoints found object: " + p1.x() + " " + p1.y()); +// System.out.println("KeyPoints found image: " + p2.x() + " " + p2.y()); } H = findHomography(pt1, pt2, CV_RANSAC, settings.ransacReprojThreshold, mask, 2000, 0.995); @@ -339,15 +401,15 @@ void flannFindPairs(Mat objectDescriptors, Mat imageDescriptors) { return null; } - double[] h = (double[])H.createIndexer(false).array(); + double[] h = (double[]) H.createIndexer(false).array(); double[] dstCorners = new double[srcCorners.length]; - for(int i = 0; i < srcCorners.length/2; i++) { - double x = srcCorners[2*i], y = srcCorners[2*i + 1]; - double Z = 1/(h[6]*x + h[7]*y + h[8]); - double X = (h[0]*x + h[1]*y + h[2])*Z; - double Y = (h[3]*x + h[4]*y + h[5])*Z; - dstCorners[2*i ] = X; - dstCorners[2*i + 1] = Y; + for (int i = 0; i < srcCorners.length / 2; i++) { + double x = srcCorners[2 * i], y = srcCorners[2 * i + 1]; + double Z = 1 / (h[6] * x + h[7] * y + h[8]); + double X = (h[0] * x + h[1] * y + h[2]) * Z; + double Y = (h[3] * x + h[4] * y + h[5]) * Z; + dstCorners[2 * i] = X; + dstCorners[2 * i + 1] = Y; } return dstCorners; } @@ -357,10 +419,10 @@ public static void main(String[] args) throws Exception { // String objectFilename = args.length == 2 ? args[0] : "/home/jiii/sketchbook/libraries/PapARt/data/markers/dlink.png"; String objectFilename = args.length == 2 ? args[0] : "/home/jiii/repos/Papart-github/papart-examples/Camera/ExtractPlanarObjectForTracking/ExtractedView.bmp"; - String sceneFilename = args.length == 2 ? args[1] : "/home/jiii/my_photo-7.jpg"; + String sceneFilename = args.length == 2 ? args[1] : "/home/jiii/my_photo-7.jpg"; IplImage object = cvLoadImage(objectFilename, CV_LOAD_IMAGE_GRAYSCALE); - IplImage image = cvLoadImage(sceneFilename, CV_LOAD_IMAGE_GRAYSCALE); + IplImage image = cvLoadImage(sceneFilename, CV_LOAD_IMAGE_GRAYSCALE); if (object == null || image == null) { System.err.println("Can not load " + objectFilename + " and/or " + sceneFilename); System.exit(-1); @@ -369,7 +431,7 @@ public static void main(String[] args) throws Exception { IplImage objectColor = IplImage.create(object.width(), object.height(), 8, 3); cvCvtColor(object, objectColor, CV_GRAY2BGR); - IplImage correspond = IplImage.create(image.width(), object.height()+ image.height(), 8, 1); + IplImage correspond = IplImage.create(image.width(), object.height() + image.height(), 8, 1); cvSetImageROI(correspond, cvRect(0, 0, object.width(), object.height())); cvCopy(object, correspond); cvSetImageROI(correspond, cvRect(0, object.height(), correspond.width(), correspond.height())); @@ -386,13 +448,13 @@ public static void main(String[] args) throws Exception { double[] dst_corners = finder.find(image); System.out.println("Finding time = " + (System.currentTimeMillis() - start) + " ms"); - if (dst_corners != null) { + if (dst_corners != null) { for (int i = 0; i < 4; i++) { - int j = (i+1)%4; - int x1 = (int)Math.round(dst_corners[2*i ]); - int y1 = (int)Math.round(dst_corners[2*i + 1]); - int x2 = (int)Math.round(dst_corners[2*j ]); - int y2 = (int)Math.round(dst_corners[2*j + 1]); + int j = (i + 1) % 4; + int x1 = (int) Math.round(dst_corners[2 * i]); + int y1 = (int) Math.round(dst_corners[2 * i + 1]); + int x2 = (int) Math.round(dst_corners[2 * j]); + int y2 = (int) Math.round(dst_corners[2 * j + 1]); line(cvarrToMat(correspond), new Point(x1, y1 + object.height()), new Point(x2, y2 + object.height()), Scalar.WHITE, 1, 8, 0); From 20267645538391eb78b26b887ddf6615f12dceae Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 24 Nov 2016 17:36:11 +0100 Subject: [PATCH 43/99] new calibration boards. --- papart/data/markers/A4-calib.svg | 583 ++++++++++++++++++++++++++ papart/data/markers/A4-default-15.svg | 190 +++++++++ papart/data/markers/A4-default.svg | 130 ++++++ papart/data/markers/ExtractedView.bmp | Bin 0 -> 614454 bytes 4 files changed, 903 insertions(+) create mode 100644 papart/data/markers/A4-calib.svg create mode 100644 papart/data/markers/A4-default-15.svg create mode 100644 papart/data/markers/A4-default.svg create mode 100644 papart/data/markers/ExtractedView.bmp diff --git a/papart/data/markers/A4-calib.svg b/papart/data/markers/A4-calib.svg new file mode 100644 index 00000000..59b461b0 --- /dev/null +++ b/papart/data/markers/A4-calib.svg @@ -0,0 +1,583 @@ + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Reality Over Technology + + + + + + + + + + + + + + + + + + + + + + + + + + + + PapARt Calibration board + + + + + diff --git a/papart/data/markers/A4-default-15.svg b/papart/data/markers/A4-default-15.svg new file mode 100644 index 00000000..70ac8300 --- /dev/null +++ b/papart/data/markers/A4-default-15.svg @@ -0,0 +1,190 @@ + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + diff --git a/papart/data/markers/A4-default.svg b/papart/data/markers/A4-default.svg new file mode 100644 index 00000000..d62fb8cc --- /dev/null +++ b/papart/data/markers/A4-default.svg @@ -0,0 +1,130 @@ + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + diff --git a/papart/data/markers/ExtractedView.bmp b/papart/data/markers/ExtractedView.bmp new file mode 100644 index 0000000000000000000000000000000000000000..264ae961f71086f678796f83120a287d741f3fef GIT binary patch literal 614454 zcmaI9*LGuRlBJnFck>4G2=fGeGpna-I#nnabZQMnXe|g3n$U#Sn$Q~5S~%S!BBQG2 zvE~C1=@r$h*W|K1>i{4bT!`|0?+3|1|sGf93!GC;#{UZ-4sJzxHnC${ii?u{`um?;#i$tn*0&5$u2$gDvtaLdr(Ro1rBThiOo+O*!*&PP~(o8 z0*RxOj3-qJmm7&jH`5vB`=i2OOyt_VWVI2_m5vh`Pb}q)r+vw+Kb7OiOV>%l8Ho|D zlej0IJWgc@d*npta_yR8_ijtLERgN1O`0ROBOE&^R7%}p zV{$>%hLc>g6Ui3?>1;SxOw}5^Ox7BaLOE8d@;jtz%}BoDiKQ*aA-U1EB~dQ#iZ_LF zxxs4pMH0nYb9gqreY$!5GP!-|o?SME+r(>B+B9}`Q3b|^v)NEEd?LxDWu2o{id?=IgCzJjJ zk@6?fp>#f)uOv!!j>r6xo`BZo(pa4~U)b)CnOzZ)%Cad^uk9`ao1KQE zV~Z#32*&-1e5_E^po`ikIW{BVE%^mOs^LYzN8P44eU zx3|5ktL9`2~eaDCmoyy~2vx2Dtja9Hkk`LcAa zmaJ5wrD7-oNo#r;N*Clt>!%&z`;Fa2 zeAwLku(`jqE&RAOix1nvcbog~w*<=q>6Tn8HrlkFfIXH8m+FPys5U-toL{vru3HyZ zjk61WW@R|84#&0OINNB4vV}umNO@@ASLxR!igmGkU83BSX}1*m9hGrcYu?iz3Jf-( z;b>21-P0WIsVv(HWb!qxq7VHNj3VJ_JBw> zx+mpEAXhm~7d^?mCzbc-N+;!7y4fiY#?9%~@b+nV_td?)uT9QN!%2BKu1{ybbMx$` z&>cmKb$2x72q(CMhrWpAILtm^@&t|UfYI$Y5gxzU<3IHJt;YeIFL>k+al%WB$2U8A zeJ0N_p?0_=)+3?$aNlCxJG2R`M~IN>9KypR0ZYYT+0&c$bVh-}EHqj~#zV2$ zDluE7W}E!buCO{-kQ^0OCnu^Sm&S2y@C5CVWH4Jw*V}Ap)xm^F*IT}1#_aW}ZFc3M zO=UgO961PHa@0B87GE%0tX7B9(f#xE@%8Na?fm)e?CJCP;bn09*gU%`^+w5RleHSk z@Zgt^V;P$-qOrNfTJyfrAXJ-Ghi+RS8qSwu zXB4XRdveW=Oua2r5t~xQib%4wFZ{SCAU^Ew6N~ftQS@%P`F3!Q0SZzi^s`W3PIAW(i3DOY8>EwypqXtqV;xxuhHy)p$(1bW-9+9oo% z4lKtqTS#e-sGL!aJ8tx)ZIQe;Sve_n;+1Zq)=QrbvaNohH>{4Qt;_4)&0YWQfenP+ ziS2@4*d0x>cg=t85{UfA;NAhIu~Ln_g}a$;wAe_uq{<)Gb{6s7%GO^#uKoGL+Fw3w ze7~~0CX!3^W*!-SW-wcfS5Awa0gw+Iwc7IylUEP(6lt$f=CzLMM`jfMVm*Mq&YjR%g^{c%>wbLs%+UY_iLgo-S zaeDkNZ@_aLnuRw=9Q(q7Kr|SNg~IW0I1xEXMq}w{DihD6MZhKd$cyU*5)z0gF2f}q&#}RCi!7m z_m*kNj_v-q$r;ig`Hjw?%^&wA ziYM86qSVS%7sw0dj>?^3vDMF=cGA^myjTloieT>SY0a03V5TrjlelqYO0ksVB_b}QfHuO_)F$IJZA`CyjhA!Q3jG)FF$$G%!G(i)}4LtYx)z8M6EVq9CL`3UeO z4s>Rj(FzvJO*R&W&T(wu3Mda5By;kL}YB{gjv7}q6+HHl$G ztXmRj-tQ_t?kl$xX0gs8GkKI2pXSJS6o{uP?Z)`BdvV*EUZ0N6%iU3~(Mi`@Gw`jP z#w+zj#45FPqs89XzP#>U-*RNnAGbvBb`L&@6zejr*yJz=V!=W!+a1-Wm-PwA zdsga?GRO>ZibtHNNK>y1;bezev) z;c>1uh+whm&zA#*axqF)7t1F+w2FkWvlPR z>LsLmG_ znvb@%CPLx#9-bt;`SM{jsqqF54jn?1RiL*Bbtb9h2zb>wJbIUx43I?5;PD&10n>4C z5k_wa8N$SY%*da+N4K9z??j-b1x8CW|Ib7-^hs=DqtJ0d; 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z+loL5&J(~_{LdJ_pD$(m=?VTGoZaAarUOX6xRRpYGgV9^7rBU%rjQMNqF;*>c2(&n#e+Z61r_OfZX>VP485_^P z9&rDSJqndn-i6AX(fIqr^Z$=K`HTN^%U4fK<9G%c6#Gk5(sxNetHxIDo9MR>>WbvFDd!jpkGjlWBWcmlp0@I%0TveP&Z`~Uyqul_IiI|PE+N&>T- z%e&T$-p><{l?fBv@SC2G-AgLo}5QMuJSxvZ;o-hj2oy21`z9k@xK^%)fjL* z$9#WI4!8ng)y-F1i3_NcbFc`OvP81(K9V8x_Wd7}x*H Date: Thu, 24 Nov 2016 17:50:42 +0100 Subject: [PATCH 44/99] BRISK and ORB are super good. --- .../inria/papart/tracking/MarkerBoardJavaCV.java | 1 - .../fr/inria/papart/tracking/ObjectFinder.java | 16 ++++++++++++---- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java b/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java index 64bca749..87538114 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardJavaCV.java @@ -128,7 +128,6 @@ protected void updatePositionImpl(int id, int currentTime, int endTime, int mode // trackers.set(id, finder); if (corners == null) { - System.out.println("corners null, no update"); return; } diff --git a/papart/src/fr/inria/papart/tracking/ObjectFinder.java b/papart/src/fr/inria/papart/tracking/ObjectFinder.java index 7cb0e3a7..8410f86c 100644 --- a/papart/src/fr/inria/papart/tracking/ObjectFinder.java +++ b/papart/src/fr/inria/papart/tracking/ObjectFinder.java @@ -69,8 +69,18 @@ public static class Settings extends BaseChildSettings { IplImage objectImage = null; // ORB detector = ORB.create(); -// ORB detector = ORB.create(500/*=500*/, 1.6f /*=1.2f*/, 6 /*=8*/, 31/*=31*/, + // Marche très bien +// ORB detector = ORB.create(1200/*=500*/, 1.6f /*=1.2f*/, 8 /*=8*/, 31/*=31*/, // 0/*=0*/, 2/*=2*/, ORB.HARRIS_SCORE/*=cv::ORB::HARRIS_SCORE*/, 31 /*=31*/, 20/*=20*/); + + // default--> quite awesome + BRISK detector = BRISK.create(50, 2, 1); + + + // Tests +// BRISK detector = BRISK.create(briskParam1, briskParam2, briskParam3); + + // AKAZE detector = AKAZE.create(); // -> CRAZY memory leaks ?! // AKAZE detector = AKAZE.create(AKAZE.DESCRIPTOR_KAZE, // 0, 3, 0.001f, @@ -80,9 +90,7 @@ public static class Settings extends BaseChildSettings { // int descriptor_size/*=0*/, int descriptor_channels/*=3*/, // float threshold/*=0.001f*/, int nOctaves/*=4*/, // int nOctaveLayers/*=4*/, int diffusivity/*=cv::KAZE::DIFF_PM_G2*/); - // default - BRISK detector = BRISK.create(50, 2, 1); -// BRISK detector = BRISK.create(briskParam1, briskParam2, briskParam3); + // MSER detector = MSER.create(); // -> Not implemented. // FastFeatureDetector detector = FastFeatureDetector.create(); // -> Not implemented. From 07ae19ab1d1394d67a6258582e49fc5c34d964a1 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:06:18 +0100 Subject: [PATCH 45/99] Cleaning font directory. --- papart/data/Font/CenturySchL-Bold-10.vlw | Bin 19963 -> 0 bytes papart/data/Font/CenturySchL-Bold-11.vlw | Bin 22761 -> 0 bytes papart/data/Font/CenturySchL-Bold-12.vlw | Bin 25287 -> 0 bytes papart/data/Font/CenturySchL-Bold-13.vlw | Bin 27622 -> 0 bytes papart/data/Font/CenturySchL-Bold-14.vlw | Bin 31446 -> 0 bytes papart/data/Font/CenturySchL-Bold-15.vlw | Bin 34789 -> 0 bytes papart/data/Font/CenturySchL-Bold-16.vlw | Bin 39465 -> 0 bytes papart/data/Font/CenturySchL-Bold-20.vlw | Bin 52865 -> 0 bytes papart/data/Font/CenturySchL-Bold-23.vlw | Bin 68931 -> 0 bytes papart/data/Font/CenturySchL-Bold-35.vlw | Bin 144360 -> 0 bytes papart/data/Font/CenturySchL-Bold-48.vlw | Bin 265045 -> 0 bytes papart/data/Font/DejaVuSerif-130.vlw | Bin 1839387 -> 0 bytes papart/data/Font/DejaVuSerif-40.vlw | Bin 178878 -> 0 bytes papart/data/Font/DejaVuSerifCondensed-50.vlw | Bin 260518 -> 0 bytes papart/data/Font/DejaVuSerifCondensed-80.vlw | Bin 643124 -> 0 bytes papart/data/Font/FreeSans-13.vlw | Bin 26639 -> 0 bytes papart/data/Font/FreeSans-60.vlw | Bin 344456 -> 0 bytes papart/data/Font/GentiumBookBasic-14.vlw | Bin 23124 -> 0 bytes .../papart/tracking/PShapeSVGExtended.java | 1998 ----------------- 19 files changed, 1998 deletions(-) delete mode 100755 papart/data/Font/CenturySchL-Bold-10.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-11.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-12.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-13.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-14.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-15.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-16.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-20.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-23.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-35.vlw delete mode 100755 papart/data/Font/CenturySchL-Bold-48.vlw delete mode 100644 papart/data/Font/DejaVuSerif-130.vlw delete mode 100644 papart/data/Font/DejaVuSerif-40.vlw delete mode 100755 papart/data/Font/DejaVuSerifCondensed-50.vlw delete mode 100755 papart/data/Font/DejaVuSerifCondensed-80.vlw delete mode 100755 papart/data/Font/FreeSans-13.vlw delete mode 100644 papart/data/Font/FreeSans-60.vlw delete mode 100644 papart/data/Font/GentiumBookBasic-14.vlw delete mode 100644 papart/src/fr/inria/papart/tracking/PShapeSVGExtended.java diff --git a/papart/data/Font/CenturySchL-Bold-10.vlw b/papart/data/Font/CenturySchL-Bold-10.vlw deleted file mode 100755 index e7dbbc1223d63747a7631967ec9f3f3fd9c9f389..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 19963 zcmb_?4N#=Zde*z+WP&(ikWAqOk-Zawhy*vTh;tE#-R1_k-{*_^;XN--4K)`Njp1aKrxqyv7uq4gM%% zmi5@)Ntca0${`(n61;Igh6Kz0R@*!2avT_GoY?QhH+7-T^iC`n-;_rkS%%mHc)H&Q 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-/* -*- mode: java; c-basic-offset: 2; indent-tabs-mode: nil -*- */ - -/* - Part of the Processing project - http://processing.org - - Copyright (c) 2012-15 The Processing Foundation - Copyright (c) 2006-12 Ben Fry and Casey Reas - Copyright (c) 2004-06 Michael Chang - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License version 2.1 as published by the Free Software Foundation. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA -*/ - -package fr.inria.papart.tracking; - -import static java.awt.Font.BOLD; -import static java.awt.Font.ITALIC; -import static java.awt.Font.PLAIN; -import processing.data.*; - -// TODO replace these with PMatrix2D -import java.awt.geom.AffineTransform; -import java.awt.geom.Point2D; - -import java.util.Map; -import java.util.HashMap; -import processing.core.PApplet; -import processing.core.PConstants; -import processing.core.PFont; -import processing.core.PGraphics; -import processing.core.PMatrix; -import processing.core.PMatrix2D; -import processing.core.PShape; - - -/** - * This class is not part of the Processing API and should not be used - * directly. Instead, use loadShape() and methods like it, which will make - * use of this class. Using this class directly will cause your code to break - * when combined with future versions of Processing. - *

- * SVG stands for Scalable Vector Graphics, a portable graphics format. - * It is a vector format so it allows for "infinite" resolution and relatively - * small file sizes. Most modern media software can view SVG files, including - * Adobe products, Firefox, etc. Illustrator and Inkscape can edit SVG files. - * View the SVG specification here. - *

- * We have no intention of turning this into a full-featured SVG library. - * The goal of this project is a basic shape importer that originally was small - * enough to be included with applets, meaning that its download size should be - * in the neighborhood of 25-30 Kb. Though we're far less limited nowadays on - * size constraints, we remain extremely limited in terms of time, and do not - * have volunteers who are available to maintain a larger SVG library. - *

- * For more sophisticated import/export, consider the - * Batik - * library from the Apache Software Foundation. - *

- * Batik is used in the SVG Export library in Processing 3, however using it - * for full SVG import is still a considerable amount of work. Wiring it to - * Java2D wouldn't be too bad, but using it with OpenGL, JavaFX, and features - * like begin/endRecord() and begin/endRaw() would be considerable effort. - *

- * Future improvements to this library may focus on this properly supporting - * a specific subset of SVG, for instance the simpler SVG profiles known as - * SVG Tiny or Basic, - * although we still would not support the interactivity options. - * - *

- * - * A minimal example program using SVG: - * (assuming a working moo.svg is in your data folder) - * - * 

- * PShape moo;
- *
- * void setup() {
- *   size(400, 400);
- *   moo = loadShape("moo.svg");
- * }
- * void draw() {
- *   background(255);
- *   shape(moo, mouseX, mouseY);
- * }
- *
- */ -public class PShapeSVGExtended extends PShape { - XML element; - - /// Values between 0 and 1. - protected float opacity; - float strokeOpacity; - float fillOpacity; - - /** Width of containing SVG (used for percentages). */ - protected float svgWidth; - - /** Height of containing SVG (used for percentages). */ - protected float svgHeight; - - /** √((w² + h²)/2) of containing SVG (used for percentages). */ - protected float svgSizeXY; - - protected Gradient strokeGradient; - String strokeName; // id of another object, gradients only? - - protected Gradient fillGradient; - String fillName; // id of another object - - private String imagePath; - - - /** - * Initializes a new SVG object from the given XML object. - */ - public PShapeSVGExtended(XML svg) { - this(null, svg, true); - - if (!svg.getName().equals("svg")) { - if (svg.getName().toLowerCase().equals("html")) { - // Common case is that files aren't downloaded properly - throw new RuntimeException("This appears to be a web page, not an SVG file."); - } else { - throw new RuntimeException("The root node is not , it's <" + svg.getName() + ">"); - } - } - } - - - protected PShapeSVGExtended(PShapeSVGExtended parent, XML properties, boolean parseKids) { - setParent(parent); - - // Need to get width/height in early. - if (properties.getName().equals("svg")) { - String unitWidth = properties.getString("width"); - String unitHeight = properties.getString("height"); - - // Can't handle width/height as percentages easily. I'm just going - // to put in 100 as a dummy value, beacuse this means that it will - // come out as a reasonable value. - if (unitWidth != null) width = parseUnitSize(unitWidth, 100); - if (unitHeight != null) height = parseUnitSize(unitHeight, 100); - - String viewBoxStr = properties.getString("viewBox"); - if (viewBoxStr != null) { - float[] viewBox = PApplet.parseFloat(PApplet.splitTokens(viewBoxStr)); - if (unitWidth == null || unitHeight == null) { - // Not proper parsing of the viewBox, but will cover us for cases where - // the width and height of the object is not specified. - width = viewBox[2]; - height = viewBox[3]; - } else { - // http://www.w3.org/TR/SVG/coords.html#ViewBoxAttribute - // TODO: preserveAspectRatio. - if (matrix == null) matrix = new PMatrix2D(); - matrix.scale(width/viewBox[2], height/viewBox[3]); - matrix.translate(-viewBox[0], -viewBox[1]); - } - } - - // Negative size is illegal. - if (width < 0 || height < 0) - throw new RuntimeException(": width (" + width + - ") and height (" + height + ") must not be negative."); - - // It's technically valid to have width or height == 0. Not specified at - // all is what to test for. - if ((unitWidth == null || unitHeight == null) && viewBoxStr == null) { - //throw new RuntimeException("width/height not specified"); - PGraphics.showWarning("The width and/or height is not " + - "readable in the tag of this file."); - // For the spec, the default is 100% and 100%. For purposes - // here, insert a dummy value because this is prolly just a - // font or something for which the w/h doesn't matter. - width = 1; - height = 1; - } - - svgWidth = width; - svgHeight = height; - svgSizeXY = PApplet.sqrt((svgWidth*svgWidth + svgHeight*svgHeight)/2.0f); - } - - element = properties; - name = properties.getString("id"); - // @#$(* adobe illustrator mangles names of objects when re-saving - if (name != null) { - while (true) { - String[] m = PApplet.match(name, "_x([A-Za-z0-9]{2})_"); - if (m == null) break; - char repair = (char) PApplet.unhex(m[1]); - name = name.replace(m[0], "" + repair); - } - } - - String displayStr = properties.getString("display", "inline"); - visible = !displayStr.equals("none"); - - String transformStr = properties.getString("transform"); - if (transformStr != null) { - if (matrix == null) { - matrix = parseTransform(transformStr); - } else { - matrix.preApply(parseTransform(transformStr)); - } - } - - if (parseKids) { - parseColors(properties); - parseChildren(properties); - } - } - - - // Broken out so that subclasses can copy any additional variables - // (i.e. fillGradientPaint and strokeGradientPaint) - protected void setParent(PShapeSVGExtended parent) { - // Need to set this so that findChild() works. - // Otherwise 'parent' is null until addChild() is called later. - this.parent = parent; - - if (parent == null) { - // set values to their defaults according to the SVG spec - stroke = false; - strokeColor = 0xff000000; - strokeWeight = 1; - strokeCap = PConstants.SQUARE; // equivalent to BUTT in svg spec - strokeJoin = PConstants.MITER; - strokeGradient = null; -// strokeGradientPaint = null; - strokeName = null; - - fill = true; - fillColor = 0xff000000; - fillGradient = null; -// fillGradientPaint = null; - fillName = null; - - //hasTransform = false; - //transformation = null; //new float[] { 1, 0, 0, 1, 0, 0 }; - - // svgWidth, svgHeight, and svgXYSize done below. - - strokeOpacity = 1; - fillOpacity = 1; - opacity = 1; - - } else { - stroke = parent.stroke; - strokeColor = parent.strokeColor; - strokeWeight = parent.strokeWeight; - strokeCap = parent.strokeCap; - strokeJoin = parent.strokeJoin; - strokeGradient = parent.strokeGradient; -// strokeGradientPaint = parent.strokeGradientPaint; - strokeName = parent.strokeName; - - fill = parent.fill; - fillColor = parent.fillColor; - fillGradient = parent.fillGradient; -// fillGradientPaint = parent.fillGradientPaint; - fillName = parent.fillName; - - svgWidth = parent.svgWidth; - svgHeight = parent.svgHeight; - svgSizeXY = parent.svgSizeXY; - - opacity = parent.opacity; - } - - // The rect and ellipse modes are set to CORNER since it is the expected - // mode for svg shapes. - rectMode = CORNER; - ellipseMode = CORNER; - } - - - /** Factory method for subclasses. */ - protected PShapeSVGExtended createShape(PShapeSVGExtended parent, XML properties, boolean parseKids) { - return new PShapeSVGExtended(parent, properties, parseKids); - } - - - protected void parseChildren(XML graphics) { - XML[] elements = graphics.getChildren(); - children = new PShape[elements.length]; - childCount = 0; - - for (XML elem : elements) { - PShape kid = parseChild(elem); - if (kid != null) addChild(kid); - } - children = (PShape[]) PApplet.subset(children, 0, childCount); - } - - - /** - * Parse a child XML element. - * Override this method to add parsing for more SVG elements. - */ - protected PShape parseChild(XML elem) { -// System.err.println("parsing child in pshape " + elem.getName()); - String name = elem.getName(); - PShapeSVGExtended shape = null; - - - if (name == null) { - // just some whitespace that can be ignored (hopefully) - - } else if (name.equals("g")) { - shape = createShape(this, elem, true); - - } else if (name.equals("defs")) { - // generally this will contain gradient info, so may - // as well just throw it into a group element for parsing - shape = createShape(this, elem, true); - - } else if (name.equals("line")) { - shape = createShape(this, elem, true); - shape.parseLine(); - - } else if (name.equals("circle")) { - shape = createShape(this, elem, true); - shape.parseEllipse(true); - - } else if (name.equals("ellipse")) { - shape = createShape(this, elem, true); - shape.parseEllipse(false); - - } else if (name.equals("rect")) { - shape = createShape(this, elem, true); - shape.parseRect(); - - } else if (name.equals("image")) { - shape = createShape(this, elem, true); - shape.parseImage(); - - } else if (name.equals("polygon")) { - shape = createShape(this, elem, true); - shape.parsePoly(true); - - } else if (name.equals("polyline")) { - shape = createShape(this, elem, true); - shape.parsePoly(false); - - } else if (name.equals("path")) { - shape = createShape(this, elem, true); - shape.parsePath(); - - } else if (name.equals("radialGradient")) { - return new RadialGradient(this, elem); - - } else if (name.equals("linearGradient")) { - return new LinearGradient(this, elem); - - } else if (name.equals("font")) { - return new Font(this, elem); - -// } else if (name.equals("font-face")) { -// return new FontFace(this, elem); - -// } else if (name.equals("glyph") || name.equals("missing-glyph")) { -// return new FontGlyph(this, elem); - - } else if (name.equals("text")) { // || name.equals("font")) { - return new Text(this, elem); - - } else if (name.equals("tspan")) { - return new LineOfText(this, elem); - - } else if (name.equals("filter")) { - PGraphics.showWarning("Filters are not supported."); - - } else if (name.equals("mask")) { - PGraphics.showWarning("Masks are not supported."); - - } else if (name.equals("pattern")) { - PGraphics.showWarning("Patterns are not supported."); - - } else if (name.equals("stop")) { - // stop tag is handled by gradient parser, so don't warn about it - - } else if (name.equals("sodipodi:namedview")) { - // these are always in Inkscape files, the warnings get tedious - - } else if (name.equals("metadata") - || name.equals("title") || name.equals("desc")) { - // fontforge just stuffs in as a comment. - // All harmless stuff, irrelevant to rendering. - return null; - - } else if (!name.startsWith("#")) { - PGraphics.showWarning("Ignoring <" + name + "> tag."); -// new Exception().printStackTrace(); - } - return shape; - } - - - protected void parseLine() { - kind = LINE; - family = PRIMITIVE; - params = new float[] { - getFloatWithUnit(element, "x1", svgWidth), - getFloatWithUnit(element, "y1", svgHeight), - getFloatWithUnit(element, "x2", svgWidth), - getFloatWithUnit(element, "y2", svgHeight) - }; - } - - - /** - * Handles parsing ellipse and circle tags. - * @param circle true if this is a circle and not an ellipse - */ - protected void parseEllipse(boolean circle) { - kind = ELLIPSE; - family = PRIMITIVE; - params = new float[4]; - - params[0] = getFloatWithUnit(element, "cx", svgWidth); - params[1] = getFloatWithUnit(element, "cy", svgHeight); - - float rx, ry; - if (circle) { - rx = ry = getFloatWithUnit(element, "r", svgSizeXY); - } else { - rx = getFloatWithUnit(element, "rx", svgWidth); - ry = getFloatWithUnit(element, "ry", svgHeight); - } - params[0] -= rx; - params[1] -= ry; - - params[2] = rx*2; - params[3] = ry*2; - } - - - protected void parseRect() { - kind = RECT; - family = PRIMITIVE; - params = new float[] { - getFloatWithUnit(element, "x", svgWidth), - getFloatWithUnit(element, "y", svgHeight), - getFloatWithUnit(element, "width", svgWidth), - getFloatWithUnit(element, "height", svgHeight) - }; - } - - - protected void parseImage() { - kind = RECT; - textureMode = NORMAL; - - family = PRIMITIVE; - params = new float[] { - getFloatWithUnit(element, "x", svgWidth), - getFloatWithUnit(element, "y", svgHeight), - getFloatWithUnit(element, "width", svgWidth), - getFloatWithUnit(element, "height", svgHeight) - }; - - this.imagePath = element.getString("xlink:href"); - } - - /** - * Parse a polyline or polygon from an SVG file. - * Syntax defined at http://www.w3.org/TR/SVG/shapes.html#PointsBNF - * @param close true if shape is closed (polygon), false if not (polyline) - */ - protected void parsePoly(boolean close) { - family = PATH; - this.close = close; - - String pointsAttr = element.getString("points"); - if (pointsAttr != null) { - String[] pointsBuffer = PApplet.splitTokens(pointsAttr); - vertexCount = pointsBuffer.length; - vertices = new float[vertexCount][2]; - for (int i = 0; i < vertexCount; i++) { - String pb[] = PApplet.splitTokens(pointsBuffer[i], ", \t\r\n"); - vertices[i][X] = Float.parseFloat(pb[0]); - vertices[i][Y] = Float.parseFloat(pb[1]); - } - } - } - - - protected void parsePath() { - family = PATH; - kind = 0; - - String pathData = element.getString("d"); - if (pathData == null || PApplet.trim(pathData).length() == 0) { - return; - } - char[] pathDataChars = pathData.toCharArray(); - - StringBuilder pathBuffer = new StringBuilder(); - boolean lastSeparate = false; - - for (int i = 0; i < pathDataChars.length; i++) { - char c = pathDataChars[i]; - boolean separate = false; - - if (c == 'M' || c == 'm' || - c == 'L' || c == 'l' || - c == 'H' || c == 'h' || - c == 'V' || c == 'v' || - c == 'C' || c == 'c' || // beziers - c == 'S' || c == 's' || - c == 'Q' || c == 'q' || // quadratic beziers - c == 'T' || c == 't' || - c == 'A' || c == 'a' || // elliptical arc - c == 'Z' || c == 'z' || // closepath - c == ',') { - separate = true; - if (i != 0) { - pathBuffer.append("|"); - } - } - if (c == 'Z' || c == 'z') { - separate = false; - } - if (c == '-' && !lastSeparate) { - // allow for 'e' notation in numbers, e.g. 2.10e-9 - // http://dev.processing.org/bugs/show_bug.cgi?id=1408 - if (i == 0 || pathDataChars[i-1] != 'e') { - pathBuffer.append("|"); - } - } - if (c != ',') { - pathBuffer.append(c); //"" + pathDataBuffer.charAt(i)); - } - if (separate && c != ',' && c != '-') { - pathBuffer.append("|"); - } - lastSeparate = separate; - } - - // use whitespace constant to get rid of extra spaces and CR or LF - String[] pathTokens = - PApplet.splitTokens(pathBuffer.toString(), "|" + WHITESPACE); - vertices = new float[pathTokens.length][2]; - vertexCodes = new int[pathTokens.length]; - - float cx = 0; - float cy = 0; - int i = 0; - - char implicitCommand = '\0'; -// char prevCommand = '\0'; - boolean prevCurve = false; - float ctrlX, ctrlY; - // store values for closepath so that relative coords work properly - float movetoX = 0; - float movetoY = 0; - - while (i < pathTokens.length) { - char c = pathTokens[i].charAt(0); - if (((c >= '0' && c <= '9') || (c == '-')) && implicitCommand != '\0') { - c = implicitCommand; - i--; - } else { - implicitCommand = c; - } - switch (c) { - - case 'M': // M - move to (absolute) - cx = PApplet.parseFloat(pathTokens[i + 1]); - cy = PApplet.parseFloat(pathTokens[i + 2]); - movetoX = cx; - movetoY = cy; - parsePathMoveto(cx, cy); - implicitCommand = 'L'; - i += 3; - break; - - case 'm': // m - move to (relative) - cx = cx + PApplet.parseFloat(pathTokens[i + 1]); - cy = cy + PApplet.parseFloat(pathTokens[i + 2]); - movetoX = cx; - movetoY = cy; - parsePathMoveto(cx, cy); - implicitCommand = 'l'; - i += 3; - break; - - case 'L': - cx = PApplet.parseFloat(pathTokens[i + 1]); - cy = PApplet.parseFloat(pathTokens[i + 2]); - parsePathLineto(cx, cy); - i += 3; - break; - - case 'l': - cx = cx + PApplet.parseFloat(pathTokens[i + 1]); - cy = cy + PApplet.parseFloat(pathTokens[i + 2]); - parsePathLineto(cx, cy); - i += 3; - break; - - // horizontal lineto absolute - case 'H': - cx = PApplet.parseFloat(pathTokens[i + 1]); - parsePathLineto(cx, cy); - i += 2; - break; - - // horizontal lineto relative - case 'h': - cx = cx + PApplet.parseFloat(pathTokens[i + 1]); - parsePathLineto(cx, cy); - i += 2; - break; - - case 'V': - cy = PApplet.parseFloat(pathTokens[i + 1]); - parsePathLineto(cx, cy); - i += 2; - break; - - case 'v': - cy = cy + PApplet.parseFloat(pathTokens[i + 1]); - parsePathLineto(cx, cy); - i += 2; - break; - - // C - curve to (absolute) - case 'C': { - float ctrlX1 = PApplet.parseFloat(pathTokens[i + 1]); - float ctrlY1 = PApplet.parseFloat(pathTokens[i + 2]); - float ctrlX2 = PApplet.parseFloat(pathTokens[i + 3]); - float ctrlY2 = PApplet.parseFloat(pathTokens[i + 4]); - float endX = PApplet.parseFloat(pathTokens[i + 5]); - float endY = PApplet.parseFloat(pathTokens[i + 6]); - parsePathCurveto(ctrlX1, ctrlY1, ctrlX2, ctrlY2, endX, endY); - cx = endX; - cy = endY; - i += 7; - prevCurve = true; - } - break; - - // c - curve to (relative) - case 'c': { - float ctrlX1 = cx + PApplet.parseFloat(pathTokens[i + 1]); - float ctrlY1 = cy + PApplet.parseFloat(pathTokens[i + 2]); - float ctrlX2 = cx + PApplet.parseFloat(pathTokens[i + 3]); - float ctrlY2 = cy + PApplet.parseFloat(pathTokens[i + 4]); - float endX = cx + PApplet.parseFloat(pathTokens[i + 5]); - float endY = cy + PApplet.parseFloat(pathTokens[i + 6]); - parsePathCurveto(ctrlX1, ctrlY1, ctrlX2, ctrlY2, endX, endY); - cx = endX; - cy = endY; - i += 7; - prevCurve = true; - } - break; - - // S - curve to shorthand (absolute) - // Draws a cubic Bézier curve from the current point to (x,y). The first - // control point is assumed to be the reflection of the second control - // point on the previous command relative to the current point. - // (x2,y2) is the second control point (i.e., the control point - // at the end of the curve). S (uppercase) indicates that absolute - // coordinates will follow; s (lowercase) indicates that relative - // coordinates will follow. Multiple sets of coordinates may be specified - // to draw a polybézier. At the end of the command, the new current point - // becomes the final (x,y) coordinate pair used in the polybézier. - case 'S': { - // (If there is no previous command or if the previous command was not - // an C, c, S or s, assume the first control point is coincident with - // the current point.) - if (!prevCurve) { - ctrlX = cx; - ctrlY = cy; - } else { - float ppx = vertices[vertexCount-2][X]; - float ppy = vertices[vertexCount-2][Y]; - float px = vertices[vertexCount-1][X]; - float py = vertices[vertexCount-1][Y]; - ctrlX = px + (px - ppx); - ctrlY = py + (py - ppy); - } - float ctrlX2 = PApplet.parseFloat(pathTokens[i + 1]); - float ctrlY2 = PApplet.parseFloat(pathTokens[i + 2]); - float endX = PApplet.parseFloat(pathTokens[i + 3]); - float endY = PApplet.parseFloat(pathTokens[i + 4]); - parsePathCurveto(ctrlX, ctrlY, ctrlX2, ctrlY2, endX, endY); - cx = endX; - cy = endY; - i += 5; - prevCurve = true; - } - break; - - // s - curve to shorthand (relative) - case 's': { - if (!prevCurve) { - ctrlX = cx; - ctrlY = cy; - } else { - float ppx = vertices[vertexCount-2][X]; - float ppy = vertices[vertexCount-2][Y]; - float px = vertices[vertexCount-1][X]; - float py = vertices[vertexCount-1][Y]; - ctrlX = px + (px - ppx); - ctrlY = py + (py - ppy); - } - float ctrlX2 = cx + PApplet.parseFloat(pathTokens[i + 1]); - float ctrlY2 = cy + PApplet.parseFloat(pathTokens[i + 2]); - float endX = cx + PApplet.parseFloat(pathTokens[i + 3]); - float endY = cy + PApplet.parseFloat(pathTokens[i + 4]); - parsePathCurveto(ctrlX, ctrlY, ctrlX2, ctrlY2, endX, endY); - cx = endX; - cy = endY; - i += 5; - prevCurve = true; - } - break; - - // Q - quadratic curve to (absolute) - // Draws a quadratic Bézier curve from the current point to (x,y) using - // (x1,y1) as the control point. Q (uppercase) indicates that absolute - // coordinates will follow; q (lowercase) indicates that relative - // coordinates will follow. Multiple sets of coordinates may be specified - // to draw a polybézier. At the end of the command, the new current point - // becomes the final (x,y) coordinate pair used in the polybézier. - case 'Q': { - ctrlX = PApplet.parseFloat(pathTokens[i + 1]); - ctrlY = PApplet.parseFloat(pathTokens[i + 2]); - float endX = PApplet.parseFloat(pathTokens[i + 3]); - float endY = PApplet.parseFloat(pathTokens[i + 4]); - //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); - parsePathQuadto(ctrlX, ctrlY, endX, endY); - cx = endX; - cy = endY; - i += 5; - prevCurve = true; - } - break; - - // q - quadratic curve to (relative) - case 'q': { - ctrlX = cx + PApplet.parseFloat(pathTokens[i + 1]); - ctrlY = cy + PApplet.parseFloat(pathTokens[i + 2]); - float endX = cx + PApplet.parseFloat(pathTokens[i + 3]); - float endY = cy + PApplet.parseFloat(pathTokens[i + 4]); - //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); - parsePathQuadto(ctrlX, ctrlY, endX, endY); - cx = endX; - cy = endY; - i += 5; - prevCurve = true; - } - break; - - // T - quadratic curveto shorthand (absolute) - // The control point is assumed to be the reflection of the control - // point on the previous command relative to the current point. - case 'T': { - // If there is no previous command or if the previous command was - // not a Q, q, T or t, assume the control point is coincident - // with the current point. - if (!prevCurve) { - ctrlX = cx; - ctrlY = cy; - } else { - float ppx = vertices[vertexCount-2][X]; - float ppy = vertices[vertexCount-2][Y]; - float px = vertices[vertexCount-1][X]; - float py = vertices[vertexCount-1][Y]; - ctrlX = px + (px - ppx); - ctrlY = py + (py - ppy); - } - float endX = PApplet.parseFloat(pathTokens[i + 1]); - float endY = PApplet.parseFloat(pathTokens[i + 2]); - //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); - parsePathQuadto(ctrlX, ctrlY, endX, endY); - cx = endX; - cy = endY; - i += 3; - prevCurve = true; - } - break; - - // t - quadratic curveto shorthand (relative) - case 't': { - if (!prevCurve) { - ctrlX = cx; - ctrlY = cy; - } else { - float ppx = vertices[vertexCount-2][X]; - float ppy = vertices[vertexCount-2][Y]; - float px = vertices[vertexCount-1][X]; - float py = vertices[vertexCount-1][Y]; - ctrlX = px + (px - ppx); - ctrlY = py + (py - ppy); - } - float endX = cx + PApplet.parseFloat(pathTokens[i + 1]); - float endY = cy + PApplet.parseFloat(pathTokens[i + 2]); - //parsePathQuadto(cx, cy, ctrlX, ctrlY, endX, endY); - parsePathQuadto(ctrlX, ctrlY, endX, endY); - cx = endX; - cy = endY; - i += 3; - prevCurve = true; - } - break; - - // A - elliptical arc to (absolute) - case 'A': { - float rx = PApplet.parseFloat(pathTokens[i + 1]); - float ry = PApplet.parseFloat(pathTokens[i + 2]); - float angle = PApplet.parseFloat(pathTokens[i + 3]); - boolean fa = PApplet.parseFloat(pathTokens[i + 4]) != 0; - boolean fs = PApplet.parseFloat(pathTokens[i + 5]) != 0; - float endX = PApplet.parseFloat(pathTokens[i + 6]); - float endY = PApplet.parseFloat(pathTokens[i + 7]); - parsePathArcto(cx, cy, rx, ry, angle, fa, fs, endX, endY); - cx = endX; - cy = endY; - i += 8; - prevCurve = true; - } - break; - - // a - elliptical arc to (relative) - case 'a': { - float rx = PApplet.parseFloat(pathTokens[i + 1]); - float ry = PApplet.parseFloat(pathTokens[i + 2]); - float angle = PApplet.parseFloat(pathTokens[i + 3]); - boolean fa = PApplet.parseFloat(pathTokens[i + 4]) != 0; - boolean fs = PApplet.parseFloat(pathTokens[i + 5]) != 0; - float endX = cx + PApplet.parseFloat(pathTokens[i + 6]); - float endY = cy + PApplet.parseFloat(pathTokens[i + 7]); - parsePathArcto(cx, cy, rx, ry, angle, fa, fs, endX, endY); - cx = endX; - cy = endY; - i += 8; - prevCurve = true; - } - break; - - case 'Z': - case 'z': - // since closing the path, the 'current' point needs - // to return back to the last moveto location. - // http://code.google.com/p/processing/issues/detail?id=1058 - cx = movetoX; - cy = movetoY; - close = true; - i++; - break; - - default: - String parsed = - PApplet.join(PApplet.subset(pathTokens, 0, i), ","); - String unparsed = - PApplet.join(PApplet.subset(pathTokens, i), ","); - System.err.println("parsed: " + parsed); - System.err.println("unparsed: " + unparsed); - throw new RuntimeException("shape command not handled: " + pathTokens[i]); - } -// prevCommand = c; - } - } - - -// private void parsePathCheck(int num) { -// if (vertexCount + num-1 >= vertices.length) { -// //vertices = (float[][]) PApplet.expand(vertices); -// float[][] temp = new float[vertexCount << 1][2]; -// System.arraycopy(vertices, 0, temp, 0, vertexCount); -// vertices = temp; -// } -// } - - private void parsePathVertex(float x, float y) { - if (vertexCount == vertices.length) { - //vertices = (float[][]) PApplet.expand(vertices); - float[][] temp = new float[vertexCount << 1][2]; - System.arraycopy(vertices, 0, temp, 0, vertexCount); - vertices = temp; - } - vertices[vertexCount][X] = x; - vertices[vertexCount][Y] = y; - vertexCount++; - } - - - private void parsePathCode(int what) { - if (vertexCodeCount == vertexCodes.length) { - vertexCodes = PApplet.expand(vertexCodes); - } - vertexCodes[vertexCodeCount++] = what; - } - - - private void parsePathMoveto(float px, float py) { - if (vertexCount > 0) { - parsePathCode(BREAK); - } - parsePathCode(VERTEX); - parsePathVertex(px, py); - } - - - private void parsePathLineto(float px, float py) { - parsePathCode(VERTEX); - parsePathVertex(px, py); - } - - - private void parsePathCurveto(float x1, float y1, - float x2, float y2, - float x3, float y3) { - parsePathCode(BEZIER_VERTEX); - parsePathVertex(x1, y1); - parsePathVertex(x2, y2); - parsePathVertex(x3, y3); - } - -// private void parsePathQuadto(float x1, float y1, -// float cx, float cy, -// float x2, float y2) { -// //System.out.println("quadto: " + x1 + "," + y1 + " " + cx + "," + cy + " " + x2 + "," + y2); -//// parsePathCode(BEZIER_VERTEX); -// parsePathCode(QUAD_BEZIER_VERTEX); -// // x1/y1 already covered by last moveto, lineto, or curveto -// -// parsePathVertex(x1 + ((cx-x1)*2/3.0f), y1 + ((cy-y1)*2/3.0f)); -// parsePathVertex(x2 + ((cx-x2)*2/3.0f), y2 + ((cy-y2)*2/3.0f)); -// parsePathVertex(x2, y2); -// } - - private void parsePathQuadto(float cx, float cy, - float x2, float y2) { - //System.out.println("quadto: " + x1 + "," + y1 + " " + cx + "," + cy + " " + x2 + "," + y2); -// parsePathCode(BEZIER_VERTEX); - parsePathCode(QUADRATIC_VERTEX); - // x1/y1 already covered by last moveto, lineto, or curveto - parsePathVertex(cx, cy); - parsePathVertex(x2, y2); - } - - - // Approximates elliptical arc by several bezier segments. - // Meets SVG standard requirements from: - // http://www.w3.org/TR/SVG/paths.html#PathDataEllipticalArcCommands - // http://www.w3.org/TR/SVG/implnote.html#ArcImplementationNotes - // Based on arc to bezier curve equations from: - // http://www.spaceroots.org/documents/ellipse/node22.html - private void parsePathArcto(float x1, float y1, - float rx, float ry, - float angle, - boolean fa, boolean fs, - float x2, float y2) { - if (x1 == x2 && y1 == y2) return; - if (rx == 0 || ry == 0) { parsePathLineto(x2, y2); return; } - - rx = PApplet.abs(rx); ry = PApplet.abs(ry); - - float phi = PApplet.radians(((angle % 360) + 360) % 360); - float cosPhi = PApplet.cos(phi), sinPhi = PApplet.sin(phi); - - float x1r = ( cosPhi * (x1 - x2) + sinPhi * (y1 - y2)) / 2; - float y1r = (-sinPhi * (x1 - x2) + cosPhi * (y1 - y2)) / 2; - - float cxr, cyr; - { - float A = (x1r*x1r) / (rx*rx) + (y1r*y1r) / (ry*ry); - if (A > 1) { - // No solution, scale ellipse up according to SVG standard - float sqrtA = PApplet.sqrt(A); - rx *= sqrtA; cxr = 0; - ry *= sqrtA; cyr = 0; - } else { - float k = ((fa == fs) ? -1f : 1f) * - PApplet.sqrt((rx*rx * ry*ry) / ((rx*rx * y1r*y1r) + (ry*ry * x1r*x1r)) - 1f); - cxr = k * rx * y1r / ry; - cyr = -k * ry * x1r / rx; - } - } - - float cx = cosPhi * cxr - sinPhi * cyr + (x1 + x2) / 2; - float cy = sinPhi * cxr + cosPhi * cyr + (y1 + y2) / 2; - - float phi1, phiDelta; - { - float sx = ( x1r - cxr) / rx, sy = ( y1r - cyr) / ry; - float tx = (-x1r - cxr) / rx, ty = (-y1r - cyr) / ry; - phi1 = PApplet.atan2(sy, sx); - phiDelta = (((PApplet.atan2(ty, tx) - phi1) % TWO_PI) + TWO_PI) % TWO_PI; - if (!fs) phiDelta -= TWO_PI; - } - - // One segment can not cover more that PI, less than PI/2 is - // recommended to avoid visible inaccuracies caused by rounding errors - int segmentCount = PApplet.ceil(PApplet.abs(phiDelta) / TWO_PI * 4); - - float inc = phiDelta / segmentCount; - float a = PApplet.sin(inc) * - (PApplet.sqrt(4 + 3 * PApplet.sq(PApplet.tan(inc / 2))) - 1) / 3; - - float sinPhi1 = PApplet.sin(phi1), cosPhi1 = PApplet.cos(phi1); - - float p1x = x1; - float p1y = y1; - float relq1x = a * (-rx * cosPhi * sinPhi1 - ry * sinPhi * cosPhi1); - float relq1y = a * (-rx * sinPhi * sinPhi1 + ry * cosPhi * cosPhi1); - - for (int i = 0; i < segmentCount; i++) { - float eta = phi1 + (i + 1) * inc; - float sinEta = PApplet.sin(eta), cosEta = PApplet.cos(eta); - - float p2x = cx + rx * cosPhi * cosEta - ry * sinPhi * sinEta; - float p2y = cy + rx * sinPhi * cosEta + ry * cosPhi * sinEta; - float relq2x = a * (-rx * cosPhi * sinEta - ry * sinPhi * cosEta); - float relq2y = a * (-rx * sinPhi * sinEta + ry * cosPhi * cosEta); - - if (i == segmentCount - 1) { p2x = x2; p2y = y2; } - - parsePathCode(BEZIER_VERTEX); - parsePathVertex(p1x + relq1x, p1y + relq1y); - parsePathVertex(p2x - relq2x, p2y - relq2y); - parsePathVertex(p2x, p2y); - - p1x = p2x; relq1x = relq2x; - p1y = p2y; relq1y = relq2y; - } - } - - - /** - * Parse the specified SVG matrix into a PMatrix2D. Note that PMatrix2D - * is rotated relative to the SVG definition, so parameters are rearranged - * here. More about the transformation matrices in - * this section - * of the SVG documentation. - * @param matrixStr text of the matrix param. - * @return a good old-fashioned PMatrix2D - */ - static protected PMatrix2D parseTransform(String matrixStr) { - matrixStr = matrixStr.trim(); - PMatrix2D outgoing = null; - int start = 0; - int stop = -1; - while ((stop = matrixStr.indexOf(')', start)) != -1) { - PMatrix2D m = parseSingleTransform(matrixStr.substring(start, stop+1)); - if (outgoing == null) { - outgoing = m; - } else { - outgoing.apply(m); - } - start = stop + 1; - } - return outgoing; - } - - - static protected PMatrix2D parseSingleTransform(String matrixStr) { - //String[] pieces = PApplet.match(matrixStr, "^\\s*(\\w+)\\((.*)\\)\\s*$"); - String[] pieces = PApplet.match(matrixStr, "[,\\s]*(\\w+)\\((.*)\\)"); - if (pieces == null) { - System.err.println("Could not parse transform " + matrixStr); - return null; - } - float[] m = PApplet.parseFloat(PApplet.splitTokens(pieces[2], ", ")); - if (pieces[1].equals("matrix")) { - return new PMatrix2D(m[0], m[2], m[4], m[1], m[3], m[5]); - - } else if (pieces[1].equals("translate")) { - float tx = m[0]; - float ty = (m.length == 2) ? m[1] : m[0]; - return new PMatrix2D(1, 0, tx, 0, 1, ty); - - } else if (pieces[1].equals("scale")) { - float sx = m[0]; - float sy = (m.length == 2) ? m[1] : m[0]; - return new PMatrix2D(sx, 0, 0, 0, sy, 0); - - } else if (pieces[1].equals("rotate")) { - float angle = m[0]; - - if (m.length == 1) { - float c = PApplet.cos(angle); - float s = PApplet.sin(angle); - // SVG version is cos(a) sin(a) -sin(a) cos(a) 0 0 - return new PMatrix2D(c, -s, 0, s, c, 0); - - } else if (m.length == 3) { - PMatrix2D mat = new PMatrix2D(0, 1, m[1], 1, 0, m[2]); - mat.rotate(m[0]); - mat.translate(-m[1], -m[2]); - return mat; - } - - } else if (pieces[1].equals("skewX")) { - return new PMatrix2D(1, 0, 1, PApplet.tan(m[0]), 0, 0); - - } else if (pieces[1].equals("skewY")) { - return new PMatrix2D(1, 0, 1, 0, PApplet.tan(m[0]), 0); - } - return null; - } - - - protected void parseColors(XML properties) { - if (properties.hasAttribute("opacity")) { - String opacityText = properties.getString("opacity"); - setOpacity(opacityText); - } - - if (properties.hasAttribute("stroke")) { - String strokeText = properties.getString("stroke"); - setColor(strokeText, false); - } - - if (properties.hasAttribute("stroke-opacity")) { - String strokeOpacityText = properties.getString("stroke-opacity"); - setStrokeOpacity(strokeOpacityText); - } - - if (properties.hasAttribute("stroke-width")) { - // if NaN (i.e. if it's 'inherit') then default back to the inherit setting - String lineweight = properties.getString("stroke-width"); - setStrokeWeight(lineweight); - } - - if (properties.hasAttribute("stroke-linejoin")) { - String linejoin = properties.getString("stroke-linejoin"); - setStrokeJoin(linejoin); - } - - if (properties.hasAttribute("stroke-linecap")) { - String linecap = properties.getString("stroke-linecap"); - setStrokeCap(linecap); - } - - // fill defaults to black (though stroke defaults to "none") - // http://www.w3.org/TR/SVG/painting.html#FillProperties - if (properties.hasAttribute("fill")) { - String fillText = properties.getString("fill"); - setColor(fillText, true); - } - - if (properties.hasAttribute("fill-opacity")) { - String fillOpacityText = properties.getString("fill-opacity"); - setFillOpacity(fillOpacityText); - } - - if (properties.hasAttribute("style")) { - String styleText = properties.getString("style"); - String[] styleTokens = PApplet.splitTokens(styleText, ";"); - - //PApplet.println(styleTokens); - for (int i = 0; i < styleTokens.length; i++) { - String[] tokens = PApplet.splitTokens(styleTokens[i], ":"); - //PApplet.println(tokens); - - tokens[0] = PApplet.trim(tokens[0]); - - if (tokens[0].equals("fill")) { - setColor(tokens[1], true); - - } else if(tokens[0].equals("fill-opacity")) { - setFillOpacity(tokens[1]); - - } else if(tokens[0].equals("stroke")) { - setColor(tokens[1], false); - - } else if(tokens[0].equals("stroke-width")) { - setStrokeWeight(tokens[1]); - - } else if(tokens[0].equals("stroke-linecap")) { - setStrokeCap(tokens[1]); - - } else if(tokens[0].equals("stroke-linejoin")) { - setStrokeJoin(tokens[1]); - - } else if(tokens[0].equals("stroke-opacity")) { - setStrokeOpacity(tokens[1]); - - } else if(tokens[0].equals("opacity")) { - setOpacity(tokens[1]); - - } else { - // Other attributes are not yet implemented - } - } - } - } - - - void setOpacity(String opacityText) { - opacity = PApplet.parseFloat(opacityText); - strokeColor = ((int) (opacity * 255)) << 24 | strokeColor & 0xFFFFFF; - fillColor = ((int) (opacity * 255)) << 24 | fillColor & 0xFFFFFF; - } - - - void setStrokeWeight(String lineweight) { - strokeWeight = parseUnitSize(lineweight, svgSizeXY); - } - - - void setStrokeOpacity(String opacityText) { - strokeOpacity = PApplet.parseFloat(opacityText); - strokeColor = ((int) (strokeOpacity * 255)) << 24 | strokeColor & 0xFFFFFF; - } - - - void setStrokeJoin(String linejoin) { - if (linejoin.equals("inherit")) { - // do nothing, will inherit automatically - - } else if (linejoin.equals("miter")) { - strokeJoin = PConstants.MITER; - - } else if (linejoin.equals("round")) { - strokeJoin = PConstants.ROUND; - - } else if (linejoin.equals("bevel")) { - strokeJoin = PConstants.BEVEL; - } - } - - - void setStrokeCap(String linecap) { - if (linecap.equals("inherit")) { - // do nothing, will inherit automatically - - } else if (linecap.equals("butt")) { - strokeCap = PConstants.SQUARE; - - } else if (linecap.equals("round")) { - strokeCap = PConstants.ROUND; - - } else if (linecap.equals("square")) { - strokeCap = PConstants.PROJECT; - } - } - - - void setFillOpacity(String opacityText) { - fillOpacity = PApplet.parseFloat(opacityText); - fillColor = ((int) (fillOpacity * 255)) << 24 | fillColor & 0xFFFFFF; - } - - - void setColor(String colorText, boolean isFill) { - colorText = colorText.trim(); - int opacityMask = fillColor & 0xFF000000; - boolean visible = true; - int color = 0; - String name = ""; -// String lColorText = colorText.toLowerCase(); - Gradient gradient = null; -// Object paint = null; - if (colorText.equals("none")) { - visible = false; - } else if (colorText.startsWith("url(#")) { - name = colorText.substring(5, colorText.length() - 1); - Object object = findChild(name); - if (object instanceof Gradient) { - gradient = (Gradient) object; - // in 3.0a11, do this on first draw inside PShapeJava2D -// paint = calcGradientPaint(gradient); //, opacity); - } else { -// visible = false; - System.err.println("url " + name + " refers to unexpected data: " + object); - } - } else { - // Prints errors itself. - color = opacityMask | parseSimpleColor(colorText); - } - if (isFill) { - fill = visible; - fillColor = color; - fillName = name; - fillGradient = gradient; -// fillGradientPaint = paint; - } else { - stroke = visible; - strokeColor = color; - strokeName = name; - strokeGradient = gradient; -// strokeGradientPaint = paint; - } - } - - - /** - * Parses the "color" datatype only, and prints an error if it is not of this form. - * http://www.w3.org/TR/SVG/types.html#DataTypeColor - * @return 0xRRGGBB (no alpha). Zero on error. - */ - static protected int parseSimpleColor(String colorText) { - colorText = colorText.toLowerCase().trim(); - //if (colorNames.containsKey(colorText)) { - if (colorNames.hasKey(colorText)) { - return colorNames.get(colorText); - } else if (colorText.startsWith("#")) { - if (colorText.length() == 4) { - // Short form: #ABC, transform to long form #AABBCC - colorText = colorText.replaceAll("^#(.)(.)(.)$", "#$1$1$2$2$3$3"); - } - return (Integer.parseInt(colorText.substring(1), 16)) & 0xFFFFFF; - //System.out.println("hex for fill is " + PApplet.hex(fillColor)); - } else if (colorText.startsWith("rgb")) { - return parseRGB(colorText); - } else { - System.err.println("Cannot parse \"" + colorText + "\"."); - return 0; - } - } - - - /** - * Deliberately conforms to the HTML 4.01 color spec + en-gb grey, rather - * than the (unlikely to be useful) entire 147-color system used in SVG. - */ - static protected IntDict colorNames = new IntDict(new Object[][] { - { "aqua", 0x00ffff }, - { "black", 0x000000 }, - { "blue", 0x0000ff }, - { "fuchsia", 0xff00ff }, - { "gray", 0x808080 }, - { "grey", 0x808080 }, - { "green", 0x008000 }, - { "lime", 0x00ff00 }, - { "maroon", 0x800000 }, - { "navy", 0x000080 }, - { "olive", 0x808000 }, - { "purple", 0x800080 }, - { "red", 0xff0000 }, - { "silver", 0xc0c0c0 }, - { "teal", 0x008080 }, - { "white", 0xffffff }, - { "yellow", 0xffff00 } - }); - - /* - static protected Map colorNames; - static { - colorNames = new HashMap(); - colorNames.put("aqua", 0x00ffff); - colorNames.put("black", 0x000000); - colorNames.put("blue", 0x0000ff); - colorNames.put("fuchsia", 0xff00ff); - colorNames.put("gray", 0x808080); - colorNames.put("grey", 0x808080); - colorNames.put("green", 0x008000); - colorNames.put("lime", 0x00ff00); - colorNames.put("maroon", 0x800000); - colorNames.put("navy", 0x000080); - colorNames.put("olive", 0x808000); - colorNames.put("purple", 0x800080); - colorNames.put("red", 0xff0000); - colorNames.put("silver", 0xc0c0c0); - colorNames.put("teal", 0x008080); - colorNames.put("white", 0xffffff); - colorNames.put("yellow", 0xffff00); - } - */ - - static protected int parseRGB(String what) { - int leftParen = what.indexOf('(') + 1; - int rightParen = what.indexOf(')'); - String sub = what.substring(leftParen, rightParen); - String[] values = PApplet.splitTokens(sub, ", "); - int rgbValue = 0; - if (values.length == 3) { - // Color spec allows for rgb values to be percentages. - for (int i = 0; i < 3; i++) { - rgbValue <<= 8; - if (values[i].endsWith("%")) { - rgbValue |= (int)(PApplet.constrain(255*parseFloatOrPercent(values[i]), 0, 255)); - } else { - rgbValue |= PApplet.constrain(PApplet.parseInt(values[i]), 0, 255); - } - } - } else System.err.println("Could not read color \"" + what + "\"."); - - return rgbValue; - } - - - //static protected Map parseStyleAttributes(String style) { - static protected StringDict parseStyleAttributes(String style) { - //Map table = new HashMap(); - StringDict table = new StringDict(); -// if (style == null) return table; - if (style != null) { - String[] pieces = style.split(";"); - for (int i = 0; i < pieces.length; i++) { - String[] parts = pieces[i].split(":"); - //table.put(parts[0], parts[1]); - table.set(parts[0], parts[1]); - } - } - return table; - } - - - /** - * Used in place of element.getFloatAttribute(a) because we can - * have a unit suffix (length or coordinate). - * @param element what to parse - * @param attribute name of the attribute to get - * @param relativeTo (float) Used for %. When relative to viewbox, should - * be svgWidth for horizontal dimentions, svgHeight for vertical, and - * svgXYSize for anything else. - * @return unit-parsed version of the data - */ - static protected float getFloatWithUnit(XML element, String attribute, float relativeTo) { - String val = element.getString(attribute); - return (val == null) ? 0 : parseUnitSize(val, relativeTo); - } - - - /** - * Parse a size that may have a suffix for its units. - * This assumes 90dpi, which implies, as given in the - * units spec: - *
    - *
  • "1pt" equals "1.25px" (and therefore 1.25 user units) - *
  • "1pc" equals "15px" (and therefore 15 user units) - *
  • "1mm" would be "3.543307px" (3.543307 user units) - *
  • "1cm" equals "35.43307px" (and therefore 35.43307 user units) - *
  • "1in" equals "90px" (and therefore 90 user units) - *
- * @param relativeTo (float) Used for %. When relative to viewbox, should - * be svgWidth for horizontal dimentions, svgHeight for vertical, and - * svgXYSize for anything else. - */ - static protected float parseUnitSize(String text, float relativeTo) { - int len = text.length() - 2; - - if (text.endsWith("pt")) { - return PApplet.parseFloat(text.substring(0, len)) * 1.25f; - } else if (text.endsWith("pc")) { - return PApplet.parseFloat(text.substring(0, len)) * 15; - } else if (text.endsWith("mm")) { - return PApplet.parseFloat(text.substring(0, len)) * 3.543307f; - } else if (text.endsWith("cm")) { - return PApplet.parseFloat(text.substring(0, len)) * 35.43307f; - } else if (text.endsWith("in")) { - return PApplet.parseFloat(text.substring(0, len)) * 90; - } else if (text.endsWith("px")) { - return PApplet.parseFloat(text.substring(0, len)); - } else if (text.endsWith("%")) { - return relativeTo * parseFloatOrPercent(text); - } else { - return PApplet.parseFloat(text); - } - } - - - static protected float parseFloatOrPercent(String text) { - text = text.trim(); - if (text.endsWith("%")) { - return Float.parseFloat(text.substring(0, text.length() - 1)) / 100.0f; - } else { - return Float.parseFloat(text); - } - } - - - // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - - - static public class Gradient extends PShapeSVGExtended { - AffineTransform transform; - - public float[] offset; - public int[] color; - public int count; - - public Gradient(PShapeSVGExtended parent, XML properties) { - super(parent, properties, true); - - XML elements[] = properties.getChildren(); - offset = new float[elements.length]; - color = new int[elements.length]; - - // - for (int i = 0; i < elements.length; i++) { - XML elem = elements[i]; - String name = elem.getName(); - if (name.equals("stop")) { - String offsetAttr = elem.getString("offset"); - offset[count] = parseFloatOrPercent(offsetAttr); - - String style = elem.getString("style"); - //Map styles = parseStyleAttributes(style); - StringDict styles = parseStyleAttributes(style); - - String colorStr = styles.get("stop-color"); - if (colorStr == null) { - colorStr = elem.getString("stop-color"); - if (colorStr == null) colorStr = "#000000"; - } - String opacityStr = styles.get("stop-opacity"); - if (opacityStr == null) { - opacityStr = elem.getString("stop-opacity"); - if (opacityStr == null) opacityStr = "1"; - } - int tupacity = PApplet.constrain( - (int)(PApplet.parseFloat(opacityStr) * 255), 0, 255); - color[count] = (tupacity << 24) | parseSimpleColor(colorStr); - count++; - } - } - offset = PApplet.subset(offset, 0, count); - color = PApplet.subset(color, 0, count); - } - } - - - public class LinearGradient extends Gradient { - public float x1, y1, x2, y2; - - public LinearGradient(PShapeSVGExtended parent, XML properties) { - super(parent, properties); - - this.x1 = getFloatWithUnit(properties, "x1", svgWidth); - this.y1 = getFloatWithUnit(properties, "y1", svgHeight); - this.x2 = getFloatWithUnit(properties, "x2", svgWidth); - this.y2 = getFloatWithUnit(properties, "y2", svgHeight); - - String transformStr = - properties.getString("gradientTransform"); - - if (transformStr != null) { - float t[] = parseTransform(transformStr).get(null); - this.transform = new AffineTransform(t[0], t[3], t[1], t[4], t[2], t[5]); - - Point2D t1 = transform.transform(new Point2D.Float(x1, y1), null); - Point2D t2 = transform.transform(new Point2D.Float(x2, y2), null); - - this.x1 = (float) t1.getX(); - this.y1 = (float) t1.getY(); - this.x2 = (float) t2.getX(); - this.y2 = (float) t2.getY(); - } - } - } - - - public class RadialGradient extends Gradient { - public float cx, cy, r; - - public RadialGradient(PShapeSVGExtended parent, XML properties) { - super(parent, properties); - - this.cx = getFloatWithUnit(properties, "cx", svgWidth); - this.cy = getFloatWithUnit(properties, "cy", svgHeight); - this.r = getFloatWithUnit(properties, "r", svgSizeXY); - - String transformStr = - properties.getString("gradientTransform"); - - if (transformStr != null) { - float t[] = parseTransform(transformStr).get(null); - this.transform = new AffineTransform(t[0], t[3], t[1], t[4], t[2], t[5]); - - Point2D t1 = transform.transform(new Point2D.Float(cx, cy), null); - Point2D t2 = transform.transform(new Point2D.Float(cx + r, cy), null); - - this.cx = (float) t1.getX(); - this.cy = (float) t1.getY(); - this.r = (float) (t2.getX() - t1.getX()); - } - } - } - - - // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - - public static float TEXT_QUALITY = 1; - protected PFont parseFont(XML properties) { - -// FontFace fontFace = new FontFace(this, properties); - String fontFamily = null; - float size = 10; - int weight = PLAIN; // 0 - int italic = 0; - - if (properties.hasAttribute("style")) { - String styleText = properties.getString("style"); - String[] styleTokens = PApplet.splitTokens(styleText, ";"); - - //PApplet.println(styleTokens); - for (int i = 0; i < styleTokens.length; i++) { - - String[] tokens = PApplet.splitTokens(styleTokens[i], ":"); - //PApplet.println(tokens); - - tokens[0] = PApplet.trim(tokens[0]); - - if (tokens[0].equals("font-style")) { - // PApplet.println("font-style: " + tokens[1]); - if (tokens[1].contains("italic")) { - italic = ITALIC; - } - } else if (tokens[0].equals("font-variant")) { - // PApplet.println("font-variant: " + tokens[1]); - // setFillOpacity(tokens[1]); - - } else if (tokens[0].equals("font-weight")) { - // PApplet.println("font-weight: " + tokens[1]); - - if (tokens[1].contains("bold")) { - weight = BOLD; - // PApplet.println("Bold weight ! "); - } - - - } else if (tokens[0].equals("font-stretch")) { - // not supported. - - } else if (tokens[0].equals("font-size")) { - // PApplet.println("font-size: " + tokens[1]); - size = Float.parseFloat(tokens[1].split("px")[0]); - // PApplet.println("font-size-parsed: " + size); - } else if (tokens[0].equals("line-height")) { - // not supported - - } else if (tokens[0].equals("font-family")) { - PApplet.println("Font-family: " + tokens[1]); - fontFamily = tokens[1]; - if(fontFamily.contains("'")){ - fontFamily = fontFamily.replace("'", ""); - } - - } else if (tokens[0].equals("text-align")) { - // not supported - - } else if (tokens[0].equals("letter-spacing")) { - // not supported - - } else if (tokens[0].equals("word-spacing")) { - // not supported - - } else if (tokens[0].equals("writing-mode")) { - // not supported - - } else if (tokens[0].equals("text-anchor")) { - // not supported - - } else { - // Other attributes are not yet implemented - } - } - } - if (fontFamily == null) { - return null; - } - size = size * TEXT_QUALITY; - - return createFont(fontFamily, weight | italic, size, true); - } - - protected PFont createFont(String name, int weight, float size, boolean smooth) { - -// System.out.println("Try to create a font of " + name + " family, " + weight); - java.awt.Font baseFont = new java.awt.Font(name, weight, (int) size); // PFont.findFont(name);ç - -// System.out.println("Resulting family : " + baseFont.getFamily() + " " + baseFont.getStyle()); - PFont outputPFont = new PFont(baseFont.deriveFont(size), smooth, null); - -// System.out.println("Resulting PFont family : " + outputPFont.getName()); - return outputPFont; - } - - public static class Text extends PShapeSVGExtended { - - protected PFont font; - - public Text(PShapeSVGExtended parent, XML properties) { - super(parent, properties, true); - - // get location - float x = Float.parseFloat(properties.getString("x")); - float y = Float.parseFloat(properties.getString("y")); - - if (matrix == null) { - matrix = new PMatrix2D(); - } - matrix.translate(x, y); - - family = GROUP; - - font = parseFont(properties); - - } - -// @Override -// public void drawImpl(PGraphics g){ -// } - } - - public static class LineOfText extends PShapeSVGExtended { - - String textToDisplay; - PFont font; - - public LineOfText(PShapeSVGExtended parent, XML properties) { - - // TODO: child should ideally be parsed too... - // for inline content. - super(parent, properties, false); - -// // get location - float x = Float.parseFloat(properties.getString("x")); - float y = Float.parseFloat(properties.getString("y")); - - float parentX = Float.parseFloat(parent.element.getString("x")); - float parentY = Float.parseFloat(parent.element.getString("y")); - - if (matrix == null) matrix = new PMatrix2D(); - matrix.translate(x - parentX, (y - parentY) / 2f); - - // get the first properties - parseColors(properties); - font = parseFont(properties); - - // It is a line.. - boolean isALine = properties.getString("role") == "line"; - // NO inline content yet. - if (this.childCount > 0) { - } - - String text = properties.getContent(); - textToDisplay = text; - } - - @Override - public void drawImpl(PGraphics g) { - if (font == null) { - font = ((Text) parent).font; - if (font == null) { - return; - } - } - - pre(g); - g.textFont(font, font.getSize() / TEXT_QUALITY); - g.text(textToDisplay, 0, 0); - post(g); - } - - } - - public static class Font extends PShapeSVGExtended { - public FontFace face; - - public Map namedGlyphs; - public Map unicodeGlyphs; - - public int glyphCount; - public FontGlyph[] glyphs; - public FontGlyph missingGlyph; - - int horizAdvX; - - - public Font(PShapeSVGExtended parent, XML properties) { - super(parent, properties, false); -// handle(parent, properties); - - XML[] elements = properties.getChildren(); - - horizAdvX = properties.getInt("horiz-adv-x", 0); - - namedGlyphs = new HashMap(); - unicodeGlyphs = new HashMap(); - glyphCount = 0; - glyphs = new FontGlyph[elements.length]; - - for (int i = 0; i < elements.length; i++) { - String name = elements[i].getName(); - XML elem = elements[i]; - if (name == null) { - // skip it - } else if (name.equals("glyph")) { - FontGlyph fg = new FontGlyph(this, elem, this); - if (fg.isLegit()) { - if (fg.name != null) { - namedGlyphs.put(fg.name, fg); - } - if (fg.unicode != 0) { - unicodeGlyphs.put(Character.valueOf(fg.unicode), fg); - } - } - glyphs[glyphCount++] = fg; - - } else if (name.equals("missing-glyph")) { -// System.out.println("got missing glyph inside "); - missingGlyph = new FontGlyph(this, elem, this); - } else if (name.equals("font-face")) { - face = new FontFace(this, elem); - } else { - System.err.println("Ignoring " + name + " inside "); - } - } - } - - - protected void drawShape() { - // does nothing for fonts - } - - - public void drawString(PGraphics g, String str, float x, float y, float size) { - // 1) scale by the 1.0/unitsPerEm - // 2) scale up by a font size - g.pushMatrix(); - float s = size / face.unitsPerEm; - //System.out.println("scale is " + s); - // swap y coord at the same time, since fonts have y=0 at baseline - g.translate(x, y); - g.scale(s, -s); - char[] c = str.toCharArray(); - for (int i = 0; i < c.length; i++) { - // call draw on each char (pulling it w/ the unicode table) - FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c[i])); - if (fg != null) { - fg.draw(g); - // add horizAdvX/unitsPerEm to the x coordinate along the way - g.translate(fg.horizAdvX, 0); - } else { - System.err.println("'" + c[i] + "' not available."); - } - } - g.popMatrix(); - } - - - public void drawChar(PGraphics g, char c, float x, float y, float size) { - g.pushMatrix(); - float s = size / face.unitsPerEm; - g.translate(x, y); - g.scale(s, -s); - FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c)); - if (fg != null) g.shape(fg); - g.popMatrix(); - } - - - public float textWidth(String str, float size) { - float w = 0; - char[] c = str.toCharArray(); - for (int i = 0; i < c.length; i++) { - // call draw on each char (pulling it w/ the unicode table) - FontGlyph fg = unicodeGlyphs.get(Character.valueOf(c[i])); - if (fg != null) { - w += (float) fg.horizAdvX / face.unitsPerEm; - } - } - return w * size; - } - } - - - // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - - - static class FontFace extends PShapeSVGExtended { - int horizOriginX; // dflt 0 - int horizOriginY; // dflt 0 -// int horizAdvX; // no dflt? - int vertOriginX; // dflt horizAdvX/2 - int vertOriginY; // dflt ascent - int vertAdvY; // dflt 1em (unitsPerEm value) - - String fontFamily; - int fontWeight; // can also be normal or bold (also comma separated) - String fontStretch; - int unitsPerEm; // dflt 1000 - int[] panose1; // dflt "0 0 0 0 0 0 0 0 0 0" - int ascent; - int descent; - int[] bbox; // spec says comma separated, tho not w/ forge - int underlineThickness; - int underlinePosition; - //String unicodeRange; // gonna ignore for now - - - public FontFace(PShapeSVGExtended parent, XML properties) { - super(parent, properties, true); - - unitsPerEm = properties.getInt("units-per-em", 1000); - } - - - protected void drawShape() { - // nothing to draw in the font face attribute - } - } - - - // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - - - public static class FontGlyph extends PShapeSVGExtended { // extends Path - public String name; - char unicode; - int horizAdvX; - - public FontGlyph(PShapeSVGExtended parent, XML properties, Font font) { - super(parent, properties, true); - super.parsePath(); // ?? - - name = properties.getString("glyph-name"); - String u = properties.getString("unicode"); - unicode = 0; - if (u != null) { - if (u.length() == 1) { - unicode = u.charAt(0); - //System.out.println("unicode for " + name + " is " + u); - } else { - System.err.println("unicode for " + name + - " is more than one char: " + u); - } - } - if (properties.hasAttribute("horiz-adv-x")) { - horizAdvX = properties.getInt("horiz-adv-x"); - } else { - horizAdvX = font.horizAdvX; - } - } - - - protected boolean isLegit() { // TODO need a better way to handle this... - return vertexCount != 0; - } - } - - - // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - - - /** - * Get a particular element based on its SVG ID. When editing SVG by hand, - * this is the id="" tag on any SVG element. When editing from Illustrator, - * these IDs can be edited by expanding the layers palette. The names used - * in the layers palette, both for the layers or the shapes and groups - * beneath them can be used here. - * 
-   * // This code grabs "Layer 3" and the shapes beneath it.
-   * PShape layer3 = svg.getChild("Layer 3");
-   *
- */ - @Override - public PShape getChild(String name) { - PShape found = super.getChild(name); - if (found == null) { - // Otherwise try with underscores instead of spaces - // (this is how Illustrator handles spaces in the layer names). - found = super.getChild(name.replace(' ', '_')); - } - // Set bounding box based on the parent bounding box - if (found != null) { -// found.x = this.x; -// found.y = this.y; - found.width = this.width; - found.height = this.height; - } - return found; - } - - public PMatrix getMatrix(){ - return this.matrix; - } - - - /** - * Prints out the SVG document. Useful for parsing. - */ - public void print() { - PApplet.println(element.toString()); - } -} From 661498b44150a1bb83641ea1590713ed0d78aaec Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:06:58 +0100 Subject: [PATCH 46/99] Cleaning old data. --- papart/data/old/configs/Homography.txt | 16 - papart/data/old/configs/PlaneParameters.txt | 6 - papart/data/old/configs/kinectHomography.txt | 16 - papart/data/old/configs/makerboardNumPad.cfg | 113 --- .../data/old/configs/markerboard_480-499.cfg | 53 -- papart/data/old/configs/plane.txt | 8 - papart/data/old/configs/proj-homography.txt | 16 - papart/data/old/configs/proj.txt | 6 - papart/data/old/configs/projectorDist.txt | 16 - papart/data/old/configs/settings.pcc | 71 -- papart/data/old/markers/A3v1-a.svg | 783 ------------------ papart/data/old/markers/A3v1-l.svg | 235 ------ papart/data/old/markers/A3v1-r.svg | 527 ------------ papart/data/old/markers/A3v1.svg | 235 ------ papart/data/old/markers/A3v2.svg | 172 ---- papart/data/old/markers/a3/A3p1.cfg | 139 ---- papart/data/old/markers/a3/A3p1.svg | 235 ------ papart/data/old/markers/a3/A3p2.cfg | 139 ---- papart/data/old/markers/a3/A3p2.svg | 527 ------------ papart/data/old/markers/a3/A3p3.cfg | 139 ---- papart/data/old/markers/a3/A3p3.svg | 783 ------------------ papart/data/old/markers/a3/maquet/A3p1.cfg | 139 ---- papart/data/old/markers/a3/maquet/A3p1.svg | 235 ------ papart/data/old/markers/a3/maquet/A3p2.cfg | 139 ---- papart/data/old/markers/a3/maquet/A3p2.svg | 527 ------------ papart/data/old/markers/a3/maquet/A3p3.cfg | 139 ---- papart/data/old/markers/a3/maquet/A3p3.svg | 783 ------------------ .../old/markers/a3/small/A3-small1-mm.svg | 311 ------- .../data/old/markers/a3/small/A3-small1.cfg | 72 -- .../data/old/markers/a3/small/A3-small1.svg | 137 --- papart/data/old/markers/a3/small/A3p1.cfg | 72 -- papart/data/old/markers/a3/small/A3p1.svg | 235 ------ papart/data/old/markers/artkp3.svg | 158 ---- papart/data/old/markers/mini1.cfg | 38 - papart/data/old/markers/mini1.svg | 119 --- papart/data/old/markers/mini3.svg | 131 --- .../data/old/markers/my_markerboard tmp.cfg | 62 -- .../data/old/markers/my_markerboard-big.cfg | 77 -- papart/data/old/markers/my_markerboard.cfg | 69 -- papart/data/old/markers/my_markerboard0.cfg | 78 -- papart/data/old/markers/my_markerboard1.cfg | 53 -- papart/data/old/markers/my_markerboard3.cfg | 77 -- papart/data/old/markers/my_markerboard3v2.cfg | 121 --- papart/data/old/markers/my_markerboarda3.cfg | 101 --- .../old/markers/my_markerboarda3v1-mini.cfg | 139 ---- .../data/old/markers/my_markerboarda3v1.cfg | 139 ---- .../data/old/markers/my_markerboarda3v2.cfg | 139 ---- .../data/old/markers/my_markerboarda3v3.cfg | 139 ---- .../data/old/markers/my_markerboardmini.cfg | 38 - .../data/old/markers/my_markerboardmini2.cfg | 38 - papart/data/old/markers/nouveaux/2285.cfg | 38 - papart/data/old/markers/nouveaux/2285.svg | 118 --- papart/data/old/markers/nouveaux/2290.cfg | 38 - papart/data/old/markers/nouveaux/2290.svg | 108 --- papart/data/old/markers/nouveaux/2300.cfg | 38 - papart/data/old/markers/nouveaux/2300.svg | 118 --- papart/data/old/markers/nouveaux/2310.cfg | 38 - papart/data/old/markers/nouveaux/2310.svg | 118 --- papart/data/old/markers/numPad.svg | 230 ----- papart/data/old/markers/touches.svg | 269 ------ papart/data/old/shaders/Filters/alpha.frag | 9 - papart/data/old/shaders/Filters/alpha.xml | 11 - .../data/old/shaders/Filters/alphaZone.frag | 17 - papart/data/old/shaders/Filters/alphaZone.xml | 12 - papart/data/old/shaders/Filters/blur.frag | 129 --- papart/data/old/shaders/Filters/blur.xml | 12 - papart/data/old/shaders/Filters/blurZone.frag | 92 -- papart/data/old/shaders/Filters/blurZone.xml | 15 - papart/data/old/shaders/Filters/default1.vert | 14 - papart/data/old/shaders/Filters/oldFilm.frag | 149 ---- papart/data/old/shaders/Filters/oldFilm.xml | 18 - .../data/old/shaders/Filters/oldFilmZone.frag | 152 ---- .../data/old/shaders/Filters/oldFilmZone.xml | 19 - papart/data/old/shaders/Sobel.xml | 11 - papart/data/old/shaders/SobelFrag.glsl | 41 - papart/data/old/shaders/SobelVert.glsl | 7 - papart/data/old/shaders/Thermal.xml | 11 - papart/data/old/shaders/ThermalFrag.glsl | 16 - papart/data/old/shaders/ThermalVert.glsl | 7 - papart/data/old/shaders/Toon.xml | 18 - papart/data/old/shaders/ToonFrag.glsl | 169 ---- papart/data/old/shaders/ToonVert.glsl | 7 - papart/data/old/shaders/anaglyph.frag | 15 - papart/data/old/shaders/anaglyph.vert | 12 - papart/data/old/shaders/anaglyph.xml | 10 - papart/data/old/shaders/blur.frag | 151 ---- papart/data/old/shaders/blur.vert | 14 - papart/data/old/shaders/blur.xml | 15 - papart/data/old/shaders/calib.xml | 42 - papart/data/old/shaders/capSc.frag | 45 - papart/data/old/shaders/capSc.vert | 26 - papart/data/old/shaders/classique/color.frag | 8 - papart/data/old/shaders/classique/color.vert | 11 - .../classique/dirLightAmbDiffSpecPix-tex.xml | 9 - .../classique/dirLightAmbDiffSpecPix.frag | 36 - .../classique/dirLightAmbDiffSpecPix.vert | 34 - .../classique/dirLightAmbDiffSpecPix.xml | 9 - .../dirLightAmbDiffSpecPixMult2.frag | 56 -- .../dirLightAmbDiffSpecPixMult2.vert | 37 - .../classique/dirLightAmbDiffSpecPixMult2.xml | 9 - .../data/old/shaders/classique/kinect1.frag | 45 - .../data/old/shaders/classique/kinect1.vert | 39 - .../data/old/shaders/classique/texture/t.frag | 29 - .../data/old/shaders/classique/texture/t.vert | 21 - .../classique/texture/textureShader.frag | 42 - .../classique/texture/textureShader.vert | 26 - papart/data/old/shaders/distortFrag.glsl | 33 - papart/data/old/shaders/distortVert.glsl | 27 - papart/data/old/shaders/kinect/kinect1.frag | 12 - papart/data/old/shaders/kinect/kinect1.vert | 13 - papart/data/old/shaders/kinect/kinectTri.frag | 23 - papart/data/old/shaders/kinect/kinectTri.vert | 12 - .../data/old/shaders/litSphere (working).frag | 26 - papart/data/old/shaders/litSphere.frag | 14 - papart/data/old/shaders/litSphere.vert | 25 - papart/data/old/shaders/litSphere.xml | 9 - papart/data/old/shaders/litsphere.frag | 14 - papart/data/old/shaders/litsphere.vert | 25 - papart/data/old/shaders/normal.frag | 16 - papart/data/old/shaders/normal.vert | 18 - papart/data/old/shaders/normal.xml | 9 - .../data/old/shaders/processing/ToonFrag.glsl | 25 - .../data/old/shaders/processing/ToonVert.glsl | 31 - .../data/old/shaders/processing/normal.frag | 20 - .../data/old/shaders/processing/normal.vert | 25 - papart/data/old/shaders/projDistort.xml | 10 - papart/data/old/shaders/shadowMap-noTex.frag | 69 -- .../old/shaders/shadowMap-noTex.frag.backup | 75 -- papart/data/old/shaders/shadowMap.frag | 161 ---- papart/data/old/shaders/shadowMap.frag.backup | 161 ---- papart/data/old/shaders/shadowMap.vert | 26 - papart/data/old/shaders/shadowMap.vert.backup | 26 - papart/data/old/shaders/shadowMap.xml | 9 - papart/data/old/shaders/sponza.mtl | 312 ------- papart/data/old/shaders/spotLight.xml | 9 - papart/data/old/shaders/spotlight.frag | 49 -- papart/data/old/shaders/spotlight.vert | 47 -- papart/data/old/shaders/stereoMatch.frag | 70 -- papart/data/old/shaders/stereoMatch.vert | 29 - papart/data/old/shaders/stereoMatch2.frag | 197 ----- papart/data/old/shaders/stereoMatch2.vert | 51 -- papart/data/old/shaders/toon.frag | 35 - papart/data/old/shaders/toon.vert | 18 - papart/data/old/shaders/toon.xml | 18 - papart/data/old/shaders/toonShadow.frag | 65 -- papart/data/old/shaders/toonShadow.vert | 26 - papart/data/old/shaders/toonShadow.xml | 9 - papart/data/old/shaders/toonf2 (copie).frag | 28 - papart/data/old/shaders/toonf2 (copie).vert | 11 - papart/data/old/shaders/toonf2.frag | 84 -- papart/data/old/shaders/toonf2.vert | 51 -- papart/data/old/shaders/toonv2.xml | 9 - papart/data/old/shaders/transparency.frag | 36 - papart/data/old/shaders/transparency.vert | 40 - papart/data/old/shaders/transparency.xml | 6 - 155 files changed, 13644 deletions(-) delete mode 100755 papart/data/old/configs/Homography.txt delete mode 100644 papart/data/old/configs/PlaneParameters.txt delete mode 100644 papart/data/old/configs/kinectHomography.txt delete mode 100755 papart/data/old/configs/makerboardNumPad.cfg delete mode 100755 papart/data/old/configs/markerboard_480-499.cfg delete mode 100644 papart/data/old/configs/plane.txt delete mode 100755 papart/data/old/configs/proj-homography.txt delete mode 100755 papart/data/old/configs/proj.txt delete mode 100755 papart/data/old/configs/projectorDist.txt delete mode 100755 papart/data/old/configs/settings.pcc delete mode 100755 papart/data/old/markers/A3v1-a.svg delete mode 100755 papart/data/old/markers/A3v1-l.svg delete mode 100755 papart/data/old/markers/A3v1-r.svg delete mode 100755 papart/data/old/markers/A3v1.svg delete mode 100755 papart/data/old/markers/A3v2.svg delete mode 100755 papart/data/old/markers/a3/A3p1.cfg delete mode 100755 papart/data/old/markers/a3/A3p1.svg delete mode 100755 papart/data/old/markers/a3/A3p2.cfg delete mode 100755 papart/data/old/markers/a3/A3p2.svg delete mode 100755 papart/data/old/markers/a3/A3p3.cfg delete mode 100755 papart/data/old/markers/a3/A3p3.svg delete mode 100755 papart/data/old/markers/a3/maquet/A3p1.cfg delete mode 100755 papart/data/old/markers/a3/maquet/A3p1.svg delete mode 100755 papart/data/old/markers/a3/maquet/A3p2.cfg delete mode 100755 papart/data/old/markers/a3/maquet/A3p2.svg delete mode 100755 papart/data/old/markers/a3/maquet/A3p3.cfg delete mode 100755 papart/data/old/markers/a3/maquet/A3p3.svg delete mode 100644 papart/data/old/markers/a3/small/A3-small1-mm.svg delete mode 100644 papart/data/old/markers/a3/small/A3-small1.cfg delete mode 100644 papart/data/old/markers/a3/small/A3-small1.svg delete mode 100755 papart/data/old/markers/a3/small/A3p1.cfg delete mode 100755 papart/data/old/markers/a3/small/A3p1.svg delete mode 100755 papart/data/old/markers/artkp3.svg delete mode 100644 papart/data/old/markers/mini1.cfg delete mode 100755 papart/data/old/markers/mini1.svg delete mode 100644 papart/data/old/markers/mini3.svg delete mode 100755 papart/data/old/markers/my_markerboard tmp.cfg delete mode 100755 papart/data/old/markers/my_markerboard-big.cfg delete mode 100755 papart/data/old/markers/my_markerboard.cfg delete mode 100755 papart/data/old/markers/my_markerboard0.cfg delete mode 100755 papart/data/old/markers/my_markerboard1.cfg delete mode 100755 papart/data/old/markers/my_markerboard3.cfg delete mode 100755 papart/data/old/markers/my_markerboard3v2.cfg delete mode 100755 papart/data/old/markers/my_markerboarda3.cfg delete mode 100644 papart/data/old/markers/my_markerboarda3v1-mini.cfg delete mode 100755 papart/data/old/markers/my_markerboarda3v1.cfg delete mode 100755 papart/data/old/markers/my_markerboarda3v2.cfg delete mode 100755 papart/data/old/markers/my_markerboarda3v3.cfg delete mode 100755 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mode 100755 papart/data/old/shaders/toon.xml delete mode 100644 papart/data/old/shaders/toonShadow.frag delete mode 100644 papart/data/old/shaders/toonShadow.vert delete mode 100644 papart/data/old/shaders/toonShadow.xml delete mode 100644 papart/data/old/shaders/toonf2 (copie).frag delete mode 100755 papart/data/old/shaders/toonf2 (copie).vert delete mode 100644 papart/data/old/shaders/toonf2.frag delete mode 100755 papart/data/old/shaders/toonf2.vert delete mode 100755 papart/data/old/shaders/toonv2.xml delete mode 100644 papart/data/old/shaders/transparency.frag delete mode 100755 papart/data/old/shaders/transparency.vert delete mode 100755 papart/data/old/shaders/transparency.xml diff --git a/papart/data/old/configs/Homography.txt b/papart/data/old/configs/Homography.txt deleted file mode 100755 index 5111f7bc..00000000 --- a/papart/data/old/configs/Homography.txt +++ /dev/null @@ -1,16 +0,0 @@ -3.4817705154418945 --3.8324077129364014 -0.8412020206451416 -0.0 -3.5817983150482178 -0.40009868144989014 -0.9028071165084839 -0.0 -2.420985221862793 -8.831888198852539 -1.0 -0.0 -0.0 -0.0 -0.0 -1.0 diff --git a/papart/data/old/configs/PlaneParameters.txt b/papart/data/old/configs/PlaneParameters.txt deleted file mode 100644 index aa7cb0c4..00000000 --- a/papart/data/old/configs/PlaneParameters.txt +++ /dev/null @@ -1,6 +0,0 @@ -151 -1142 -0 -589 -0 -477 diff --git a/papart/data/old/configs/kinectHomography.txt b/papart/data/old/configs/kinectHomography.txt deleted file mode 100644 index 13f40388..00000000 --- a/papart/data/old/configs/kinectHomography.txt +++ /dev/null @@ -1,16 +0,0 @@ --1.3911159038543701 -0.07879400253295898 -0.35574108362197876 -0.0 --0.14813756942749023 --2.9834423065185547 -0.5096640586853027 -0.0 -0.06685977429151535 --0.999718189239502 -1.0 -0.0 -0.0 -0.0 -0.0 -1.0 diff --git a/papart/data/old/configs/makerboardNumPad.cfg b/papart/data/old/configs/makerboardNumPad.cfg deleted file mode 100755 index 6c6eb15d..00000000 --- a/papart/data/old/configs/makerboardNumPad.cfg +++ /dev/null @@ -1,113 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -12 - -#### Left - -# marker -103 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -104 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 60,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -100 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 60,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -105 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 60,0 - 0,0000 1,0000 0,0000 60,0 - 0,0000 0,0000 1,0000 0,0 - -###### Right - -# marker -110 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 210,0 - 0,0000 1,0000 0,0000 60,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -111 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 256,0 - 0,0000 1,0000 0,0000 60,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -112 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 210,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -113 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 256,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - - -##### Top - -# marker -120 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 22,0 - 0,0000 1,0000 0,0000 150,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -121 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 98,0 - 0,0000 1,0000 0,0000 150,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -122 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 180,0 - 0,0000 1,0000 0,0000 150,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -123 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 256,0 - 0,0000 1,0000 0,0000 150,0 - 0,0000 0,0000 1,0000 0,0 - - - - - diff --git a/papart/data/old/configs/markerboard_480-499.cfg b/papart/data/old/configs/markerboard_480-499.cfg deleted file mode 100755 index 7a43f7c3..00000000 --- a/papart/data/old/configs/markerboard_480-499.cfg +++ /dev/null @@ -1,53 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -6 - -# marker 0 -0 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 26,5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -1 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 81.5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -2 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 141,5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -3 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 26,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 4 -4 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 81,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 5 -5 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 141,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/configs/plane.txt b/papart/data/old/configs/plane.txt deleted file mode 100644 index 214c5d09..00000000 --- a/papart/data/old/configs/plane.txt +++ /dev/null @@ -1,8 +0,0 @@ -0.026787128 -0.008649012 --0.872214 --0.035829786 -0.60323375 --0.7967593 -0.59999996 -0.01 diff --git a/papart/data/old/configs/proj-homography.txt b/papart/data/old/configs/proj-homography.txt deleted file mode 100755 index 41acb856..00000000 --- a/papart/data/old/configs/proj-homography.txt +++ /dev/null @@ -1,16 +0,0 @@ -1.0582029819488525 --0.2413066029548645 -0.0 --5.839362144470215 -0.007576711941510439 -0.9950700402259827 -0.0 --3.140962839126587 -0.0 -0.0 -1.0 -0.0 -0.0 -0.0 -0.0 -1.0 diff --git a/papart/data/old/configs/proj.txt b/papart/data/old/configs/proj.txt deleted file mode 100755 index b5669ddf..00000000 --- a/papart/data/old/configs/proj.txt +++ /dev/null @@ -1,6 +0,0 @@ - -gauche : 61.3 -droite : 61.4 - -haut : 53.5 -bas : 53.8 diff --git a/papart/data/old/configs/projectorDist.txt b/papart/data/old/configs/projectorDist.txt deleted file mode 100755 index a852e2fb..00000000 --- a/papart/data/old/configs/projectorDist.txt +++ /dev/null @@ -1,16 +0,0 @@ -0.8914685249328613 --7.59786123844058E-19 -0.0 -5.340541181474715E-19 --7.666998028013528E-19 -0.8684563636779785 -0.0 -1.5093313898131916E-19 -0.0 -0.0 -1.0 -0.0 -0.0 -0.0 -0.0 -1.0 diff --git a/papart/data/old/configs/settings.pcc b/papart/data/old/configs/settings.pcc deleted file mode 100755 index 0e44d8e5..00000000 --- a/papart/data/old/configs/settings.pcc +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - 0 - - - com.googlecode.javacv.OpenCVFrameGrabber - - - 480 - - - 640 - - - Eye Cam - - - - - com.googlecode.javacv.OpenCVFrameGrabber - - - - - - - 0.2 - - - Samsung - - - - - - - 8 - - - 5 - - - 34.0 - - - 34.0 - - - 51.0 - - - 51.0 - - - - - - 15 - - - - - false - - - /home/jeremy/sketchbook/calib/data/calibration-p1.yaml - diff --git a/papart/data/old/markers/A3v1-a.svg b/papart/data/old/markers/A3v1-a.svg deleted file mode 100755 index 335a3468..00000000 --- a/papart/data/old/markers/A3v1-a.svg +++ /dev/null @@ -1,783 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - - - - - - - - - - - - - - - - - 47 - 55 - 54 - 53 - 52 - 51 - 41 - 42 - 40 - 50 - 49 - 48 - 46 - 45 - 44 - 43 - - diff --git a/papart/data/old/markers/A3v1-l.svg b/papart/data/old/markers/A3v1-l.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/old/markers/A3v1-l.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/A3v1-r.svg b/papart/data/old/markers/A3v1-r.svg deleted file mode 100755 index 7ab020f7..00000000 --- a/papart/data/old/markers/A3v1-r.svg +++ /dev/null @@ -1,527 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - diff --git a/papart/data/old/markers/A3v1.svg b/papart/data/old/markers/A3v1.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/old/markers/A3v1.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/A3v2.svg b/papart/data/old/markers/A3v2.svg deleted file mode 100755 index acbb65ac..00000000 --- a/papart/data/old/markers/A3v2.svg +++ /dev/null @@ -1,172 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/old/markers/a3/A3p1.cfg b/papart/data/old/markers/a3/A3p1.cfg deleted file mode 100755 index ecc191d0..00000000 --- a/papart/data/old/markers/a3/A3p1.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -0 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -4 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -5 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -8 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -9 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -10 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -15 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/A3p1.svg b/papart/data/old/markers/a3/A3p1.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/old/markers/a3/A3p1.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/a3/A3p2.cfg b/papart/data/old/markers/a3/A3p2.cfg deleted file mode 100755 index bb6a44d1..00000000 --- a/papart/data/old/markers/a3/A3p2.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -21 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -36 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -35 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -34 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -33 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -32 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -22 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -23 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -24 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -25 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -26 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -27 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -28 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -29 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -30 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -31 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/A3p2.svg b/papart/data/old/markers/a3/A3p2.svg deleted file mode 100755 index 7ab020f7..00000000 --- a/papart/data/old/markers/a3/A3p2.svg +++ /dev/null @@ -1,527 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - diff --git a/papart/data/old/markers/a3/A3p3.cfg b/papart/data/old/markers/a3/A3p3.cfg deleted file mode 100755 index d467d2a3..00000000 --- a/papart/data/old/markers/a3/A3p3.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -47 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -55 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -54 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -53 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -52 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -51 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -50 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -49 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -48 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -46 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -45 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -44 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -43 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -40 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -42 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -41 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/A3p3.svg b/papart/data/old/markers/a3/A3p3.svg deleted file mode 100755 index 335a3468..00000000 --- a/papart/data/old/markers/a3/A3p3.svg +++ /dev/null @@ -1,783 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - - - - - - - - - - - - - - - - - 47 - 55 - 54 - 53 - 52 - 51 - 41 - 42 - 40 - 50 - 49 - 48 - 46 - 45 - 44 - 43 - - diff --git a/papart/data/old/markers/a3/maquet/A3p1.cfg b/papart/data/old/markers/a3/maquet/A3p1.cfg deleted file mode 100755 index ecc191d0..00000000 --- a/papart/data/old/markers/a3/maquet/A3p1.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -0 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -4 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -5 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -8 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -9 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -10 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -15 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/maquet/A3p1.svg b/papart/data/old/markers/a3/maquet/A3p1.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/old/markers/a3/maquet/A3p1.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/a3/maquet/A3p2.cfg b/papart/data/old/markers/a3/maquet/A3p2.cfg deleted file mode 100755 index bb6a44d1..00000000 --- a/papart/data/old/markers/a3/maquet/A3p2.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -21 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -36 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -35 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -34 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -33 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -32 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -22 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -23 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -24 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -25 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -26 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -27 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -28 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -29 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -30 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -31 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/maquet/A3p2.svg b/papart/data/old/markers/a3/maquet/A3p2.svg deleted file mode 100755 index 7ab020f7..00000000 --- a/papart/data/old/markers/a3/maquet/A3p2.svg +++ /dev/null @@ -1,527 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - diff --git a/papart/data/old/markers/a3/maquet/A3p3.cfg b/papart/data/old/markers/a3/maquet/A3p3.cfg deleted file mode 100755 index d467d2a3..00000000 --- a/papart/data/old/markers/a3/maquet/A3p3.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -47 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -55 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -54 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -53 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -52 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -51 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -50 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -49 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -48 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -46 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -45 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -44 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -43 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -40 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -42 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -41 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/a3/maquet/A3p3.svg b/papart/data/old/markers/a3/maquet/A3p3.svg deleted file mode 100755 index 335a3468..00000000 --- a/papart/data/old/markers/a3/maquet/A3p3.svg +++ /dev/null @@ -1,783 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - - - - - - - - - - - - - - - - - 47 - 55 - 54 - 53 - 52 - 51 - 41 - 42 - 40 - 50 - 49 - 48 - 46 - 45 - 44 - 43 - - diff --git a/papart/data/old/markers/a3/small/A3-small1-mm.svg b/papart/data/old/markers/a3/small/A3-small1-mm.svg deleted file mode 100644 index 9f7d8895..00000000 --- a/papart/data/old/markers/a3/small/A3-small1-mm.svg +++ /dev/null @@ -1,311 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/old/markers/a3/small/A3-small1.cfg b/papart/data/old/markers/a3/small/A3-small1.cfg deleted file mode 100644 index ca25d4f4..00000000 --- a/papart/data/old/markers/a3/small/A3-small1.cfg +++ /dev/null @@ -1,72 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -8 - -# marker -0 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 58.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -13 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 110.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -12 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 160.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -3 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 205.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -5 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 58.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -15 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 110.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -14 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 160.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -11 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 205.0 - 0.0000 0.0000 1.0000 0.0 - - diff --git a/papart/data/old/markers/a3/small/A3-small1.svg b/papart/data/old/markers/a3/small/A3-small1.svg deleted file mode 100644 index 0c65bd7b..00000000 --- a/papart/data/old/markers/a3/small/A3-small1.svg +++ /dev/null @@ -1,137 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/a3/small/A3p1.cfg b/papart/data/old/markers/a3/small/A3p1.cfg deleted file mode 100755 index ff43593a..00000000 --- a/papart/data/old/markers/a3/small/A3p1.cfg +++ /dev/null @@ -1,72 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -8 - -# marker -0 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 58,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 205,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -5 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 58,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -15 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 205,0 - 0,0000 0,0000 1,0000 0,0 - - diff --git a/papart/data/old/markers/a3/small/A3p1.svg b/papart/data/old/markers/a3/small/A3p1.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/old/markers/a3/small/A3p1.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/old/markers/artkp3.svg b/papart/data/old/markers/artkp3.svg deleted file mode 100755 index d9bd1048..00000000 --- a/papart/data/old/markers/artkp3.svg +++ /dev/null @@ -1,158 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/old/markers/mini1.cfg b/papart/data/old/markers/mini1.cfg deleted file mode 100644 index ef10e838..00000000 --- a/papart/data/old/markers/mini1.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - -# marker -103 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -104 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -100 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -105 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/mini1.svg b/papart/data/old/markers/mini1.svg deleted file mode 100755 index caad7ab0..00000000 --- a/papart/data/old/markers/mini1.svg +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - 100   105103 104 - diff --git a/papart/data/old/markers/mini3.svg b/papart/data/old/markers/mini3.svg deleted file mode 100644 index 12d3cd94..00000000 --- a/papart/data/old/markers/mini3.svg +++ /dev/null @@ -1,131 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - 100   105103 104 this way up - diff --git a/papart/data/old/markers/my_markerboard tmp.cfg b/papart/data/old/markers/my_markerboard tmp.cfg deleted file mode 100755 index 18686330..00000000 --- a/papart/data/old/markers/my_markerboard tmp.cfg +++ /dev/null @@ -1,62 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -3 - -# marker 5 -5 -60,0 -0,0 0,0 - 1,0000 0,0000 0,0000 40,0 - 0,0000 1,0000 0,0000 337,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -6 -60,0 -0,0 0,0 - 1,0000 0,0000 0,0000 117,0 - 0,0000 1,0000 0,0000 337,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -4 -60,0 -0,0 0,0 - 1,0000 0,0000 0,0000 195,0 - 0,0000 1,0000 0,0000 337,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -3 -45,0 -0,0 0,0 - 1,0000 0,0000 0,0000 255,0 - 0,0000 1,0000 0,0000 40,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 4 -2 -45,0 -0,0 0,0 - 1,0000 0,0000 0,0000 255,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 5 -1 -45,0 -0,0 0,0 - 1,0000 0,0000 0,0000 255,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 6 -0 -45,0 -0,0 0,0 - 1,0000 0,0000 0,0000 255,0 - 0,0000 1,0000 0,0000 220,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboard-big.cfg b/papart/data/old/markers/my_markerboard-big.cfg deleted file mode 100755 index e00aa5f8..00000000 --- a/papart/data/old/markers/my_markerboard-big.cfg +++ /dev/null @@ -1,77 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -8 - -# marker -0 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 27,0 - 0,0000 1,0000 0,0000 8,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 53,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 27,0 - 0,0000 1,0000 0,0000 98,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 143,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -4 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -5 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 110,0 - 0,0000 1,0000 0,0000 140,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 200,0 - 0,0000 1,0000 0,0000 140,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -8 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 245,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/my_markerboard.cfg b/papart/data/old/markers/my_markerboard.cfg deleted file mode 100755 index aee59708..00000000 --- a/papart/data/old/markers/my_markerboard.cfg +++ /dev/null @@ -1,69 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -8 - -# marker -0 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 15,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 90,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 230,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -4 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 327,0 - 0,0000 1,0000 0,0000 15,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 327,0 - 0,0000 1,0000 0,0000 90,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 327,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -8 -55,0 --67,5 17,5 - 1,0000 0,0000 0,0000 327,0 - 0,0000 1,0000 0,0000 230,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/my_markerboard0.cfg b/papart/data/old/markers/my_markerboard0.cfg deleted file mode 100755 index 87a1387f..00000000 --- a/papart/data/old/markers/my_markerboard0.cfg +++ /dev/null @@ -1,78 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -9 - -# marker -0 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 8,0 - 0,0000 1,0000 0,0000 8,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 8,0 - 0,0000 1,0000 0,0000 53,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 8,0 - 0,0000 1,0000 0,0000 98,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 8,0 - 0,0000 1,0000 0,0000 143,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -4 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 55,0 - 0,0000 1,0000 0,0000 169,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -5 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 100,0 - 0,0000 1,0000 0,0000 169,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 145,0 - 0,0000 1,0000 0,0000 169,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 190,0 - 0,0000 1,0000 0,0000 169,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -8 -35,0 -17,5 17,5 - 1,0000 0,0000 0,0000 235,0 - 0,0000 1,0000 0,0000 169,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboard1.cfg b/papart/data/old/markers/my_markerboard1.cfg deleted file mode 100755 index 7a43f7c3..00000000 --- a/papart/data/old/markers/my_markerboard1.cfg +++ /dev/null @@ -1,53 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -6 - -# marker 0 -0 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 26,5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -1 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 81.5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -2 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 141,5 - 0,0000 1,0000 0,0000 266,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -3 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 26,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 4 -4 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 81,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 - -# marker 5 -5 -43,0 -0,0 0,0 - 1,0000 0,0000 0,0000 141,5 - 0,0000 1,0000 0,0000 26,5 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/my_markerboard3.cfg b/papart/data/old/markers/my_markerboard3.cfg deleted file mode 100755 index e00aa5f8..00000000 --- a/papart/data/old/markers/my_markerboard3.cfg +++ /dev/null @@ -1,77 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -8 - -# marker -0 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 27,0 - 0,0000 1,0000 0,0000 8,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 53,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 27,0 - 0,0000 1,0000 0,0000 98,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 143,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -4 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -5 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 110,0 - 0,0000 1,0000 0,0000 140,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 200,0 - 0,0000 1,0000 0,0000 140,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -8 -35,0 --67,5 97,5 - 1,0000 0,0000 0,0000 245,0 - 0,0000 1,0000 0,0000 160,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/my_markerboard3v2.cfg b/papart/data/old/markers/my_markerboard3v2.cfg deleted file mode 100755 index e4ef58df..00000000 --- a/papart/data/old/markers/my_markerboard3v2.cfg +++ /dev/null @@ -1,121 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -14 - -# marker -0 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 8,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 58,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 108,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 158,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -4 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 8,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -5 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 58,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 108,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 65,0 - 0,0000 1,0000 0,0000 158,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -8 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 108,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 158,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 190,0 - 0,0000 1,0000 0,0000 108,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 190,0 - 0,0000 1,0000 0,0000 158,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 250,0 - 0,0000 1,0000 0,0000 108,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -17 -35,0 --107,5 142,5 - 1,0000 0,0000 0,0000 250,0 - 0,0000 1,0000 0,0000 158,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboarda3.cfg b/papart/data/old/markers/my_markerboarda3.cfg deleted file mode 100755 index d9ac90aa..00000000 --- a/papart/data/old/markers/my_markerboarda3.cfg +++ /dev/null @@ -1,101 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -12 - -# marker -0 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 67,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 122,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 252,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -4 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 307,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -5 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 362,0 - 0,0000 1,0000 0,0000 242,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 12,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 67,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -8 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 122,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -9 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 252,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -10 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 307,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -45,0 --67,5 17,5 - 1,0000 0,0000 0,0000 362,0 - 0,0000 1,0000 0,0000 12,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/my_markerboarda3v1-mini.cfg b/papart/data/old/markers/my_markerboarda3v1-mini.cfg deleted file mode 100644 index ecc191d0..00000000 --- a/papart/data/old/markers/my_markerboarda3v1-mini.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -0 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -4 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -5 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -8 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -9 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -10 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -15 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboarda3v1.cfg b/papart/data/old/markers/my_markerboarda3v1.cfg deleted file mode 100755 index ecc191d0..00000000 --- a/papart/data/old/markers/my_markerboarda3v1.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -0 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -1 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -2 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -3 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -4 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -5 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -13 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -12 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -7 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -8 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -9 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -6 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -10 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -11 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -14 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -15 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboarda3v2.cfg b/papart/data/old/markers/my_markerboarda3v2.cfg deleted file mode 100755 index bb6a44d1..00000000 --- a/papart/data/old/markers/my_markerboarda3v2.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -21 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -36 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -35 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -34 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -33 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -32 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -22 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -23 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -24 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -25 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -26 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -27 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -28 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -29 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -30 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -31 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboarda3v3.cfg b/papart/data/old/markers/my_markerboarda3v3.cfg deleted file mode 100755 index d467d2a3..00000000 --- a/papart/data/old/markers/my_markerboarda3v3.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -47 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -55 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -54 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -53 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -52 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -51 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 5,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -50 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -49 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -48 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 15,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - - - -# marker -46 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 85,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -45 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 155,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -44 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 225,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -43 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 295,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -40 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 257,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -42 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 170,0 - 0,0000 0,0000 1,0000 0,0 - - -# marker -41 -35,0 --43,9 -26,9 - 1,0000 0,0000 0,0000 365,0 - 0,0000 1,0000 0,0000 100,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboardmini.cfg b/papart/data/old/markers/my_markerboardmini.cfg deleted file mode 100755 index 4df87f30..00000000 --- a/papart/data/old/markers/my_markerboardmini.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - -# marker -103 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -104 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 90,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -100 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 80,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -105 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 90,0 - 0,0000 1,0000 0,0000 80,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/my_markerboardmini2.cfg b/papart/data/old/markers/my_markerboardmini2.cfg deleted file mode 100755 index ef10e838..00000000 --- a/papart/data/old/markers/my_markerboardmini2.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - -# marker -103 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -104 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -100 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - -# marker -105 -35,0 -17,50 17,50 - 1,0000 0,0000 0,0000 130,0 - 0,0000 1,0000 0,0000 110,0 - 0,0000 0,0000 1,0000 0,0 - diff --git a/papart/data/old/markers/nouveaux/2285.cfg b/papart/data/old/markers/nouveaux/2285.cfg deleted file mode 100644 index 3af66c05..00000000 --- a/papart/data/old/markers/nouveaux/2285.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -2285 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -2286 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -2287 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 45.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -2288 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 45.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/old/markers/nouveaux/2285.svg b/papart/data/old/markers/nouveaux/2285.svg deleted file mode 100644 index cdb6afae..00000000 --- a/papart/data/old/markers/nouveaux/2285.svg +++ /dev/null @@ -1,118 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - 2287 22882285 2286 - diff --git a/papart/data/old/markers/nouveaux/2290.cfg b/papart/data/old/markers/nouveaux/2290.cfg deleted file mode 100644 index 19384b30..00000000 --- a/papart/data/old/markers/nouveaux/2290.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -2290 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -2292 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -2291 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -2293 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/nouveaux/2290.svg b/papart/data/old/markers/nouveaux/2290.svg deleted file mode 100644 index e4f3d538..00000000 --- a/papart/data/old/markers/nouveaux/2290.svg +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - 2292 22932290 2291 - - - - - diff --git a/papart/data/old/markers/nouveaux/2300.cfg b/papart/data/old/markers/nouveaux/2300.cfg deleted file mode 100644 index 6006f581..00000000 --- a/papart/data/old/markers/nouveaux/2300.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -2300 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -2301 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -2302 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -2303 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/nouveaux/2300.svg b/papart/data/old/markers/nouveaux/2300.svg deleted file mode 100644 index 39430868..00000000 --- a/papart/data/old/markers/nouveaux/2300.svg +++ /dev/null @@ -1,118 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - 2302 23032300 2301 - - - - - diff --git a/papart/data/old/markers/nouveaux/2310.cfg b/papart/data/old/markers/nouveaux/2310.cfg deleted file mode 100644 index 1183828b..00000000 --- a/papart/data/old/markers/nouveaux/2310.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -2310 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 1 -2311 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 10,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 2 -2312 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 10,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 - -# marker 3 -2313 -30,0 -5,0 5,0 - 1,0000 0,0000 0,0000 45,0 - 0,0000 1,0000 0,0000 45,0 - 0,0000 0,0000 1,0000 0,0 diff --git a/papart/data/old/markers/nouveaux/2310.svg b/papart/data/old/markers/nouveaux/2310.svg deleted file mode 100644 index 5baa330d..00000000 --- a/papart/data/old/markers/nouveaux/2310.svg +++ /dev/null @@ -1,118 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - 2312 23132310 2311 - - - - - diff --git a/papart/data/old/markers/numPad.svg b/papart/data/old/markers/numPad.svg deleted file mode 100644 index 5ef2f5e5..00000000 --- a/papart/data/old/markers/numPad.svg +++ /dev/null @@ -1,230 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - 100   105103 104 this way up - - 120 121 122 123 - - 110 111112 113 - - - - - - diff --git a/papart/data/old/markers/touches.svg b/papart/data/old/markers/touches.svg deleted file mode 100644 index 140ee25b..00000000 --- a/papart/data/old/markers/touches.svg +++ /dev/null @@ -1,269 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/old/shaders/Filters/alpha.frag b/papart/data/old/shaders/Filters/alpha.frag deleted file mode 100644 index ce87175b..00000000 --- a/papart/data/old/shaders/Filters/alpha.frag +++ /dev/null @@ -1,9 +0,0 @@ -uniform sampler2D sceneTex; - -void main() -{ - - gl_FragColor = vec4(texture2D(sceneTex, gl_TexCoord[0].st).rgb, 0.0); -} - - diff --git a/papart/data/old/shaders/Filters/alpha.xml b/papart/data/old/shaders/Filters/alpha.xml deleted file mode 100644 index 22c2a495..00000000 --- a/papart/data/old/shaders/Filters/alpha.xml +++ /dev/null @@ -1,11 +0,0 @@ - - Blur - default1.vert - alpha.frag - - 0 - - - - - diff --git a/papart/data/old/shaders/Filters/alphaZone.frag b/papart/data/old/shaders/Filters/alphaZone.frag deleted file mode 100644 index 54c04c65..00000000 --- a/papart/data/old/shaders/Filters/alphaZone.frag +++ /dev/null @@ -1,17 +0,0 @@ -uniform sampler2D sceneTex; -uniform sampler2D mask; - - -void main() -{ - - vec4 maskColor = texture2D(mask, gl_TexCoord[0].st); - vec4 texC = texture2D(sceneTex, gl_TexCoord[0].st); - - float a = 1. - maskColor.r; - - gl_FragColor = vec4(texC.rgb * a, a); - -} - - diff --git a/papart/data/old/shaders/Filters/alphaZone.xml b/papart/data/old/shaders/Filters/alphaZone.xml deleted file mode 100644 index 39a3454a..00000000 --- a/papart/data/old/shaders/Filters/alphaZone.xml +++ /dev/null @@ -1,12 +0,0 @@ - - Blur Zone - default1.vert - alphaZone.frag - - 0 - 1 - - - - - diff --git a/papart/data/old/shaders/Filters/blur.frag b/papart/data/old/shaders/Filters/blur.frag deleted file mode 100644 index 93c45bc8..00000000 --- a/papart/data/old/shaders/Filters/blur.frag +++ /dev/null @@ -1,129 +0,0 @@ -uniform sampler2D sceneTex; -uniform vec2 wh; - - -/* vec2 gaussianDeriv(int deriSize){ */ - -/* int neighbor = 2*deriSize + 1; */ -/* float sigma = float(deriSize)/3.0; */ -/* float dem = 2.0*sigma*sigma; */ -/* vec4 sumX1 = vec4(0.0); */ -/* vec4 sumY1 = vec4(0.0); */ -/* for(int yi=0; yi 0.5){ */ - /* vec2 intens = gaussianDeriv(derivSize); */ - - /* /\* gl_FragColor = vec4(intens.r, intens.g, 0, 1); *\/ */ - /* /\* return; *\/ */ - - /* float threshold = intensT; */ - - /* if(intens.r > threshold || intens.g > threshold){ */ - /* // if(intens.r > 0.2 || intens.g > 0.2){ */ - - /* gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); */ - /* return; */ - - /* } else { */ - - /* gl_FragColor = vec4(texC.r * 0.3, texC.g * 0.3, texC.b * 0.3, 1.0); */ - /* return; */ - /* } */ - /* } */ - - - /* /// Blue codes for high intensity */ - /* if(maskColor.b > 0.5){ */ - - /* gl_FragColor = vec4(2.0 * texC.rgb, 1.0); */ - /* return; */ - - /* } */ - /* // green codes for Edge enhance */ - /* // No code ? Image */ - - /* gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); */ -} - - diff --git a/papart/data/old/shaders/Filters/blur.xml b/papart/data/old/shaders/Filters/blur.xml deleted file mode 100644 index 646a35e6..00000000 --- a/papart/data/old/shaders/Filters/blur.xml +++ /dev/null @@ -1,12 +0,0 @@ - - Blur - default1.vert - blur.frag - - 0 - - 0.2 0.2 - - - - diff --git a/papart/data/old/shaders/Filters/blurZone.frag b/papart/data/old/shaders/Filters/blurZone.frag deleted file mode 100644 index ddbbff8b..00000000 --- a/papart/data/old/shaders/Filters/blurZone.frag +++ /dev/null @@ -1,92 +0,0 @@ -uniform sampler2D sceneTex; -uniform sampler2D mask; - -uniform vec2 wh; -/* uniform int derivSize; */ -/* uniform float intensT; */ - -vec4 computeBlur(){ - - vec2 uv = gl_TexCoord[0].xy; - vec4 c = texture2D(sceneTex, uv); - - c += texture2D(sceneTex, uv+0.001); - c += texture2D(sceneTex, uv+0.003); - c += texture2D(sceneTex, uv+0.005); - c += texture2D(sceneTex, uv+0.007); - c += texture2D(sceneTex, uv+0.009); - c += texture2D(sceneTex, uv+0.011); - - c += texture2D(sceneTex, uv-0.001); - c += texture2D(sceneTex, uv-0.003); - c += texture2D(sceneTex, uv-0.005); - c += texture2D(sceneTex, uv-0.007); - c += texture2D(sceneTex, uv-0.009); - c += texture2D(sceneTex, uv-0.011); - - c.rgb = vec3((c.r+c.g+c.b)/3.0); - // c = c / 9.5; - - c = c / 11.5; - - return c; -} - -vec4 gaussianBlur(){ - - float dx = wh.s; - float dy = wh.t; - vec2 st = gl_TexCoord[0].st; - - // Apply 3x3 gaussian filter - vec4 color = 4.0 * texture2D(sceneTex, st); - color += 2.0 * texture2D(sceneTex, st + vec2(+dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(-dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, +dy)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, -dy)); - - return color/ 16.0; -} - - -void main() -{ - // RECOPIE - // gl_FragColor = vec4(0.4, 0.2, 0.8, 0.3); - - vec4 maskColor = texture2D(mask, gl_TexCoord[0].st); - vec4 texC = texture2D(sceneTex, gl_TexCoord[0].st); - - float dx = wh.s; - float dy = wh.t; - vec2 st = gl_TexCoord[0].st; - - // Apply 3x3 gaussian filter - vec4 color = 4.0 * texture2D(sceneTex, st); - color += 2.0 * texture2D(sceneTex, st + vec2(+dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(-dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, +dy)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, -dy)); - - color = color / 16.0; - vec4 color2 = texture2D(sceneTex, gl_TexCoord[0].st); - - - gl_FragColor = (maskColor.r * color) + (1. - maskColor.r) * color2; - - // gl_FragColor = color; - - - // gl_FragColor = vec4(maskColor.r, color, color, 0.5); - -} - - diff --git a/papart/data/old/shaders/Filters/blurZone.xml b/papart/data/old/shaders/Filters/blurZone.xml deleted file mode 100644 index 30ace7cf..00000000 --- a/papart/data/old/shaders/Filters/blurZone.xml +++ /dev/null @@ -1,15 +0,0 @@ - - Blur Zone - default1.vert - blurZone.frag - - 0 - 1 - - 0.2 0.2 - - - - - - diff --git a/papart/data/old/shaders/Filters/default1.vert b/papart/data/old/shaders/Filters/default1.vert deleted file mode 100644 index ffd109b4..00000000 --- a/papart/data/old/shaders/Filters/default1.vert +++ /dev/null @@ -1,14 +0,0 @@ - - -//vertex shader - -void main() -{ - // gl_Position = gl_ProjectionMatrix * gl_ModelViewMatrix * gl_Vertex; - // gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; - - // gl_TexCoord[0] = gl_TextureMatrix[0] * gl_MultiTexCoord0; - gl_TexCoord[0] = gl_MultiTexCoord0; - gl_Position = ftransform(); - -} diff --git a/papart/data/old/shaders/Filters/oldFilm.frag b/papart/data/old/shaders/Filters/oldFilm.frag deleted file mode 100644 index bb7f7416..00000000 --- a/papart/data/old/shaders/Filters/oldFilm.frag +++ /dev/null @@ -1,149 +0,0 @@ -/// http://devmaster.net/posts/2989/shader-effects-old-film - - -/// -/// Uniform variables. -/// -uniform vec2 ImageSize; -uniform vec2 TexelSize; -uniform vec4 Colour; -uniform sampler2D Sample0; - -uniform float SepiaValue; -uniform float NoiseValue; -uniform float ScratchValue; -uniform float InnerVignetting; -uniform float OuterVignetting; -uniform float RandomValue; -uniform float TimeLapse; - - -/// -/// Varying variables. -/// -varying vec2 vUv; - - -/// -/// Computes the overlay between the source and destination colours. -/// -vec3 Overlay (vec3 src, vec3 dst) -{ - // if (dst <= Ω) then: 2 * src * dst - // if (dst > Ω) then: 1 - 2 * (1 - dst) * (1 - src) - return vec3((dst.x <= 0.5) ? (2.0 * src.x * dst.x) : (1.0 - 2.0 * (1.0 - dst.x) * (1.0 - src.x)), - (dst.y <= 0.5) ? (2.0 * src.y * dst.y) : (1.0 - 2.0 * (1.0 - dst.y) * (1.0 - src.y)), - (dst.z <= 0.5) ? (2.0 * src.z * dst.z) : (1.0 - 2.0 * (1.0 - dst.z) * (1.0 - src.z))); -} - - -/// -/// 2D Noise by Ian McEwan, Ashima Arts. -/// -vec3 mod289(vec3 x) { return x - floor(x * (1.0 / 289.0)) * 289.0; } -vec2 mod289(vec2 x) { return x - floor(x * (1.0 / 289.0)) * 289.0; } -vec3 permute(vec3 x) { return mod289(((x*34.0)+1.0)*x); } -float snoise (vec2 v) -{ - const vec4 C = vec4(0.211324865405187, // (3.0-sqrt(3.0))/6.0 - 0.366025403784439, // 0.5*(sqrt(3.0)-1.0) - -0.577350269189626, // -1.0 + 2.0 * C.x - 0.024390243902439); // 1.0 / 41.0 - - // First corner - vec2 i = floor(v + dot(v, C.yy) ); - vec2 x0 = v - i + dot(i, C.xx); - - // Other corners - vec2 i1; - i1 = (x0.x > x0.y) ? vec2(1.0, 0.0) : vec2(0.0, 1.0); - vec4 x12 = x0.xyxy + C.xxzz; - x12.xy -= i1; - - // Permutations - i = mod289(i); // Avoid truncation effects in permutation - vec3 p = permute( permute( i.y + vec3(0.0, i1.y, 1.0 )) - + i.x + vec3(0.0, i1.x, 1.0 )); - - vec3 m = max(0.5 - vec3(dot(x0,x0), dot(x12.xy,x12.xy), dot(x12.zw,x12.zw)), 0.0); - m = m*m ; - m = m*m ; - - // Gradients: 41 points uniformly over a line, mapped onto a diamond. - // The ring size 17*17 = 289 is close to a multiple of 41 (41*7 = 287) - - vec3 x = 2.0 * fract(p * C.www) - 1.0; - vec3 h = abs(x) - 0.5; - vec3 ox = floor(x + 0.5); - vec3 a0 = x - ox; - - // Normalise gradients implicitly by scaling m - // Approximation of: m *= inversesqrt( a0*a0 + h*h ); - m *= 1.79284291400159 - 0.85373472095314 * ( a0*a0 + h*h ); - - // Compute final noise value at P - vec3 g; - g.x = a0.x * x0.x + h.x * x0.y; - g.yz = a0.yz * x12.xz + h.yz * x12.yw; - return 130.0 * dot(m, g); -} - - -/// -/// Fragment shader entry. -/// -void main () -{ - // Sepia RGB value - vec3 sepia = vec3(112.0 / 255.0, 66.0 / 255.0, 20.0 / 255.0); - - // Step 1: Convert to grayscale - vec3 colour = texture2D(Sample0, vUv).xyz; - float gray = (colour.x + colour.y + colour.z) / 3.0; - vec3 grayscale = vec3(gray); - - // Step 2: Appy sepia overlay - vec3 finalColour = Overlay(sepia, grayscale); - - // Step 3: Lerp final sepia colour - finalColour = grayscale + SepiaValue * (finalColour - grayscale); - - // Step 4: Add noise - float noise = snoise(vUv * vec2(1024.0 + RandomValue * 512.0, 1024.0 + RandomValue * 512.0)) * 0.5; - finalColour += noise * NoiseValue; - - // Optionally add noise as an overlay, simulating ISO on the camera - //vec3 noiseOverlay = Overlay(finalColour, vec3(noise)); - //finalColour = finalColour + NoiseValue * (finalColour - noiseOverlay); - - // Step 5: Apply scratches - if ( RandomValue < ScratchValue ) - { - // Pick a random spot to show scratches - float dist = 1.0 / ScratchValue; - float d = distance(vUv, vec2(RandomValue * dist, RandomValue * dist)); - if ( d < 0.4 ) - { - // Generate the scratch - float xPeriod = 8.0; - float yPeriod = 1.0; - float pi = 3.141592; - float phase = TimeLapse; - float turbulence = snoise(vUv * 2.5); - float vScratch = 0.5 + (sin(((vUv.x * xPeriod + vUv.y * yPeriod + turbulence)) * pi + phase) * 0.5); - vScratch = clamp((vScratch * 10000.0) + 0.35, 0.0, 1.0); - - finalColour.xyz *= vScratch; - } - } - - // Step 6: Apply vignetting - // Max distance from centre to corner is ~0.7. Scale that to 1.0. - /* float d = distance(vec2(0.5, 0.5), vUv) * 1.414213; */ - /* float vignetting = clamp((OuterVignetting - d) / (OuterVignetting - InnerVignetting), 0.0, 1.0); */ - /* finalColour.xyz *= vignetting; */ - - // Apply colour - gl_FragColor.xyz = finalColour; - gl_FragColor.w = 1.0; -} diff --git a/papart/data/old/shaders/Filters/oldFilm.xml b/papart/data/old/shaders/Filters/oldFilm.xml deleted file mode 100644 index 8c9c14f5..00000000 --- a/papart/data/old/shaders/Filters/oldFilm.xml +++ /dev/null @@ -1,18 +0,0 @@ - - Blur - default1.vert - oldFilm.frag - - 0 - - 0.2 - 0.2 - 0.2 - 0.1 - 0.8 - 0.2 - 0.2 - - - - diff --git a/papart/data/old/shaders/Filters/oldFilmZone.frag b/papart/data/old/shaders/Filters/oldFilmZone.frag deleted file mode 100644 index b0a84a3f..00000000 --- a/papart/data/old/shaders/Filters/oldFilmZone.frag +++ /dev/null @@ -1,152 +0,0 @@ - -/// -/// Uniform variables. -/// -uniform vec2 ImageSize; -uniform vec2 TexelSize; -uniform vec4 Colour; -uniform sampler2D Sample0; -uniform sampler2D mask; - -uniform float SepiaValue; -uniform float NoiseValue; -uniform float ScratchValue; -uniform float InnerVignetting; -uniform float OuterVignetting; -uniform float RandomValue; -uniform float TimeLapse; - - - -/// -/// Computes the overlay between the source and destination colours. -/// -vec3 Overlay (vec3 src, vec3 dst) -{ - // if (dst <= Ω) then: 2 * src * dst - // if (dst > Ω) then: 1 - 2 * (1 - dst) * (1 - src) - return vec3((dst.x <= 0.5) ? (2.0 * src.x * dst.x) : (1.0 - 2.0 * (1.0 - dst.x) * (1.0 - src.x)), - (dst.y <= 0.5) ? (2.0 * src.y * dst.y) : (1.0 - 2.0 * (1.0 - dst.y) * (1.0 - src.y)), - (dst.z <= 0.5) ? (2.0 * src.z * dst.z) : (1.0 - 2.0 * (1.0 - dst.z) * (1.0 - src.z))); -} - - -/// -/// 2D Noise by Ian McEwan, Ashima Arts. -/// -vec3 mod289(vec3 x) { return x - floor(x * (1.0 / 289.0)) * 289.0; } -vec2 mod289(vec2 x) { return x - floor(x * (1.0 / 289.0)) * 289.0; } -vec3 permute(vec3 x) { return mod289(((x*34.0)+1.0)*x); } -float snoise (vec2 v) -{ - const vec4 C = vec4(0.211324865405187, // (3.0-sqrt(3.0))/6.0 - 0.366025403784439, // 0.5*(sqrt(3.0)-1.0) - -0.577350269189626, // -1.0 + 2.0 * C.x - 0.024390243902439); // 1.0 / 41.0 - - // First corner - vec2 i = floor(v + dot(v, C.yy) ); - vec2 x0 = v - i + dot(i, C.xx); - - // Other corners - vec2 i1; - i1 = (x0.x > x0.y) ? vec2(1.0, 0.0) : vec2(0.0, 1.0); - vec4 x12 = x0.xyxy + C.xxzz; - x12.xy -= i1; - - // Permutations - i = mod289(i); // Avoid truncation effects in permutation - vec3 p = permute( permute( i.y + vec3(0.0, i1.y, 1.0 )) - + i.x + vec3(0.0, i1.x, 1.0 )); - - vec3 m = max(0.5 - vec3(dot(x0,x0), dot(x12.xy,x12.xy), dot(x12.zw,x12.zw)), 0.0); - m = m*m ; - m = m*m ; - - // Gradients: 41 points uniformly over a line, mapped onto a diamond. - // The ring size 17*17 = 289 is close to a multiple of 41 (41*7 = 287) - - vec3 x = 2.0 * fract(p * C.www) - 1.0; - vec3 h = abs(x) - 0.5; - vec3 ox = floor(x + 0.5); - vec3 a0 = x - ox; - - // Normalise gradients implicitly by scaling m - // Approximation of: m *= inversesqrt( a0*a0 + h*h ); - m *= 1.79284291400159 - 0.85373472095314 * ( a0*a0 + h*h ); - - // Compute final noise value at P - vec3 g; - g.x = a0.x * x0.x + h.x * x0.y; - g.yz = a0.yz * x12.xz + h.yz * x12.yw; - return 130.0 * dot(m, g); -} - - -/// -/// Fragment shader entry. -/// -void main () -{ - - vec2 vUv = gl_TexCoord[0].st; - - // Sepia RGB value - vec3 sepia = vec3(112.0 / 255.0, 66.0 / 255.0, 20.0 / 255.0); - - // Step 1: Convert to grayscale - vec3 colour = texture2D(Sample0, vUv).xyz; - float gray = (colour.x + colour.y + colour.z) / 3.0; - vec3 grayscale = vec3(gray); - - // Step 2: Appy sepia overlay - vec3 finalColour = Overlay(sepia, grayscale); - - // Step 3: Lerp final sepia colour - finalColour = grayscale + SepiaValue * (finalColour - grayscale); - - // Step 4: Add noise - float noise = snoise(vUv * vec2(1024.0 + RandomValue * 512.0, 1024.0 + RandomValue * 512.0)) * 0.5; - finalColour += noise * NoiseValue; - - // Optionally add noise as an overlay, simulating ISO on the camera - //vec3 noiseOverlay = Overlay(finalColour, vec3(noise)); - //finalColour = finalColour + NoiseValue * (finalColour - noiseOverlay); - - // Step 5: Apply scratches - if ( RandomValue < ScratchValue ) - { - // Pick a random spot to show scratches - float dist = 1.0 / ScratchValue; - float d = distance(vUv, vec2(RandomValue * dist, RandomValue * dist)); - if ( d < 0.4 ) - { - // Generate the scratch - float xPeriod = 8.0; - float yPeriod = 1.0; - float pi = 3.141592; - float phase = TimeLapse; - float turbulence = snoise(vUv * 2.5); - float vScratch = 0.5 + (sin(((vUv.x * xPeriod + vUv.y * yPeriod + turbulence)) * pi + phase) * 0.5); - vScratch = clamp((vScratch * 10000.0) + 0.35, 0.0, 1.0); - - finalColour.xyz *= vScratch; - } - } - - // Step 6: Apply vignetting - // Max distance from centre to corner is ~0.7. Scale that to 1.0. - /* float d = distance(vec2(0.5, 0.5), vUv) * 1.414213; */ - /* float vignetting = clamp((OuterVignetting - d) / (OuterVignetting - InnerVignetting), 0.0, 1.0); */ - /* finalColour.xyz *= vignetting; */ - - // Apply colour - - - gl_FragColor.xyz = finalColour; - gl_FragColor.w = texture2D(Sample0, gl_TexCoord[0].st).w; - - - // gl_FragColor = vec4((maskColor.r * finalColour).xyz + ((1. - maskColor.r) * colour).xyz, colour.w); - -} diff --git a/papart/data/old/shaders/Filters/oldFilmZone.xml b/papart/data/old/shaders/Filters/oldFilmZone.xml deleted file mode 100644 index 41884e7e..00000000 --- a/papart/data/old/shaders/Filters/oldFilmZone.xml +++ /dev/null @@ -1,19 +0,0 @@ - - Blur Zone - default1.vert - oldFilmZone.frag - - 0 - 1 - - 0.7 - 0.3 - 0.3 - - - 0.0 - 0.5 - - - - diff --git a/papart/data/old/shaders/Sobel.xml b/papart/data/old/shaders/Sobel.xml deleted file mode 100755 index 9b232b44..00000000 --- a/papart/data/old/shaders/Sobel.xml +++ /dev/null @@ -1,11 +0,0 @@ - - Sobel edge detector (requires OpenGL 3.3) - SobelVert.glsl - SobelFrag.glsl - - 0 - - - - - diff --git a/papart/data/old/shaders/SobelFrag.glsl b/papart/data/old/shaders/SobelFrag.glsl deleted file mode 100755 index f33e73c6..00000000 --- a/papart/data/old/shaders/SobelFrag.glsl +++ /dev/null @@ -1,41 +0,0 @@ -#version 330 compatibility - -uniform sampler2D sceneTex; -uniform vec2 offset; - -uniform mat3 G[2] = mat3[] -( - mat3( 1.0, 2.0, 1.0, 0.0, 0.0, 0.0, -1.0, -2.0, -1.0 ), - mat3( 1.0, 0.0, -1.0, 2.0, 0.0, -2.0, 1.0, 0.0, -1.0 ) -); - -void main() -{ - vec2 uv = gl_TexCoord[0].xy; - vec3 tc = vec3(1.0, 0.0, 0.0); - - mat3 I; - float cnv[2]; - vec3 sample; - - // fetch the 3x3 neighbourhood and use the RGB vector's length as intensity value - for (int i=0; i<3; i++) - { - for (int j=0; j<3; j++) - { - sample = texelFetch(sceneTex, ivec2(uv / offset) + ivec2(i-1,j-1), 0).rgb; - I[i][j] = length(sample); - } - } - - // calculate the convolution values for all the masks - for (int i=0; i<2; i++) - { - float dp3 = dot(G[i][0], I[0]) + dot(G[i][1], I[1]) + dot(G[i][2], I[2]); - cnv[i] = dp3 * dp3; - } - - tc = vec3(0.5 * sqrt(cnv[0]*cnv[0]+cnv[1]*cnv[1])); - - gl_FragColor = vec4(tc, 1.0); -} diff --git a/papart/data/old/shaders/SobelVert.glsl b/papart/data/old/shaders/SobelVert.glsl deleted file mode 100755 index 34f23f45..00000000 --- a/papart/data/old/shaders/SobelVert.glsl +++ /dev/null @@ -1,7 +0,0 @@ -void main(void) -{ - gl_Position = ftransform(); - gl_TexCoord[0] = gl_MultiTexCoord0; -} - - diff --git a/papart/data/old/shaders/Thermal.xml b/papart/data/old/shaders/Thermal.xml deleted file mode 100755 index f8b027d3..00000000 --- a/papart/data/old/shaders/Thermal.xml +++ /dev/null @@ -1,11 +0,0 @@ - - Predator’s Thermal Vision Post Processing Filter - ThermalVert.glsl - ThermalFrag.glsl - - 0 - - - - - diff --git a/papart/data/old/shaders/ThermalFrag.glsl b/papart/data/old/shaders/ThermalFrag.glsl deleted file mode 100755 index 8a61f65e..00000000 --- a/papart/data/old/shaders/ThermalFrag.glsl +++ /dev/null @@ -1,16 +0,0 @@ -uniform sampler2D sceneTex; - -void main() -{ - vec2 uv = gl_TexCoord[0].xy; - vec3 tc = vec3(1.0, 0.0, 0.0); - vec3 pixcol = texture2D(sceneTex, uv).rgb; - vec3 colors[3]; - colors[0] = vec3(0.,0.,1.); - colors[1] = vec3(1.,1.,0.); - colors[2] = vec3(1.,0.,0.); - float lum = (pixcol.r+pixcol.g+pixcol.b)/3.; - int ix = (lum < 0.5)? 0:1; - tc = mix(colors[ix],colors[ix+1],(lum-float(ix)*0.5)/0.5); - gl_FragColor = vec4(tc, 1.0); -} \ No newline at end of file diff --git a/papart/data/old/shaders/ThermalVert.glsl b/papart/data/old/shaders/ThermalVert.glsl deleted file mode 100755 index 34f23f45..00000000 --- a/papart/data/old/shaders/ThermalVert.glsl +++ /dev/null @@ -1,7 +0,0 @@ -void main(void) -{ - gl_Position = ftransform(); - gl_TexCoord[0] = gl_MultiTexCoord0; -} - - diff --git a/papart/data/old/shaders/Toon.xml b/papart/data/old/shaders/Toon.xml deleted file mode 100755 index bc3036b9..00000000 --- a/papart/data/old/shaders/Toon.xml +++ /dev/null @@ -1,18 +0,0 @@ - - Toon shading on images, by Agnius Vasiliauskas (http://coding-experiments.blogspot.com/2011/01/toon-pixel-shader.html) - ToonVert.glsl - ToonFrag.glsl - - 0 - - - - 0.0 80.0 160.0 240.0 320.0 360.0 - - 0.0 0.15 0.3 0.45 0.6 0.8 1.0 - 0.0 0.3 0.6 1.0 - - - - - diff --git a/papart/data/old/shaders/ToonFrag.glsl b/papart/data/old/shaders/ToonFrag.glsl deleted file mode 100755 index 549b0b13..00000000 --- a/papart/data/old/shaders/ToonFrag.glsl +++ /dev/null @@ -1,169 +0,0 @@ -uniform sampler2D Texture0; -uniform vec2 offset; - -#define HueLevCount 6 -#define SatLevCount 7 -#define ValLevCount 4 -uniform float HueLevels[HueLevCount]; -uniform float SatLevels[SatLevCount]; -uniform float ValLevels[ValLevCount]; - -vec3 RGBtoHSV( float r, float g, float b) { - float minv, maxv, delta; - vec3 res; - - minv = min(min(r, g), b); - maxv = max(max(r, g), b); - res.z = maxv; // v - - delta = maxv - minv; - - if( maxv != 0.0 ) - res.y = delta / maxv; // s - else { - // r = g = b = 0 // s = 0, v is undefined - res.y = 0.0; - res.x = -1.0; - return res; - } - - if( r == maxv ) - res.x = ( g - b ) / delta; // between yellow & magenta - else if( g == maxv ) - res.x = 2.0 + ( b - r ) / delta; // between cyan & yellow - else - res.x = 4.0 + ( r - g ) / delta; // between magenta & cyan - - res.x = res.x * 60.0; // degrees - if( res.x < 0.0 ) - res.x = res.x + 360.0; - - return res; -} - -vec3 HSVtoRGB(float h, float s, float v ) { - int i; - float f, p, q, t; - vec3 res; - - if( s == 0.0 ) { - // achromatic (grey) - res.x = v; - res.y = v; - res.z = v; - return res; - } - - h /= 60.0; // sector 0 to 5 - i = int(floor( h )); - f = h - float(i); // factorial part of h - p = v * ( 1.0 - s ); - q = v * ( 1.0 - s * f ); - t = v * ( 1.0 - s * ( 1.0 - f ) ); - - // Default: - res.x = v; - res.y = p; - res.z = q; - if (i == 0) { - res.x = v; - res.y = t; - res.z = p; - } - if (i == 1) { - res.x = q; - res.y = v; - res.z = p; - } - if (i == 2) { - res.x = p; - res.y = v; - res.z = t; - } - if (i == 3) { - res.x = p; - res.y = q; - res.z = v; - } - if (i == 4) { - res.x = t; - res.y = p; - res.z = v; - } - - return res; -} - -float nearestLevel(float col, int mode) { - int levCount; - if (mode==0) levCount = HueLevCount; - if (mode==1) levCount = SatLevCount; - if (mode==2) levCount = ValLevCount; - - for (int i =0; i= HueLevels[i] && col <= HueLevels[i+1]) { - return HueLevels[i+1]; - } - } - if (mode==1) { - if (col >= SatLevels[i] && col <= SatLevels[i+1]) { - return SatLevels[i+1]; - } - } - if (mode==2) { - if (col >= ValLevels[i] && col <= ValLevels[i+1]) { - return ValLevels[i+1]; - } - } - } -} - -// averaged pixel intensity from 3 color channels -float avg_intensity(vec4 pix) { - return (pix.r + pix.g + pix.b)/3.; -} - -vec4 get_pixel(vec2 coords, float dx, float dy) { - return texture2D(Texture0,coords + vec2(dx, dy)); -} - -// returns pixel color -float IsEdge(in vec2 coords){ - float dxtex = offset.x; - float dytex = offset.y; - float pix[9]; - int k = -1; - float delta; - - // read neighboring pixel intensities - for (int i=-1; i<2; i++) { - for(int j=-1; j<2; j++) { - k++; - pix[k] = avg_intensity(get_pixel(coords,float(i)*dxtex, - float(j)*dytex)); - } - } - - // average color differences around neighboring pixels - delta = (abs(pix[1]-pix[7])+ - abs(pix[5]-pix[3]) + - abs(pix[0]-pix[8])+ - abs(pix[2]-pix[6]) - )/4.; - - return clamp(5.5*delta,0.0,1.0); -} - -void main(void) -{ - vec2 texCoord = gl_TexCoord[0].xy; - vec4 colorOrg = texture2D( Texture0, texCoord ); - vec3 vHSV = RGBtoHSV(colorOrg.r,colorOrg.g,colorOrg.b); - vHSV.x = nearestLevel(vHSV.x, 0); - vHSV.y = nearestLevel(vHSV.y, 1); - vHSV.z = nearestLevel(vHSV.z, 2); - float edg = IsEdge(texCoord); - vec3 vRGB = (edg >= 0.3)? vec3(0.0,0.0,0.0):HSVtoRGB(vHSV.x,vHSV.y,vHSV.z); - gl_FragColor = vec4(vRGB.x,vRGB.y,vRGB.z,1.0); -} \ No newline at end of file diff --git a/papart/data/old/shaders/ToonVert.glsl b/papart/data/old/shaders/ToonVert.glsl deleted file mode 100755 index 34f23f45..00000000 --- a/papart/data/old/shaders/ToonVert.glsl +++ /dev/null @@ -1,7 +0,0 @@ -void main(void) -{ - gl_Position = ftransform(); - gl_TexCoord[0] = gl_MultiTexCoord0; -} - - diff --git a/papart/data/old/shaders/anaglyph.frag b/papart/data/old/shaders/anaglyph.frag deleted file mode 100755 index 4594e056..00000000 --- a/papart/data/old/shaders/anaglyph.frag +++ /dev/null @@ -1,15 +0,0 @@ -uniform sampler2D leftTex; -uniform sampler2D rightTex; - -void main() -{ - // RECOPIE - // gl_FragColor = vec4(0.4, 0.2, 0.8, 0.3); - - vec4 leftColor = texture2D(leftTex, gl_TexCoord[0].st); - vec4 rightColor = texture2D(rightTex, gl_TexCoord[0].st); - - gl_FragColor = normalize(leftColor + rightColor); - -} - diff --git a/papart/data/old/shaders/anaglyph.vert b/papart/data/old/shaders/anaglyph.vert deleted file mode 100755 index 2d83590e..00000000 --- a/papart/data/old/shaders/anaglyph.vert +++ /dev/null @@ -1,12 +0,0 @@ -//vertex shader - -void main() -{ - // gl_Position = gl_ProjectionMatrix * gl_ModelViewMatrix * gl_Vertex; - // gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; - - // gl_TexCoord[0] = gl_TextureMatrix[0] * gl_MultiTexCoord0; - gl_TexCoord[0] = gl_MultiTexCoord0; - gl_Position = ftransform(); - -} diff --git a/papart/data/old/shaders/anaglyph.xml b/papart/data/old/shaders/anaglyph.xml deleted file mode 100755 index 7ecdb9a7..00000000 --- a/papart/data/old/shaders/anaglyph.xml +++ /dev/null @@ -1,10 +0,0 @@ - - Apply the opposite of the projector lens distortion to get a good visualisation. - anaglyph.vert - anaglyph.frag - - 0 - 1 - - - diff --git a/papart/data/old/shaders/blur.frag b/papart/data/old/shaders/blur.frag deleted file mode 100644 index c22d9d25..00000000 --- a/papart/data/old/shaders/blur.frag +++ /dev/null @@ -1,151 +0,0 @@ -uniform sampler2D sceneTex; -uniform sampler2D mask; - -uniform vec2 wh; -uniform int derivSize; -uniform float intensT; - -vec4 computeBlur(){ - - vec2 uv = gl_TexCoord[0].xy; - vec4 c = texture2D(sceneTex, uv); - - c += texture2D(sceneTex, uv+0.001); - c += texture2D(sceneTex, uv+0.003); - c += texture2D(sceneTex, uv+0.005); - c += texture2D(sceneTex, uv+0.007); - c += texture2D(sceneTex, uv+0.009); - c += texture2D(sceneTex, uv+0.011); - - c += texture2D(sceneTex, uv-0.001); - c += texture2D(sceneTex, uv-0.003); - c += texture2D(sceneTex, uv-0.005); - c += texture2D(sceneTex, uv-0.007); - c += texture2D(sceneTex, uv-0.009); - c += texture2D(sceneTex, uv-0.011); - - c.rgb = vec3((c.r+c.g+c.b)/3.0); - // c = c / 9.5; - - c = c / 11.5; - - return c; -} - -vec4 gaussianBlur(){ - - float dx = wh.s; - float dy = wh.t; - vec2 st = gl_TexCoord[0].st; - - // Apply 3x3 gaussian filter - vec4 color = 4.0 * texture2D(sceneTex, st); - color += 2.0 * texture2D(sceneTex, st + vec2(+dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(-dx, 0.0)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, +dy)); - color += 2.0 * texture2D(sceneTex, st + vec2(0.0, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, +dy)); - color += texture2D(sceneTex, st + vec2(-dx, -dy)); - color += texture2D(sceneTex, st + vec2(+dx, -dy)); - - return color/ 16.0; -} - - -vec2 gaussianDeriv(int deriSize){ - - int neighbor = 2*deriSize + 1; - float sigma = float(deriSize)/3.0; - float dem = 2.0*sigma*sigma; - vec4 sumX1 = vec4(0.0); - vec4 sumY1 = vec4(0.0); - for(int yi=0; yi 0.7){ - - gl_FragColor = computeBlur(); - return; - } - - if(maskColor.g > 0.5){ - vec2 intens = gaussianDeriv(derivSize); - - /* gl_FragColor = vec4(intens.r, intens.g, 0, 1); */ - /* return; */ - - float threshold = intensT; - - if(intens.r > threshold || intens.g > threshold){ - // if(intens.r > 0.2 || intens.g > 0.2){ - - gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); - return; - - } else { - - gl_FragColor = vec4(texC.r * 0.3, texC.g * 0.3, texC.b * 0.3, 1.0); - return; - } - } - - - /// Blue codes for high intensity - if(maskColor.b > 0.5){ - - gl_FragColor = vec4(2.0 * texC.rgb, 1.0); - return; - - } - // green codes for Edge enhance - // No code ? Image - - gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); - - // gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); - - /* vec4 c1 = texture2D(sceneTex, gl_TexCoord[0].st); */ - /* vec4 c2 = texture2D(mask, gl_TexCoord[0].st); */ - /* /\* gl_FragColor = texture2D(mask, gl_TexCoord[0].st); *\/ */ - - /* gl_FragColor = c2; */ - - // gl_FragColor = vec4(c1.r,, 0.5, 1.0); - - // gl_FragColor = texture2D(sceneTex, gl_TexCoord[0].st); - -} - diff --git a/papart/data/old/shaders/blur.vert b/papart/data/old/shaders/blur.vert deleted file mode 100644 index ffd109b4..00000000 --- a/papart/data/old/shaders/blur.vert +++ /dev/null @@ -1,14 +0,0 @@ - - -//vertex shader - -void main() -{ - // gl_Position = gl_ProjectionMatrix * gl_ModelViewMatrix * gl_Vertex; - // gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; - - // gl_TexCoord[0] = gl_TextureMatrix[0] * gl_MultiTexCoord0; - gl_TexCoord[0] = gl_MultiTexCoord0; - gl_Position = ftransform(); - -} diff --git a/papart/data/old/shaders/blur.xml b/papart/data/old/shaders/blur.xml deleted file mode 100644 index 99416e46..00000000 --- a/papart/data/old/shaders/blur.xml +++ /dev/null @@ -1,15 +0,0 @@ - - Dream Vision Post Processing Filter - blur.vert - blur.frag - - 0 - 1 - - 0.2 0.2 - 5 - 0.3 - - - - diff --git a/papart/data/old/shaders/calib.xml b/papart/data/old/shaders/calib.xml deleted file mode 100644 index a1dde8b2..00000000 --- a/papart/data/old/shaders/calib.xml +++ /dev/null @@ -1,42 +0,0 @@ - - - - - 400 - 1200 - - - - 0.026787128 - 0.008649012 - -0.872214 - - - -0.035829786 - 0.60323375 - -0.7967593 - - 0.0059999996 - 1 - - - -1.3911159038543701 - 0.07879400253295898 - 0.35574108362197876 - -0.14813756942749023 - -2.9834423065185547 - 0.5096640586853027 - 0.06685977429151535 - -0.999718189239502 - 1.0 - - - - localhost - 3333 - - - 50 - 50 - - diff --git a/papart/data/old/shaders/capSc.frag b/papart/data/old/shaders/capSc.frag deleted file mode 100644 index 537f2189..00000000 --- a/papart/data/old/shaders/capSc.frag +++ /dev/null @@ -1,45 +0,0 @@ -uniform sampler2D tex; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - - -void main() -{ - /* vec3 n,halfV,viewV,ldir; */ - /* float NdotL,NdotHV; */ - /* vec4 color = ambient; */ - - /* /\* a fragment shader can't write a verying variable, hence we need */ - /* a new variable to store the normalized interpolated normal *\/ */ - /* n = normalize(normal); */ - - /* /\* compute the dot product between normal and ldir *\/ */ - /* NdotL = max(dot(n,lightDir),0.0); */ - - /* if (NdotL > 0.0) { */ - /* halfV = normalize(halfVector); */ - /* NdotHV = max(dot(n,halfV),0.0); */ - /* color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); */ - /* color += diffuse * NdotL; */ - /* } */ - - - vec3 ct,cf; - vec4 texel; - float intensity,at,af; - intensity = max(dot(lightDir,normalize(normal)),0.0); - - cf = intensity * (gl_FrontMaterial.diffuse).rgb + - gl_FrontMaterial.ambient.rgb * 0.6; - af = gl_FrontMaterial.diffuse.a; - - // texel = texture2D(gl_TextureMatrix[0], gl_TexCoord[0].st); - texel = texture2D(tex, gl_TexCoord[0].st); - // texel = texture2D(tex,gl_TexCoord[0].st); - - ct = texel.rgb; - at = texel.a; - gl_FragColor = vec4(ct * cf, at * af); - -} diff --git a/papart/data/old/shaders/capSc.vert b/papart/data/old/shaders/capSc.vert deleted file mode 100644 index cc6d9c39..00000000 --- a/papart/data/old/shaders/capSc.vert +++ /dev/null @@ -1,26 +0,0 @@ -/* // Used for shadow lookup */ -/* varying vec4 ShadowCoord; */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - // halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - /* ShadowCoord= gl_TextureMatrix[7] * gl_Vertex ; */ - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/classique/color.frag b/papart/data/old/shaders/classique/color.frag deleted file mode 100644 index 0e0697ba..00000000 --- a/papart/data/old/shaders/classique/color.frag +++ /dev/null @@ -1,8 +0,0 @@ - -varying float intensity; - - -void main() -{ - gl_FragColor = vec4(gl_Color.rgb * intensity, 1); -} diff --git a/papart/data/old/shaders/classique/color.vert b/papart/data/old/shaders/classique/color.vert deleted file mode 100644 index e620a034..00000000 --- a/papart/data/old/shaders/classique/color.vert +++ /dev/null @@ -1,11 +0,0 @@ - - -varying float intensity; - -void main() -{ - vec3 lightDir = normalize(vec3(gl_LightSource[0].position)); - intensity = dot(lightDir,gl_Normal); - gl_FrontColor = gl_Color; - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix-tex.xml b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix-tex.xml deleted file mode 100644 index fecdf1a5..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix-tex.xml +++ /dev/null @@ -1,9 +0,0 @@ - - normal drawing - dirLightAmbDiffSpecPix.vert - dirLightAmbDiffSpecPix-tex.frag - - 0 - - - diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.frag b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.frag deleted file mode 100755 index 30d0209f..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.frag +++ /dev/null @@ -1,36 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - gl_FragColor = color; -} diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.vert b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.vert deleted file mode 100755 index c24379b7..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.vert +++ /dev/null @@ -1,34 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.xml b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.xml deleted file mode 100755 index e1f655b9..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPix.xml +++ /dev/null @@ -1,9 +0,0 @@ - - normal drawing - dirLightAmbDiffSpecPix.vert - dirLightAmbDiffSpecPix.frag - - 0 - - - diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.frag b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.frag deleted file mode 100755 index abdb06ab..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.frag +++ /dev/null @@ -1,56 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,diffuse2,ambient; -varying vec3 normal,lightDir,halfVector,lightDir2,halfVector2; - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotL2,NdotHV; - float intensity, intens1, intens2; - // vec4 color = ambient; - vec4 color = vec4(0, 0, 0, 0); - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - NdotL2 = max(dot(n,lightDir2),0.0); - - if (NdotL > 0.0) { - // halfV = normalize(halfVector); - // NdotHV = max(dot(n,halfV),0.0); - // color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - if (NdotL2 > 0.0) { - // halfV = normalize(halfVector2); - // NdotHV = max(dot(n,halfV),0.0); - // color += gl_FrontMaterial.specular * gl_LightSource[1].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse2 * NdotL2; - } - - intensity = (NdotL + NdotL2) * 0.8; - - intens1 = NdotL / intensity; - intens2 = NdotL2 / intensity; - - // if(intensity >= 1.) - color = diffuse * NdotL * intens1 + diffuse2 * NdotL2 * intens2; - /* else */ - /* color = diffuse * NdotL + diffuse2 * NdotL2 ; */ - // color = gl_LightSource[0].diffuse * 0.5 * NdotL + gl_LightSource[1].diffuse * NdotL2 * 0.5; - - gl_FragColor = color; -} diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.vert b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.vert deleted file mode 100755 index ce1bb1a6..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.vert +++ /dev/null @@ -1,37 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,diffuse2,ambient; -varying vec3 normal,lightDir,halfVector,lightDir2,halfVector2; - -void main() -{ - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - lightDir2 = normalize(vec3(gl_LightSource[1].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - halfVector2 = normalize(gl_LightSource[1].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * (gl_LightSource[0].diffuse); //+ gl_LightSource[1].diffuse); - diffuse2 = gl_FrontMaterial.diffuse * (gl_LightSource[1].diffuse); //+ gl_LightSource[1].diffuse); - // ambient = gl_FrontMaterial.ambient * (gl_LightSource[1].ambient);// + gl_LightSource[1].ambient); - // ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.xml b/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.xml deleted file mode 100755 index 83eeb74d..00000000 --- a/papart/data/old/shaders/classique/dirLightAmbDiffSpecPixMult2.xml +++ /dev/null @@ -1,9 +0,0 @@ - - normal drawing - dirLightAmbDiffSpecPixMult2.vert - dirLightAmbDiffSpecPixMult2.frag - - 0 - - - diff --git a/papart/data/old/shaders/classique/kinect1.frag b/papart/data/old/shaders/classique/kinect1.frag deleted file mode 100755 index a0a25c6d..00000000 --- a/papart/data/old/shaders/classique/kinect1.frag +++ /dev/null @@ -1,45 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; -varying vec4 v_color; - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - - //vec4 color = ambient; - // vec4 color = v_color; - vec4 color = vec4(0, 0, 0, 0); - - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.4) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - - /* color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); */ - - // color += gl_LightSource[0].ambient * pow(NdotHV, 10.); - color += gl_LightSource[0].ambient * NdotL * v_color; - // color += diffuse * NdotL; - } - - gl_FragColor = v_color; - -} diff --git a/papart/data/old/shaders/classique/kinect1.vert b/papart/data/old/shaders/classique/kinect1.vert deleted file mode 100755 index 648b624a..00000000 --- a/papart/data/old/shaders/classique/kinect1.vert +++ /dev/null @@ -1,39 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; -varying vec4 v_color; - -void main() -{ - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - - // diffuse = gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - v_color = gl_Color; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/classique/texture/t.frag b/papart/data/old/shaders/classique/texture/t.frag deleted file mode 100644 index b4ccc81a..00000000 --- a/papart/data/old/shaders/classique/texture/t.frag +++ /dev/null @@ -1,29 +0,0 @@ -uniform sampler2D tex; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - - -void main() -{ - - vec3 ct,cf; - vec4 texel; - float intensity,at,af; - intensity = max(dot(lightDir,normalize(normal)),0.0); - - /* cf = intensity * (gl_FrontMaterial.diffuse).rgb + */ - /* gl_FrontMaterial.ambient.rgb * 0.6; */ - - cf = intensity * diffuse + ambient; - // gl_FrontMaterial.ambient.rgb * 0.6; - - af = gl_FrontMaterial.diffuse.a; - texel = texture2D(tex,gl_TexCoord[0].st); - - ct = texel.rgb; - at = texel.a; - gl_FragColor = vec4(ct * cf, at * af); - - // gl_FragColor = vec4(cf, 1); -} diff --git a/papart/data/old/shaders/classique/texture/t.vert b/papart/data/old/shaders/classique/texture/t.vert deleted file mode 100644 index 6f47c881..00000000 --- a/papart/data/old/shaders/classique/texture/t.vert +++ /dev/null @@ -1,21 +0,0 @@ -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - // halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/classique/texture/textureShader.frag b/papart/data/old/shaders/classique/texture/textureShader.frag deleted file mode 100644 index c34f63c4..00000000 --- a/papart/data/old/shaders/classique/texture/textureShader.frag +++ /dev/null @@ -1,42 +0,0 @@ -uniform sampler2D tex; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - - -void main() -{ - /* vec3 n,halfV,viewV,ldir; */ - /* float NdotL,NdotHV; */ - /* vec4 color = ambient; */ - - /* /\* a fragment shader can't write a verying variable, hence we need */ - /* a new variable to store the normalized interpolated normal *\/ */ - /* n = normalize(normal); */ - - /* /\* compute the dot product between normal and ldir *\/ */ - /* NdotL = max(dot(n,lightDir),0.0); */ - - /* if (NdotL > 0.0) { */ - /* halfV = normalize(halfVector); */ - /* NdotHV = max(dot(n,halfV),0.0); */ - /* color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); */ - /* color += diffuse * NdotL; */ - /* } */ - - - vec3 ct,cf; - vec4 texel; - float intensity,at,af; - intensity = max(dot(lightDir,normalize(normal)),0.0); - - cf = intensity * (gl_FrontMaterial.diffuse).rgb + - gl_FrontMaterial.ambient.rgb * 0.6; - af = gl_FrontMaterial.diffuse.a; - texel = texture2D(tex,gl_TexCoord[0].st); - - ct = texel.rgb; - at = texel.a; - gl_FragColor = vec4(ct * cf, at * af); - -} diff --git a/papart/data/old/shaders/classique/texture/textureShader.vert b/papart/data/old/shaders/classique/texture/textureShader.vert deleted file mode 100644 index cc4b4146..00000000 --- a/papart/data/old/shaders/classique/texture/textureShader.vert +++ /dev/null @@ -1,26 +0,0 @@ -// Used for shadow lookup -varying vec4 ShadowCoord; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - // halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - ShadowCoord= gl_TextureMatrix[7] * gl_Vertex ; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/distortFrag.glsl b/papart/data/old/shaders/distortFrag.glsl deleted file mode 100755 index 9c053dd6..00000000 --- a/papart/data/old/shaders/distortFrag.glsl +++ /dev/null @@ -1,33 +0,0 @@ -#ifdef GL_ES -precision mediump float; -precision mediump int; -#endif - - -uniform sampler2D texture; - -varying vec4 vertColor; -varying vec4 vertTexCoord; - -void main() { - gl_FragColor = texture2D(texture, vertTexCoord.st) * vertColor; -} - - - - -/* uniform sampler2D texture; */ -/* uniform sampler2D mapTex; */ - -/* void main() */ -/* { */ - -/* vec4 mapCoord = texture2D(mapTex, gl_TexCoord[0].st); */ -/* gl_FragColor = texture2D(srcTex, mapCoord.rg); */ - -/* gl_FragColor = vec4(1, 0, 0, 1); */ - -/* /\* gl_FragColor = texture2D(srcTex, gl_TexCoord[0].st); *\/ */ -/* // gl_FragColor = texture2D(mapTex, gl_TexCoord[0].st); */ -/* } */ - diff --git a/papart/data/old/shaders/distortVert.glsl b/papart/data/old/shaders/distortVert.glsl deleted file mode 100755 index a23997a1..00000000 --- a/papart/data/old/shaders/distortVert.glsl +++ /dev/null @@ -1,27 +0,0 @@ -/* //vertex shader */ - -/* void main() */ -/* { */ -/* gl_TexCoord[0] = gl_MultiTexCoord0; */ -/* gl_Position = ftransform(); */ - -/* } */ - -#define PROCESSING_TEXTURE_SHADER - -uniform mat4 transform; -uniform mat4 texMatrix; - -attribute vec4 vertex; -attribute vec4 color; -attribute vec2 texCoord; - -varying vec4 vertColor; -varying vec4 vertTexCoord; - -void main() { - gl_Position = transform * vertex; - - vertColor = color; - vertTexCoord = texMatrix * vec4(texCoord, 1.0, 1.0); -} diff --git a/papart/data/old/shaders/kinect/kinect1.frag b/papart/data/old/shaders/kinect/kinect1.frag deleted file mode 100755 index fd8d1b80..00000000 --- a/papart/data/old/shaders/kinect/kinect1.frag +++ /dev/null @@ -1,12 +0,0 @@ -#ifdef GL_ES -precision mediump float; -precision mediump int; -#endif - -varying vec4 vertColor; - -void main() { - - // gl_FragColor = vec4(1, 1, 1, 1); - gl_FragColor = vec4(vertColor.rgb, 1); -} diff --git a/papart/data/old/shaders/kinect/kinect1.vert b/papart/data/old/shaders/kinect/kinect1.vert deleted file mode 100755 index 1bcb0476..00000000 --- a/papart/data/old/shaders/kinect/kinect1.vert +++ /dev/null @@ -1,13 +0,0 @@ -#define PROCESSING_POINT_SHADER - -uniform mat4 transform; - -attribute vec4 vertex; -attribute vec4 color; - -varying vec4 vertColor; - -void main() { - gl_Position = transform * vertex; - vertColor = color / 255; -} diff --git a/papart/data/old/shaders/kinect/kinectTri.frag b/papart/data/old/shaders/kinect/kinectTri.frag deleted file mode 100755 index 3e6fbd73..00000000 --- a/papart/data/old/shaders/kinect/kinectTri.frag +++ /dev/null @@ -1,23 +0,0 @@ -#define PROCESSING_LIGHT_SHADER - -uniform mat4 modelview; -uniform mat4 transform; -uniform mat3 normalMatrix; - -uniform vec4 lightPosition; - -attribute vec4 vertex; -attribute vec4 color; -attribute vec3 normal; - -varying vec4 vertColor; - -void main() { - gl_Position = transform * vertex; - vec3 ecVertex = vec3(modelview * vertex); - vec3 ecNormal = normalize(normalMatrix * normal); - - vec3 direction = normalize(lightPosition.xyz - ecVertex); - float intensity = max(0.0, dot(direction, ecNormal)); - vertColor = vec4(intensity, intensity, intensity, 1) * color; -} diff --git a/papart/data/old/shaders/kinect/kinectTri.vert b/papart/data/old/shaders/kinect/kinectTri.vert deleted file mode 100755 index ec69a61d..00000000 --- a/papart/data/old/shaders/kinect/kinectTri.vert +++ /dev/null @@ -1,12 +0,0 @@ -uniform mat4 transform; - -attribute vec4 vertex; -attribute vec4 color; -attribute vec4 normal; - -varying vec4 vertColor; - -void main() { - gl_Position = transform * vertex; - vertColor = color / 255; -} diff --git a/papart/data/old/shaders/litSphere (working).frag b/papart/data/old/shaders/litSphere (working).frag deleted file mode 100755 index edcf791e..00000000 --- a/papart/data/old/shaders/litSphere (working).frag +++ /dev/null @@ -1,26 +0,0 @@ - -uniform sampler2D litTexture; - -varying vec3 normal; - -vec4 litSphereColor(in vec3 n) { - //Normal to camera space - - vec2 pos = normalize(n).xy; - vec2 posInTex = vec2( 0.5 + pos.x * 0.5, 0.5 - pos.y * 0.5 ); - vec4 color = texture2D(litTexture, posInTex); - -// vec2 pos = normalize(normal).xy; - -/// vec2 posInTex = vec2( 0.5 + pos.x * 0.5, 0.5 - pos.y * 0.5 ); -/// vec4 color0 = texture2D( tex0, posInTex ); -/// vec4 color1 = texture2D( tex1, posInTex ); -/// float c = clamp(0.5 + 0.5*tanh(curvature*enhance), 0.0,1.0); -/// gl_FragData[0] = c*color0 + (1.0-c)*color1; - - return color; -} - -void main() { - gl_FragColor = litSphereColor(normal); -} diff --git a/papart/data/old/shaders/litSphere.frag b/papart/data/old/shaders/litSphere.frag deleted file mode 100755 index 911bbb3d..00000000 --- a/papart/data/old/shaders/litSphere.frag +++ /dev/null @@ -1,14 +0,0 @@ -uniform sampler2D tex0; -uniform sampler2D tex1; -uniform float enhance; -varying vec3 normal, lightDir; -varying float curvature; - -void main () { - vec2 pos = normalize(normal + lightDir).xy; - vec2 posInTex = vec2( 0.5 + pos.x * 0.5, 0.5 - pos.y * 0.5 ); - - vec4 color0 = texture2D( tex0, posInTex ); - vec4 color1 = texture2D( tex1, posInTex ); - gl_FragData[0] = color0; -} diff --git a/papart/data/old/shaders/litSphere.vert b/papart/data/old/shaders/litSphere.vert deleted file mode 100755 index 4ff760ea..00000000 --- a/papart/data/old/shaders/litSphere.vert +++ /dev/null @@ -1,25 +0,0 @@ -varying vec3 normal,lightDir; -varying vec4 diffuse,ambient; -varying vec3 halfVector; - -void main(void) { - - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/litSphere.xml b/papart/data/old/shaders/litSphere.xml deleted file mode 100755 index 6a2b3459..00000000 --- a/papart/data/old/shaders/litSphere.xml +++ /dev/null @@ -1,9 +0,0 @@ - - Lit Sphere - litSphere.vert - litSphere.frag - - 0 - - - diff --git a/papart/data/old/shaders/litsphere.frag b/papart/data/old/shaders/litsphere.frag deleted file mode 100755 index 911bbb3d..00000000 --- a/papart/data/old/shaders/litsphere.frag +++ /dev/null @@ -1,14 +0,0 @@ -uniform sampler2D tex0; -uniform sampler2D tex1; -uniform float enhance; -varying vec3 normal, lightDir; -varying float curvature; - -void main () { - vec2 pos = normalize(normal + lightDir).xy; - vec2 posInTex = vec2( 0.5 + pos.x * 0.5, 0.5 - pos.y * 0.5 ); - - vec4 color0 = texture2D( tex0, posInTex ); - vec4 color1 = texture2D( tex1, posInTex ); - gl_FragData[0] = color0; -} diff --git a/papart/data/old/shaders/litsphere.vert b/papart/data/old/shaders/litsphere.vert deleted file mode 100755 index 4ff760ea..00000000 --- a/papart/data/old/shaders/litsphere.vert +++ /dev/null @@ -1,25 +0,0 @@ -varying vec3 normal,lightDir; -varying vec4 diffuse,ambient; -varying vec3 halfVector; - -void main(void) { - - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/normal.frag b/papart/data/old/shaders/normal.frag deleted file mode 100755 index d3967fc9..00000000 --- a/papart/data/old/shaders/normal.frag +++ /dev/null @@ -1,16 +0,0 @@ -// -// Fragment shader for cartoon-style shading -// -// Author: Philip Rideout -// -// Copyright (c) 2004 3Dlabs Inc. Ltd. -// -// See 3Dlabs-License.txt for license information -// - -varying vec3 Normal; - -void main (void) -{ - gl_FragColor = vec4(Normal / 2.0 + vec3(0.5, 0.5, 0.5), 1.0); -} diff --git a/papart/data/old/shaders/normal.vert b/papart/data/old/shaders/normal.vert deleted file mode 100755 index 3ca74d39..00000000 --- a/papart/data/old/shaders/normal.vert +++ /dev/null @@ -1,18 +0,0 @@ -// -// Vertex shader for cartoon-style shading -// -// Author: Philip Rideout -// -// Copyright (c) 2004 3Dlabs Inc. Ltd. -// -// See 3Dlabs-License.txt for license information -// - -varying vec3 Normal; - -void main(void) -{ - Normal = normalize(gl_NormalMatrix * gl_Normal); - // Normal = vec3(0, 1, 0); - gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; -} diff --git a/papart/data/old/shaders/normal.xml b/papart/data/old/shaders/normal.xml deleted file mode 100755 index 842f2a02..00000000 --- a/papart/data/old/shaders/normal.xml +++ /dev/null @@ -1,9 +0,0 @@ - - normal drawing - normal.vert - normal.frag - - 0 - - - diff --git a/papart/data/old/shaders/processing/ToonFrag.glsl b/papart/data/old/shaders/processing/ToonFrag.glsl deleted file mode 100644 index 054bb0df..00000000 --- a/papart/data/old/shaders/processing/ToonFrag.glsl +++ /dev/null @@ -1,25 +0,0 @@ -#ifdef GL_ES -precision mediump float; -precision mediump int; -#endif - -varying vec3 vertNormal; -varying vec3 vertLightDir; - -void main() { - float intensity; - vec4 color; - intensity = max(0.0, dot(vertLightDir, vertNormal)); - - if (intensity > 0.95) { - color = vec4(1.0, 0.5, 0.5, 1.0); - } else if (intensity > 0.5) { - color = vec4(0.6, 0.3, 0.3, 1.0); - } else if (intensity > 0.25) { - color = vec4(0.4, 0.2, 0.2, 1.0); - } else { - color = vec4(0.2, 0.1, 0.1, 1.0); - } - - gl_FragColor = color; -} \ No newline at end of file diff --git a/papart/data/old/shaders/processing/ToonVert.glsl b/papart/data/old/shaders/processing/ToonVert.glsl deleted file mode 100644 index 01b77b2c..00000000 --- a/papart/data/old/shaders/processing/ToonVert.glsl +++ /dev/null @@ -1,31 +0,0 @@ -// Toon shader using per-pixel lighting. Based on the glsl -// tutorial from lighthouse 3D: -// http://www.lighthouse3d.com/tutorials/glsl-tutorial/toon-shader-version-ii/ - -#define PROCESSING_LIGHT_SHADER - -uniform mat4 modelview; -uniform mat4 transform; -uniform mat3 normalMatrix; - -uniform vec3 lightNormal[8]; - -attribute vec4 vertex; -attribute vec3 normal; - -varying vec3 vertNormal; -varying vec3 vertLightDir; - -void main() { - // Vertex in clip coordinates - gl_Position = transform * vertex; - - // Normal vector in eye coordinates is passed - // to the fragment shader - vertNormal = normalize(normalMatrix * normal); - - // Assuming that there is only one directional light. - // Its normal vector is passed to the fragment shader - // in order to perform per-pixel lighting calculation. - vertLightDir = -lightNormal[0]; -} \ No newline at end of file diff --git a/papart/data/old/shaders/processing/normal.frag b/papart/data/old/shaders/processing/normal.frag deleted file mode 100755 index 0be2bc86..00000000 --- a/papart/data/old/shaders/processing/normal.frag +++ /dev/null @@ -1,20 +0,0 @@ -#ifdef GL_ES -precision mediump float; -precision mediump int; -#endif - -varying vec4 vertColor; -varying vec3 ecNormal; -varying vec3 lightDir; - -void main() { - vec3 direction = normalize(lightDir); - vec3 normal = normalize(ecNormal); - float intensity = max(0.0, dot(direction, normal)); - gl_FragColor = vec4(intensity, intensity, intensity, 1) * vertColor; - - gl_FragColor = vec4(ecNormal, 1); - -} - - diff --git a/papart/data/old/shaders/processing/normal.vert b/papart/data/old/shaders/processing/normal.vert deleted file mode 100755 index f0ab9810..00000000 --- a/papart/data/old/shaders/processing/normal.vert +++ /dev/null @@ -1,25 +0,0 @@ -#define PROCESSING_LIGHT_SHADER - -uniform mat4 modelview; -uniform mat4 transform; -uniform mat3 normalMatrix; - -uniform vec4 lightPosition; -uniform vec3 lightNormal; - -attribute vec4 vertex; -attribute vec4 color; -attribute vec3 normal; - -varying vec4 vertColor; -varying vec3 ecNormal; -varying vec3 lightDir; - -void main() { - gl_Position = transform * vertex; - vec3 ecVertex = vec3(modelview * vertex); - - ecNormal = normalize(normalMatrix * normal); - lightDir = normalize(lightPosition.xyz - ecVertex); - vertColor = color; -} diff --git a/papart/data/old/shaders/projDistort.xml b/papart/data/old/shaders/projDistort.xml deleted file mode 100755 index c49d1849..00000000 --- a/papart/data/old/shaders/projDistort.xml +++ /dev/null @@ -1,10 +0,0 @@ - - Apply the opposite of the projector lens distortion to get a good visualisation. - distortVert.glsl - distortFrag.glsl - - 0 - 1 - - - diff --git a/papart/data/old/shaders/shadowMap-noTex.frag b/papart/data/old/shaders/shadowMap-noTex.frag deleted file mode 100644 index f17d3a18..00000000 --- a/papart/data/old/shaders/shadowMap-noTex.frag +++ /dev/null @@ -1,69 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - // vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - - // Used to lower moiré pattern and self-shadowing - shadowCoordinateWdivide.z += 0.0005; - - float distanceFromLight = texture2D(ShadowMap, shadowCoordinateWdivide.st).z; - - float shadow = 1.0; - if (ShadowCoord.w > 0.0) - shadow = distanceFromLight < shadowCoordinateWdivide.z ? 0.5 : 1.0 ; - - - /* vec3 ct,cf; */ - /* vec4 texel; */ - /* float intensity,at,af; */ - /* intensity = max(dot(lightDir,normalize(normal)),0.0); */ - /* cf = intensity * (gl_FrontMaterial.diffuse).rgb + gl_FrontMaterial.ambient.rgb * 0.6; */ - /* af = gl_FrontMaterial.diffuse.a; */ - - gl_FragColor = vec4(color.rgb * shadow, color.a); - - - // gl_FragColor = color * 0.5 + 0.5 * vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 2); - - - gl_FragColor = vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 1); - - - - - - - // gl_FragColor = texture2D(ShadowMap, gl_TexCoord[0].st); - - // gl_FragColor = vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 1); - // gl_FragColor = vec4(1. - shadowCoordinateWdivide.z); - -} - diff --git a/papart/data/old/shaders/shadowMap-noTex.frag.backup b/papart/data/old/shaders/shadowMap-noTex.frag.backup deleted file mode 100644 index c25e5d2d..00000000 --- a/papart/data/old/shaders/shadowMap-noTex.frag.backup +++ /dev/null @@ -1,75 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - // vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - - // Used to lower moiré pattern and self-shadowing - shadowCoordinateWdivide.z += 0.0005; - - float distanceFromLight = texture2D(ShadowMap, shadowCoordinateWdivide.st).z; - - vec4 _color; - float shadow = 1.0; - if (ShadowCoord.w > 0.0){ - shadow = distanceFromLight < shadowCoordinateWdivide.z ? 0.5 : 1.0 ; - - - if( distanceFromLight < shadowCoordinateWdivide.z ){ - - gl_FragColor = vec4(0.0,0.0,0.0,1.0); - return; - } - - /* return; */ - } - - /* vec3 ct,cf; */ - /* vec4 texel; */ - /* float intensity,at,af; */ - /* intensity = max(dot(lightDir,normalize(normal)),0.0); */ - /* cf = intensity * (gl_FrontMaterial.diffuse).rgb + gl_FrontMaterial.ambient.rgb * 0.6; */ - /* af = gl_FrontMaterial.diffuse.a; */ - - - _color = vec4(color.rgb * shadow, color.a); - - // Toon shader... - - if (color.r > 0.5) - _color = vec4(0.8,0.8,0.8,1.0); - else if (color.r > 0.35) - _color = vec4(0.4,0.4,0.4,1.0); - else - _color = vec4(0.2,0.2,0.2,1.0); - - gl_FragColor = _color; - -} - diff --git a/papart/data/old/shaders/shadowMap.frag b/papart/data/old/shaders/shadowMap.frag deleted file mode 100755 index fa799760..00000000 --- a/papart/data/old/shaders/shadowMap.frag +++ /dev/null @@ -1,161 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; -uniform float usingTex; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - - -/* float lookup(float x, float y) */ -/* { */ -/* /\* float depth = shadow2DProj(ShadowMap, *\/ */ -/* /\* ShadowCoord + vec3(x, y, 0) * 0.0005).x; *\/ */ - -/* vec4 p = ShadowCoord + vec4(vec3(x * ShadowCoord.w , y * ShadowCoord.w, 0) * 0.0005, 1.); */ - -/* float depth = shadow2DProj(ShadowMap, p).w; */ - -/* // ShadowCoord + vec4(vec3(x, y, 0) * 0.0005,0) ).x; */ - -/* return depth != 1.0 ? 0.75 : 1.0; */ -/* } */ - - -/* float lookup( vec2 offSet) */ -/* { */ -/* // Values are multiplied by ShadowCoord.w because shadow2DProj does a W division for us. */ -/* return shadow2DProj(ShadowMap, ShadowCoord + */ -/* vec4(offSet.x * xPixelOffset * ShadowCoord.w, offSet.y * yPixelOffset * ShadowCoord.w, 0.05, 0.0) ).w; */ -/* } */ - - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - // vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - - /////////////////////////////////////////////////////////////// - //////////////////////////////////////////////////////////////// - - - /* float shadeFactor = lookup(0.0, 0.0); */ - /* gl_FragColor = vec4(shadeFactor * color.rgb * TexColor.rgb, color.a * TexColor.a); */ - - - /////////////////////////////////////////////////////////////// - //////////////////////////////////////////////////////////////// - - - vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - - // Used to lower moiré pattern and self-shadowing - shadowCoordinateWdivide.z += 0.0005; - - // vec2 ind = vec2(1.-shadowCoordinateWdivide.s, 1.-shadowCoordinateWdivide.t ); - - // float distanceFromLight = texture2D(ShadowMap,shadowCoordinateWdivide.st).z; - float distanceFromLight = texture2D(ShadowMap, shadowCoordinateWdivide.st).z; - - float shadow = 1.0; - if (ShadowCoord.w > 0.0) - shadow = distanceFromLight < shadowCoordinateWdivide.z ? 0.5 : 1.0 ; - - /* if(shadowCoordinateWdivide.z > 0.5){ */ - /* // shadow = 1.0; */ - /* gl_FragColor = vec4(color.xyz * shadow, color[3]); */ - /* }else */ - /* gl_FragColor = vec4(0., 0., 1., 1.); */ - - // gl_FragColor = vec4(distanceFromLight, shadowCoordinateWdivide.z, 0., 1.); - - // gl_FragColor = vec4(color.xyz * shadow, color[3]); - - - // gl_FragColor = TexColor * color; - // gl_FragColor = shadow * color * TexColor; - - - - vec3 ct,cf; - vec4 texel; - float intensity,at,af; - intensity = max(dot(lightDir,normalize(normal)),0.0); - - cf = intensity * (gl_FrontMaterial.diffuse).rgb + - gl_FrontMaterial.ambient.rgb * 0.6; - af = gl_FrontMaterial.diffuse.a; - texel = texture2D(tex,gl_TexCoord[0].st); - - ct = texel.rgb; - at = texel.a; - gl_FragColor = vec4(ct * cf * shadow, at * af); - - // NO TEXTURE - // gl_FragColor = color * shadow; - // gl_FragColor = color; - - /* if(usingTex == 1) */ - /* gl_FragColor = vec4(ct * cf * shadow, at * af); */ - /* else{ */ - // - // gl_FragColor = vec4(cf * shadow, af); - // } - - - // gl_FragColor = vec4(TexColor.rgb * color.rgb , color.a); - // gl_FragColor = vec4(color.rgb * shadow, color.a); - - - /* vec2 coord = gl_FragCoord.xy / 512.; */ - /* gl_FragColor = vec4(texture2D(ShadowMap, coord).rgb, 1.); */ - /* gl_FragColor = vec4(texture2D(tex, coord).rgba); */ - - - - /* if(shadowCoordinateWdivide.xyz == clamp(shadowCoordinateWdivide.xyz, 0., 1.)){ */ - /* gl_FragColor = vec4(color.xyz * shadow, color[3]); */ - /* } else{ */ - /* gl_FragColor = vec4(0., 0., 1., 1.); */ - /* } */ - - - - /* gl_FragColor = vec4(TexColor.xyz * color.xyz * shadow, color[3]); */ - - - - - - // gl_FragColor = vec4((shadowCoordinateWdivide.xyz) ,1); - - /* gl_FragColor = texture2D(ShadowMap, coord) + TexColor * 0.00; */ - - - // gl_FragColor = vec4(vec3(texture2D(ShadowMap, coord)) ,1); - - - - -} - diff --git a/papart/data/old/shaders/shadowMap.frag.backup b/papart/data/old/shaders/shadowMap.frag.backup deleted file mode 100644 index fa799760..00000000 --- a/papart/data/old/shaders/shadowMap.frag.backup +++ /dev/null @@ -1,161 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; -uniform float usingTex; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - - -/* float lookup(float x, float y) */ -/* { */ -/* /\* float depth = shadow2DProj(ShadowMap, *\/ */ -/* /\* ShadowCoord + vec3(x, y, 0) * 0.0005).x; *\/ */ - -/* vec4 p = ShadowCoord + vec4(vec3(x * ShadowCoord.w , y * ShadowCoord.w, 0) * 0.0005, 1.); */ - -/* float depth = shadow2DProj(ShadowMap, p).w; */ - -/* // ShadowCoord + vec4(vec3(x, y, 0) * 0.0005,0) ).x; */ - -/* return depth != 1.0 ? 0.75 : 1.0; */ -/* } */ - - -/* float lookup( vec2 offSet) */ -/* { */ -/* // Values are multiplied by ShadowCoord.w because shadow2DProj does a W division for us. */ -/* return shadow2DProj(ShadowMap, ShadowCoord + */ -/* vec4(offSet.x * xPixelOffset * ShadowCoord.w, offSet.y * yPixelOffset * ShadowCoord.w, 0.05, 0.0) ).w; */ -/* } */ - - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - // vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - - /////////////////////////////////////////////////////////////// - //////////////////////////////////////////////////////////////// - - - /* float shadeFactor = lookup(0.0, 0.0); */ - /* gl_FragColor = vec4(shadeFactor * color.rgb * TexColor.rgb, color.a * TexColor.a); */ - - - /////////////////////////////////////////////////////////////// - //////////////////////////////////////////////////////////////// - - - vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - - // Used to lower moiré pattern and self-shadowing - shadowCoordinateWdivide.z += 0.0005; - - // vec2 ind = vec2(1.-shadowCoordinateWdivide.s, 1.-shadowCoordinateWdivide.t ); - - // float distanceFromLight = texture2D(ShadowMap,shadowCoordinateWdivide.st).z; - float distanceFromLight = texture2D(ShadowMap, shadowCoordinateWdivide.st).z; - - float shadow = 1.0; - if (ShadowCoord.w > 0.0) - shadow = distanceFromLight < shadowCoordinateWdivide.z ? 0.5 : 1.0 ; - - /* if(shadowCoordinateWdivide.z > 0.5){ */ - /* // shadow = 1.0; */ - /* gl_FragColor = vec4(color.xyz * shadow, color[3]); */ - /* }else */ - /* gl_FragColor = vec4(0., 0., 1., 1.); */ - - // gl_FragColor = vec4(distanceFromLight, shadowCoordinateWdivide.z, 0., 1.); - - // gl_FragColor = vec4(color.xyz * shadow, color[3]); - - - // gl_FragColor = TexColor * color; - // gl_FragColor = shadow * color * TexColor; - - - - vec3 ct,cf; - vec4 texel; - float intensity,at,af; - intensity = max(dot(lightDir,normalize(normal)),0.0); - - cf = intensity * (gl_FrontMaterial.diffuse).rgb + - gl_FrontMaterial.ambient.rgb * 0.6; - af = gl_FrontMaterial.diffuse.a; - texel = texture2D(tex,gl_TexCoord[0].st); - - ct = texel.rgb; - at = texel.a; - gl_FragColor = vec4(ct * cf * shadow, at * af); - - // NO TEXTURE - // gl_FragColor = color * shadow; - // gl_FragColor = color; - - /* if(usingTex == 1) */ - /* gl_FragColor = vec4(ct * cf * shadow, at * af); */ - /* else{ */ - // - // gl_FragColor = vec4(cf * shadow, af); - // } - - - // gl_FragColor = vec4(TexColor.rgb * color.rgb , color.a); - // gl_FragColor = vec4(color.rgb * shadow, color.a); - - - /* vec2 coord = gl_FragCoord.xy / 512.; */ - /* gl_FragColor = vec4(texture2D(ShadowMap, coord).rgb, 1.); */ - /* gl_FragColor = vec4(texture2D(tex, coord).rgba); */ - - - - /* if(shadowCoordinateWdivide.xyz == clamp(shadowCoordinateWdivide.xyz, 0., 1.)){ */ - /* gl_FragColor = vec4(color.xyz * shadow, color[3]); */ - /* } else{ */ - /* gl_FragColor = vec4(0., 0., 1., 1.); */ - /* } */ - - - - /* gl_FragColor = vec4(TexColor.xyz * color.xyz * shadow, color[3]); */ - - - - - - // gl_FragColor = vec4((shadowCoordinateWdivide.xyz) ,1); - - /* gl_FragColor = texture2D(ShadowMap, coord) + TexColor * 0.00; */ - - - // gl_FragColor = vec4(vec3(texture2D(ShadowMap, coord)) ,1); - - - - -} - diff --git a/papart/data/old/shaders/shadowMap.vert b/papart/data/old/shaders/shadowMap.vert deleted file mode 100755 index aa6f1aec..00000000 --- a/papart/data/old/shaders/shadowMap.vert +++ /dev/null @@ -1,26 +0,0 @@ -// Used for shadow lookup -varying vec4 ShadowCoord; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - ShadowCoord= gl_TextureMatrix[7] * gl_Vertex ; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/shadowMap.vert.backup b/papart/data/old/shaders/shadowMap.vert.backup deleted file mode 100644 index aa6f1aec..00000000 --- a/papart/data/old/shaders/shadowMap.vert.backup +++ /dev/null @@ -1,26 +0,0 @@ -// Used for shadow lookup -varying vec4 ShadowCoord; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - ShadowCoord= gl_TextureMatrix[7] * gl_Vertex ; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/shadowMap.xml b/papart/data/old/shaders/shadowMap.xml deleted file mode 100755 index 0a6f5154..00000000 --- a/papart/data/old/shaders/shadowMap.xml +++ /dev/null @@ -1,9 +0,0 @@ - - Maybe a shadow map - shadowMap.vert - shadowMap.frag - - 0 - - - diff --git a/papart/data/old/shaders/sponza.mtl b/papart/data/old/shaders/sponza.mtl deleted file mode 100755 index 29ffca7e..00000000 --- a/papart/data/old/shaders/sponza.mtl +++ /dev/null @@ -1,312 +0,0 @@ -# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware -# File Created: 25.08.2009 16:17:12 - -newmtl sp_00_luk_mali - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7451 0.7098 0.6745 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka SP_LUK.JPG - map_Kd SP_LUK.JPG - map_bump SP_LUK.JPG - bump SP_LUK.JPG - -newmtl sp_svod_kapitel - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7137 0.7059 0.6588 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 00_SKAP.JPG - map_Kd 00_SKAP.JPG - map_bump 00_SKAP.JPG - bump 00_SKAP.JPG - -newmtl sp_01_stub_baza_ - Ns 20.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7843 0.7843 0.7843 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - -newmtl sp_01_stub_kut - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7373 0.7098 0.6706 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_STUB.JPG - map_Kd 01_STUB.JPG - map_bump 01_STUB.JPG - bump 01_STUB.JPG - -newmtl sp_00_stup - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7373 0.7098 0.6706 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_STUB.JPG - map_Kd 01_STUB.JPG - map_bump 01_STUB.JPG - bump 01_STUB.JPG - -newmtl sp_01_stub_baza - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.8000 0.7843 0.7490 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_S_BA.JPG - map_Kd 01_S_BA.JPG - map_bump 01_S_BA.JPG - bump 01_S_BA.JPG - -newmtl sp_00_luk_mal1 - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7451 0.7098 0.6745 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_ST_KP.JPG - map_Kd 01_ST_KP.JPG - map_bump SP_LUK.JPG - bump SP_LUK.JPG - -newmtl sp_01_stub - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7373 0.7098 0.6706 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_STUB.JPG - map_Kd 01_STUB.JPG - map_bump 01_STUB.JPG - bump 01_STUB.JPG - -newmtl sp_01_stup - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.8275 0.8000 0.7686 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka X01_ST.JPG - map_Kd X01_ST.JPG - -newmtl sp_vijenac - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7137 0.7059 0.6588 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 00_SKAP.JPG - map_Kd 00_SKAP.JPG - map_bump 00_SKAP.JPG - bump 00_SKAP.JPG - -newmtl sp_00_pod - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.6275 0.5725 0.5608 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka KAMEN.JPG - map_Kd KAMEN.JPG - map_bump KAMEN.JPG - bump KAMEN.JPG - -newmtl sp_00_svod - Ns 1.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.1451 0.1451 0.1451 - Kd 0.9412 0.8667 0.7373 - Ks 0.0340 0.0323 0.0293 - Ke 0.0000 0.0000 0.0000 - -newmtl sp_02_reljef - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.5294 0.4980 0.4902 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka RELJEF.JPG - map_Kd RELJEF.JPG - map_bump RELJEF.JPG - bump RELJEF.JPG - -newmtl sp_01_luk_a - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7451 0.7098 0.6745 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka SP_LUK.JPG - map_Kd SP_LUK.JPG - map_bump SP_LUK.JPG - bump SP_LUK.JPG - -newmtl sp_zid_vani - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.6275 0.5725 0.5608 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka KAMEN.JPG - map_Kd KAMEN.JPG - map_bump KAMEN.JPG - bump KAMEN.JPG - -newmtl sp_00_zid - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.6275 0.5725 0.5608 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka KAMEN.JPG - map_Kd KAMEN.JPG - map_bump KAMEN.JPG - bump KAMEN.JPG - -newmtl sp_01_stup_baza - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.8000 0.7843 0.7490 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka 01_S_BA.JPG - map_Kd 01_S_BA.JPG - map_bump 01_S_BA.JPG - bump 01_S_BA.JPG - -newmtl sp_00_prozor - Ns 50.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 1.0000 1.0000 1.0000 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka PROZOR1.JPG - map_Kd PROZOR1.JPG - map_bump PROZOR1.JPG - bump PROZOR1.JPG - -newmtl sp_00_vrata_krug - Ns 20.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7843 0.7843 0.7843 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka VRATA_KR.JPG - map_Kd VRATA_KR.JPG - map_bump VRATA_KR.JPG - bump VRATA_KR.JPG - -newmtl sp_00_vrata_kock - Ns 20.0000 - Ni 1.5000 - d 1.0000 - Tr 0.0000 - Tf 1.0000 1.0000 1.0000 - illum 2 - Ka 0.0000 0.0000 0.0000 - Kd 0.7843 0.7843 0.7843 - Ks 0.0000 0.0000 0.0000 - Ke 0.0000 0.0000 0.0000 - map_Ka VRATA_KO.JPG - map_Kd VRATA_KO.JPG - map_bump VRATA_KO.JPG - bump VRATA_KO.JPG diff --git a/papart/data/old/shaders/spotLight.xml b/papart/data/old/shaders/spotLight.xml deleted file mode 100755 index 082b9599..00000000 --- a/papart/data/old/shaders/spotLight.xml +++ /dev/null @@ -1,9 +0,0 @@ - - normal drawing - spotlight.vert - spotlight.frag - - 0 - - - diff --git a/papart/data/old/shaders/spotlight.frag b/papart/data/old/shaders/spotlight.frag deleted file mode 100644 index 6e87704c..00000000 --- a/papart/data/old/shaders/spotlight.frag +++ /dev/null @@ -1,49 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a spotlight per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -Antonio Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambientGlobal, ambient; -varying vec3 normal,lightDir,halfVector; -varying float dist; - - -void main() -{ - vec3 n,halfV; - float NdotL,NdotHV; - vec4 color = ambientGlobal; - float att,spotEffect; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,normalize(lightDir)),0.0); - - if (NdotL > 0.0) { - - spotEffect = dot(normalize(gl_LightSource[0].spotDirection), normalize(-lightDir)); - if (spotEffect > gl_LightSource[0].spotCosCutoff) { - spotEffect = pow(spotEffect, gl_LightSource[0].spotExponent); - att = spotEffect / (gl_LightSource[0].constantAttenuation + - gl_LightSource[0].linearAttenuation * dist + - gl_LightSource[0].quadraticAttenuation * dist * dist); - - color += att * (diffuse * NdotL + ambient); - - - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += att * gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - } - } - - gl_FragColor = color; -} diff --git a/papart/data/old/shaders/spotlight.vert b/papart/data/old/shaders/spotlight.vert deleted file mode 100755 index e3d09fb5..00000000 --- a/papart/data/old/shaders/spotlight.vert +++ /dev/null @@ -1,47 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a spotlight per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -Antonio Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambientGlobal, ambient; -varying vec3 normal,lightDir,halfVector; -varying float dist; - -void main() -{ - vec4 ecPos; - vec3 aux; - - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space.*/ - ecPos = gl_ModelViewMatrix * gl_Vertex; - aux = vec3(gl_LightSource[0].position-ecPos); - lightDir = normalize(aux); - - /* compute the distance to the light source to a varying variable*/ - dist = length(aux); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambientGlobal = gl_LightModel.ambient * gl_FrontMaterial.ambient; - - - gl_Position = ftransform(); - - - - - -} diff --git a/papart/data/old/shaders/stereoMatch.frag b/papart/data/old/shaders/stereoMatch.frag deleted file mode 100644 index c75ff012..00000000 --- a/papart/data/old/shaders/stereoMatch.frag +++ /dev/null @@ -1,70 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; -uniform float usingTex; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; -varying vec4 pos; - -void main() -{ - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - // shadowCoordinateWdivide.z += 0.0005; - vec4 viewFromOther = texture2D(ShadowMap, shadowCoordinateWdivide.st); - - // If depth is the same (approx) - // we take the other color, - // else we compute the right color - - float d = distance(pos, viewFromOther) / 1000.; - - if(d < 0.3){ - gl_FragColor = vec4(viewFromOther.rg, 0, 1); - - // TODO: compute the distance, shift to match the depth - - }else { - - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - gl_FragColor = color; - // gl_FragColor = vec4(1.0, 0, 0, 1); - } - - - // The main difference is in Z ! - - d = 0.005 * abs(pos.z - viewFromOther.z); - /* gl_FragColor = vec4(0.005 *abs(pos.x - viewFromOther.x), */ - /* 0.005 *abs(pos.y - viewFromOther.y), */ - /* 0.005 *abs(pos.z - viewFromOther.z), 1); */ - - - /* float d = 0.01 * sqrt(distance(pos, viewFromOther)); */ - gl_FragColor = vec4(d, d, d, 1); - - // gl_FragColor = vec4(0, viewFromOther.x, 0, 1.0); - - /* // display the texture */ - /* vec2 screenCoord = vec2(gl_FragCoord.s / 800., 1.- (gl_FragCoord.t / 600.)); */ - /* gl_FragColor = vec4(texture2D(tex, screenCoord).rgb, 1.); */ - - -} - diff --git a/papart/data/old/shaders/stereoMatch.vert b/papart/data/old/shaders/stereoMatch.vert deleted file mode 100644 index 38918fd9..00000000 --- a/papart/data/old/shaders/stereoMatch.vert +++ /dev/null @@ -1,29 +0,0 @@ -// Used for shadow lookup -varying vec4 ShadowCoord; -varying vec4 pos; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - ShadowCoord = gl_TextureMatrix[6] * gl_Vertex ; - - pos = gl_Vertex * gl_ModelViewProjectionMatrix; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/stereoMatch2.frag b/papart/data/old/shaders/stereoMatch2.frag deleted file mode 100644 index 8341c9f6..00000000 --- a/papart/data/old/shaders/stereoMatch2.frag +++ /dev/null @@ -1,197 +0,0 @@ -uniform sampler2D leftTex, rightTex; -uniform sampler2D ShadowMap; -uniform float usingTex; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; -varying vec4 coord, leftCoord, rightCoord; -varying vec4 leftShift, rightShift, pos1, diff; - -uniform float shift, scale; - -void main() -{ - - vec2 screenCoord = vec2(gl_FragCoord.s / (297. * 6.), - gl_FragCoord.t / (210. * 6.)); - - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - vec4 centerView = color; - - - - - - // Todo : linear depth ? - // Todo : tran - // TODO: hand calibration ?? - // TODO: calcul de min et max, en pixels - - /* gl_FragColor = vec4(texture2D(rightTex, screenCoord).r, */ - /* texture2D(leftTex, screenCoord).gb, */ - /* 1.); */ - - // ce pixel, vu par la camera gauche - /* vec4 leftCoordWdivide = leftCoord / leftCoord.w ; */ - /* vec4 leftView = texture2D(leftTex, leftCoordWdivide.st); */ - - float depth2 = (2.0 * gl_FragCoord.z - gl_DepthRange.near - gl_DepthRange.far) / (gl_DepthRange.far - gl_DepthRange.near); - - // float depth2 = gl_FragCoord.z; - - depth2 = 1. - depth2; - - // depth2 *= scale; - depth2 -= shift; - // depth2 = depth2 * scale ; - - - float c = depth2 * 297. * 6. / 100.; - gl_FragColor = vec4(c, c, c, 1); - - // return ; - - // return; - /* float diff2 = 1. - gl_FragCoord.z; */ - /* diff2 -= shift; */ - /* diff2 *= scale; */ - /* float c = diff2 * 297. * 6. / 10.; */ - /* gl_FragColor = vec4(c, c, c, 1); */ - - // gl_FragColor = vec4(depth2, depth2, depth2, 1); - - gl_FragColor = vec4(leftShift.x, leftShift.y, 0, 1); - return; - - /* vec4 leftView = texture2D(leftTex, screenCoord.rg); */ - /* vec4 rightView = texture2D(rightTex, screenCoord.rg); */ - vec4 leftView = texture2D(leftTex, vec2(screenCoord.r + leftShift.r, screenCoord.g)); - vec4 rightView = texture2D(rightTex, vec2(screenCoord.r - leftShift.g, screenCoord.g)); - - /* if(diff2 *297. * 6. < 4 ){ */ - /* gl_FragColor = vec4(leftView.rgb, 1); */ - /* return; */ - /* } */ - - gl_FragColor = vec4(rightView.r, leftView.gb, 1); - return; - - float dist = distance(leftView.rgb, centerView.rgb); - if(dist < 0.4){ - - leftView.r = leftView.r + 4.0 * (leftView.r - centerView.r); - leftView.g = leftView.g + 4.0 * (leftView.g - centerView.g); - leftView.b = leftView.b + 4.0 * (leftView.b - centerView.b); - - // leftView = vec4(0, 0, 0, 1); - } else - if(dist > 0.8){ - - leftView.r = leftView.r - 4.0 * (leftView.r - centerView.r); - leftView.g = leftView.g - 4.0 * (leftView.g - centerView.g); - leftView.b = leftView.b - 4.0 * (leftView.b - centerView.b); - - //leftView = centerView; - } - - dist = distance(rightView.rgb, centerView.rgb); - if(dist < 0.4){ - - rightView.r = rightView.r + 4.0 * (rightView.r - centerView.r); - rightView.g = rightView.g + 4.0 * (rightView.g - centerView.g); - rightView.b = rightView.b + 4.0 * (rightView.b - centerView.b); - - // rightView = vec4(0, 0, 0, 1); - } else - if(dist > 0.8){ - - rightView.r = rightView.r - 4.0 * (rightView.r - centerView.r); - rightView.g = rightView.g - 4.0 * (rightView.g - centerView.g); - rightView.b = rightView.b - 4.0 * (rightView.b - centerView.b); - - // rightView = centerView; - } - - - - - /* float di = distance(vec4(rightView.r, leftView.gb, 1), */ - /* vec4(texture2D(rightTex, screenCoord).r, */ - /* texture2D(leftTex, screenCoord).gb, */ - /* 1.)); */ - /* gl_FragColor = vec4(di, di, di, 1); */ - - gl_FragColor = vec4(rightView.r, leftView.gb, 1); - /* gl_FragColor = vec4(texture2D(rightTex, screenCoord).r, */ - /* texture2D(leftTex, screenCoord).gb, */ - /* 1.); */ - - -} - - - - - /////////////////////////////////////////////// - - - // The main difference is in Z ! - - // d = 0.005 * abs(coord.z - leftView.z); - /* gl_FragColor = vec4(0.005 *abs(pos.x - viewFromOther.x), */ - /* 0.005 *abs(pos.y - viewFromOther.y), */ - /* 0.005 *abs(pos.z - viewFromOther.z), 1); */ - - - /* float d = 0.01 * sqrt(distance(pos, viewFromOther)); */ - // gl_FragColor = vec4(d , d, d, 1); - - - - - /********* Stereo *********/ - /* // display the texture */ - - /* gl_FragColor = vec4(texture2D(rightTex, screenCoord).r, */ - /* texture2D(leftTex, screenCoord).gb, */ - /* 1.); */ - - - - - ///////////////////// Non fonctionnel //////// - - /* // Idee : fragCoord, reprojeté dans la vue gauche, pour récup sa couleur. */ - /* vec4 screenCoord = vec4(gl_FragCoord.s / (297 * 6), */ - /* gl_FragCoord.t / (210 * 6), gl_FragDepth, 1); */ - /* // calcul de la position de vertex courant, vu par la camara frontale. */ - /* vec4 leftPix = gl_TextureMatrix[5] * screenCoord; */ - - /* // récupération de la couleur de ce vertex. */ - /* vec4 leftPixWd = leftPix / leftPix.w; */ - /* vec4 leftCol = texture2D(leftTex, leftPix.st); */ - - - /* // Test de reprojection... non concluant. */ - /* vec4 vue = screenCoord * gl_ModelViewProjectionMatrix; */ - /* vue = vue / vue.w; */ - /* vec4 screenCoord2 = vec4(vue.x / (297 * 6), */ - /* vue.y / (210 * 6), vue.z, 1); */ - - - diff --git a/papart/data/old/shaders/stereoMatch2.vert b/papart/data/old/shaders/stereoMatch2.vert deleted file mode 100644 index 7ee6bb8a..00000000 --- a/papart/data/old/shaders/stereoMatch2.vert +++ /dev/null @@ -1,51 +0,0 @@ -// Used for shadow lookup -varying vec4 coord, leftCoord, rightCoord; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -varying vec4 leftShift, rightShift, pos1, diff; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - lightDir = normalize(vec3(gl_LightSource[0].position)); - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - leftCoord = gl_TextureMatrix[5] * gl_Vertex ; - // rightCoord = gl_TextureMatrix[6] * gl_Vertex ; - coord = gl_Vertex * gl_ModelViewProjectionMatrix; - - - leftShift = gl_TextureMatrix[4] * gl_Vertex; - leftShift.x /= (297. * 6.); - leftShift.y /= (210. * 6.); - leftShift.z = leftShift.z / leftShift.w; - - rightShift = gl_TextureMatrix[6] * gl_Vertex ; - rightShift.x /= (297. * 6.); - rightShift.y /= (210. * 6.); - rightShift.z = rightShift.z / rightShift.w; - - pos1 = coord; - pos1.x /= (297. * 6.); - pos1.y /= (210. * 6.); - pos1.z = pos1.z / pos1.w; - // pos1 = pos1 / pos1.z; - - leftShift.x = leftShift.x - pos1.x; - leftShift.y = leftShift.y - pos1.y; - - - diff = leftShift - rightShift; - /* diff = diff / diff.b; */ - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/toon.frag b/papart/data/old/shaders/toon.frag deleted file mode 100644 index 09e7c72b..00000000 --- a/papart/data/old/shaders/toon.frag +++ /dev/null @@ -1,35 +0,0 @@ -// -// Fragment shader for cartoon-style shading -// -// Author: Philip Rideout -// -// Copyright (c) 2004 3Dlabs Inc. Ltd. -// -// See 3Dlabs-License.txt for license information -// - -uniform vec3 DiffuseColor; -uniform vec3 PhongColor; -uniform float Edge; -uniform float Phong; -varying vec3 Normal; - -void main (void) -{ - vec3 color = DiffuseColor; - float f = dot(vec3(0,0,1),Normal); - if (abs(f) < Edge) - color = vec3(0.2); - if (f > Phong) - color = PhongColor; - - gl_FragColor = vec4(color, 1); - // gl_FragColor = vec4(Normal / 2 + vec3(0.5, 0.5, 0.5), 1.0); - // gl_FragColor = vec4(DiffuseColor, 1.0); - - - /* if(Phong > 0.2) */ - /* gl_FragColor = vec4(Edge, 0.0, 0.0, 1.0); */ - /* else */ - /* gl_FragColor = vec4(0.0, Edge, 0.0, 1.0); */ -} diff --git a/papart/data/old/shaders/toon.vert b/papart/data/old/shaders/toon.vert deleted file mode 100755 index 3ca74d39..00000000 --- a/papart/data/old/shaders/toon.vert +++ /dev/null @@ -1,18 +0,0 @@ -// -// Vertex shader for cartoon-style shading -// -// Author: Philip Rideout -// -// Copyright (c) 2004 3Dlabs Inc. Ltd. -// -// See 3Dlabs-License.txt for license information -// - -varying vec3 Normal; - -void main(void) -{ - Normal = normalize(gl_NormalMatrix * gl_Normal); - // Normal = vec3(0, 1, 0); - gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; -} diff --git a/papart/data/old/shaders/toon.xml b/papart/data/old/shaders/toon.xml deleted file mode 100755 index bc3036b9..00000000 --- a/papart/data/old/shaders/toon.xml +++ /dev/null @@ -1,18 +0,0 @@ - - Toon shading on images, by Agnius Vasiliauskas (http://coding-experiments.blogspot.com/2011/01/toon-pixel-shader.html) - ToonVert.glsl - ToonFrag.glsl - - 0 - - - - 0.0 80.0 160.0 240.0 320.0 360.0 - - 0.0 0.15 0.3 0.45 0.6 0.8 1.0 - 0.0 0.3 0.6 1.0 - - - - - diff --git a/papart/data/old/shaders/toonShadow.frag b/papart/data/old/shaders/toonShadow.frag deleted file mode 100644 index 992584ca..00000000 --- a/papart/data/old/shaders/toonShadow.frag +++ /dev/null @@ -1,65 +0,0 @@ -uniform sampler2D tex; -uniform sampler2D ShadowMap; - -varying vec4 ShadowCoord; -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - // vec4 TexColor = texture2D(tex,gl_TexCoord[0].st); - - - vec4 shadowCoordinateWdivide = ShadowCoord / ShadowCoord.w ; - - // Used to lower moiré pattern and self-shadowing - shadowCoordinateWdivide.z += 0.0005; - - float distanceFromLight = texture2D(ShadowMap, shadowCoordinateWdivide.st).z; - - float shadow = 1.0; - if (ShadowCoord.w > 0.0) - shadow = distanceFromLight < shadowCoordinateWdivide.z ? 0.5 : 1.0 ; - - - /* vec3 ct,cf; */ - /* vec4 texel; */ - /* float intensity,at,af; */ - /* intensity = max(dot(lightDir,normalize(normal)),0.0); */ - /* cf = intensity * (gl_FrontMaterial.diffuse).rgb + gl_FrontMaterial.ambient.rgb * 0.6; */ - /* af = gl_FrontMaterial.diffuse.a; */ - - gl_FragColor = vec4(color.rgb * shadow, color.a); - - - // gl_FragColor = color * 0.5 + 0.5 * vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 2); - - - gl_FragColor = vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 1); - - - // gl_FragColor = texture2D(ShadowMap, gl_TexCoord[0].st); - - // gl_FragColor = vec4(texture2D(ShadowMap, shadowCoordinateWdivide.st).rgb, 1); - // gl_FragColor = vec4(1. - shadowCoordinateWdivide.z); - -} - diff --git a/papart/data/old/shaders/toonShadow.vert b/papart/data/old/shaders/toonShadow.vert deleted file mode 100644 index aa6f1aec..00000000 --- a/papart/data/old/shaders/toonShadow.vert +++ /dev/null @@ -1,26 +0,0 @@ -// Used for shadow lookup -varying vec4 ShadowCoord; - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - normal = normalize(gl_NormalMatrix * gl_Normal); - - lightDir = normalize(vec3(gl_LightSource[0].position)); - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - // Texture handling - gl_TexCoord[0] = gl_MultiTexCoord0; - - ShadowCoord= gl_TextureMatrix[7] * gl_Vertex ; - - gl_Position = ftransform(); - - // gl_FrontColor = gl_Color; -} diff --git a/papart/data/old/shaders/toonShadow.xml b/papart/data/old/shaders/toonShadow.xml deleted file mode 100644 index f676befd..00000000 --- a/papart/data/old/shaders/toonShadow.xml +++ /dev/null @@ -1,9 +0,0 @@ - - toon effect - toonShadow.vert - toonShadow.frag - - 0 - - - diff --git a/papart/data/old/shaders/toonf2 (copie).frag b/papart/data/old/shaders/toonf2 (copie).frag deleted file mode 100644 index 1f6f5bdb..00000000 --- a/papart/data/old/shaders/toonf2 (copie).frag +++ /dev/null @@ -1,28 +0,0 @@ -varying vec3 lightDir,normal; - -void main() -{ - - float intensity; - vec4 color; - - // normalizing the lights position to be on the safe side - vec3 l = normalize(vec3(gl_LightSource[0].position)); - - vec3 n = normalize(normal); - - intensity = dot(l,n); - - if (intensity > 0.95) - color = vec4(0.6,0.6,0.6,1.0); - else if (intensity > 0.7) - color = vec4(0.4,0.4,0.4,1.0); - else if (intensity > 0.5) - color = vec4(0.3,0.3,0.3,1.0); - else if (intensity > 0.25) - color = vec4(0.2,0.2,0.2,1.0); - else - color = vec4(0.1,0.1,0.1,1.0); - - gl_FragColor = color; -} diff --git a/papart/data/old/shaders/toonf2 (copie).vert b/papart/data/old/shaders/toonf2 (copie).vert deleted file mode 100755 index 51fb4e63..00000000 --- a/papart/data/old/shaders/toonf2 (copie).vert +++ /dev/null @@ -1,11 +0,0 @@ - - -varying vec3 lightDir,normal; - -void main() -{ - lightDir = normalize(vec3(gl_LightSource[0].position)); - normal = gl_NormalMatrix * gl_Normal; - - gl_Position = ftransform(); -} diff --git a/papart/data/old/shaders/toonf2.frag b/papart/data/old/shaders/toonf2.frag deleted file mode 100644 index 4ce4329e..00000000 --- a/papart/data/old/shaders/toonf2.frag +++ /dev/null @@ -1,84 +0,0 @@ - -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - vec4 _color; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - - /* if (intensity > 0.98) */ - /* _color = vec4(1.0,1.0,1.0,1.0); */ - /* else */ - - if (color.r > 0.5) - _color = vec4(0.8,0.8,0.8,1.0); - else if (color.r > 0.35) - _color = vec4(0.4,0.4,0.4,1.0); - else - _color = vec4(0.0,0.0,0.0,1.0); - - gl_FragColor = _color; - - // gl_FragColor = color; -} - - - - - - - -/* varying vec3 normal, lightDir; */ -/* varying vec2 texCoord; */ -/* //uniform sampler2D texture; */ - -/* void main() */ -/* { */ -/* float intensity; */ -/* vec3 n; */ -/* vec4 _color; */ - -/* n = normalize(normal); */ -/* intensity = dot(lightDir, n); */ - -/* /\* if (intensity > 0.98) *\/ */ -/* /\* _color = vec4(1.0,1.0,1.0,1.0); *\/ */ -/* /\* else *\/ */ -/* if (intensity > 0.5) */ -/* _color = vec4(0.8,0.8,0.8,1.0); */ -/* else if (intensity > 0.35) */ -/* _color = vec4(0.4,0.4,0.4,1.0); */ -/* else */ -/* _color = vec4(0.0,0.0,0.0,1.0); */ -/* // gl_FragColor = _color * texture2D(texture, texCoord); */ -/* gl_FragColor = _color; */ -/* } */ diff --git a/papart/data/old/shaders/toonf2.vert b/papart/data/old/shaders/toonf2.vert deleted file mode 100755 index 301143ea..00000000 --- a/papart/data/old/shaders/toonf2.vert +++ /dev/null @@ -1,51 +0,0 @@ - - -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - gl_Position = ftransform(); -} - - -/* varying vec3 normal, lightDir; */ -/* // varying vec2 texCoord; */ - -/* void main() */ -/* { */ -/* vec4 ecPos; */ -/* ecPos = vec4(gl_ModelViewMatrix * gl_Vertex); */ -/* lightDir = normalize(vec3(gl_LightSource[0].position) - ecPos.xyz); */ -/* normal = normalize(gl_NormalMatrix * gl_Normal); */ - -/* // texCoord = vec2(gl_MultiTexCoord0); */ -/* gl_Position = ftransform(); */ -/* } */ diff --git a/papart/data/old/shaders/toonv2.xml b/papart/data/old/shaders/toonv2.xml deleted file mode 100755 index 85807ae2..00000000 --- a/papart/data/old/shaders/toonv2.xml +++ /dev/null @@ -1,9 +0,0 @@ - - toon effect - toonf2.vert - toonf2.frag - - 0 - - - diff --git a/papart/data/old/shaders/transparency.frag b/papart/data/old/shaders/transparency.frag deleted file mode 100644 index 4991bc82..00000000 --- a/papart/data/old/shaders/transparency.frag +++ /dev/null @@ -1,36 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - - -void main() -{ - vec3 n,halfV,viewV,ldir; - float NdotL,NdotHV; - vec4 color = ambient; - - /* a fragment shader can't write a verying variable, hence we need - a new variable to store the normalized interpolated normal */ - n = normalize(normal); - - /* compute the dot product between normal and ldir */ - NdotL = max(dot(n,lightDir),0.0); - - if (NdotL > 0.0) { - halfV = normalize(halfVector); - NdotHV = max(dot(n,halfV),0.0); - color += gl_FrontMaterial.specular * gl_LightSource[0].specular * pow(NdotHV,gl_FrontMaterial.shininess); - color += diffuse * NdotL; - } - - gl_FragColor = vec4(color.rgb, 1.0); -} diff --git a/papart/data/old/shaders/transparency.vert b/papart/data/old/shaders/transparency.vert deleted file mode 100755 index abbe5d8a..00000000 --- a/papart/data/old/shaders/transparency.vert +++ /dev/null @@ -1,40 +0,0 @@ -/* ------------------------------------------------------- - -This shader implements a directional light per pixel using the -diffuse, specular, and ambient terms acoording to "Mathematics of Lighthing" -as found in the book "OpenGL Programming Guide" (aka the Red Book) - -António Ramires Fernandes - ---------------------------------------------------------- */ - -varying vec4 diffuse,ambient; -varying vec3 normal,lightDir,halfVector; - -void main() -{ - /* first transform the normal into eye space and normalize the result */ - normal = normalize(gl_NormalMatrix * gl_Normal); - - /* now normalize the light's direction. Note that according to the - OpenGL specification, the light is stored in eye space. Also since - we're talking about a directional light, the position field is actually - direction */ - lightDir = normalize(vec3(gl_LightSource[0].position)); - - /* Normalize the halfVector to pass it to the fragment shader */ - halfVector = normalize(gl_LightSource[0].halfVector.xyz); - - /* Compute the diffuse, ambient and globalAmbient terms */ - diffuse = gl_FrontMaterial.diffuse * gl_LightSource[0].diffuse; - ambient = gl_FrontMaterial.ambient * gl_LightSource[0].ambient; - ambient += gl_LightModel.ambient * gl_FrontMaterial.ambient; - - - gl_Position = ftransform(); - - - - - -} diff --git a/papart/data/old/shaders/transparency.xml b/papart/data/old/shaders/transparency.xml deleted file mode 100755 index eaaa7be3..00000000 --- a/papart/data/old/shaders/transparency.xml +++ /dev/null @@ -1,6 +0,0 @@ - - transparency - transparency.vert - transparency.frag - - From b6b7249a4996556309473f11679c53767ed0e56b Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:11:58 +0100 Subject: [PATCH 47/99] cleaning of markers. --- papart/data/markers/ExtractedView.bmp | Bin 614454 -> 0 bytes papart/data/markers/big-calib.cfg | 70 -- papart/data/markers/big.cfg | 106 --- papart/data/markers/big.svg | 156 ---- papart/data/markers/blocks.cfg | 54 -- papart/data/markers/blocks.svg | 137 ---- papart/data/markers/corners.svg | 231 ------ papart/data/markers/debug.cfg | 38 - papart/data/markers/debug.svg | 805 -------------------- papart/data/markers/drawing.cfg | 113 --- papart/data/markers/drawing.svg | 441 ----------- papart/data/markers/earth.cfg | 21 - papart/data/markers/earth.svg | 119 --- papart/data/markers/eclairage.cfg | 139 ---- papart/data/markers/eclairage.svg | 235 ------ papart/data/markers/game.cfg | 38 - papart/data/markers/game.svg | 290 -------- papart/data/markers/instructions.svg | 860 ---------------------- papart/data/markers/lapin.cfg | 72 -- papart/data/markers/lapin.svg | 191 ----- papart/data/markers/lapinInterface.cfg | 63 -- papart/data/markers/lapinInterface.svg | 189 ----- papart/data/markers/mega-calib.cfg | 21 - papart/data/markers/moon.cfg | 21 - papart/data/markers/moon.svg | 119 --- papart/data/markers/player1.cfg | 38 - papart/data/markers/player1.svg | 548 -------------- papart/data/markers/player2.cfg | 38 - papart/data/markers/player2.svg | 145 ---- papart/data/markers/radio.cfg | 139 ---- papart/data/markers/radio.svg | 783 -------------------- papart/data/markers/renne.cfg | 139 ---- papart/data/markers/renne.svg | 783 -------------------- papart/data/markers/rocks.jpg | Bin 175927 -> 0 bytes papart/data/markers/sun.cfg | 21 - papart/data/markers/sun.svg | 97 --- papart/data/markers/tableauInterieur.jpg | Bin 27945 -> 0 bytes papart/data/markers/tableauInterieurI.jpg | Bin 56759 -> 0 bytes papart/data/markers/tableauLarge.jpg | Bin 124572 -> 0 bytes papart/data/markers/tablet.svg | 580 --------------- papart/data/markers/test.cfg | 46 -- 41 files changed, 7886 deletions(-) delete mode 100644 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They are all on a line... so it is not important. - -# number of markers -6 - - -# marker 0 -110 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -111 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 55.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -112 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 100.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -113 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 145.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 - -114 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 190.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 - -115 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 235.0 - 0.0000 1.0000 0.0000 40.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/blocks.svg b/papart/data/markers/blocks.svg deleted file mode 100644 index c6c079d9..00000000 --- a/papart/data/markers/blocks.svg +++ /dev/null @@ -1,137 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - 110 111 112 113 114 115 - Crée à partir du sketch de Asher Salomon: http://openprocessing.org/sketch/20818 - Touchez pour créer des carrés. Passez la main au-dessus pour les déplacer. - - diff --git a/papart/data/markers/corners.svg b/papart/data/markers/corners.svg deleted file mode 100644 index ea73ac4d..00000000 --- a/papart/data/markers/corners.svg +++ /dev/null @@ -1,231 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - x - - - - - - y - 350 - 250 - - diff --git a/papart/data/markers/debug.cfg b/papart/data/markers/debug.cfg deleted file mode 100644 index e5f42299..00000000 --- a/papart/data/markers/debug.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -2290 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -2292 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -2291 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 45.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -2293 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 45.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/debug.svg b/papart/data/markers/debug.svg deleted file mode 100644 index 8aad566d..00000000 --- a/papart/data/markers/debug.svg +++ /dev/null @@ -1,805 +0,0 @@ - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - - - - 2292 22932290 2291 - - - - Détection de marqueurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Jérémy Laviole et l'équipe Inria Potioc. - - diff --git a/papart/data/markers/drawing.cfg b/papart/data/markers/drawing.cfg deleted file mode 100755 index 170dc942..00000000 --- a/papart/data/markers/drawing.cfg +++ /dev/null @@ -1,113 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -13 - -# marker -21 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -36 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -35 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -34 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -33 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -32 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -22 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -23 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -24 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -28 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -29 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -30 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -31 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - diff --git a/papart/data/markers/drawing.svg b/papart/data/markers/drawing.svg deleted file mode 100755 index a45652cf..00000000 --- a/papart/data/markers/drawing.svg +++ /dev/null @@ -1,441 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - diff --git a/papart/data/markers/earth.cfg b/papart/data/markers/earth.cfg deleted file mode 100755 index 1dbb3338..00000000 --- a/papart/data/markers/earth.cfg +++ /dev/null @@ -1,21 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -2 - -# marker -5 -70 -35.0 35.0 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 15.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -15 -70 -35.0 35.0 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/earth.svg b/papart/data/markers/earth.svg deleted file mode 100644 index 866439f9..00000000 --- a/papart/data/markers/earth.svg +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - 7 8 9 6 1113 150 1 2 3 5 - La terre - - - - diff --git a/papart/data/markers/eclairage.cfg b/papart/data/markers/eclairage.cfg deleted file mode 100755 index 7eb6e9d0..00000000 --- a/papart/data/markers/eclairage.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -0 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -1 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -2 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -3 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -4 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -5 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -13 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -12 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -7 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - - - -# marker -8 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -9 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -6 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -10 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -11 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -14 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -15 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - diff --git a/papart/data/markers/eclairage.svg b/papart/data/markers/eclairage.svg deleted file mode 100755 index cbaf969a..00000000 --- a/papart/data/markers/eclairage.svg +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - diff --git a/papart/data/markers/game.cfg b/papart/data/markers/game.cfg deleted file mode 100644 index 3271aea8..00000000 --- a/papart/data/markers/game.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -218 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -219 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 53.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -220 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -221 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 53.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/game.svg b/papart/data/markers/game.svg deleted file mode 100644 index de82b787..00000000 --- a/papart/data/markers/game.svg +++ /dev/null @@ -1,290 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - 218 - 219 - 220 - 221 - 222 - 223 - - - - - - 218 - - 219 - - - 220 - 221 - - diff --git a/papart/data/markers/instructions.svg b/papart/data/markers/instructions.svg deleted file mode 100644 index 17591074..00000000 --- a/papart/data/markers/instructions.svg +++ /dev/null @@ -1,860 +0,0 @@ - - - - - - - - - - - - - - - - - - - image/svg+xml - - - - - - - 2292 22932290 2291 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Jérémy Laviole, Inria Potioc team. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/markers/lapin.cfg b/papart/data/markers/lapin.cfg deleted file mode 100644 index ca25d4f4..00000000 --- a/papart/data/markers/lapin.cfg +++ /dev/null @@ -1,72 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -8 - -# marker -0 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 58.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -13 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 110.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -12 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 160.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -3 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 205.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -5 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 58.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -15 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 110.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -14 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 160.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -11 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 205.0 - 0.0000 0.0000 1.0000 0.0 - - diff --git a/papart/data/markers/lapin.svg b/papart/data/markers/lapin.svg deleted file mode 100644 index 3f536594..00000000 --- a/papart/data/markers/lapin.svg +++ /dev/null @@ -1,191 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 1. Mettez vos lunettes 3D.2. Placez la feuille devant vous. - 3. Pressez le bouton "Pos". 4. Déplacez la lumière avec votre main et la feuille. - Le bouton "Pos" place le point de vue à 50 cmde hauteur et 50cm de distance de la feuille (debout face à celle-ci). - - diff --git a/papart/data/markers/lapinInterface.cfg b/papart/data/markers/lapinInterface.cfg deleted file mode 100644 index 8aeb0c52..00000000 --- a/papart/data/markers/lapinInterface.cfg +++ /dev/null @@ -1,63 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -5 - - -# marker 0 -2285 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -2286 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -2287 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 135.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -2288 -30.0 -5.0 5.0 - 1.0000 0.0000 0.0000 45.0 - 0.0000 1.0000 0.0000 135.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 336 -336 -35.0 -7.5 7.5 - 1.0000 0.0000 0.0000 170.0 - 0.0000 1.0000 0.0000 25.0 - 0.0000 0.0000 1.0000 0.0 - -# -10 + 30/2 -# ## xOffset = -xInkscape + patWidth/2 -# 10 + 30/2 -# 30.0 -# 0.0 0.0 -# 1.0000 0.0000 0.0000 45.0 -# 0.0000 1.0000 0.0000 135.0 -# 0.0000 0.0000 1.0000 0.0 - -# # marker 336 -# # 336 -# # 35.0 -# # 0.0 0.0 -# # 1.0000 0.0000 0.0000 170.0 -# # 0.0000 1.0000 0.0000 25.0 -# # 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/lapinInterface.svg b/papart/data/markers/lapinInterface.svg deleted file mode 100644 index 19dfd419..00000000 --- a/papart/data/markers/lapinInterface.svg +++ /dev/null @@ -1,189 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - 2287 22882285 2286 - - - Light - Rotate - Lock - - 336 - - diff --git a/papart/data/markers/mega-calib.cfg b/papart/data/markers/mega-calib.cfg deleted file mode 100644 index 301ba493..00000000 --- a/papart/data/markers/mega-calib.cfg +++ /dev/null @@ -1,21 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -2 - -# marker -0 -150.0 -13.5 32.0 - 1.0000 0.0000 0.0000 61.500 - 0.0000 1.0000 0.0000 43.5000 - 0.0000 0.0000 1.0000 0.0 - -# marker -1 -150.0 -16.5 32.0 - 1.0000 0.0000 0.0000 245.0 - 0.0000 1.0000 0.0000 43.50 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/moon.cfg b/papart/data/markers/moon.cfg deleted file mode 100755 index 644216bc..00000000 --- a/papart/data/markers/moon.cfg +++ /dev/null @@ -1,21 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -2 - -# marker -1 -70 -35.0 35.0 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 15.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -8 -70 -35.0 35.0 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/moon.svg b/papart/data/markers/moon.svg deleted file mode 100644 index a1f9e047..00000000 --- a/papart/data/markers/moon.svg +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - 7 8 9 6 1113 150 1 2 3 5 La lune - - - - diff --git a/papart/data/markers/player1.cfg b/papart/data/markers/player1.cfg deleted file mode 100644 index 29c331cc..00000000 --- a/papart/data/markers/player1.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -210 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -211 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 165.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -213 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -212 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 165.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/player1.svg b/papart/data/markers/player1.svg deleted file mode 100644 index 67da8877..00000000 --- a/papart/data/markers/player1.svg +++ /dev/null @@ -1,548 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - 210 - - - - - - - - - 211 - 212 - 213 - 214 - 215 - 216 - 217 - 210 - - - 211 - - 212 - - 213 - - - - diff --git a/papart/data/markers/player2.cfg b/papart/data/markers/player2.cfg deleted file mode 100644 index 5df81ccf..00000000 --- a/papart/data/markers/player2.cfg +++ /dev/null @@ -1,38 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers -4 - - -# marker 0 -214 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 1 -215 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 10.0 - 0.0000 1.0000 0.0000 165.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 2 -217 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 10.0 - 0.0000 0.0000 1.0000 0.0 - -# marker 3 -216 -35.0 -0.0 0.0 - 1.0000 0.0000 0.0000 255.0 - 0.0000 1.0000 0.0000 165.0 - 0.0000 0.0000 1.0000 0.0 diff --git a/papart/data/markers/player2.svg b/papart/data/markers/player2.svg deleted file mode 100644 index c8973024..00000000 --- a/papart/data/markers/player2.svg +++ /dev/null @@ -1,145 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - 214 - 215 - 216 - 217 - - - - diff --git a/papart/data/markers/radio.cfg b/papart/data/markers/radio.cfg deleted file mode 100755 index 84c97b46..00000000 --- a/papart/data/markers/radio.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -47 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -55 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -54 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -53 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -52 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -51 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -50 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -49 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -48 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - - - -# marker -46 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -45 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -44 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -43 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -40 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -42 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -41 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - diff --git a/papart/data/markers/radio.svg b/papart/data/markers/radio.svg deleted file mode 100755 index 335a3468..00000000 --- a/papart/data/markers/radio.svg +++ /dev/null @@ -1,783 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - - - - - - - - - - - - - - - - - 47 - 55 - 54 - 53 - 52 - 51 - 41 - 42 - 40 - 50 - 49 - 48 - 46 - 45 - 44 - 43 - - diff --git a/papart/data/markers/renne.cfg b/papart/data/markers/renne.cfg deleted file mode 100755 index 84c97b46..00000000 --- a/papart/data/markers/renne.cfg +++ /dev/null @@ -1,139 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# dataset for test Painting application - -# number of markers 85 - 130 -16 - -# marker -47 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -55 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -54 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -53 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -52 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -51 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 5.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -50 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -49 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -48 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 15.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - - - -# marker -46 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 85.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -45 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 155.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -44 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 225.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -43 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 295.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -40 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 257.0 - 0.0000 0.0000 1.0000 0.0 - -# marker -42 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 170.0 - 0.0000 0.0000 1.0000 0.0 - - -# marker -41 -35.0 --43.9 -26.9 - 1.0000 0.0000 0.0000 365.0 - 0.0000 1.0000 0.0000 100.0 - 0.0000 0.0000 1.0000 0.0 - diff --git a/papart/data/markers/renne.svg b/papart/data/markers/renne.svg deleted file mode 100755 index 335a3468..00000000 --- a/papart/data/markers/renne.svg +++ /dev/null @@ -1,783 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - 7 8 9 6 10 1112 1413 150 1 2 3 4 5 - - - - - - - - - - - - - - - - 21 - 22 23 24 25 - 26 - 27 - 28 - 29 - 30 - 31 - 32 - 33 - 34 - 35 - 36 - - - - - - - - - - - - - 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zU)4e@@#F-H6tW~+AwLpw!Etl$&b*NKtkV6OV9v`6E8TyAk?hZ(etW(C3-ofg{{`xo zKd+Jr3YK*~{RI>kSL^tK>5=D;SFzN~S$_ear5}IRtblg>T3z;RWi@c{=kJxrU;g!a z`|!nglZLxXcNZT#`wQ6gzPk1QaPs}PvQMsbXTMpw^A{lg1^QO&=-gG#+ls|sAoAyr z)nisne%}41v$DGT&fhR?<_S_e*zfb-TrK=TG diff --git a/papart/data/markers/tablet.svg b/papart/data/markers/tablet.svg deleted file mode 100644 index a1c14e67..00000000 --- a/papart/data/markers/tablet.svg +++ /dev/null @@ -1,580 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/papart/data/markers/test.cfg b/papart/data/markers/test.cfg deleted file mode 100644 index ef2ab6ff..00000000 --- a/papart/data/markers/test.cfg +++ /dev/null @@ -1,46 +0,0 @@ -# multimarker definition file for ARToolKit (format defined by ARToolKit) -# Papart MarkerBoard please fill the marker IDs. -# size: 1488.189x1052.3622 - -#Number of Markers -5 - -# marker -100 -38.179 -19.0895 19.0895 --0.7129644751548767 0.7012001276016235 0.0 54.4370002746582 -0.7012001276016235 0.7129644751548767 0.0 34.40700149536133 -0.0 -0.0 1.0 0.0 - -# marker -101 -66.688 -33.344 33.344 -0.9768182039260864 0.21407058835029602 0.0 251.36599731445312 -0.21407058835029602 -0.9768182039260864 0.0 202.9810028076172 -0.0 -0.0 1.0 0.0 - -# marker -102 -46.204 -23.102 23.102 -0.9701638221740723 -0.24245022237300873 0.0 171.9600067138672 --0.24245022237300873 -0.9701638221740723 0.0 261.0369873046875 -0.0 -0.0 1.0 0.0 - -# marker -103 -91.775 -45.8875 45.8875 -0.8660396933555603 0.4999752342700958 0.0 18.636999130249023 -0.4999752342700958 -0.8660396933555603 0.0 209.8769989013672 -0.0 -0.0 1.0 0.0 - -# marker -104 -36.468 -18.234 18.234 -0.8621888756752014 0.5065869092941284 0.0 150.39300537109375 -0.5065869092941284 -0.8621888756752014 0.0 109.20099639892578 -0.0 -0.0 1.0 0.0 From 444b0218cab283082be96df1b467a78e9b01911c Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:16:09 +0100 Subject: [PATCH 48/99] Cleaning useless code. --- .../fr/inria/papart/graph/Displayable.java | 37 ----- papart/src/fr/inria/papart/graph/Node.java | 100 ------------ .../fr/inria/papart/graph/NodeTransform.java | 31 ---- .../panel/PGraphicsOpenGLExtension.java | 44 ----- papart/src/fr/inria/papart/panel/Panel.java | 153 ------------------ .../src/fr/inria/papart/panel/SketchTest.java | 48 ------ .../fr/inria/papart/procam/camera/Camera.java | 3 +- 7 files changed, 1 insertion(+), 415 deletions(-) delete mode 100755 papart/src/fr/inria/papart/graph/Displayable.java delete mode 100755 papart/src/fr/inria/papart/graph/Node.java delete mode 100755 papart/src/fr/inria/papart/graph/NodeTransform.java delete mode 100755 papart/src/fr/inria/papart/panel/PGraphicsOpenGLExtension.java delete mode 100755 papart/src/fr/inria/papart/panel/Panel.java delete mode 100755 papart/src/fr/inria/papart/panel/SketchTest.java diff --git a/papart/src/fr/inria/papart/graph/Displayable.java b/papart/src/fr/inria/papart/graph/Displayable.java deleted file mode 100755 index 9be300f8..00000000 --- a/papart/src/fr/inria/papart/graph/Displayable.java +++ /dev/null @@ -1,37 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.graph; - -import processing.core.PApplet; -import processing.core.PImage; - -/** - * - * @author Jeremy Laviole - */ -public interface Displayable { - - public abstract void prepareToDisplayOn(PApplet display); - - public abstract boolean canBeDisplayedOn(PApplet display); - - public abstract PImage getDisplayedOn(PApplet display); - -} diff --git a/papart/src/fr/inria/papart/graph/Node.java b/papart/src/fr/inria/papart/graph/Node.java deleted file mode 100755 index 3cc9fe76..00000000 --- a/papart/src/fr/inria/papart/graph/Node.java +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.graph; - -import java.util.ArrayList; -import java.util.Collection; -import processing.core.PMatrix3D; - -/* - * To change this license header, choose License Headers in Project Properties. - * To change this template file, choose Tools | Templates - * and open the template in the editor. - */ -/** - * - * @author Jeremy Laviole - */ -public abstract class Node { - - private Node root; - private final ArrayList children = new ArrayList(); - private Node parent; - private final PMatrix3D transform = new PMatrix3D(); - - public Node getRoot() { - return root; - } - - public Node getParent() { - return this.parent; - } - - public boolean isRoot() { - return this == root; - } - - protected void updateRootOf(Node n) { - n.root = this.root; - } - - public void setRoot(){ - this.root = this; - } - - /** - * - * @return all the children - */ - public Collection getChildren() { - return children; - } - - /** - * - * @param child to add - */ - public void addChild(Node child) { - children.add(child); - updateRootOf(child); - } - - public void setTransform(PMatrix3D mat) { - this.transform.set(mat); - } - - public PMatrix3D getTransform() { - return this.transform.get(); - } - - public PMatrix3D getAbsoluteTrasform() { - Node currentNode = this; - PMatrix3D currentMat = new PMatrix3D(); - currentMat.set(this.transform); - - while (!currentNode.isRoot()) { - currentNode = currentNode.getParent(); - currentMat.apply(currentNode.transform); - } - - return currentMat; - } - -} diff --git a/papart/src/fr/inria/papart/graph/NodeTransform.java b/papart/src/fr/inria/papart/graph/NodeTransform.java deleted file mode 100755 index 2474ff3e..00000000 --- a/papart/src/fr/inria/papart/graph/NodeTransform.java +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.graph; - -import processing.core.PMatrix3D; - -/** - * - * @author Jeremy Laviole - */ -public class NodeTransform extends Node{ - - -} diff --git a/papart/src/fr/inria/papart/panel/PGraphicsOpenGLExtension.java b/papart/src/fr/inria/papart/panel/PGraphicsOpenGLExtension.java deleted file mode 100755 index cfcbb351..00000000 --- a/papart/src/fr/inria/papart/panel/PGraphicsOpenGLExtension.java +++ /dev/null @@ -1,44 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.panel; - -import processing.opengl.PGL; -import processing.opengl.PGraphicsOpenGL; - -/** - * - * @author Jeremy Laviole - */ -public class PGraphicsOpenGLExtension extends PGraphicsOpenGL { - - public static PGraphicsOpenGL mainContext; - - public PGraphicsOpenGLExtension() { - super(); - this.pgl = mainContext.pgl; - -// inGeo = newInGeometry(this, IMMEDIATE); -// tessGeo = newTessGeometry(this, IMMEDIATE); -// texCache = newTexCache(this); -// -// initialized = false; - } - -} diff --git a/papart/src/fr/inria/papart/panel/Panel.java b/papart/src/fr/inria/papart/panel/Panel.java deleted file mode 100755 index 373c96ee..00000000 --- a/papart/src/fr/inria/papart/panel/Panel.java +++ /dev/null @@ -1,153 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.panel; - -import fr.inria.papart.depthcam.analysis.DepthAnalysis; -import fr.inria.papart.procam.Papart; -import fr.inria.papart.procam.camera.Camera; -import fr.inria.papart.procam.camera.CameraOpenKinect; -import javax.swing.JFrame; -import processing.core.PApplet; -import processing.core.PImage; -import processing.opengl.PGraphicsOpenGL; - -/** - * TEST CODE. - * @author Jeremy Laviole - */ -public class Panel { - - SecondApplet secondApplet; - int w, h; - - PGraphicsOpenGL mainGL; - - public Panel(PApplet parent) { - - this.w = 800; - this.h = 600; - PFrame f = new PFrame(800, 600); - -// parent.frame.setTitle("first window"); -// f.setTitle("second window"); - } - - /** - * Broken WITH PROCESSING 3 - */ - public class PFrame extends JFrame { - - public PFrame(int width, int height) { - setBounds(100, 100, width, height); - secondApplet = new SecondApplet(); -// add(secondApplet); -// secondApplet.init(); - this.setVisible(true); - } - } - - public class SecondApplet extends PApplet { - - PImage localImage, localImage2; - - public void setup() { -// size(800, 600, "fr.inria.papart.panel.PGraphicsOpenGLExtension"); - size(800, 600, OPENGL); - } - - public void drawKinectRGB() { - try { - if (Papart.getPapart() != null - && Papart.getPapart().getKinectCamera() != null) { - - Camera kinectRGB = Papart.getPapart().getKinectCamera(); -// if (!kinectRGB.canBeDisplayedOn(this)) { -// kinectRGB.prepareToDisplayOn(this); -// } -// -// PImage img = kinectRGB.getDisplayedOn(this); -// image(img, 0, 0, 320, 240); - } - } catch (Exception e) { - } - } - - public void draw() { - background(100, random(50) + 50, 100); - println("draw in second.."); - -// DepthAnalysis kinect = Papart.getPapart().getKinect(); - - // Camera OK ! -// try { -// if (Papart.getPapart() != null -// && Papart.getPapart().getCameraTracking() != null -// && Papart.getPapart().getCameraTracking().getImage() != null) { -// -// println("Image ready.."); -// -// if (localImage == null) { -// localImage = Papart.getPapart().getCameraTracking().getPImageCopy(this); -// } else { -// Papart.getPapart().getCameraTracking().getPImageCopyTo(localImage); -// } -// image(localImage, 0, 0, 200, 200); -// } -// } catch (Exception e) { -// System.out.println("Exception " + e); -// e.printStackTrace(); -// } - // Base Display OK ! -// try { -// if (Papart.getPapart() != null -// && Papart.getPapart().getDisplay() != null -// && Papart.getPapart().getDisplay().getGraphics() != null) { -// -// println("Image ready.."); -// -// PImage sourceImage = Papart.getPapart().getDisplay().graphics; -// if (localImage2 == null) { -// println("create local image.."); -// localImage2 = createImage(sourceImage.width, sourceImage.height, sourceImage.format); -// } -// println("Get px copy.."); -//// int[] pxCopy = Papart.getPapart().getDisplay().getPixelsCopy(); -// int[] pxCopy = Papart.getPapart().getDisplay().pxCopy; -// if(pxCopy == null) -// return; -// -// // get a copy before ? -//// sourceImage = sourceImage.get(); -//// sourceImage.loadPixels(); -// localImage2.loadPixels(); -// println("Copy pixels.."); -// System.arraycopy(pxCopy, 0, localImage2.pixels, 0, pxCopy.length); -// println("Draw pixels.."); -// image(localImage2, 0, 200, 200, 200); -// } -// } catch (Exception e) { -// System.out.println("Exception " + e); -// e.printStackTrace(); -// } - } - - } - -} diff --git a/papart/src/fr/inria/papart/panel/SketchTest.java b/papart/src/fr/inria/papart/panel/SketchTest.java deleted file mode 100755 index bfc0f929..00000000 --- a/papart/src/fr/inria/papart/panel/SketchTest.java +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.panel; - -import processing.core.PApplet; -import processing.opengl.*; - -/** - * TEST CODE - * @author Jeremy Laviole - */ -public class SketchTest extends PApplet { - - @Override - public void setup() { - size(200, 200); - stroke(155, 0, 0); - } - - @Override - public void draw() { - background(0); - line(mouseX, mouseY, width / 2, height / 2); - } - - public static void main(String args[]) { -// PApplet.main(new String[]{"--present", "fr.inria.papart.panel.SketchTest"}); - PApplet.main(new String[]{"fr.inria.papart.panel.SketchTest"}); - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 1ee04897..98213dd1 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -23,7 +23,6 @@ * * @author jeremylaviole */ -import fr.inria.papart.graph.Node; import fr.inria.papart.procam.HasExtrinsics; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.ProjectiveDeviceP; @@ -45,7 +44,7 @@ import processing.core.PMatrix3D; import processing.core.PVector; -public abstract class Camera extends Node implements PConstants, HasExtrinsics { +public abstract class Camera implements PConstants, HasExtrinsics { public static Camera INVALID_CAMERA = new CameraOpenCV(-1); From 88a54957ca7d985c0bb4ea4f2c100c338e257b2e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:17:43 +0100 Subject: [PATCH 49/99] Deleted test classes for camera with special depth. --- .../procam/camera/CameraOpenCVDepth.java | 139 -------- .../camera/OpenCV16BitFrameGrabber.java | 318 ------------------ 2 files changed, 457 deletions(-) delete mode 100644 papart/src/fr/inria/papart/procam/camera/CameraOpenCVDepth.java delete mode 100644 papart/src/fr/inria/papart/procam/camera/OpenCV16BitFrameGrabber.java diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenCVDepth.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenCVDepth.java deleted file mode 100644 index 5eadd353..00000000 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenCVDepth.java +++ /dev/null @@ -1,139 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import fr.inria.papart.multitouch.KinectTouchInput; -import org.bytedeco.javacpp.opencv_core; -import org.bytedeco.javacpp.opencv_core.IplImage; -import org.bytedeco.javacv.FrameGrabber; -import org.bytedeco.javacv.OpenCVFrameConverter; -import org.bytedeco.javacv.OpenCVFrameGrabber; -import processing.core.PImage; - -/** - * WARNING, THIS IS NOT USED, AND MAYBE NOT WORKING AT ALL. - * @author Jeremy Laviole - */ -public class CameraOpenCVDepth extends Camera { - - private OpenCV16BitFrameGrabber grabber; - private final OpenCVFrameConverter.ToIplImage converter; - private KinectTouchInput touchInput; - public Camera colorCamera; - - protected CameraOpenCVDepth(int cameraNo) { - this.systemNumber = cameraNo; -// this.setPixelFormat(PixelFormat.RGB); - converter = new OpenCVFrameConverter.ToIplImage(); - } - - @Override - public void start() { - OpenCV16BitFrameGrabber grabberCV = new OpenCV16BitFrameGrabber(this.systemNumber); - System.out.println("Starting the grabber with " + width() + " " + height()); - grabberCV.setImageWidth(width()); - grabberCV.setImageHeight(height()); - grabberCV.setImageMode(FrameGrabber.ImageMode.RAW); - - try { - grabberCV.start(); - - System.out.println("Format : " + grabberCV.getFormat()); - - this.grabber = grabberCV; - this.isConnected = true; - } catch (Exception e) { - System.err.println("Could not start frameGrabber... " + e); - - System.err.println("Could not camera start frameGrabber... " + e); - System.err.println("Camera ID " + this.systemNumber + " could not start."); - System.err.println("Check cable connection, ID and resolution asked."); - - this.grabber = null; - } - } - - @Override - public void grab() { - - if (this.isClosing()) { - return; - } - try { - IplImage img = converter.convertToIplImage(grabber.grab()); - if (img != null) { - this.updateCurrentImage(img); - } - -// System.out.println("Grabbing Depth Kinect2..."); - this.currentImage = img; - if (touchInput != null) { - touchInput.lock(); - System.out.println("Touch input update..."); - touchInput.update(); - - touchInput.getTouch2DColors(colorCamera.getIplImage()); - touchInput.unlock(); - } else { - if (touchInput != null) { - System.err.println("Error, the TouchInput is set, but no DepthImg is grabbed."); - } - } - - } catch (Exception e) { - System.err.println("Camera: OpenCV Grab() Error ! " + e); - } - } - - @Override - public PImage getPImage() { - - if (currentImage != null) { - this.checkCamImage(); - camImage.update(currentImage); - return camImage; - } - // TODO: exceptions !!! - return null; - } - - @Override - public void close() { - this.setClosing(); - if (grabber != null) { - try { - grabber.stop(); - System.out.println("Stopping grabber (OpenCV depth)"); - - } catch (Exception e) { - System.out.println("Impossible to close " + e); - } - } - } - - public void setTouchInput(KinectTouchInput kinectTouchInput) { - this.touchInput = kinectTouchInput; - } - - public void setColorCamera(Camera camera) { - this.colorCamera = camera; - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/OpenCV16BitFrameGrabber.java b/papart/src/fr/inria/papart/procam/camera/OpenCV16BitFrameGrabber.java deleted file mode 100644 index c89b44e9..00000000 --- a/papart/src/fr/inria/papart/procam/camera/OpenCV16BitFrameGrabber.java +++ /dev/null @@ -1,318 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam.camera; - -import java.io.File; -import org.bytedeco.javacpp.Loader; -import org.bytedeco.javacpp.opencv_core; -import static org.bytedeco.javacpp.opencv_core.CV_16UC1; -import static org.bytedeco.javacpp.opencv_imgproc.CV_BGR2GRAY; -import static org.bytedeco.javacpp.opencv_imgproc.CV_GRAY2BGR; -import static org.bytedeco.javacpp.opencv_imgproc.cvCvtColor; -import org.bytedeco.javacpp.opencv_videoio; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_CONVERT_RGB; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FORMAT; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FOURCC; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FPS; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FRAME_COUNT; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FRAME_HEIGHT; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_FRAME_WIDTH; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_MODE; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_POS_FRAMES; -import static org.bytedeco.javacpp.opencv_videoio.CV_CAP_PROP_POS_MSEC; -import static org.bytedeco.javacpp.opencv_videoio.cvCreateCameraCapture; -import static org.bytedeco.javacpp.opencv_videoio.cvCreateFileCapture; -import static org.bytedeco.javacpp.opencv_videoio.cvGetCaptureProperty; -import static org.bytedeco.javacpp.opencv_videoio.cvGrabFrame; -import static org.bytedeco.javacpp.opencv_videoio.cvQueryFrame; -import static org.bytedeco.javacpp.opencv_videoio.cvReleaseCapture; -import static org.bytedeco.javacpp.opencv_videoio.cvRetrieveFrame; -import static org.bytedeco.javacpp.opencv_videoio.cvSetCaptureProperty; -import org.bytedeco.javacv.Frame; -import org.bytedeco.javacv.FrameConverter; -import org.bytedeco.javacv.FrameGrabber; -import org.bytedeco.javacv.OpenCVFrameConverter; - -/** - * - * @author Samuel Audet - * @author Jérémy Laviole - jeremy.laviole@inria.fr - */ -public class OpenCV16BitFrameGrabber extends FrameGrabber { - - public static String[] getDeviceDescriptions() throws FrameGrabber.Exception { - tryLoad(); - throw new UnsupportedOperationException("Device enumeration not support by OpenCV."); - } - - public static OpenCV16BitFrameGrabber createDefault(File deviceFile) throws FrameGrabber.Exception { - return new OpenCV16BitFrameGrabber(deviceFile); - } - - public static OpenCV16BitFrameGrabber createDefault(String devicePath) throws FrameGrabber.Exception { - return new OpenCV16BitFrameGrabber(devicePath); - } - - public static OpenCV16BitFrameGrabber createDefault(int deviceNumber) throws FrameGrabber.Exception { - return new OpenCV16BitFrameGrabber(deviceNumber); - } - - private static FrameGrabber.Exception loadingException = null; - - public static void tryLoad() throws FrameGrabber.Exception { - if (loadingException != null) { - throw loadingException; - } else { - try { - Loader.load(org.bytedeco.javacpp.opencv_highgui.class); - } catch (Throwable t) { - throw loadingException = new FrameGrabber.Exception("Failed to load " + OpenCV16BitFrameGrabber.class, t); - } - } - } - - public OpenCV16BitFrameGrabber(int deviceNumber) { - this.deviceNumber = deviceNumber; - } - - public OpenCV16BitFrameGrabber(File file) { - this(file.getAbsolutePath()); - } - - public OpenCV16BitFrameGrabber(String filename) { - this.filename = filename; - } - - public void release() throws FrameGrabber.Exception { - stop(); - } - - @Override - protected void finalize() throws Throwable { - super.finalize(); - release(); - } - - private int deviceNumber = 0; - private String filename = null; - private opencv_videoio.CvCapture capture = null; - private opencv_core.IplImage return_image = null; - private FrameConverter converter = new OpenCVFrameConverter.ToIplImage(); - - @Override - public double getGamma() { - // default to a gamma of 2.2 for cheap Webcams, DV cameras, etc. - if (gamma == 0.0) { - return 2.2; - } else { - return gamma; - } - } - - @Override - public String getFormat() { - if (capture == null) { - return super.getFormat(); - } else { - int fourcc = (int) cvGetCaptureProperty(capture, CV_CAP_PROP_FOURCC); - return "" + (char) (fourcc & 0xFF) - + (char) ((fourcc >> 8) & 0xFF) - + (char) ((fourcc >> 16) & 0xFF) - + (char) ((fourcc >> 24) & 0xFF); - } - } - - @Override - public int getImageWidth() { - if (return_image != null) { - return return_image.width(); - } else { - return capture == null ? super.getImageWidth() : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH); - } - } - - @Override - public int getImageHeight() { - if (return_image != null) { - return return_image.height(); - } else { - return capture == null ? super.getImageHeight() : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT); - } - } - - @Override - public int getPixelFormat() { - return capture == null ? super.getPixelFormat() : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_CONVERT_RGB); - } - - @Override - public double getFrameRate() { - return capture == null ? super.getFrameRate() : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_FPS); - } - - @Override - public void setImageMode(FrameGrabber.ImageMode imageMode) { - if (imageMode != this.imageMode) { - return_image = null; - } - super.setImageMode(imageMode); - } - - @Override - public int getFrameNumber() { - return capture == null ? super.getFrameNumber() - : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_POS_FRAMES); - } - - @Override - public void setFrameNumber(int frameNumber) throws FrameGrabber.Exception { - if (capture == null) { - super.setFrameNumber(frameNumber); - } else { - if (cvSetCaptureProperty(capture, CV_CAP_PROP_POS_FRAMES, frameNumber) == 0) { - throw new FrameGrabber.Exception("cvSetCaptureProperty() Error: Could not set CV_CAP_PROP_POS_FRAMES to " + frameNumber + "."); - } - } - } - - @Override - public long getTimestamp() { - return capture == null ? super.getTimestamp() - : Math.round(cvGetCaptureProperty(capture, CV_CAP_PROP_POS_MSEC) * 1000); - } - - @Override - public void setTimestamp(long timestamp) throws FrameGrabber.Exception { - if (capture == null) { - super.setTimestamp(timestamp); - } else { - if (cvSetCaptureProperty(capture, CV_CAP_PROP_POS_MSEC, timestamp / 1000.0) == 0) { - throw new FrameGrabber.Exception("cvSetCaptureProperty() Error: Could not set CV_CAP_PROP_POS_MSEC to " + timestamp / 1000.0 + "."); - } - } - } - - @Override - public int getLengthInFrames() { - return capture == null ? super.getLengthInFrames() - : (int) cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_COUNT); - } - - @Override - public long getLengthInTime() { - return Math.round(getLengthInFrames() * 1000000L / getFrameRate()); - } - - public void start() throws FrameGrabber.Exception { - if (filename != null && filename.length() > 0) { - capture = cvCreateFileCapture(filename); - if (capture == null) { - throw new FrameGrabber.Exception("cvCreateFileCapture() Error: Could not create camera capture."); - } - } else { - capture = cvCreateCameraCapture(deviceNumber); - if (capture == null) { - throw new FrameGrabber.Exception("cvCreateCameraCapture() Error: Could not create camera capture."); - } - } - if (imageWidth > 0) { - if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, imageWidth) == 0) { - cvSetCaptureProperty(capture, CV_CAP_PROP_MODE, imageWidth); // ?? - } - } - if (imageHeight > 0) { - if (cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, imageHeight) == 0) { - cvSetCaptureProperty(capture, CV_CAP_PROP_MODE, imageHeight); // ?? - } - } - if (frameRate > 0) { - cvSetCaptureProperty(capture, CV_CAP_PROP_FPS, frameRate); - } - - // set the fourCC to Y16 -> V4L2_PIX_FMT_Y16; - cvSetCaptureProperty(capture, CV_CAP_PROP_FOURCC, new FourCC("Y16 ").toInt()); - cvSetCaptureProperty(capture, CV_CAP_PROP_FORMAT, CV_16UC1); - - // Take the gray images... -// cvSetCaptureProperty(capture, CV_CAP_PROP_CONVERT_RGB, imageMode == FrameGrabber.ImageMode.COLOR ? 1 : 0); - cvSetCaptureProperty(capture, CV_CAP_PROP_CONVERT_RGB, -1); -// cvSetCaptureProperty(capture, CV_CAP_PROP_CONVERT_RGB, 0); - - // Before cvRetrieveFrame() starts returning something else then null - // QTKit sometimes requires some "warm-up" time for some reason... - // The first frame on Linux is sometimes null as well, - // so it's probably a good idea to run this for all platforms... ? - int count = 0; - while (count++ < 100 && cvGrabFrame(capture) != 0 && cvRetrieveFrame(capture) == null) { - try { - Thread.sleep(100); - } catch (InterruptedException ex) { - } - } - - if (!triggerMode) { - int err = cvGrabFrame(capture); - if (err == 0) { - throw new FrameGrabber.Exception("cvGrabFrame() Error: Could not grab frame. (Has start() been called?)"); - } - } - } - - public void stop() throws FrameGrabber.Exception { - if (capture != null) { - cvReleaseCapture(capture); - capture = null; - } - } - - public void trigger() throws FrameGrabber.Exception { - for (int i = 0; i < numBuffers + 1; i++) { - cvQueryFrame(capture); - } - int err = cvGrabFrame(capture); - if (err == 0) { - throw new FrameGrabber.Exception("cvGrabFrame() Error: Could not grab frame. (Has start() been called?)"); - } - } - - public Frame grab() throws FrameGrabber.Exception { - opencv_core.IplImage image = cvRetrieveFrame(capture); - -// System.out.println("Image data size: " + image.getByteBuffer().capacity()); - - if (image == null) { - throw new FrameGrabber.Exception("cvRetrieveFrame() Error: Could not retrieve frame. (Has start() been called?)"); - } - if (!triggerMode) { - int err = cvGrabFrame(capture); - if (err == 0) { - throw new FrameGrabber.Exception("cvGrabFrame() Error: Could not grab frame. (Has start() been called?)"); - } - } - - if (return_image == null) { - System.out.println("Creating in image with w, h: " + image.width() + " " + image.height()); - System.out.println("Creating in image with depth: " + image.depth()); - return_image = opencv_core.IplImage.create(image.width(), image.height(), image.depth(), 3); - } - return_image = image; - return converter.convert(return_image); - } -} From 75b60a3dc042eaccf0cd07e5ec6bb54a64306c68 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 17:18:01 +0100 Subject: [PATCH 50/99] UtilsTest now for Processing 3. --- papart/test/fr/inria/papart/UtilsTest.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/papart/test/fr/inria/papart/UtilsTest.java b/papart/test/fr/inria/papart/UtilsTest.java index 7ee6d7a3..e908039b 100644 --- a/papart/test/fr/inria/papart/UtilsTest.java +++ b/papart/test/fr/inria/papart/UtilsTest.java @@ -30,8 +30,12 @@ public class UtilsTest extends PApplet { @Override - 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Now the default will be the ... 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height="106.29921" @@ -70,9 +84,7 @@ QVR42mNgYHBhCGDgYpAAQiAAAAhuAM89pEB0AAAAAElFTkSuQmCC y="936.99658" x="40.970253" id="marker81" - xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAGElE -QVR42mNgYHBhCGJIY6hhUGLIY2AAAA/4AglN6z+6AAAAAElFTkSuQmCC -" + xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAGElE QVR42mNgYHBhCGJIY6hhUGLIY2AAAA/4AglN6z+6AAAAAElFTkSuQmCC " style="image-rendering:optimizeSpeed" preserveAspectRatio="none" height="106.29921" @@ -82,9 +94,7 @@ QVR42mNgYHBhCGJIY6hhUGLIY2AAAA/4AglN6z+6AAAAAElFTkSuQmCC y="341.05307" x="928.23932" id="marker82" - xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE -QVR42mNgYHBhCGGwYTABkkYMDAAM4gGP6VV9lQAAAABJRU5ErkJggg== -" + xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE QVR42mNgYHBhCGGwYTABkkYMDAAM4gGP6VV9lQAAAABJRU5ErkJggg== " style="image-rendering:optimizeSpeed" preserveAspectRatio="none" height="106.29921" @@ -94,9 +104,7 @@ QVR42mNgYHBhCGGwYTABkkYMDAAM4gGP6VV9lQAAAABJRU5ErkJggg== y="936.99658" x="928.23932" id="marker83" - xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE -QVR42mNgYHBhCGMIAMI8hhgGBgAPcAIFdHchAwAAAABJRU5ErkJggg== -" + xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE QVR42mNgYHBhCGMIAMI8hhgGBgAPcAIFdHchAwAAAABJRU5ErkJggg== " style="image-rendering:optimizeSpeed" preserveAspectRatio="none" height="106.29921" @@ -106,9 +114,7 @@ QVR42mNgYHBhCGMIAMI8hhgGBgAPcAIFdHchAwAAAABJRU5ErkJggg== y="936.99658" x="484.6048" id="marker84" - xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAGElE -QVR42mNgYHBhiGBIY3BiYGBIYWAAAA3cAamU44hFAAAAAElFTkSuQmCC -" + xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAGElE QVR42mNgYHBhiGBIY3BiYGBIYWAAAA3cAamU44hFAAAAAElFTkSuQmCC " style="image-rendering:optimizeSpeed" preserveAspectRatio="none" height="106.29921" @@ -118,13 +124,510 @@ QVR42mNgYHBhiGBIY3BiYGBIYWAAAA3cAamU44hFAAAAAElFTkSuQmCC y="341.05307" x="484.6048" id="marker85" - xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE -QVR42mNgYHBhiGLgYlBjsAKSDAAKBgET7H+cnQAAAABJRU5ErkJggg== -" + xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAgAAAAIAQMAAAD+wSzIAAAABlBMVEUAAAD///+l2Z/dAAAAFklE QVR42mNgYHBhiGLgYlBjsAKSDAAKBgET7H+cnQAAAABJRU5ErkJggg== " style="image-rendering:optimizeSpeed" preserveAspectRatio="none" height="106.29921" width="106.29921" inkscape:label="#image4212" /> + + http://rea.lity.tech + http://project.inria.fr/papart + PapARt + diff --git a/papart/data/markers/A3-small1-legacy.cfg b/papart/data/markers/legacy/A3-small1-legacy.cfg similarity index 100% rename from papart/data/markers/A3-small1-legacy.cfg rename to papart/data/markers/legacy/A3-small1-legacy.cfg diff --git a/papart/data/markers/A3-small1.svg b/papart/data/markers/legacy/A3-small1.svg similarity index 100% rename from papart/data/markers/A3-small1.svg rename to papart/data/markers/legacy/A3-small1.svg diff --git a/papart/data/markers/A3-small2.svg b/papart/data/markers/legacy/A3-small2.svg similarity index 100% rename from papart/data/markers/A3-small2.svg rename to papart/data/markers/legacy/A3-small2.svg diff --git a/papart/data/markers/big-calib.svg b/papart/data/markers/legacy/big-calib.svg old mode 100755 new mode 100644 similarity index 100% rename from papart/data/markers/big-calib.svg rename to papart/data/markers/legacy/big-calib.svg diff --git a/papart/data/markers/mega-calib.svg b/papart/data/markers/legacy/mega-calib.svg old mode 100755 new mode 100644 similarity index 100% rename from papart/data/markers/mega-calib.svg rename to papart/data/markers/legacy/mega-calib.svg diff --git a/papart/data/markers/test.svg b/papart/data/markers/legacy/test.svg similarity index 100% rename from papart/data/markers/test.svg rename to papart/data/markers/legacy/test.svg From f47631e2c8ca4fa519f5892bd7097416178763f3 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 13 Dec 2016 18:11:56 +0100 Subject: [PATCH 53/99] cameraOpenKinect fix. --- papart/src/fr/inria/papart/procam/Papart.java | 2 +- papart/src/fr/inria/papart/procam/camera/Camera.java | 2 +- .../src/fr/inria/papart/procam/camera/CameraOpenKinect.java | 5 ++++- .../src/fr/inria/papart/procam/camera/CameraOpenKinect2.java | 2 ++ .../src/fr/inria/papart/procam/camera/CameraRealSense.java | 1 + 5 files changed, 9 insertions(+), 3 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index e9bb9c2e..397c9645 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -68,7 +68,7 @@ public class Papart { public final static String calibrationFolder = folder + "calibration/"; public final static String markerFolder = folder + "markers/"; - public static String calibrationFileName = "big-calib.svg"; + public static String calibrationFileName = "A4-calib.svg"; public static String cameraCalibName = "camera.yaml"; public static String projectorCalibName = "projector.yaml"; diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 98213dd1..591d9589 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -80,7 +80,7 @@ public enum PixelFormat { protected int width, height; protected int frameRate; protected boolean trackSheets = false; - private boolean isClosing = false; + protected boolean isClosing = false; protected boolean isConnected = false; protected boolean undistort = false; diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java index ae953f44..de87e30b 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect.java @@ -37,7 +37,6 @@ public class CameraOpenKinect extends CameraRGBIRDepth { protected CameraOpenKinect(int cameraNo) { this.systemNumber = cameraNo; grabber = new OpenKinectFrameGrabber(this.systemNumber); - } @Override @@ -97,6 +96,7 @@ public void setUseDepth(boolean use) { depthCamera.setSize(640, 480); grabber.setDepthFormat(freenect.FREENECT_DEPTH_MM); } + this.useDepth = use; } @Override @@ -105,7 +105,9 @@ public void setUseIR(boolean use) { IRCamera.setPixelFormat(PixelFormat.GRAY); IRCamera.type = SubCamera.Type.IR; IRCamera.setSize(640, 480); + // grabber.setvideoformat ? } + this.useIR = use; } @Override @@ -120,6 +122,7 @@ public void setUseColor(boolean use) { kinectVideoFormat = freenect.FREENECT_VIDEO_RGB; grabber.setVideoFormat(kinectVideoFormat); } + this.useColor = use; } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java index 7092208b..a9d77da9 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraOpenKinect2.java @@ -100,6 +100,7 @@ public void setUseDepth(boolean use) { depthCamera.setSize(512, 424); grabber.enableDepthStream(); } + this.useDepth = use; } @Override @@ -110,6 +111,7 @@ public void setUseColor(boolean use) { colorCamera.setSize(1920, 1080); grabber.enableColorStream(); } + this.useColor = use; } @Override diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index c915b6ca..9743188d 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -189,6 +189,7 @@ public void setUseDepth(boolean use) { this.useDepth = use; } + @Override public void setUseColor(boolean use) { // todo: boolean or not ? if (!use) { From 2ce527a75098bd5858bc79aa554fbbe82330a07f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 17:38:12 +0100 Subject: [PATCH 54/99] ROI bug causing native errors fixed. --- .../fr/inria/papart/tracking/ObjectFinder.java | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/papart/src/fr/inria/papart/tracking/ObjectFinder.java b/papart/src/fr/inria/papart/tracking/ObjectFinder.java index 8410f86c..8747c86c 100644 --- a/papart/src/fr/inria/papart/tracking/ObjectFinder.java +++ b/papart/src/fr/inria/papart/tracking/ObjectFinder.java @@ -72,15 +72,11 @@ public static class Settings extends BaseChildSettings { // Marche très bien // ORB detector = ORB.create(1200/*=500*/, 1.6f /*=1.2f*/, 8 /*=8*/, 31/*=31*/, // 0/*=0*/, 2/*=2*/, ORB.HARRIS_SCORE/*=cv::ORB::HARRIS_SCORE*/, 31 /*=31*/, 20/*=20*/); - - // default--> quite awesome + // default--> quite awesome BRISK detector = BRISK.create(50, 2, 1); - - + // Tests // BRISK detector = BRISK.create(briskParam1, briskParam2, briskParam3); - - // AKAZE detector = AKAZE.create(); // -> CRAZY memory leaks ?! // AKAZE detector = AKAZE.create(AKAZE.DESCRIPTOR_KAZE, // 0, 3, 0.001f, @@ -90,8 +86,6 @@ public static class Settings extends BaseChildSettings { // int descriptor_size/*=0*/, int descriptor_channels/*=3*/, // float threshold/*=0.001f*/, int nOctaves/*=4*/, // int nOctaveLayers/*=4*/, int diffusivity/*=cv::KAZE::DIFF_PM_G2*/); - - // MSER detector = MSER.create(); // -> Not implemented. // FastFeatureDetector detector = FastFeatureDetector.create(); // -> Not implemented. // AgastFeatureDetector detector = AgastFeatureDetector.create(); // -> not implemented @@ -200,7 +194,7 @@ public double[] find(IplImage image) { roi = cvRect(0, 0, image.width(), image.height()); defaultRoi = cvRect(0, 0, image.width(), image.height()); } - + cvSetImageROI(image, roi); // System.out.println("retreived roi: " + roi.x() + " " + roi.y() + " " + roi.width() + " " + roi.height()); @@ -215,6 +209,7 @@ public double[] find(IplImage image) { roi.y(0); roi.width(image.width()); roi.height(image.height()); + cvSetImageROI(image, defaultRoi); return null; } @@ -235,13 +230,14 @@ public double[] find(IplImage image) { roi.y(0); roi.width(image.width()); roi.height(image.height()); + cvSetImageROI(image, defaultRoi); return null; } - + adjustROI(image, dstCorners); // update mask from dstCorners... -// cvSetImageROI(image, defaultRoi); + cvSetImageROI(image, defaultRoi); // System.out.println("Updated roi: " + roi.x() + " " + roi.y()); return dstCorners; } From 66515c51e33df12ff82b7d6e49be07b47995996c Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 17:38:32 +0100 Subject: [PATCH 55/99] markerboard now handles better RGBIRDepth cameras. --- .../fr/inria/papart/tracking/MarkerBoard.java | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoard.java b/papart/src/fr/inria/papart/tracking/MarkerBoard.java index 9f714d68..32387eb2 100755 --- a/papart/src/fr/inria/papart/tracking/MarkerBoard.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoard.java @@ -23,6 +23,7 @@ import fr.inria.papart.procam.display.ProjectorDisplay; import fr.inria.papart.procam.display.ARDisplay; import fr.inria.papart.multitouch.OneEuroFilter; +import fr.inria.papart.procam.camera.CameraRGBIRDepth; import fr.inria.papart.tracking.ObjectFinder; import org.bytedeco.javacpp.ARToolKitPlus; import org.bytedeco.javacpp.opencv_core.IplImage; @@ -111,17 +112,17 @@ public void addTracker(PApplet applet, Camera camera) { } private int getId(Camera camera) { - return cameras.indexOf(camera); + return cameras.indexOf(Camera.checkActingCamera(camera)); } public void setFiltering(Camera camera, double freq, double minCutOff) { - int id = cameras.indexOf(camera); + int id = getId(camera); OneEuroFilter[] filter = createFilter(freq, minCutOff); filters.set(id, filter); } public void removeFiltering(Camera camera) { - int id = cameras.indexOf(camera); + int id = getId(camera); filters.set(id, null); } @@ -137,7 +138,7 @@ public void setDrawingMode(Camera camera, boolean dm, float dist) { } public void setFakeLocation(Camera camera, PMatrix3D location) { - int id = cameras.indexOf(camera); + int id = getId(camera); PMatrix3D transfo = (PMatrix3D) transfos.get(id); transfo.set(location); } @@ -203,7 +204,7 @@ private PVector getPositionVector(int id) { // We suppose that the ARDisplay is the one of the camera... public PVector getBoardLocation(Camera camera, ARDisplay display) { - int id = cameras.indexOf(camera); + int id = getId(camera); PVector v = getPositionVector(id); // Apply extrinsics if required. @@ -227,7 +228,7 @@ public boolean isSeenBy(Camera camera, ProjectorDisplay projector, float error) public synchronized void updateLocation(Camera camera, IplImage img, Object globalTracking) { - int id = cameras.indexOf(camera); + int id = getId(camera); if (id == -1) { throw new RuntimeException("The board " + this.fileName + " is" + " not registered with the camera you asked"); @@ -249,7 +250,7 @@ public synchronized void updateLocation(Camera camera, IplImage img, Object glob protected abstract void updatePositionImpl(int id, int currentTime, int endTime, int mode, Camera camera, IplImage img, Object globalTracking); public PMatrix3D getTransfoMat(Camera camera) { - return transfos.get(cameras.indexOf(camera)); + return transfos.get(getId(camera)); } public PMatrix3D getTransfoRelativeTo(Camera camera, MarkerBoard board2) { @@ -272,7 +273,7 @@ public ARToolKitPlus.TrackerMultiMarker getARToolkitTracking(Camera camera) { } private Object getTracking(Camera camera) { - return trackers.get(cameras.indexOf(camera)); + return trackers.get(getId(camera)); } public boolean useJavaCVFinder() { From 58f8ec2b944a008c74f4228b6f86f2c801584fac Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 19:13:52 +0100 Subject: [PATCH 56/99] Better offset handling for Z error. --- .../calibration/CalibrationExtrinsic.java | 33 +++++++++++-------- 1 file changed, 19 insertions(+), 14 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index b724e6b2..a142805e 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -119,20 +119,28 @@ protected void calibrateProjectorDepthCam(ArrayList snapsho return; } - // move the plane up a little. - // Value for Kinect 360. + // TODO: not sure here... ? + movePlaneAlongOffset(planeCalibCam); + + saveKinectPlaneCalibration(planeCalibCam, homography); + saveKinectCameraExtrinsics(kinectCameraExtrinsics); + } + + private static final float OPEN_KINECT_Z_OFFSET = -12; + private static final float REALSENSE_Z_OFFSET = -42f; + + private void movePlaneAlongOffset(PlaneCalibration planeCalib){ + if (depthCameraDevice.type() == Camera.Type.OPEN_KINECT) { - planeCalibCam.moveAlongNormal(-7f); + System.out.println("Moving the plane along Z... " + OPEN_KINECT_Z_OFFSET); + planeCalib.moveAlongNormal(OPEN_KINECT_Z_OFFSET); } - // Value for RealSense. if (depthCameraDevice.type() == Camera.Type.REALSENSE) { - planeCalibCam.moveAlongNormal(-42f); + planeCalib.moveAlongNormal(REALSENSE_Z_OFFSET); } - saveKinectPlaneCalibration(planeCalibCam, homography); - saveKinectCameraExtrinsics(kinectCameraExtrinsics); } - + protected void calibrateDepthAndExternalCam(ArrayList snapshots) { calibrateDepthToExternalExtr(snapshots); calibrateDepthCamPlane(snapshots); @@ -179,16 +187,13 @@ public boolean calibrateDepthCamPlane(ArrayList snapshots) // move the plane up a little. planeCalibKinect.flipNormal(); - planeCalibKinect.moveAlongNormal(-20f); - - if (depthCameraDevice.type() == Camera.Type.REALSENSE) { - planeCalibKinect.moveAlongNormal(-20f); - } + movePlaneAlongOffset(planeCalibKinect); saveKinectPlaneCalibration(planeCalibKinect, homography); return true; } + public boolean calibrateDepthCamPlaneOnly(ArrayList snapshots) { // Depth -> color extrinsics PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); @@ -213,7 +218,7 @@ public boolean calibrateDepthCamPlaneOnly(ArrayList snapsho // move the plane up a little. planeCalibKinect.flipNormal(); - planeCalibKinect.moveAlongNormal(-20f); + movePlaneAlongOffset(planeCalibKinect); saveKinectPlaneCalibration(planeCalibKinect, homography); return true; From 57185e10f41c7773f9b5f82ba6a12adf0dccdf0f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 19:14:15 +0100 Subject: [PATCH 57/99] small explanations, not perfect yet. --- .../inria/papart/multitouch/KinectTouchInput.java | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 02c21f0f..d1cdb881 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -359,9 +359,20 @@ private PVector projectPointToScreen(Screen screen, // paperScreenCoord = project(screen, display, // p.x / (float) pdp.getWidth(), // p.y / (float) pdp.getHeight()); + + // This works well in the best of worlds, where the depth information is + // reliable. + paperScreenCoord = new PVector(); PVector pKinectP = new PVector(pKinect.x, pKinect.y, pKinect.z); + // maybe not here... + // TODO: maybe a better way to this, or to tweak the magic numbers. +// // yOffset difference ? 1cm -> surface view. +// // zOffset difference ? 1cm -> surface view. + pKinectP.y -= 10; + pKinectP.z += 10; + // TODO: Here change the display.getCamera() to // another way to get the screen location... PMatrix3D transfo = screen.getLocation(display.getCamera()); @@ -370,6 +381,10 @@ private PVector projectPointToScreen(Screen screen, // TODO: check bounds too ?! } else { + // This is not working with raw Depth, because the coordinates + // of pNorm is not in display Space, but in a custom space + // defined for the touch surface... + paperScreenCoord = project(screen, display, pNorm.x, pNorm.y); From 5f41cab5517c54bafe6e1bc14a2f7abe1bc82a97 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 19:14:36 +0100 Subject: [PATCH 58/99] more comment, less log. --- papart/src/fr/inria/papart/procam/Papart.java | 10 ++++------ papart/src/fr/inria/papart/procam/PaperScreen.java | 2 +- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 397c9645..1566ce97 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -668,16 +668,17 @@ private void updateDepthCameraDeviceExtrinsics(){ depthCameraDevice.getDepthCamera().setExtrinsics(depthCameraDevice.getStereoCalibration()); // Specific + // Important to use it for now ! Used in KinectTouchInput.projectPointToScreen ((KinectTouchInput) this.touchInput).useRawDepth(); - - System.out.println("Papart: Using Touchextrinsics from the device."); + +// System.out.println("Papart: Using Touchextrinsics from the device."); } else { // Two different cameras // setExtrinsics must after the kinect stereo calibration is loaded PMatrix3D extr = (Papart.getPapart()).loadCalibration(Papart.kinectTrackingCalib); extr.invert(); depthCameraDevice.getDepthCamera().setExtrinsics(extr); - System.out.println("Papart: Using Touchextrinsics from the calibrated File."); +// System.out.println("Papart: Using Touchextrinsics from the calibrated File."); } } @@ -688,9 +689,6 @@ public void useKinectOne(boolean kinectOne) { } /** - * WORK IN PROGRESS - * - * @return */ public DepthCameraDevice loadDefaultDepthCamera() { diff --git a/papart/src/fr/inria/papart/procam/PaperScreen.java b/papart/src/fr/inria/papart/procam/PaperScreen.java index 6bb6e340..330ab538 100755 --- a/papart/src/fr/inria/papart/procam/PaperScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperScreen.java @@ -268,8 +268,8 @@ private void trackCurrentMarkerBoard() { } if (!cameraTracking.tracks(markerBoard)) { - System.out.println("Camera. " + cameraTracking + " now tracks " + markerBoard); cameraTracking.trackMarkerBoard(markerBoard); +// System.out.println("Camera. " + cameraTracking + " now tracks " + markerBoard); } } From 1c683481082d4e23c8a534944a0fbd27451ce5fb Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 19:15:38 +0100 Subject: [PATCH 59/99] Tracked view got better, now working also with 1 channel IplImage. --- papart/src/fr/inria/papart/procam/Utils.java | 39 ++++++++++++------- .../fr/inria/papart/procam/camera/Camera.java | 10 +++++ .../papart/procam/camera/CameraThread.java | 1 + .../papart/procam/camera/TrackedView.java | 21 ++++++---- 4 files changed, 50 insertions(+), 21 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 902f0b5b..6889e73c 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -330,13 +330,25 @@ static public IplImage createImageFrom(IplImage imgIn) { return imgOut; } + static public IplImage createNewSizeImageFrom(IplImage imgIn, int width, int height) { + // TODO: avoid this creation !! + CvSize outSize = new CvSize(); + outSize.width(width); + outSize.height(height); + IplImage imgOut = cvCreateImage(outSize, // size + imgIn.depth(), // depth + imgIn.nChannels()); +// imgIn.w + return imgOut; + } + static public IplImage createImageFrom(PImage in) { // TODO: avoid this creation !! CvSize outSize = new CvSize(); outSize.width(in.width); outSize.height(in.height); - System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format ); + System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format); IplImage imgOut = null; if (in.format == RGB) { imgOut = cvCreateImage(outSize, // size @@ -539,13 +551,12 @@ static public void IplImageToPImage(IplImage img, boolean RGB, PImage ret) { // } assert (img.width() == ret.width); assert (img.height() == ret.height); - //= new BufferedImage(); + ret.loadPixels(); if (img.nChannels() == 3) { ByteBuffer buff = img.getByteBuffer(); // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); - ret.loadPixels(); if (RGB) { for (int i = 0; i < img.width() * img.height(); i++) { int offset = i * 3; @@ -568,7 +579,6 @@ static public void IplImageToPImage(IplImage img, boolean RGB, PImage ret) { if (img.nChannels() == 4) { ByteBuffer buff = img.getByteBuffer(); // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); - ret.loadPixels(); for (int i = 0; i < img.width() * img.height(); i++) { int offset = i * 4; // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); @@ -584,12 +594,14 @@ static public void IplImageToPImage(IplImage img, boolean RGB, PImage ret) { if (img.nChannels() == 1) { // TODO: no more allocations. ByteBuffer buff = img.getByteBuffer(); - byte[] arr = new byte[img.width() * img.height()]; - buff.get(arr); - for (int i = 0; i < img.width() * img.height(); i++) { + byte[] tmpArr = new byte[1]; +// byte[] arr = new byte[img.width() * img.height()]; +// buff.get(arr); - byte d = arr[i]; + for (int i = 0; i < img.width() * img.height(); i++) { + buff.get(tmpArr); + byte d = tmpArr[0]; // int d = (arr[i] & 0xFF); ret.pixels[i] = (0xFF) << 24 @@ -639,7 +651,6 @@ static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { argb.put((byte) 255); } argb.rewind(); - argb.rewind(); } static public void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) { @@ -880,7 +891,7 @@ static public void convertARParam2(PApplet pa, String inputYAML, String outputDA pw.flush(); pw.close(); } - + static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, String outputDAT) throws Exception { PrintWriter pw = pa.createWriter(outputDAT); @@ -900,7 +911,7 @@ static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, S sb.append("0 ").append(" "); // if(pdp.handleDistorsions()){ - // TODO: handle the distorsions... + // TODO: handle the distorsions... // double[] distort = cam.distortionCoeffs.get(); // // alpha_c ?  //// sb.append("0 "); @@ -912,9 +923,9 @@ static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, S // sb.append("0 "); // } // } else { - for (int i = 0; i < 6; i++) { - sb.append("0 "); - } + for (int i = 0; i < 6; i++) { + sb.append("0 "); + } // } // undist iterations sb.append("10\n"); diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 591d9589..bafcce4a 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -116,6 +116,16 @@ public String toString() { public PImage getImage() { return getPImage(); } + + public static Camera checkActingCamera(Camera camera) { + if (camera instanceof CameraRGBIRDepth) { + Camera acting = ((CameraRGBIRDepth) camera).getActingCamera(); + if (acting != null) { + camera = acting; + } + } + return camera; + } public abstract PImage getPImage(); diff --git a/papart/src/fr/inria/papart/procam/camera/CameraThread.java b/papart/src/fr/inria/papart/procam/camera/CameraThread.java index 187f13aa..3ce42a52 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraThread.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraThread.java @@ -141,6 +141,7 @@ private void tryToFindMarkers() { } this.detectedMarkers = computeMarkerLocations(); camera.setMarkers(this.detectedMarkers); +// System.out.println("Detected markers: " + detectedMarkers.length); break; } } diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index df6c8391..e5530d15 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -122,19 +122,20 @@ private void initiateImageCoordinates() { } public PImage getViewOf(Camera camera) { - + camera = Camera.checkActingCamera(camera); + IplImage img = camera.getIplImage(); if (!isExtractionReady(img)) { return null; } - + this.mainImage = img; this.camera = camera; CvMat homography = computeHomography(); // Convert to the good type... - Utils.remapImage(homography, camera.getIplImage(), extractedIplImage, extractedPImage); + Utils.remapImage(homography, img, extractedIplImage, extractedPImage); return extractedPImage; } @@ -156,19 +157,24 @@ private boolean isExtractionReady(IplImage img) { System.err.println("You should init the TrackedView before getting the view."); return false; } - return img != null && cornersSet; + + if(img != null){ + checkMemory(img); + } + + return img != null && (!useManualConrers || (useManualConrers && cornersSet)); } private CvMat computeHomography() { - checkMemory(); computeCorners(); CvMat homography = Utils.createHomography(screenPixelCoordinates, imagePixelCoordinates); return homography; } - private void checkMemory() { + private void checkMemory(IplImage memory) { if (extractedIplImage == null) { - extractedIplImage = Utils.createImageFrom(extractedPImage); + extractedIplImage = Utils.createNewSizeImageFrom(memory,imageWidthPx, imageHeightPx); + if (extractedIplImage == null) { System.err.println("Impossible to create a View! " + this + " " + extractedPImage); } @@ -255,6 +261,7 @@ private void computeCorners() { for (int i = 0; i < 4; i++) { screenPixelCoordinates[i] = camera.pdp.worldToPixel(corner3DPos[i], true); } + cornersSet = true; } public MarkerBoard getBoard() { From 799d171c1582fdd9b1a94885b59b9299020f0d7d Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 19:19:34 +0100 Subject: [PATCH 60/99] example to save a file in the Papart folder. --- papart/data/savedLocations/loc.xml | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 papart/data/savedLocations/loc.xml diff --git a/papart/data/savedLocations/loc.xml b/papart/data/savedLocations/loc.xml new file mode 100644 index 00000000..57f4f734 --- /dev/null +++ b/papart/data/savedLocations/loc.xml @@ -0,0 +1,4 @@ + + + + From fed9645fb5191979ee1e4e2b54ae1fc90d2c6378 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 20:09:41 +0100 Subject: [PATCH 61/99] Calibration fixes. --- .../calibration/CalibrationExtrinsic.java | 14 ++++++-------- .../procam/camera/ProjectorAsCamera.java | 18 +++++++++--------- 2 files changed, 15 insertions(+), 17 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index a142805e..5813033e 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -39,6 +39,8 @@ public class CalibrationExtrinsic { private final PApplet parent; + private static final float OPEN_KINECT_Z_OFFSET = -15f; + private static final float REALSENSE_Z_OFFSET = -42f; // Cameras private ProjectorDisplay projector; private final PMatrix3D kinectCameraExtrinsics = new PMatrix3D(); @@ -121,16 +123,13 @@ protected void calibrateProjectorDepthCam(ArrayList snapsho // TODO: not sure here... ? movePlaneAlongOffset(planeCalibCam); - + saveKinectPlaneCalibration(planeCalibCam, homography); saveKinectCameraExtrinsics(kinectCameraExtrinsics); } - - private static final float OPEN_KINECT_Z_OFFSET = -12; - private static final float REALSENSE_Z_OFFSET = -42f; - private void movePlaneAlongOffset(PlaneCalibration planeCalib){ - + private void movePlaneAlongOffset(PlaneCalibration planeCalib) { + if (depthCameraDevice.type() == Camera.Type.OPEN_KINECT) { System.out.println("Moving the plane along Z... " + OPEN_KINECT_Z_OFFSET); planeCalib.moveAlongNormal(OPEN_KINECT_Z_OFFSET); @@ -140,7 +139,7 @@ private void movePlaneAlongOffset(PlaneCalibration planeCalib){ } } - + protected void calibrateDepthAndExternalCam(ArrayList snapshots) { calibrateDepthToExternalExtr(snapshots); calibrateDepthCamPlane(snapshots); @@ -193,7 +192,6 @@ public boolean calibrateDepthCamPlane(ArrayList snapshots) return true; } - public boolean calibrateDepthCamPlaneOnly(ArrayList snapshots) { // Depth -> color extrinsics PMatrix3D kinectExtr = depthCameraDevice.getStereoCalibration().get(); diff --git a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java index 56925d37..3dbba96a 100644 --- a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java @@ -43,12 +43,12 @@ public class ProjectorAsCamera extends Camera { private IplImage grayImage; private final ProjectorDisplay projector; - public ProjectorAsCamera(ProjectorDisplay projector, Camera cameraTracking, TrackedView view){ - this.projectorView = view; + public ProjectorAsCamera(ProjectorDisplay projector, Camera cameraTracking, TrackedView view) { + this.projectorView = view; this.cameraTracking = cameraTracking; this.projector = projector; } - + public void setImage(IplImage image) { this.currentImage = image; } @@ -105,15 +105,14 @@ public PImage getPImage() { @Override public void grab() { IplImage img = projectorView.getIplViewOf(cameraTracking); - if(img != null){ + if (img != null) { currentImage = img; - } - - if(this.format == PixelFormat.GRAY){ - currentImage = greyProjectorImage(img); + if (this.format == PixelFormat.GRAY) { + currentImage = greyProjectorImage(img); + } } } - + private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) { if (projImage.nChannels() == 1) { @@ -134,6 +133,7 @@ private opencv_core.IplImage greyProjectorImage(opencv_core.IplImage projImage) // } return grayImage; } + /** * Not used. */ From 565917b438e4deb6d69852d67f09eb7703a5f81d Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 20:10:05 +0100 Subject: [PATCH 62/99] drawTouch is now 2D only. --- papart/src/fr/inria/papart/procam/PaperTouchScreen.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index a59bca74..e0fa1321 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -115,6 +115,7 @@ public void updateTouch() { } + // TODO: cleaning of this static private final int DEFAULT_TOUCH_SIZE = 15; protected void drawTouch() { @@ -124,11 +125,12 @@ protected void drawTouch() { protected void drawTouch(int ellipseSize) { for (Touch t : touchList) { if (t.is3D) { - fill(185, 142, 62); + // fill(185, 142, 62); } else { fill(58, 71, 198); + ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); } - ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); + // ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); // ellipse(t.pposition.x, t.pposition.y, ellipseSize /2 , ellipseSize /2); // pushMatrix(); From 3972893af57686a1a388ac4e74bab907c86ce902 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 14 Dec 2016 20:10:32 +0100 Subject: [PATCH 63/99] updtatde to 1.0 --- papart/src/fr/inria/papart/apps/MyApp2D.java | 2 +- papart/src/fr/inria/papart/apps/MyApp2DTouch.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/papart/src/fr/inria/papart/apps/MyApp2D.java b/papart/src/fr/inria/papart/apps/MyApp2D.java index 382b768b..e7e0f29d 100644 --- a/papart/src/fr/inria/papart/apps/MyApp2D.java +++ b/papart/src/fr/inria/papart/apps/MyApp2D.java @@ -28,7 +28,7 @@ public class MyApp2D extends PaperScreen { @Override public void settings() { setDrawingSize(297, 210); - loadMarkerBoard(Papart.markerFolder + "A3-small1.svg", 297, 210); + loadMarkerBoard(Papart.markerFolder + "A4-default.svg", 297, 210); // loadMarkerBoard(Papart.markerFolder + "test.cfg", 297, 210); } diff --git a/papart/src/fr/inria/papart/apps/MyApp2DTouch.java b/papart/src/fr/inria/papart/apps/MyApp2DTouch.java index ce1d05a3..b3dc1ffa 100644 --- a/papart/src/fr/inria/papart/apps/MyApp2DTouch.java +++ b/papart/src/fr/inria/papart/apps/MyApp2DTouch.java @@ -28,7 +28,7 @@ public class MyApp2DTouch extends PaperTouchScreen { @Override public void settings() { setDrawingSize(297, 210); - loadMarkerBoard(Papart.markerFolder + "A3-small1.cfg", 297, 210); + loadMarkerBoard(Papart.markerFolder + "A4-default.svg", 297, 210); } @Override From 3a370db5cb5eec669a6d59e05e4e2327e19f2579 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 15 Dec 2016 20:33:40 +0100 Subject: [PATCH 64/99] The tracker is now loaded just before use. --- .../fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java index 55561f06..594511ee 100644 --- a/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java +++ b/papart/src/fr/inria/papart/tracking/MarkerBoardARToolKitPlus.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.tracking; +import static fr.inria.papart.procam.Papart.camCalibARtoolkit; import static fr.inria.papart.tracking.MarkerBoard.BLOCK_UPDATE; import static fr.inria.papart.tracking.MarkerBoard.FORCE_UPDATE; import static fr.inria.papart.tracking.MarkerBoard.NORMAL; @@ -118,6 +119,10 @@ protected void addTrackerImpl(Camera camera) { // tracker.setUseDetectLite(false); tracker.setUseDetectLite(true); + // Deal with the calibration files here... + Camera.convertARParams(this.applet, camera.getProjectiveDevice(), camCalibARtoolkit); + camera.setCalibrationARToolkit(camCalibARtoolkit); + // Initialize the tracker, with camera parameters and marker config. if (!tracker.init(camera.getCalibrationARToolkit(), this.getFileName(), 1.0f, 10000.f)) { System.err.println("Init ARTOOLKIT Error " + camera.getCalibrationARToolkit() + " " + this.getFileName()); From f9b851a10badd26c1b332637d7dcc9a84f3362b9 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 15 Dec 2016 20:34:02 +0100 Subject: [PATCH 65/99] Updates in ColorDetecion, now with a new test. --- .../inria/papart/procam/ColorDetection.java | 55 ++++++++++++++----- .../papart/procam/camera/TrackedView.java | 7 ++- 2 files changed, 47 insertions(+), 15 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/ColorDetection.java b/papart/src/fr/inria/papart/procam/ColorDetection.java index d151775c..46e5592d 100755 --- a/papart/src/fr/inria/papart/procam/ColorDetection.java +++ b/papart/src/fr/inria/papart/procam/ColorDetection.java @@ -54,25 +54,21 @@ public ColorDetection(PaperScreen paperScreen) { } public void initialize() { - boardView = new TrackedView(paperScreen); - setPosition(pos); boardView.setCaptureSizeMM(captureSize); boardView.setImageWidthPx(picWidth); boardView.setImageHeightPx(picHeight); boardView.init(); - } public void setPosition(PVector pos) { this.pos.set(pos); - if (boardView != null) { if (invY) { boardView.setBottomLeftCorner(new PVector(pos.x, paperScreen.drawingSize.y - pos.y)); } else { - boardView.setBottomLeftCorner(pos); + boardView.setBottomLeftCorner(new PVector(pos.x, pos.y)); } } } @@ -84,13 +80,23 @@ public void update() { public void drawSelf() { computeColor(); + drawCaptureZone(); + paperScreen.pushMatrix(); paperScreen.translate(pos.x, pos.y, 1); - drawCaptureZonePriv(); - drawCapturedColor(); + if (!invY) { +// paperScreen.translate(0, captureSize.y, 0); + } + +// drawCaptureZonePriv(); + paperScreen.translate(captureSize.x + 20, 0); drawCapturedImage(); + + paperScreen.translate(20, 0); + drawCapturedColor(); + paperScreen.popMatrix(); } @@ -101,14 +107,14 @@ public PVector getPosition() { public void drawCapturedImage() { PImage out = getImage(); if (out != null) { - paperScreen.image(out, 0, -picHeight - 5, picWidth, picHeight); + paperScreen.image(out, 0, 0, captureSize.x, captureSize.y); } } public void drawCapturedColor() { paperScreen.fill(this.col); paperScreen.noStroke(); - paperScreen.ellipse(0, -picWidth - 5, picHeight, picHeight); + paperScreen.ellipse(0, 0, 10, 10); } public void drawCaptureZonePriv() { @@ -122,12 +128,18 @@ public void drawCaptureZonePriv() { public void drawCaptureZone() { paperScreen.pushMatrix(); paperScreen.translate(pos.x, - pos.y, 1); + pos.y, + 0.2f); + + if (!invY) { + paperScreen.translate(0, captureSize.y, 0); + } + paperScreen.strokeWeight(2); paperScreen.noFill(); paperScreen.stroke(80); paperScreen.rectMode(PApplet.CORNER); - paperScreen.rect(0, 0, captureSize.x, captureSize.y); + paperScreen.rect(0, -captureSize.y, captureSize.x, captureSize.y); paperScreen.popMatrix(); } @@ -208,23 +220,38 @@ public void setCaptureOffset(PVector captureOffset) { this.captureOffset = captureOffset; } + public void setCaptureOffset(float x, float y) { + this.captureOffset.set(x, y); + } + public PVector getCaptureSize() { return captureSize.copy(); } /** - * Set the capture size in millimeters. + * Set the capture size in millimeters. + * * @param x - * @param y + * @param y */ public void setCaptureSize(float x, float y) { this.captureSize.set(x, y); } + /** + * Set the capture size in millimeters. + * + * @param size in mm. + */ + public void setCaptureSize(PVector size) { + setCaptureSize(size.x, size.y); + } + /** * Set the picture size for analysis in pixels. + * * @param picWidth - * @param picHeight + * @param picHeight */ public void setPicSize(int picWidth, int picHeight) { this.picWidth = picWidth; diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index e5530d15..3d3e17fc 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -134,8 +134,9 @@ public PImage getViewOf(Camera camera) { CvMat homography = computeHomography(); + boolean useRGB = camera.getPixelFormat() == Camera.PixelFormat.RGB; // Convert to the good type... - Utils.remapImage(homography, img, extractedIplImage, extractedPImage); + Utils.remapImage(homography, img, extractedIplImage, extractedPImage, useRGB); return extractedPImage; } @@ -286,6 +287,10 @@ public void setBottomLeftCorner(PVector bottomLeftCorner) { this.bottomLeftCorner.set(bottomLeftCorner); this.isYUp = true; } + + public void forceYOrientation(boolean up){ + this.isYUp = up; + } /** * Use either TopLeftCorner OR BottomLeftCorner. Calling one will discard From 47e296b74898cbf425a11c2533994ec97532461f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 15 Dec 2016 20:34:30 +0100 Subject: [PATCH 66/99] ARToolkit is now somewhere else. --- papart/src/fr/inria/papart/procam/Papart.java | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index 1566ce97..a79ea602 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -636,17 +636,17 @@ private void checkInitialization() { /** * Only for .cfg marker tracking. */ - private void setARToolkitCalib() { - // TODO: warning −> used only for .cfg files. - // try to get the params from the camera, instead of the files! - if (cameraTracking.isCalibrated()) { - Camera.convertARParams(this.applet, getPublicCameraTracking().getProjectiveDevice(), camCalibARtoolkit); - getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); - } else { - Camera.convertARParams(this.applet, cameraCalib, camCalibARtoolkit); - getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); - } - } +// private void setARToolkitCalib() { +// // TODO: warning −> used only for .cfg files. +// // try to get the params from the camera, instead of the files! +// if (cameraTracking.isCalibrated()) { +// Camera.convertARParams(this.applet, getPublicCameraTracking().getProjectiveDevice(), camCalibARtoolkit); +// getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); +// } else { +// Camera.convertARParams(this.applet, cameraCalib, camCalibARtoolkit); +// getPublicCameraTracking().setCalibrationARToolkit(camCalibARtoolkit); +// } +// } /** * * @@ -801,7 +801,7 @@ public void startTrackingWithoutThread() { System.err.println("Start Tracking requires a Camera..."); return; } - setARToolkitCalib(); +// setARToolkitCalib(); this.getPublicCameraTracking().trackSheets(true); } @@ -814,7 +814,7 @@ public void startTracking() { System.err.println("Start Tracking requires a Camera..."); return; } - setARToolkitCalib(); +// setARToolkitCalib(); this.getPublicCameraTracking().trackSheets(true); startCameraThread(); } From 6f4edbb9a288106d576d2f3c2a54eadbd9426d8e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 15 Dec 2016 20:34:53 +0100 Subject: [PATCH 67/99] remapImage now handles RGB vs BGR images. --- papart/src/fr/inria/papart/procam/Utils.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java index 6889e73c..c6d6fb7e 100755 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ b/papart/src/fr/inria/papart/procam/Utils.java @@ -486,11 +486,14 @@ static public void remapImage(PVector[] in, PVector[] out, IplImage imgIn, IplIm } static public void remapImage(CvMat homography, IplImage imgIn, IplImage imgTmp, PImage Pout) { + remapImage(homography, imgIn, imgTmp, Pout, false); + } + static public void remapImage(CvMat homography, IplImage imgIn, IplImage imgTmp, PImage Pout, boolean isRgb) { opencv_imgproc.cvWarpPerspective(imgIn, imgTmp, homography); // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); // getFillColor()); - IplImageToPImage(imgTmp, false, Pout); + IplImageToPImage(imgTmp, isRgb, Pout); } From da994a9f7c93b234368de4866db11123dadfd2c3 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 16 Dec 2016 17:44:21 +0100 Subject: [PATCH 68/99] Utils refactored. Bug fixed, the useRawDepth flag was used when not needed. --- .../src/fr/inria/papart/apps/PaperApp2D.java | 2 +- .../analysis/KinectDepthAnalysis.java | 5 +- .../depthcam/devices/DepthCameraDevice.java | 2 +- .../papart/multitouch/KinectTouchInput.java | 26 +- .../inria/papart/procam/ColorDetection.java | 4 +- papart/src/fr/inria/papart/procam/Papart.java | 16 +- .../inria/papart/procam/PaperTouchScreen.java | 4 +- papart/src/fr/inria/papart/procam/Screen.java | 5 +- papart/src/fr/inria/papart/procam/Utils.java | 1051 ----------------- .../papart/procam/camera/CamImageColor.java | 7 +- .../papart/procam/camera/CamImageGray.java | 13 +- .../fr/inria/papart/procam/camera/Camera.java | 13 +- .../papart/procam/camera/CameraRealSense.java | 5 +- .../procam/camera/ProjectorAsCamera.java | 4 +- .../papart/procam/camera/TrackedView.java | 11 +- .../papart/procam/display/ARDisplay.java | 2 +- .../procam/display/ProjectorDisplay.java | 2 +- .../procam/utils/ARToolkitPlusUtils.java | 277 +++++ .../papart/procam/{ => utils}/DrawUtils.java | 2 +- .../inria/papart/procam/utils/ImageUtils.java | 425 +++++++ .../papart/procam/utils/LibraryUtils.java | 103 ++ .../inria/papart/procam/utils/MathUtils.java | 279 +++++ 22 files changed, 1160 insertions(+), 1098 deletions(-) delete mode 100755 papart/src/fr/inria/papart/procam/Utils.java create mode 100644 papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java rename papart/src/fr/inria/papart/procam/{ => utils}/DrawUtils.java (99%) mode change 100755 => 100644 create mode 100644 papart/src/fr/inria/papart/procam/utils/ImageUtils.java create mode 100644 papart/src/fr/inria/papart/procam/utils/LibraryUtils.java create mode 100644 papart/src/fr/inria/papart/procam/utils/MathUtils.java diff --git a/papart/src/fr/inria/papart/apps/PaperApp2D.java b/papart/src/fr/inria/papart/apps/PaperApp2D.java index d2c465ac..f8b12d4c 100644 --- a/papart/src/fr/inria/papart/apps/PaperApp2D.java +++ b/papart/src/fr/inria/papart/apps/PaperApp2D.java @@ -36,7 +36,7 @@ public class PaperApp2D extends PApplet { @Override public void settings() { - size(900, 600, P3D); + size(900, 600); // fullScreen(P3D, 2); } diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index b1afd76e..0a6815c1 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -31,7 +31,8 @@ import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.MathUtils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraRealSense; import java.nio.ByteBuffer; @@ -332,7 +333,7 @@ public PVector findDepthAtRGB(float x, float y, float z) { int worldToPixel = getDepthCameraDevice().getDepthCamera().getProjectiveDevice().worldToPixel(v2); // Point viewed in the depth camera point of view. - PVector pointDepth = Utils.toPVector(depthData.depthPoints[worldToPixel]); + PVector pointDepth = MathUtils.toPVector(depthData.depthPoints[worldToPixel]); return pointDepth; // get it back in the RGB point of view. diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index a6af86a7..3888a52e 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -22,7 +22,7 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraRGBIRDepth; diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index d1cdb881..58212719 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -359,10 +359,8 @@ private PVector projectPointToScreen(Screen screen, // paperScreenCoord = project(screen, display, // p.x / (float) pdp.getWidth(), // p.y / (float) pdp.getHeight()); - // This works well in the best of worlds, where the depth information is // reliable. - paperScreenCoord = new PVector(); PVector pKinectP = new PVector(pKinect.x, pKinect.y, pKinect.z); @@ -372,7 +370,7 @@ private PVector projectPointToScreen(Screen screen, // // zOffset difference ? 1cm -> surface view. pKinectP.y -= 10; pKinectP.z += 10; - + // TODO: Here change the display.getCamera() to // another way to get the screen location... PMatrix3D transfo = screen.getLocation(display.getCamera()); @@ -381,10 +379,28 @@ private PVector projectPointToScreen(Screen screen, // TODO: check bounds too ?! } else { - // This is not working with raw Depth, because the coordinates + +// // other possib, we know the 3D Point -> screen transfo... +// PMatrix3D kinectExtrinsics = kinectDevice.getDepthCamera().getExtrinsics().get(); +// kinectExtrinsics.invert(); +// PMatrix3D paperLocation = screen.getLocation(display.getCamera()).get(); +// paperLocation.invert(); +// Vec3D depthPoint = pKinect; +// PVector pointPosExtr = new PVector(); +// PVector pointPosDisplay = new PVector(); +// kinectExtrinsics.mult(new PVector(depthPoint.x, +// depthPoint.y, +// depthPoint.z), +// pointPosExtr); +// paperLocation.mult(pointPosExtr, +// pointPosDisplay); +// System.out.println("new: " + pointPosDisplay); +// return pointPosDisplay; + // Not ready yet... + +// This is not working with raw Depth, because the coordinates // of pNorm is not in display Space, but in a custom space // defined for the touch surface... - paperScreenCoord = project(screen, display, pNorm.x, pNorm.y); diff --git a/papart/src/fr/inria/papart/procam/ColorDetection.java b/papart/src/fr/inria/papart/procam/ColorDetection.java index 46e5592d..7192fe48 100755 --- a/papart/src/fr/inria/papart/procam/ColorDetection.java +++ b/papart/src/fr/inria/papart/procam/ColorDetection.java @@ -19,6 +19,8 @@ */ package fr.inria.papart.procam; +import fr.inria.papart.procam.utils.MathUtils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.TrackedView; import processing.core.PApplet; @@ -200,7 +202,7 @@ public int computeOccurencesOfColor(int c, int threshold) { for (int k = 0; k < pxNb; k++) { int c2 = out.pixels[k]; - boolean isClose = Utils.colorDist(c, c2, threshold); + boolean isClose = MathUtils.colorDistRGB(c, c2, threshold); if (isClose) { nbSameColor++; } diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index a79ea602..cbfecb88 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -40,6 +40,7 @@ import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.KinectTouchInput; +import fr.inria.papart.procam.utils.LibraryUtils; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenKinect; import fr.inria.papart.procam.camera.CameraRGBIRDepth; @@ -64,10 +65,12 @@ */ public class Papart { - public final static String folder = fr.inria.papart.procam.Utils.getPapartFolder() + "/data/"; + public final static String folder = LibraryUtils.getPapartFolder() + "/data/"; public final static String calibrationFolder = folder + "calibration/"; public final static String markerFolder = folder + "markers/"; + public static boolean isInria = false; + public static boolean isReality= true; public static String calibrationFileName = "A4-calib.svg"; public static String cameraCalibName = "camera.yaml"; @@ -95,7 +98,6 @@ public class Papart { public static String planeAndProjectionCalib = calibrationFolder + "PlaneProjectionCalibration.xml"; public static String touchCalib = calibrationFolder + "Touch2DCalibration.xml"; public static String touchCalib3D = calibrationFolder + "Touch3DCalibration.xml"; - public static String defaultFont = folder + "Font/" + "GentiumBookBasic-48.vlw"; public int defaultFontSize = 12; protected static Papart singleton = null; @@ -136,11 +138,10 @@ public Papart(Object applet) { this.applet = (PApplet) applet; this.appletClass = applet.getClass(); - PFont font = this.applet.loadFont(defaultFont); // TODO: singleton -> Better implementation. if (Papart.singleton == null) { Papart.singleton = this; - fr.inria.papart.drawingapp.DrawUtils.applet = (PApplet) applet; + fr.inria.papart.procam.utils.DrawUtils.applet = (PApplet) applet; } } @@ -661,9 +662,10 @@ public void loadTouchInput() { private void updateDepthCameraDeviceExtrinsics(){ // Check if depthCamera is the same as the camera ! - if (cameraTracking instanceof CameraRGBIRDepth - && cameraTracking == depthCameraDevice.getMainCamera()) { - + if (projector == null && + cameraTracking instanceof CameraRGBIRDepth && + cameraTracking == depthCameraDevice.getMainCamera()) { + // No extrinsic used, it is already in the camera... depthCameraDevice.getDepthCamera().setExtrinsics(depthCameraDevice.getStereoCalibration()); diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index e0fa1321..468bd352 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -19,6 +19,7 @@ */ package fr.inria.papart.procam; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.BaseDisplay; import fr.inria.papart.multitouch.TouchInput; @@ -27,6 +28,7 @@ import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.TouchList; import fr.inria.papart.multitouch.TouchPoint; +import fr.inria.papart.procam.utils.MathUtils; import fr.inria.papart.procam.display.ProjectorDisplay; import java.nio.ByteBuffer; import java.util.ArrayList; @@ -254,7 +256,7 @@ public int getColorOccurencesFrom(PVector coord, int radius, int col, int thresh for (int i = minX; i <= maxX; i++) { int offset = i + j * cameraTracking.width(); int pxCol = getColor(buff, offset); - if (Utils.colorDist(col, pxCol, threshold)) { + if (MathUtils.colorDistRGB(col, pxCol, threshold)) { k++; } } diff --git a/papart/src/fr/inria/papart/procam/Screen.java b/papart/src/fr/inria/papart/procam/Screen.java index 4bce55bb..7cf63a1c 100755 --- a/papart/src/fr/inria/papart/procam/Screen.java +++ b/papart/src/fr/inria/papart/procam/Screen.java @@ -23,9 +23,10 @@ import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.calibration.HomographyCreator; +import fr.inria.papart.procam.utils.MathUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.ProjectorDisplay; -import static fr.inria.papart.procam.Utils.toVec; +import static fr.inria.papart.procam.utils.MathUtils.toVec; import processing.core.PApplet; import processing.core.PMatrix3D; import processing.core.PVector; @@ -255,7 +256,7 @@ public void computeScreenPosTransform(Camera camera) { mat.translate(-size.x, 0, 0); paperPosCorners3D[3] = new PVector(mat.m03, mat.m13, mat.m23); - plane = new Plane(new Triangle3D(toVec(paperPosCorners3D[0]), toVec(paperPosCorners3D[1]), toVec(paperPosCorners3D[2]))); + plane = new Plane(new Triangle3D(MathUtils.toVec(paperPosCorners3D[0]), MathUtils.toVec(paperPosCorners3D[1]), MathUtils.toVec(paperPosCorners3D[2]))); homography.addPoint(paperPosCorners3D[0], new PVector(0, 0)); homography.addPoint(paperPosCorners3D[1], new PVector(1, 0)); diff --git a/papart/src/fr/inria/papart/procam/Utils.java b/papart/src/fr/inria/papart/procam/Utils.java deleted file mode 100755 index c6d6fb7e..00000000 --- a/papart/src/fr/inria/papart/procam/Utils.java +++ /dev/null @@ -1,1051 +0,0 @@ -/* - * Part of the PapARt project - https://project.inria.fr/papart/ - * - * Copyright (C) 2014-2016 Inria - * Copyright (C) 2011-2013 Bordeaux University - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation, version 2.1. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General - * Public License along with this library; If not, see - * . - */ -package fr.inria.papart.procam; - -import fr.inria.papart.procam.camera.Camera.PixelFormat; - -import org.bytedeco.javacv.CameraDevice; -import org.bytedeco.javacv.ProjectorDevice; -import org.bytedeco.javacpp.opencv_imgproc; -import static org.bytedeco.javacpp.opencv_core.*; -import static org.bytedeco.javacpp.opencv_calib3d.*; -import java.io.File; -import java.io.FileNotFoundException; -import java.io.OutputStream; -import java.io.PrintWriter; -import java.net.URL; -import java.nio.ByteBuffer; -import processing.core.*; -import static processing.core.PConstants.ARGB; -import static processing.core.PConstants.RGB; -import processing.opengl.Texture; -import toxi.geom.Matrix4x4; -import toxi.geom.Vec3D; -import java.io.*; -import java.nio.FloatBuffer; -import static processing.core.PConstants.ALPHA; -import static processing.core.PConstants.GRAY; -import static processing.core.PConstants.HSB; - -/** - * - * @author jeremy - */ -public class Utils { - - static public final String LibraryName = "PapARt"; - - static public Process runExample(String exampleName, boolean silent) { - - try { - StringBuilder commandLine = new StringBuilder(); - String papartFolder = getPapartFolder(); - String sketchFolder = "/examples/" + exampleName + "/"; - - // On linux only - commandLine.append("nohup "); - - // TODO: find processing-java even when not installed ! - // Or make an easy install... - commandLine.append("processing-java "); - - commandLine.append("--sketch=") - .append(papartFolder) - .append(sketchFolder) - .append(" --output=") - .append(papartFolder) - .append(sketchFolder) - .append("build") - .append(" --force --run"); - -// commandLine.append("\""); -// processing-java --sketch=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/ --output=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/build --force --run -// println("Starting... \n" + commandLine.toString()); - // TODO: Alternative on Windows... when /bin/sh is not installed. - Process p = Runtime.getRuntime().exec(commandLine.toString()); -// Process p = Runtime.getRuntime().exec(new String[]{"/bin/bash", "-c", commandLine.toString()}); -// Process p = Runtime.getRuntime().exec(new String[]{"nohup", commandLine.toString()}); - - if (!silent) { - String line; - BufferedReader bri = new BufferedReader(new InputStreamReader(p.getInputStream())); - BufferedReader bre = new BufferedReader(new InputStreamReader(p.getErrorStream())); - while ((line = bri.readLine()) != null) { - System.out.println(line); - } - bri.close(); - while ((line = bre.readLine()) != null) { - System.out.println(line); - } - bre.close(); - } - - return p; - // p.waitFor(); - } catch (Exception e) { - System.out.println("Could not start the Papart example : " - + exampleName - + "\n" + e); - }; - return null; - - } -// sketchbook - -// processing-java --sketch=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/ --output=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/build --force --run - static public String getSketchbookFolder() { - - String sketchbook = java.lang.System.getenv("SKETCHBOOK"); - if (sketchbook != null) { - return sketchbook; - } - - URL main = Matrix4x4.class.getResource("Matrix4x4.class"); - String tmp = main.getPath(); - - tmp = tmp.substring(0, tmp.indexOf('!')); - tmp = tmp.replace("file:", ""); -// tmp = tmp.replace("file:/", ""); TODO: OS check ? - - File f = new File(tmp); - if (!f.exists()) { - System.err.println("Error in loading the Sketchbook folder."); - } - - // if the file is within a library/lib folder - if (f.getParentFile().getAbsolutePath().endsWith(("/lib"))) { - // pathToSketchbook/libraries/myLib/library/lib/myLib.jar - f = f.getParentFile().getParentFile().getParentFile().getParentFile().getParentFile(); - } else { - // pathToSketchbook/libraries/myLib/library/myLib.jar - f = f.getParentFile().getParentFile().getParentFile().getParentFile(); - } - - return f.getAbsolutePath(); - } - - static public String getLibraryFolder(String libname) { - return getLibrariesFolder() + "/libraries/" + libname; - } - - static public String getLibrariesFolder() { - - // This is used, as Papart classes are often linked to another folder... - URL main = Matrix4x4.class.getResource("Matrix4x4.class"); -// URL main = ARDisplay.class.getResource("ARDisplay.class"); - String tmp = main.getPath(); - - System.out.println("path " + tmp); - - // its in a jar - if (tmp.contains("!")) { - tmp = tmp.substring(0, tmp.indexOf('!')); - tmp = tmp.replace("file:", ""); -// tmp = tmp.replace("file:/", ""); TODO: OS check ? - } - - File f = new File(tmp); - if (!f.exists()) { - System.err.println("Error in loading the Sketchbook folder."); - } - - // if the file is within a library/lib folder - if (f.getParentFile().getAbsolutePath().endsWith(("/lib"))) { - // pathToSketchbook/libraries/myLib/library/lib/myLib.jar - f = f.getParentFile().getParentFile().getParentFile().getParentFile(); - } else { - // pathToSketchbook/libraries/myLib/library/myLib.jar - f = f.getParentFile().getParentFile().getParentFile(); - } - - return f.getAbsolutePath(); - } - - static public String getPapartFolder() { - - String sketchbook = java.lang.System.getenv("SKETCHBOOK"); - if (sketchbook != null) { - System.out.println("Found SKETCHBOOK environment variable."); - return sketchbook + "/libraries/" + LibraryName; - } - - return getLibrariesFolder() + "/" + LibraryName; - } - - static public PVector mult(PMatrix3D mat, PVector source, PVector target) { - if (target == null) { - target = new PVector(); - } - target.x = mat.m00 * source.x + mat.m01 * source.y + mat.m02 * source.z + mat.m03; - target.y = mat.m10 * source.x + mat.m11 * source.y + mat.m12 * source.z + mat.m13; - target.z = mat.m20 * source.x + mat.m21 * source.y + mat.m22 * source.z + mat.m23; - float tw = mat.m30 * source.x + mat.m31 * source.y + mat.m32 * source.z + mat.m33; - if (tw != 0 && tw != 1) { - target.div(tw); - } - return target; - } - - static public Vec3D toVec(PVector p) { - return new Vec3D(p.x, p.y, p.z); - } - - static public PVector toPVector(Vec3D p) { - return new PVector(p.x, p.y, p.z); - } - - static public boolean colorDist(int c1, int c2, int threshold) { - int r1 = c1 >> 16 & 0xFF; - int g1 = c1 >> 8 & 0xFF; - int b1 = c1 >> 0 & 0xFF; - - int r2 = c2 >> 16 & 0xFF; - int g2 = c2 >> 8 & 0xFF; - int b2 = c2 >> 0 & 0xFF; - - int dr = PApplet.abs(r1 - r2); - int dg = PApplet.abs(g1 - g2); - int db = PApplet.abs(b1 - b2); - return dr < threshold && dg < threshold && db < threshold; - } - - // TODO: throws ... - public static void savePMatrix3D(PApplet pa, PMatrix3D mat, String filename) { - String[] lines = new String[16]; - - lines[0] = Float.toString(mat.m00); - lines[1] = Float.toString(mat.m01); - lines[2] = Float.toString(mat.m02); - lines[3] = Float.toString(mat.m03); - lines[4] = Float.toString(mat.m10); - lines[5] = Float.toString(mat.m11); - lines[6] = Float.toString(mat.m12); - lines[7] = Float.toString(mat.m13); - lines[8] = Float.toString(mat.m20); - lines[9] = Float.toString(mat.m21); - lines[10] = Float.toString(mat.m22); - lines[11] = Float.toString(mat.m23); - lines[12] = Float.toString(mat.m30); - lines[13] = Float.toString(mat.m31); - lines[14] = Float.toString(mat.m32); - lines[15] = Float.toString(mat.m33); - - pa.saveStrings(filename, lines); - } - - public static void addPMatrix3D(PMatrix3D src, PMatrix3D toAdd) { - src.m00 += toAdd.m00; - src.m01 += toAdd.m01; - src.m02 += toAdd.m02; - src.m03 += toAdd.m03; - - src.m10 += toAdd.m10; - src.m11 += toAdd.m11; - src.m12 += toAdd.m12; - src.m13 += toAdd.m13; - - src.m20 += toAdd.m20; - src.m21 += toAdd.m21; - src.m22 += toAdd.m22; - src.m23 += toAdd.m23; - - src.m30 += toAdd.m30; - src.m31 += toAdd.m31; - src.m32 += toAdd.m32; - src.m33 += toAdd.m33; - - } - - static public void scaleMat(PMatrix3D mat, float scale) { - //applscale(scale, 0, 0, 0, 0, scale, 0, 0, 0, 0, scale, 0, 0, 0, 0, 1); - mat.m00 *= scale; - mat.m01 *= scale; - mat.m02 *= scale; - mat.m03 *= scale; - mat.m10 *= scale; - mat.m11 *= scale; - mat.m12 *= scale; - mat.m13 *= scale; - mat.m20 *= scale; - mat.m21 *= scale; - mat.m22 *= scale; - mat.m23 *= scale; - mat.m30 *= scale; - mat.m31 *= scale; - mat.m32 *= scale; - mat.m33 *= scale; - } - - public static PMatrix3D loadPMatrix3D(PApplet pa, String filename) throws FileNotFoundException { - String[] lines = pa.loadStrings(filename); - if (lines == null) { - throw new FileNotFoundException(filename); - } - - PMatrix3D mat = new PMatrix3D(Float.parseFloat(lines[0]), Float.parseFloat(lines[1]), Float.parseFloat(lines[2]), Float.parseFloat(lines[3]), - Float.parseFloat(lines[4]), Float.parseFloat(lines[5]), Float.parseFloat(lines[6]), Float.parseFloat(lines[7]), - Float.parseFloat(lines[8]), Float.parseFloat(lines[9]), Float.parseFloat(lines[10]), Float.parseFloat(lines[11]), - Float.parseFloat(lines[12]), Float.parseFloat(lines[13]), Float.parseFloat(lines[14]), Float.parseFloat(lines[15])); - return mat; - } - - static public IplImage createImageFrom(IplImage imgIn, PImage Pout) { - // TODO: avoid this creation !! - CvSize outSize = new CvSize(); - outSize.width(Pout.width); - outSize.height(Pout.height); - IplImage imgOut = cvCreateImage(outSize, // size - imgIn.depth(), // depth - imgIn.nChannels()); -// imgIn.w - return imgOut; - } - - static public IplImage createImageFrom(IplImage imgIn) { - // TODO: avoid this creation !! - CvSize outSize = new CvSize(); - outSize.width(imgIn.width()); - outSize.height(imgIn.height()); - IplImage imgOut = cvCreateImage(outSize, // size - imgIn.depth(), // depth - imgIn.nChannels()); -// imgIn.w - return imgOut; - } - - static public IplImage createNewSizeImageFrom(IplImage imgIn, int width, int height) { - // TODO: avoid this creation !! - CvSize outSize = new CvSize(); - outSize.width(width); - outSize.height(height); - IplImage imgOut = cvCreateImage(outSize, // size - imgIn.depth(), // depth - imgIn.nChannels()); -// imgIn.w - return imgOut; - } - - static public IplImage createImageFrom(PImage in) { - // TODO: avoid this creation !! - CvSize outSize = new CvSize(); - outSize.width(in.width); - outSize.height(in.height); - - System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format); - IplImage imgOut = null; - if (in.format == RGB) { - imgOut = cvCreateImage(outSize, // size - IPL_DEPTH_8U, // depth - 3); - } - - if (in.format == ALPHA || in.format == GRAY) { - imgOut = cvCreateImage(outSize, // size - IPL_DEPTH_8U, // depth - 1); - } - - if (in.format == ARGB) { - imgOut = cvCreateImage(outSize, // size - IPL_DEPTH_8U, // depth - 4); - } - -// imgIn.w - return imgOut; - } - - static public void createAnaglyph(PImage imgL, PImage imgR, PImage imgOut) { - - imgL.loadPixels(); - imgR.loadPixels(); - imgOut.loadPixels(); - - int[] pL = imgL.pixels; - int[] pR = imgR.pixels; - int[] pO = imgOut.pixels; - for (int i = 0; i < pL.length; i++) { - pO[i] = (pR[i] >> 16) << 16 - | (pL[i] >> 8) & 0xFF << 8 - | pL[i] & 0xFF; - -// pO[i] = pL[i]; - } - imgOut.updatePixels(); -// imgL.updatePixels(); - - } - - static public CvMat createHomography(PVector[] in, PVector[] out) { - - CvMat srcPoints; - CvMat dstPoints; - int nbPoints = in.length; - CvMat homography; - - // TODO: no create map - srcPoints = cvCreateMat(2, in.length, CV_32FC1); - dstPoints = cvCreateMat(2, in.length, CV_32FC1); - homography = cvCreateMat(3, 3, CV_32FC1); - - for (int i = 0; i < in.length; i++) { - srcPoints.put(i, in[i].x); - srcPoints.put(i + nbPoints, in[i].y); - dstPoints.put(i, out[i].x); - dstPoints.put(i + nbPoints, out[i].y); - } - - cvFindHomography(srcPoints, dstPoints, homography); -// It is better to use : GetPerspectiveTransform - return homography; - } - - // TODO: finish this, find another source... -// http://planning.cs.uiuc.edu/node103.html - static public PVector getRotations(PMatrix3D mat) { - - PVector r = new PVector(); - - r.z = PApplet.atan(mat.m10 / mat.m00); - r.y = PApplet.atan(-mat.m21 / PApplet.sqrt(mat.m21 * mat.m21 + mat.m22 * mat.m22)); - r.x = PApplet.atan(-mat.m21 / PApplet.sqrt(mat.m21 * mat.m21 + mat.m22 * mat.m22)); - - return null; - } - - // TO USE INSIDE THE DRAW FUNCTION - // TODO: Experimental -> To validate... -// static public Texture createTextureFrom(PApplet parent, IplImage img) { -// Texture tex = null; -// -// // We suppose... Depth = 3 : BGR and Depth = 4 : RGBA (even though it is written ARGB for Processing...) -// if (img.nChannels() == 3) { -// tex = new Texture(img.width(), img.height(), PApplet.RGB); -// } -// if (img.nChannels() == 4) { -// tex = new Texture(img.width(), img.height(), PApplet.ARGB); -// } -// return tex; -// } - static public void updateTexture(IplImage img, Texture tex) { - - System.out.println("Update Texture broken ? May Require CustomTexture..."); - -// if (img.nChannels() == 3) { -// tex.putBuffer(GL.GL_BGR, GL.GL_UNSIGNED_BYTE, img.getIntBuffer()); -// } -// if (img.nChannels() == 4) { -// tex.putBuffer(GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, img.getIntBuffer()); -// } - } - - static public void remapImage(PVector[] in, PVector[] out, IplImage imgIn, IplImage imgTmp, PImage Pout) { - - CvMat srcPoints; - CvMat dstPoints; - int nbPoints = in.length; - CvMat homography; - - // TODO: no create map - srcPoints = cvCreateMat(2, in.length, CV_32FC1); - dstPoints = cvCreateMat(2, in.length, CV_32FC1); - homography = cvCreateMat(3, 3, CV_32FC1); - - for (int i = 0; i < in.length; i++) { - srcPoints.put(i, in[i].x); - srcPoints.put(i + nbPoints, in[i].y); - dstPoints.put(i, out[i].x); - dstPoints.put(i + nbPoints, out[i].y); - } - - cvFindHomography(srcPoints, dstPoints, homography); -// It is better to use : GetPerspectiveTransform - - opencv_imgproc.cvWarpPerspective(imgIn, imgTmp, homography); - // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); -// getFillColor()); - IplImageToPImage(imgTmp, false, Pout); - - } - - static public void remapImage(CvMat homography, IplImage imgIn, IplImage imgTmp, PImage Pout) { - remapImage(homography, imgIn, imgTmp, Pout, false); - } - static public void remapImage(CvMat homography, IplImage imgIn, IplImage imgTmp, PImage Pout, boolean isRgb) { - - opencv_imgproc.cvWarpPerspective(imgIn, imgTmp, homography); - // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); -// getFillColor()); - IplImageToPImage(imgTmp, isRgb, Pout); - - } - - static public void remapImageIpl(CvMat homography, IplImage imgIn, IplImage imgOut) { - - opencv_imgproc.cvWarpPerspective(imgIn, imgOut, homography); - // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); -// getFillColor()); - } - - static public int getColor(IplImage img, int x, int y, boolean RGB) { - - if (img.nChannels() == 3) { - - ByteBuffer buff = img.getByteBuffer(); - int offset = (img.width() * y + x) * 3; - - if (RGB) { - - return (buff.get(offset) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset + 2) & 0xFF); - } else { - return (buff.get(offset + 2) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset) & 0xFF); - } - } - - // Operation not supported - return 0; - } - - // TODO: clean all this ! - static public void IplImageToPImage(IplImage img, PApplet applet, boolean RGB, PImage ret) { - IplImageToPImage(img, RGB, ret); - } - - static public void IplImageToPImage(IplImage img, PixelFormat format, PImage ret) { - if (format == PixelFormat.RGB) { - IplImageToPImage(img, true, ret); - } - if (format == PixelFormat.BGR) { - IplImageToPImage(img, false, ret); - } - } - - static public void IplImageToPImage(IplImage img, PImage ret) { - IplImageToPImage(img, true, ret); - } - static int conversionCount = 0; - - static public void IplImageToPImage(IplImage img, boolean RGB, PImage ret) { - -// conversionCount++; -// if (conversionCount % 600 == 0) { -// System.gc(); -// } - assert (img.width() == ret.width); - assert (img.height() == ret.height); - ret.loadPixels(); - - if (img.nChannels() == 3) { - ByteBuffer buff = img.getByteBuffer(); - - // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); - if (RGB) { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; - ret.pixels[i] = (buff.get(offset) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset + 2) & 0xFF); - - } - } else { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; - ret.pixels[i] = (buff.get(offset + 2) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset) & 0xFF); - - } - } - } - - if (img.nChannels() == 4) { - ByteBuffer buff = img.getByteBuffer(); - // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 4; -// ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); - - ret.pixels[i] = (0xFF) << 24 - | (buff.get(offset) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset + 2) & 0xFF); - - } - } - - if (img.nChannels() == 1) { - // TODO: no more allocations. - ByteBuffer buff = img.getByteBuffer(); - - byte[] tmpArr = new byte[1]; -// byte[] arr = new byte[img.width() * img.height()]; -// buff.get(arr); - - for (int i = 0; i < img.width() * img.height(); i++) { - buff.get(tmpArr); - byte d = tmpArr[0]; -// int d = (arr[i] & 0xFF); - ret.pixels[i] - = (0xFF) << 24 - | (d & 0xFF) << 16 - | (d & 0xFF) << 8 - | (d & 0xFF); - } - - } - ret.updatePixels(); - } - - static public void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) { - byte[] tmpArr = new byte[3]; - - for (int i = 0; i < bgr.capacity(); i += 3) { - bgr.get(tmpArr); - argb.put(tmpArr[2]); - argb.put(tmpArr[1]); - argb.put(tmpArr[0]); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { - byte[] tmpArr = new byte[3]; - - for (int i = 0; i < bgr.capacity(); i += 3) { - bgr.get(tmpArr); - argb.put(tmpArr[0]); - argb.put(tmpArr[1]); - argb.put(tmpArr[2]); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { - byte[] tmpArr = new byte[1]; - - for (int i = 0; i < gray.capacity(); i++) { - gray.get(tmpArr); - argb.put(tmpArr[0]); - argb.put(tmpArr[0]); - argb.put(tmpArr[0]); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) { - - FloatBuffer floatGray = gray.asFloatBuffer(); - float[] tmpArr = new float[1]; - - for (int i = 0; i < argb.capacity(); i += 4) { - floatGray.get(tmpArr); - - byte v = (byte) (tmpArr[0] / 65535.0 * 255); -// byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); - argb.put((byte) (v)); - argb.put((byte) (v)); - argb.put((byte) (v)); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) { - FloatBuffer floatGray = gray.asFloatBuffer(); - float[] tmpArr = new float[1]; - - for (int i = 0; i < argb.capacity(); i += 4) { - floatGray.get(tmpArr); - - // 8 meters - byte v = (byte) (tmpArr[0] / 8000 * 255); -// byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); - argb.put((byte) (v)); - argb.put((byte) (v)); - argb.put((byte) (v)); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) { - byte[] depthRaw = new byte[2]; - - for (int i = 0; i < argb.capacity(); i += 4) { - gray.get(depthRaw); - - int d = (depthRaw[0] & 0xFF) << 8 | (depthRaw[1] & 0xFF); - - // min depth: 400 - byte dValue = (byte) ((d - 300f) / 3000f * 255f); - argb.put(dValue); - argb.put(dValue); - argb.put(dValue); - argb.put((byte) 255); - } - argb.rewind(); - } - - static public void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) { - byte[] tmpArr = new byte[2]; - - gray.rewind(); - for (int i = 0; i < argb.capacity(); i += 4) { - gray.get(tmpArr); - argb.put(tmpArr[0]); - argb.put(tmpArr[1]); - argb.put((byte) 128); - argb.put((byte) 255); - } - argb.rewind(); - } - - // TODO - private static byte[] kinectByteArray = null; - - static public void IplImageToPImageKinect(IplImage img, boolean RGB, PImage ret) { - -// conversionCount++; -// if (conversionCount % 30 == 0) { -// System.gc(); -// } - assert (img.width() == ret.width); - assert (img.height() == ret.height); -// BufferedImage bimg = new BufferedImage(); - - if (img.nChannels() == 3) { - - System.out.println("3 channels"); - ByteBuffer buff = img.getByteBuffer(); - - // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); - ret.loadPixels(); - if (RGB) { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; -// ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); - - ret.pixels[i] = (buff.get(offset) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset + 2) & 0xFF); - - } - } else { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; -// ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); - - ret.pixels[i] = (buff.get(offset + 2) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset) & 0xFF); - - } - - } - } else if (img.nChannels() == 1) { - - ////////////// Kinect Depth ////////////// - ByteBuffer buff = img.getByteBuffer(); - - if (Utils.kinectByteArray == null) { - kinectByteArray = new byte[2 * img.width() * img.height()]; - } -// else { -// Arrays.fill(kinectByteArray, (byte) 0); -// } - - buff.get(kinectByteArray); - - for (int i = 0; i < img.width() * img.height() * 2; i += 2) { - int d = (kinectByteArray[i] & 0xFF) << 8 - | (kinectByteArray[i + 1] & 0xFF); - - ret.pixels[i / 2] = d; -// ret.pixels[i] = -// (buff.get(i) & 0xFF) << 16 -// | (buff.get(i) & 0xFF) << 8 -// | (buff.get(i) & 0xFF); - } - - } - -// buff = null; - ret.updatePixels(); - } - - /** - * - * Deprecated - */ -// static public void PImageToIplImage(PImage src, IplImage dst) { -// dst.copyFrom((BufferedImage) src.getImage()); -// } - static public void PImageToIplImage2(IplImage img, boolean RGB, PImage ret) { - - ByteBuffer buff = img.getByteBuffer(); - - ret.loadPixels(); - if (RGB) { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; - ret.pixels[i] = (buff.get(offset) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset + 2) & 0xFF); - - } - } else { - for (int i = 0; i < img.width() * img.height(); i++) { - int offset = i * 3; - ret.pixels[i] = (buff.get(offset + 2) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset) & 0xFF); - - } - - } - ret.updatePixels(); - } - - static public void convertARParam2(PApplet pa, String inputYAML, String outputDAT) throws Exception { - CameraDevice cam = null; - - // Hack - if (inputYAML.endsWith(".xml")) { - convertARParamXML(pa, inputYAML, outputDAT); - return; - } - - CameraDevice[] c = CameraDevice.read(inputYAML); - if (c.length > 0) { - cam = c[0]; - } - CameraDevice.Settings camSettings = (org.bytedeco.javacv.CameraDevice.Settings) cam.getSettings(); - int w = camSettings.getImageWidth(); - int h = camSettings.getImageHeight(); - - double[] proj = cam.cameraMatrix.get(); - - PrintWriter pw = pa.createWriter(outputDAT); - - StringBuffer sb = new StringBuffer(); - -// byte[] buf = new byte[SIZE_OF_PARAM_SET]; -// ByteBuffer bb = ByteBuffer.wrap(buf); -// bb.order(ByteOrder.BIG_ENDIAN); -// bb.putInt(w); -// bb.putInt(h); - // From ARToolkitPlus... -//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html - sb.append("ARToolKitPlus_CamCal_Rev02\n"); - sb.append(w).append(" ").append(h).append(" "); - - // cx cy fx fy - sb.append(proj[2]).append(" ").append(proj[5]) - .append(" ").append(proj[0]). - append(" ").append(proj[4]).append(" "); - - // alpha_c // skew factor  - sb.append("0 ").append(" "); - - if (cam.distortionCoeffs != null) { - double[] distort = cam.distortionCoeffs.get(); - // alpha_c ?  -// sb.append("0 "); - // kc(1 - x) -> 6 values - for (int i = 0; i < distort.length; i++) { - sb.append(distort[i]).append(" "); - } - for (int i = distort.length; i < 6; i++) { - sb.append("0 "); - } - } else { - for (int i = 0; i < 6; i++) { - sb.append("0 "); - } - } - // undist iterations - sb.append("10\n"); - - pw.print(sb); - pw.flush(); - pw.close(); - } - - static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, String outputDAT) throws Exception { - - PrintWriter pw = pa.createWriter(outputDAT); - StringBuffer sb = new StringBuffer(); - - // From ARToolkitPlus... -//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html - sb.append("ARToolKitPlus_CamCal_Rev02\n"); - sb.append(pdp.getWidth()).append(" ").append(pdp.getHeight()).append(" "); - - // cx cy fx fy - sb.append(pdp.getCx()).append(" ").append(pdp.getCy()) - .append(" ").append(pdp.getFx()). - append(" ").append(pdp.getFy()).append(" "); - - // alpha_c // skew factor  - sb.append("0 ").append(" "); - -// if(pdp.handleDistorsions()){ - // TODO: handle the distorsions... -// double[] distort = cam.distortionCoeffs.get(); -// // alpha_c ?  -//// sb.append("0 "); -// // kc(1 - x) -> 6 values -// for (int i = 0; i < distort.length; i++) { -// sb.append(distort[i]).append(" "); -// } -// for (int i = distort.length; i < 6; i++) { -// sb.append("0 "); -// } -// } else { - for (int i = 0; i < 6; i++) { - sb.append("0 "); - } -// } - // undist iterations - sb.append("10\n"); - - pw.print(sb); - pw.flush(); - pw.close(); - } - - static public void convertProjParam(PApplet pa, String inputYAML, String outputDAT) throws Exception { - - ProjectorDevice cam = null; - - ProjectorDevice[] c = ProjectorDevice.read(inputYAML); - if (c.length > 0) { - cam = c[0]; - } - ProjectorDevice.Settings projSettings = (org.bytedeco.javacv.ProjectorDevice.Settings) cam.getSettings(); - int w = projSettings.getImageWidth(); - int h = projSettings.getImageHeight(); - - double[] mat = cam.cameraMatrix.get(); - double[] distort = cam.distortionCoeffs.get(); - - OutputStream os = pa.createOutput(outputDAT); - - PrintWriter pw = pa.createWriter(outputDAT); - - StringBuffer sb = new StringBuffer(); - -// byte[] buf = new byte[SIZE_OF_PARAM_SET]; -// ByteBuffer bb = ByteBuffer.wrap(buf); -// bb.order(ByteOrder.BIG_ENDIAN); -// bb.putInt(w); -// bb.putInt(h); - // From ARToolkitPlus... -//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html - sb.append("ARToolKitPlus_CamCal_Rev02\n"); - sb.append(w).append(" ").append(h).append(" "); - - // cx cy fx fy - sb.append(mat[2]).append(" ").append(mat[5]) - .append(" ").append(mat[0]). - append(" ").append(mat[4]).append(" "); - - // alpha_c // skew factor  - sb.append("0 ").append(" "); - - // alpha_c ?  -// sb.append("0 "); - // kc(1 - x) -> 6 values - for (int i = 0; i < distort.length; i++) { - sb.append(distort[i]).append(" "); - } - for (int i = distort.length; i < 6; i++) { - sb.append("0 "); - } - - // undist iterations - sb.append("10\n"); - - pw.print(sb); - pw.flush(); - pw.close(); - } - - static public void convertARParamXML(PApplet pa, String fileName, String outputDAT) throws Exception { - - System.out.println("Convert AR Param XML"); - CameraDevice cam = null; - - ProjectiveDeviceP pdp = ProjectiveDeviceP.loadCameraDevice(pa, fileName); - -// CameraDevice[] c = CameraDevice.read(fileName); -// if (c.length > 0) { -// cam = c[0]; -// } - OutputStream os = pa.createOutput(outputDAT); - PrintWriter pw = pa.createWriter(outputDAT); - StringBuffer sb = new StringBuffer(); - - // From ARToolkitPlus... - //http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html - sb.append("ARToolKitPlus_CamCal_Rev02\n"); - sb.append(pdp.getWidth()).append(" ").append(pdp.getHeight()).append(" "); - - // cx cy fx fy - sb.append(pdp.getCx()).append(" ").append(pdp.getCy()) - .append(" ").append(pdp.getFx()). - append(" ").append(pdp.getFy()).append(" "); - - // alpha_c // skew factor  - sb.append("0 ").append(" "); - - // kc(1 - x) -> 6 values - if (pdp.handleDistorsions()) { - double[] distort = ((CameraDevice) pdp.getDevice()).distortionCoeffs.get(); - - for (int i = 0; i < distort.length; i++) { - sb.append(distort[i]).append(" "); - } - // fill with 0s the end. - for (int i = distort.length; i < 5; i++) { - sb.append("0 "); - } - } else { - for (int i = 0; i < 5; i++) { - sb.append("0 "); - } - } - - // undist iterations - sb.append("10\n"); - - pw.print(sb); - pw.flush(); - pw.close(); - } - -} diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index d95a342c..4892d68e 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -19,7 +19,8 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ImageUtils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import java.awt.Image; import java.nio.ByteBuffer; import org.bytedeco.javacpp.opencv_core.IplImage; @@ -66,10 +67,10 @@ public void update(IplImage iplImage) { ByteBuffer imageBuffer = iplImage.getByteBuffer(); if (this.incomingFormat == Camera.PixelFormat.BGR) { - Utils.byteBufferBRGtoARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferBRGtoARGB(imageBuffer, argbBuffer); } if (this.incomingFormat == Camera.PixelFormat.RGB) { - Utils.byteBufferRGBtoARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferRGBtoARGB(imageBuffer, argbBuffer); } if (this.incomingFormat == Camera.PixelFormat.ARGB) { argbBuffer = iplImage.getByteBuffer(); diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index 3c21f32b..aac3a579 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -20,7 +20,8 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ImageUtils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera.PixelFormat; import java.awt.Image; import java.nio.ByteBuffer; @@ -67,19 +68,19 @@ public void update(opencv_core.IplImage iplImage) { ByteBuffer imageBuffer = iplImage.getByteBuffer(); if (incomingFormat == PixelFormat.GRAY) { - Utils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferGRAYtoARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.GRAY_32) { - Utils.byteBufferGRAY32toARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferGRAY32toARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.FLOAT_DEPTH_KINECT2) { - Utils.byteBufferDepthK2toARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferDepthK2toARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.DEPTH_KINECT_MM) { - Utils.byteBufferDepthK1MMtoARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferDepthK1MMtoARGB(imageBuffer, argbBuffer); } if (incomingFormat == PixelFormat.REALSENSE_Z16) { - Utils.byteBufferZ16toARGB(imageBuffer, argbBuffer); + ImageUtils.byteBufferZ16toARGB(imageBuffer, argbBuffer); } // Utils.byteBufferBRGtoARGB(bgrBuffer, argbBuffer); diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index bafcce4a..f29b9989 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -24,9 +24,10 @@ * @author jeremylaviole */ import fr.inria.papart.procam.HasExtrinsics; +import fr.inria.papart.procam.utils.ImageUtils; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.tracking.DetectedMarker; import fr.inria.papart.tracking.MarkerList; import org.bytedeco.javacpp.opencv_core.CvMat; @@ -180,7 +181,7 @@ private void updateCalibration() { public PImage getPImageCopy() { PImage out = parent.createImage(this.width, this.height, RGB); - Utils.IplImageToPImage(currentImage, false, out); + ImageUtils.IplImageToPImage(currentImage, false, out); return out; } @@ -196,12 +197,12 @@ public PImage getPImageCopy(PApplet context) { if(currentImage.nChannels() == 1){ } - Utils.IplImageToPImage(currentImage, this.format == PixelFormat.RGB, out); + ImageUtils.IplImageToPImage(currentImage, this.format == PixelFormat.RGB, out); return out; } public PImage getPImageCopyTo(PImage out) { - Utils.IplImageToPImage(currentImage, this.format, out); + ImageUtils.IplImageToPImage(currentImage, this.format, out); return out; } @@ -500,7 +501,7 @@ static public void convertARParams(PApplet parent, String calibrationFile, // ARToolkit Plus 2.1.1 // fr.inria.papart.procam.Utils.convertARParam(parent, calibrationYAML, calibrationData, width, height); // ARToolkit Plus 2.3.0 - fr.inria.papart.procam.Utils.convertARParam2(parent, calibrationFile, calibrationARtoolkit); + fr.inria.papart.procam.utils.ARToolkitPlusUtils.convertARParam2(parent, calibrationFile, calibrationARtoolkit); } catch (Exception e) { PApplet.println("Conversion error. " + e); } @@ -509,7 +510,7 @@ static public void convertARParams(PApplet parent, String calibrationFile, static public void convertARParams(PApplet parent, ProjectiveDeviceP projectiveDevice, String calibrationARtoolkit) { try { - fr.inria.papart.procam.Utils.convertARParamFromDevice(parent, projectiveDevice, calibrationARtoolkit); + fr.inria.papart.procam.utils.ARToolkitPlusUtils.convertARParamFromDevice(parent, projectiveDevice, calibrationARtoolkit); } catch (Exception e) { PApplet.println("Conversion error. " + e); } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 9743188d..19b62388 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -67,9 +67,10 @@ public void internalStart() throws FrameGrabber.Exception { if (colorCamera.width() == 1280) { grabber.setFrameRate(60); } else { - grabber.setFrameRate(30); + grabber.setFrameRate(colorCamera.getFrameRate()); +// grabber.setFrameRate(30); } -// grabber.setFrameRate(colorCamera.getFrameRate()); + grabber.enableColorStream(); } diff --git a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java index 3dbba96a..f6dbc063 100644 --- a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java @@ -20,7 +20,7 @@ package fr.inria.papart.procam.camera; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.display.ProjectorDisplay; import java.util.logging.Level; import java.util.logging.Logger; @@ -76,7 +76,7 @@ public void setCalibration(String fileName) { static public void convertARProjParams(PApplet parent, String calibrationFile, String calibrationARtoolkit) { try { - Utils.convertProjParam(parent, calibrationFile, calibrationARtoolkit); + ARToolkitPlusUtils.convertProjParam(parent, calibrationFile, calibrationARtoolkit); } catch (Exception ex) { System.out.println("Error converting projector to ARToolkit " + calibrationFile + " " + calibrationARtoolkit diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index 3d3e17fc..bb44d268 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -19,10 +19,11 @@ */ package fr.inria.papart.procam.camera; +import fr.inria.papart.procam.utils.ImageUtils; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.tracking.MarkerBoardInvalid; import fr.inria.papart.procam.PaperScreen; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import org.bytedeco.javacpp.opencv_core.CvMat; import org.bytedeco.javacpp.opencv_core.IplImage; @@ -136,7 +137,7 @@ public PImage getViewOf(Camera camera) { boolean useRGB = camera.getPixelFormat() == Camera.PixelFormat.RGB; // Convert to the good type... - Utils.remapImage(homography, img, extractedIplImage, extractedPImage, useRGB); + ImageUtils.remapImage(homography, img, extractedIplImage, extractedPImage, useRGB); return extractedPImage; } @@ -149,7 +150,7 @@ public IplImage getIplViewOf(Camera camera) { this.mainImage = img; this.camera = camera; CvMat homography = computeHomography(); - Utils.remapImageIpl(homography, camera.getIplImage(), extractedIplImage); + ImageUtils.remapImageIpl(homography, camera.getIplImage(), extractedIplImage); return extractedIplImage; } @@ -168,13 +169,13 @@ private boolean isExtractionReady(IplImage img) { private CvMat computeHomography() { computeCorners(); - CvMat homography = Utils.createHomography(screenPixelCoordinates, imagePixelCoordinates); + CvMat homography = ImageUtils.createHomography(screenPixelCoordinates, imagePixelCoordinates); return homography; } private void checkMemory(IplImage memory) { if (extractedIplImage == null) { - extractedIplImage = Utils.createNewSizeImageFrom(memory,imageWidthPx, imageHeightPx); + extractedIplImage = ImageUtils.createNewSizeImageFrom(memory,imageWidthPx, imageHeightPx); if (extractedIplImage == null) { System.err.println("Impossible to create a View! " + this + " " + extractedPImage); diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index 9bbe9f63..1e560f36 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -22,7 +22,7 @@ import fr.inria.papart.calibration.PlaneCalibration; import processing.opengl.PGraphicsOpenGL; import org.bytedeco.javacv.ProjectiveDevice; -import fr.inria.papart.drawingapp.DrawUtils; +import fr.inria.papart.procam.utils.DrawUtils; import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.HasExtrinsics; diff --git a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java index fcaf5665..d74b7415 100755 --- a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java @@ -20,7 +20,7 @@ package fr.inria.papart.procam.display; import fr.inria.papart.calibration.PlaneCalibration; -import fr.inria.papart.drawingapp.DrawUtils; +import fr.inria.papart.procam.utils.DrawUtils; import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.tracking.MarkerBoard; diff --git a/papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java b/papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java new file mode 100644 index 00000000..c40cff62 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java @@ -0,0 +1,277 @@ +/* + * Part of the PapARt project - https://project.inria.fr/papart/ + * + * Copyright (C) 2014-2016 Inria + * Copyright (C) 2011-2013 Bordeaux University + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation, version 2.1. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General + * Public License along with this library; If not, see + * . + */ +package fr.inria.papart.procam.utils; + +import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.ProjectiveDeviceP; +import fr.inria.papart.procam.camera.Camera.PixelFormat; + +import org.bytedeco.javacv.CameraDevice; +import org.bytedeco.javacv.ProjectorDevice; +import org.bytedeco.javacpp.opencv_imgproc; +import static org.bytedeco.javacpp.opencv_core.*; +import static org.bytedeco.javacpp.opencv_calib3d.*; +import java.io.File; +import java.io.FileNotFoundException; +import java.io.OutputStream; +import java.io.PrintWriter; +import java.net.URL; +import java.nio.ByteBuffer; +import processing.core.*; +import static processing.core.PConstants.ARGB; +import static processing.core.PConstants.RGB; +import processing.opengl.Texture; +import toxi.geom.Matrix4x4; +import toxi.geom.Vec3D; +import java.io.*; +import java.nio.FloatBuffer; +import static processing.core.PConstants.ALPHA; +import static processing.core.PConstants.GRAY; +import static processing.core.PConstants.HSB; + +/** + * + * @author jeremy + */ +public class ARToolkitPlusUtils { + + static public final String LibraryName = "PapARt"; + + static int conversionCount = 0; + + static public void convertARParam2(PApplet pa, String inputYAML, String outputDAT) throws Exception { + CameraDevice cam = null; + + // Hack + if (inputYAML.endsWith(".xml")) { + convertARParamXML(pa, inputYAML, outputDAT); + return; + } + + CameraDevice[] c = CameraDevice.read(inputYAML); + if (c.length > 0) { + cam = c[0]; + } + CameraDevice.Settings camSettings = (org.bytedeco.javacv.CameraDevice.Settings) cam.getSettings(); + int w = camSettings.getImageWidth(); + int h = camSettings.getImageHeight(); + + double[] proj = cam.cameraMatrix.get(); + + PrintWriter pw = pa.createWriter(outputDAT); + + StringBuffer sb = new StringBuffer(); + +// byte[] buf = new byte[SIZE_OF_PARAM_SET]; +// ByteBuffer bb = ByteBuffer.wrap(buf); +// bb.order(ByteOrder.BIG_ENDIAN); +// bb.putInt(w); +// bb.putInt(h); + // From ARToolkitPlus... +//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html + sb.append("ARToolKitPlus_CamCal_Rev02\n"); + sb.append(w).append(" ").append(h).append(" "); + + // cx cy fx fy + sb.append(proj[2]).append(" ").append(proj[5]) + .append(" ").append(proj[0]). + append(" ").append(proj[4]).append(" "); + + // alpha_c // skew factor  + sb.append("0 ").append(" "); + + if (cam.distortionCoeffs != null) { + double[] distort = cam.distortionCoeffs.get(); + // alpha_c ?  +// sb.append("0 "); + // kc(1 - x) -> 6 values + for (int i = 0; i < distort.length; i++) { + sb.append(distort[i]).append(" "); + } + for (int i = distort.length; i < 6; i++) { + sb.append("0 "); + } + } else { + for (int i = 0; i < 6; i++) { + sb.append("0 "); + } + } + // undist iterations + sb.append("10\n"); + + pw.print(sb); + pw.flush(); + pw.close(); + } + + static public void convertARParamFromDevice(PApplet pa, ProjectiveDeviceP pdp, String outputDAT) throws Exception { + + PrintWriter pw = pa.createWriter(outputDAT); + StringBuffer sb = new StringBuffer(); + + // From ARToolkitPlus... +//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html + sb.append("ARToolKitPlus_CamCal_Rev02\n"); + sb.append(pdp.getWidth()).append(" ").append(pdp.getHeight()).append(" "); + + // cx cy fx fy + sb.append(pdp.getCx()).append(" ").append(pdp.getCy()) + .append(" ").append(pdp.getFx()). + append(" ").append(pdp.getFy()).append(" "); + + // alpha_c // skew factor  + sb.append("0 ").append(" "); + +// if(pdp.handleDistorsions()){ + // TODO: handle the distorsions... +// double[] distort = cam.distortionCoeffs.get(); +// // alpha_c ?  +//// sb.append("0 "); +// // kc(1 - x) -> 6 values +// for (int i = 0; i < distort.length; i++) { +// sb.append(distort[i]).append(" "); +// } +// for (int i = distort.length; i < 6; i++) { +// sb.append("0 "); +// } +// } else { + for (int i = 0; i < 6; i++) { + sb.append("0 "); + } +// } + // undist iterations + sb.append("10\n"); + + pw.print(sb); + pw.flush(); + pw.close(); + } + + static public void convertProjParam(PApplet pa, String inputYAML, String outputDAT) throws Exception { + + ProjectorDevice cam = null; + + ProjectorDevice[] c = ProjectorDevice.read(inputYAML); + if (c.length > 0) { + cam = c[0]; + } + ProjectorDevice.Settings projSettings = (org.bytedeco.javacv.ProjectorDevice.Settings) cam.getSettings(); + int w = projSettings.getImageWidth(); + int h = projSettings.getImageHeight(); + + double[] mat = cam.cameraMatrix.get(); + double[] distort = cam.distortionCoeffs.get(); + + OutputStream os = pa.createOutput(outputDAT); + + PrintWriter pw = pa.createWriter(outputDAT); + + StringBuffer sb = new StringBuffer(); + +// byte[] buf = new byte[SIZE_OF_PARAM_SET]; +// ByteBuffer bb = ByteBuffer.wrap(buf); +// bb.order(ByteOrder.BIG_ENDIAN); +// bb.putInt(w); +// bb.putInt(h); + // From ARToolkitPlus... +//http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html + sb.append("ARToolKitPlus_CamCal_Rev02\n"); + sb.append(w).append(" ").append(h).append(" "); + + // cx cy fx fy + sb.append(mat[2]).append(" ").append(mat[5]) + .append(" ").append(mat[0]). + append(" ").append(mat[4]).append(" "); + + // alpha_c // skew factor  + sb.append("0 ").append(" "); + + // alpha_c ?  +// sb.append("0 "); + // kc(1 - x) -> 6 values + for (int i = 0; i < distort.length; i++) { + sb.append(distort[i]).append(" "); + } + for (int i = distort.length; i < 6; i++) { + sb.append("0 "); + } + + // undist iterations + sb.append("10\n"); + + pw.print(sb); + pw.flush(); + pw.close(); + } + + static public void convertARParamXML(PApplet pa, String fileName, String outputDAT) throws Exception { + + System.out.println("Convert AR Param XML"); + CameraDevice cam = null; + + ProjectiveDeviceP pdp = ProjectiveDeviceP.loadCameraDevice(pa, fileName); + +// CameraDevice[] c = CameraDevice.read(fileName); +// if (c.length > 0) { +// cam = c[0]; +// } + OutputStream os = pa.createOutput(outputDAT); + PrintWriter pw = pa.createWriter(outputDAT); + StringBuffer sb = new StringBuffer(); + + // From ARToolkitPlus... + //http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html + sb.append("ARToolKitPlus_CamCal_Rev02\n"); + sb.append(pdp.getWidth()).append(" ").append(pdp.getHeight()).append(" "); + + // cx cy fx fy + sb.append(pdp.getCx()).append(" ").append(pdp.getCy()) + .append(" ").append(pdp.getFx()). + append(" ").append(pdp.getFy()).append(" "); + + // alpha_c // skew factor  + sb.append("0 ").append(" "); + + // kc(1 - x) -> 6 values + if (pdp.handleDistorsions()) { + double[] distort = ((CameraDevice) pdp.getDevice()).distortionCoeffs.get(); + + for (int i = 0; i < distort.length; i++) { + sb.append(distort[i]).append(" "); + } + // fill with 0s the end. + for (int i = distort.length; i < 5; i++) { + sb.append("0 "); + } + } else { + for (int i = 0; i < 5; i++) { + sb.append("0 "); + } + } + + // undist iterations + sb.append("10\n"); + + pw.print(sb); + pw.flush(); + pw.close(); + } + +} diff --git a/papart/src/fr/inria/papart/procam/DrawUtils.java b/papart/src/fr/inria/papart/procam/utils/DrawUtils.java old mode 100755 new mode 100644 similarity index 99% rename from papart/src/fr/inria/papart/procam/DrawUtils.java rename to papart/src/fr/inria/papart/procam/utils/DrawUtils.java index 0ecbecfe..c62af84f --- a/papart/src/fr/inria/papart/procam/DrawUtils.java +++ b/papart/src/fr/inria/papart/procam/utils/DrawUtils.java @@ -17,7 +17,7 @@ * Public License along with this library; If not, see * . */ -package fr.inria.papart.drawingapp; +package fr.inria.papart.procam.utils; import processing.core.PApplet; import processing.core.PFont; diff --git a/papart/src/fr/inria/papart/procam/utils/ImageUtils.java b/papart/src/fr/inria/papart/procam/utils/ImageUtils.java new file mode 100644 index 00000000..7e7dea83 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/utils/ImageUtils.java @@ -0,0 +1,425 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ +package fr.inria.papart.procam.utils; + +import fr.inria.papart.procam.camera.Camera; +import java.nio.ByteBuffer; +import java.nio.FloatBuffer; +import static org.bytedeco.javacpp.opencv_calib3d.cvFindHomography; +import org.bytedeco.javacpp.opencv_core; +import static org.bytedeco.javacpp.opencv_core.cvCreateImage; +import static org.bytedeco.javacpp.opencv_core.cvCreateMat; +import org.bytedeco.javacpp.opencv_imgproc; +import processing.core.PApplet; +import processing.core.PConstants; +import processing.core.PImage; +import processing.core.PVector; +import processing.opengl.Texture; + +/** + * + * @author jiii + */ +public class ImageUtils { + + public static void byteBufferDepthK1MMtoARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] depthRaw = new byte[2]; + for (int i = 0; i < argb.capacity(); i += 4) { + gray.get(depthRaw); + int d = (depthRaw[0] & 255) << 8 | (depthRaw[1] & 255); + // min depth: 400 + byte dValue = (byte) ((d - 300.0F) / 3000.0F * 255.0F); + argb.put(dValue); + argb.put(dValue); + argb.put(dValue); + argb.put((byte) 255); + } + argb.rewind(); + } + + public static opencv_core.CvMat createHomography(PVector[] in, PVector[] out) { + opencv_core.CvMat srcPoints; + opencv_core.CvMat dstPoints; + int nbPoints = in.length; + opencv_core.CvMat homography; + // TODO: no create map + srcPoints = cvCreateMat(2, in.length, opencv_core.CV_32FC1); + dstPoints = cvCreateMat(2, in.length, opencv_core.CV_32FC1); + homography = cvCreateMat(3, 3, opencv_core.CV_32FC1); + for (int i = 0; i < in.length; i++) { + srcPoints.put(i, in[i].x); + srcPoints.put(i + nbPoints, in[i].y); + dstPoints.put(i, out[i].x); + dstPoints.put(i + nbPoints, out[i].y); + } + cvFindHomography(srcPoints, dstPoints, homography); + // It is better to use : GetPerspectiveTransform + return homography; + } + + public static void createAnaglyph(PImage imgL, PImage imgR, PImage imgOut) { + imgL.loadPixels(); + imgR.loadPixels(); + imgOut.loadPixels(); + int[] pL = imgL.pixels; + int[] pR = imgR.pixels; + int[] pO = imgOut.pixels; + for (int i = 0; i < pL.length; i++) { + pO[i] = (pR[i] >> 16) << 16 | (pL[i] >> 8) & 255 << 8 | pL[i] & 255; + // pO[i] = pL[i]; + } + imgOut.updatePixels(); + // imgL.updatePixels(); + } + + + // TODO wtf + private static byte[] kinectByteArray = null; + + + public static void IplImageToPImageKinect(opencv_core.IplImage img, boolean RGB, PImage ret) { + // conversionCount++; + // if (conversionCount % 30 == 0) { + // System.gc(); + // } + assert (img.width() == ret.width); + assert (img.height() == ret.height); + // BufferedImage bimg = new BufferedImage(); + if (img.nChannels() == 3) { + System.out.println("3 channels"); + ByteBuffer buff = img.getByteBuffer(); + // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); + ret.loadPixels(); + if (RGB) { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); + ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255); + } + } else { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); + ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255); + } + } + } else if (img.nChannels() == 1) { + ////////////// Kinect Depth ////////////// + ByteBuffer buff = img.getByteBuffer(); + if (kinectByteArray == null) { + kinectByteArray = new byte[2 * img.width() * img.height()]; + } + // else { + // Arrays.fill(kinectByteArray, (byte) 0); + // } + buff.get(kinectByteArray); + for (int i = 0; i < img.width() * img.height() * 2; i += 2) { + int d = (kinectByteArray[i] & 255) << 8 | (kinectByteArray[i + 1] & 255); + ret.pixels[i / 2] = d; + // ret.pixels[i] = + // (buff.get(i) & 0xFF) << 16 + // | (buff.get(i) & 0xFF) << 8 + // | (buff.get(i) & 0xFF); + } + } + // buff = null; + ret.updatePixels(); + } + + public static void byteBufferZ16toARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] tmpArr = new byte[2]; + gray.rewind(); + for (int i = 0; i < argb.capacity(); i += 4) { + gray.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[1]); + argb.put((byte) 128); + argb.put((byte) 255); + } + argb.rewind(); + } + + public static void byteBufferGRAYtoARGB(ByteBuffer gray, ByteBuffer argb) { + byte[] tmpArr = new byte[1]; + for (int i = 0; i < gray.capacity(); i++) { + gray.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[0]); + argb.put(tmpArr[0]); + argb.put((byte) 255); + } + argb.rewind(); + } + + public static void remapImageIpl(opencv_core.CvMat homography, opencv_core.IplImage imgIn, opencv_core.IplImage imgOut) { + opencv_imgproc.cvWarpPerspective(imgIn, imgOut, homography); + // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); + // getFillColor()); + } + + public static opencv_core.IplImage createImageFrom(opencv_core.IplImage imgIn, PImage Pout) { + // TODO: avoid this creation !! + opencv_core.CvSize outSize = new opencv_core.CvSize(); + outSize.width(Pout.width); + outSize.height(Pout.height); + opencv_core.IplImage imgOut = cvCreateImage(outSize, // size + imgIn.depth(), // depth + imgIn.nChannels()); + // imgIn.w + return imgOut; + } + + public static opencv_core.IplImage createImageFrom(opencv_core.IplImage imgIn) { + // TODO: avoid this creation !! + opencv_core.CvSize outSize = new opencv_core.CvSize(); + outSize.width(imgIn.width()); + outSize.height(imgIn.height()); + opencv_core.IplImage imgOut = cvCreateImage(outSize, // size + imgIn.depth(), // depth + imgIn.nChannels()); + // imgIn.w + return imgOut; + } + + public static opencv_core.IplImage createImageFrom(PImage in) { + // TODO: avoid this creation !! + opencv_core.CvSize outSize = new opencv_core.CvSize(); + outSize.width(in.width); + outSize.height(in.height); + System.out.println("inputImage to create an IPL:" + in.width + " " + in.height + " " + in.format); + opencv_core.IplImage imgOut = null; + if (in.format == PConstants.RGB) { + imgOut = cvCreateImage(outSize, opencv_core.IPL_DEPTH_8U, // depth + 3); + } + if (in.format == PConstants.ALPHA || in.format == PConstants.GRAY) { + imgOut = cvCreateImage(outSize, opencv_core.IPL_DEPTH_8U, // depth + 1); + } + if (in.format == PConstants.ARGB) { + imgOut = cvCreateImage(outSize, opencv_core.IPL_DEPTH_8U, // depth + 4); + } + // imgIn.w + return imgOut; + } + + public static void byteBufferBRGtoARGB(ByteBuffer bgr, ByteBuffer argb) { + byte[] tmpArr = new byte[3]; + for (int i = 0; i < bgr.capacity(); i += 3) { + bgr.get(tmpArr); + argb.put(tmpArr[2]); + argb.put(tmpArr[1]); + argb.put(tmpArr[0]); + argb.put((byte) 255); + } + argb.rewind(); + } + + /** + * + * Deprecated + */ + // static public void PImageToIplImage(PImage src, IplImage dst) { + // dst.copyFrom((BufferedImage) src.getImage()); + // } + public static void PImageToIplImage2(opencv_core.IplImage img, boolean RGB, PImage ret) { + ByteBuffer buff = img.getByteBuffer(); + ret.loadPixels(); + if (RGB) { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255); + } + } else { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255); + } + } + ret.updatePixels(); + } + + public static opencv_core.IplImage createNewSizeImageFrom(opencv_core.IplImage imgIn, int width, int height) { + // TODO: avoid this creation !! + opencv_core.CvSize outSize = new opencv_core.CvSize(); + outSize.width(width); + outSize.height(height); + opencv_core.IplImage imgOut = cvCreateImage(outSize, // size + imgIn.depth(), // depth + imgIn.nChannels()); + // imgIn.w + return imgOut; + } + + public static void byteBufferRGBtoARGB(ByteBuffer bgr, ByteBuffer argb) { + byte[] tmpArr = new byte[3]; + for (int i = 0; i < bgr.capacity(); i += 3) { + bgr.get(tmpArr); + argb.put(tmpArr[0]); + argb.put(tmpArr[1]); + argb.put(tmpArr[2]); + argb.put((byte) 255); + } + argb.rewind(); + } + + public static void remapImage(PVector[] in, PVector[] out, opencv_core.IplImage imgIn, opencv_core.IplImage imgTmp, PImage Pout) { + opencv_core.CvMat srcPoints; + opencv_core.CvMat dstPoints; + int nbPoints = in.length; + opencv_core.CvMat homography; + // TODO: no create map + srcPoints = cvCreateMat(2, in.length, opencv_core.CV_32FC1); + dstPoints = cvCreateMat(2, in.length, opencv_core.CV_32FC1); + homography = cvCreateMat(3, 3, opencv_core.CV_32FC1); + for (int i = 0; i < in.length; i++) { + srcPoints.put(i, in[i].x); + srcPoints.put(i + nbPoints, in[i].y); + dstPoints.put(i, out[i].x); + dstPoints.put(i + nbPoints, out[i].y); + } + cvFindHomography(srcPoints, dstPoints, homography); + // It is better to use : GetPerspectiveTransform + opencv_imgproc.cvWarpPerspective(imgIn, imgTmp, homography); + // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); + // getFillColor()); + IplImageToPImage(imgTmp, false, Pout); + } + + public static void remapImage(opencv_core.CvMat homography, opencv_core.IplImage imgIn, opencv_core.IplImage imgTmp, PImage Pout) { + remapImage(homography, imgIn, imgTmp, Pout, false); + } + + public static void remapImage(opencv_core.CvMat homography, opencv_core.IplImage imgIn, opencv_core.IplImage imgTmp, PImage Pout, boolean isRgb) { + opencv_imgproc.cvWarpPerspective(imgIn, imgTmp, homography); + // opencv_imgproc.CV_INTER_LINEAR ); // opencv_imgproc.CV_WARP_FILL_OUTLIERS); + // getFillColor()); + IplImageToPImage(imgTmp, isRgb, Pout); + } + + // TO USE INSIDE THE DRAW FUNCTION + // TODO: Experimental -> To validate... + // static public Texture createTextureFrom(PApplet parent, IplImage img) { + // Texture tex = null; + // + // // We suppose... Depth = 3 : BGR and Depth = 4 : RGBA (even though it is written ARGB for Processing...) + // if (img.nChannels() == 3) { + // tex = new Texture(img.width(), img.height(), PApplet.RGB); + // } + // if (img.nChannels() == 4) { + // tex = new Texture(img.width(), img.height(), PApplet.ARGB); + // } + // return tex; + // } + public static void updateTexture(opencv_core.IplImage img, Texture tex) { + System.out.println("Update Texture broken ? May Require CustomTexture..."); + // if (img.nChannels() == 3) { + // tex.putBuffer(GL.GL_BGR, GL.GL_UNSIGNED_BYTE, img.getIntBuffer()); + // } + // if (img.nChannels() == 4) { + // tex.putBuffer(GL.GL_RGBA, GL.GL_UNSIGNED_BYTE, img.getIntBuffer()); + // } + } + + public static void byteBufferDepthK2toARGB(ByteBuffer gray, ByteBuffer argb) { + FloatBuffer floatGray = gray.asFloatBuffer(); + float[] tmpArr = new float[1]; + for (int i = 0; i < argb.capacity(); i += 4) { + floatGray.get(tmpArr); + // 8 meters + byte v = (byte) (tmpArr[0] / 8000 * 255); + // byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) 255); + } + argb.rewind(); + } + + // TODO: clean all this ! + public static void IplImageToPImage(opencv_core.IplImage img, PApplet applet, boolean RGB, PImage ret) { + IplImageToPImage(img, RGB, ret); + } + + public static void IplImageToPImage(opencv_core.IplImage img, Camera.PixelFormat format, PImage ret) { + if (format == Camera.PixelFormat.RGB) { + IplImageToPImage(img, true, ret); + } + if (format == Camera.PixelFormat.BGR) { + IplImageToPImage(img, false, ret); + } + } + + public static void IplImageToPImage(opencv_core.IplImage img, PImage ret) { + IplImageToPImage(img, true, ret); + } + + public static void IplImageToPImage(opencv_core.IplImage img, boolean RGB, PImage ret) { + // conversionCount++; + // if (conversionCount % 600 == 0) { + // System.gc(); + // } + assert (img.width() == ret.width); + assert (img.height() == ret.height); + ret.loadPixels(); + if (img.nChannels() == 3) { + ByteBuffer buff = img.getByteBuffer(); + // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); + if (RGB) { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + ret.pixels[i] = (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255); + } + } else { + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 3; + ret.pixels[i] = (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255); + } + } + } + if (img.nChannels() == 4) { + ByteBuffer buff = img.getByteBuffer(); + // PImage ret = new PImage(img.width(), img.height(), PApplet.RGB); + for (int i = 0; i < img.width() * img.height(); i++) { + int offset = i * 4; + // ret.pixels[i] = applet.color(buff.get(offset + 0) & 0xff, buff.get(offset + 1) & 0xFF, buff.get(offset + 2) & 0xff); + ret.pixels[i] = (255) << 24 | (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255); + } + } + if (img.nChannels() == 1) { + // TODO: no more allocations. + ByteBuffer buff = img.getByteBuffer(); + byte[] tmpArr = new byte[1]; + // byte[] arr = new byte[img.width() * img.height()]; + // buff.get(arr); + for (int i = 0; i < img.width() * img.height(); i++) { + buff.get(tmpArr); + byte d = tmpArr[0]; + // int d = (arr[i] & 0xFF); + ret.pixels[i] = (255) << 24 | (d & 255) << 16 | (d & 255) << 8 | (d & 255); + } + } + ret.updatePixels(); + } + + public static void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) { + FloatBuffer floatGray = gray.asFloatBuffer(); + float[] tmpArr = new float[1]; + for (int i = 0; i < argb.capacity(); i += 4) { + floatGray.get(tmpArr); + byte v = (byte) (tmpArr[0] / 65535.0 * 255); + // byte v = (byte) (tmpArr[0] << 8 | tmpArr[1]); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) (v)); + argb.put((byte) 255); + } + argb.rewind(); + } + +} diff --git a/papart/src/fr/inria/papart/procam/utils/LibraryUtils.java b/papart/src/fr/inria/papart/procam/utils/LibraryUtils.java new file mode 100644 index 00000000..a75168c6 --- /dev/null +++ b/papart/src/fr/inria/papart/procam/utils/LibraryUtils.java @@ -0,0 +1,103 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ +package fr.inria.papart.procam.utils; + +import fr.inria.papart.procam.Papart; +import java.io.BufferedReader; +import java.io.File; +import java.io.InputStreamReader; +import java.net.URL; +import toxi.geom.Matrix4x4; + +/** + * + * @author jiii + */ +public class LibraryUtils { + + public static Process runExample(String exampleName, boolean silent) { + try { + StringBuilder commandLine = new StringBuilder(); + String papartFolder = getPapartFolder(); + String sketchFolder = "/examples/" + exampleName + "/"; + // On linux only + commandLine.append("nohup "); + // TODO: find processing-java even when not installed ! + // Or make an easy install... + commandLine.append("processing-java "); + commandLine.append("--sketch=").append(papartFolder).append(sketchFolder).append(" --output=").append(papartFolder).append(sketchFolder).append("build").append(" --force --run"); + // commandLine.append("\""); + // processing-java --sketch=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/ --output=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/build --force --run + // println("Starting... \n" + commandLine.toString()); + // TODO: Alternative on Windows... when /bin/sh is not installed. + Process p = Runtime.getRuntime().exec(commandLine.toString()); + // Process p = Runtime.getRuntime().exec(new String[]{"/bin/bash", "-c", commandLine.toString()}); + // Process p = Runtime.getRuntime().exec(new String[]{"nohup", commandLine.toString()}); + if (!silent) { + String line; + BufferedReader bri = new BufferedReader(new InputStreamReader(p.getInputStream())); + BufferedReader bre = new BufferedReader(new InputStreamReader(p.getErrorStream())); + while ((line = bri.readLine()) != null) { + System.out.println(line); + } + bri.close(); + while ((line = bre.readLine()) != null) { + System.out.println(line); + } + bre.close(); + } + return p; + // p.waitFor(); + } catch (Exception e) { + System.out.println("Could not start the Papart example : " + exampleName + "\n" + e); + } + ; + return null; + } + // sketchbook + + public static String getPapartFolder() { + String sketchbook = System.getenv("SKETCHBOOK"); + if (sketchbook != null) { + System.out.println("Found SKETCHBOOK environment variable."); + return sketchbook + "/libraries/" + ARToolkitPlusUtils.LibraryName; + } + return getLibrariesFolder() + "/" + ARToolkitPlusUtils.LibraryName; + } + + public static String getLibrariesFolder() { + // This is used, as Papart classes are often linked to another folder... + URL main = Matrix4x4.class.getResource("Matrix4x4.class"); +// URL main = Papart.class.getResource("Papart.class"); + String tmp = main.getPath(); + System.out.println("path " + tmp); + // its in a jar + if (tmp.contains("!")) { + tmp = tmp.substring(0, tmp.indexOf('!')); + tmp = tmp.replace("file:", ""); + // tmp = tmp.replace("file:/", ""); TODO: OS check ? + } + File f = new File(tmp); + if (!f.exists()) { + System.err.println("Error in loading the Sketchbook folder."); + } + // if the file is within a library/lib folder + if (f.getParentFile().getAbsolutePath().endsWith("/lib")) { + // pathToSketchbook/libraries/myLib/library/lib/myLib.jar + f = f.getParentFile().getParentFile().getParentFile().getParentFile(); + } else { + // pathToSketchbook/libraries/myLib/library/myLib.jar + f = f.getParentFile().getParentFile().getParentFile(); + } + return f.getAbsolutePath(); + } + + // processing-java --sketch=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/ --output=/home/jiii/papart/sketches/papartExamples/Kinect/MultiTouchKinect/build --force --run + public static String getLibraryFolder(String libname) { + return getLibrariesFolder() + "/libraries/" + libname; + } + +} diff --git a/papart/src/fr/inria/papart/procam/utils/MathUtils.java b/papart/src/fr/inria/papart/procam/utils/MathUtils.java new file mode 100644 index 00000000..1a9973ae --- /dev/null +++ b/papart/src/fr/inria/papart/procam/utils/MathUtils.java @@ -0,0 +1,279 @@ +/* + * To change this license header, choose License Headers in Project Properties. + * To change this template file, choose Tools | Templates + * and open the template in the editor. + */ +package fr.inria.papart.procam.utils; + +import java.io.FileNotFoundException; +import java.nio.ByteBuffer; +import org.bytedeco.javacpp.opencv_core; +import processing.core.PApplet; +import static processing.core.PApplet.abs; +import processing.core.PGraphics; +import processing.core.PMatrix3D; +import processing.core.PVector; +import toxi.geom.Vec3D; + +/** + * + * @author Jérémy Laviole + */ +public class MathUtils { + + // ---- Vector Utility ---- + /** + * Vec3D to PVector + * + * @param p + * @return + */ + public static PVector toPVector(Vec3D p) { + return new PVector(p.x, p.y, p.z); + } + + /** + * PVector to Vec3D + * + * @param p + * @return + */ + public static Vec3D toVec(PVector p) { + return new Vec3D(p.x, p.y, p.z); + } + + // ---- Matrix Utility ---- + // TODO: finish this, find another source... + // + /** + * * + * Get the Rotations, in the Unity3D format. [WARNING] Work in progress. + * http://planning.cs.uiuc.edu/node103.html + * + * @param mat + * @return + */ + public static PVector getRotations(PMatrix3D mat) { + PVector r = new PVector(); + r.z = PApplet.atan(mat.m10 / mat.m00); + r.y = PApplet.atan(-mat.m21 / PApplet.sqrt(mat.m21 * mat.m21 + mat.m22 * mat.m22)); + r.x = PApplet.atan(-mat.m21 / PApplet.sqrt(mat.m21 * mat.m21 + mat.m22 * mat.m22)); + return null; + } + + /** + * Add two matrices, src += toAdd + * + * @param src + * @param toAdd + */ + public static void addPMatrix3D(PMatrix3D src, PMatrix3D toAdd) { + src.m00 += toAdd.m00; + src.m01 += toAdd.m01; + src.m02 += toAdd.m02; + src.m03 += toAdd.m03; + src.m10 += toAdd.m10; + src.m11 += toAdd.m11; + src.m12 += toAdd.m12; + src.m13 += toAdd.m13; + src.m20 += toAdd.m20; + src.m21 += toAdd.m21; + src.m22 += toAdd.m22; + src.m23 += toAdd.m23; + src.m30 += toAdd.m30; + src.m31 += toAdd.m31; + src.m32 += toAdd.m32; + src.m33 += toAdd.m33; + } + + /** + * Multiply a vector by a Matrix. + * + * @param mat source matrix + * @param source vector to multiply + * @param target output, will be created if null. + * @return + */ + public static PVector mult(PMatrix3D mat, PVector source, PVector target) { + if (target == null) { + target = new PVector(); + } + target.x = mat.m00 * source.x + mat.m01 * source.y + mat.m02 * source.z + mat.m03; + target.y = mat.m10 * source.x + mat.m11 * source.y + mat.m12 * source.z + mat.m13; + target.z = mat.m20 * source.x + mat.m21 * source.y + mat.m22 * source.z + mat.m23; + float tw = mat.m30 * source.x + mat.m31 * source.y + mat.m32 * source.z + mat.m33; + if (tw != 0 && tw != 1) { + target.div(tw); + } + return target; + } + + /** + * Load a PMatrix3D from a file. Really simple file format, using + * loadStrings. + * + * @param pa + * @param filename + * @return + * @throws FileNotFoundException + */ + public static PMatrix3D loadPMatrix3D(PApplet pa, String filename) throws FileNotFoundException { + String[] lines = pa.loadStrings(filename); + if (lines == null) { + throw new FileNotFoundException(filename); + } + PMatrix3D mat = new PMatrix3D(Float.parseFloat(lines[0]), Float.parseFloat(lines[1]), Float.parseFloat(lines[2]), Float.parseFloat(lines[3]), Float.parseFloat(lines[4]), Float.parseFloat(lines[5]), Float.parseFloat(lines[6]), Float.parseFloat(lines[7]), Float.parseFloat(lines[8]), Float.parseFloat(lines[9]), Float.parseFloat(lines[10]), Float.parseFloat(lines[11]), Float.parseFloat(lines[12]), Float.parseFloat(lines[13]), Float.parseFloat(lines[14]), Float.parseFloat(lines[15])); + return mat; + } + + // TODO: throws ... + /** + * Save a PMatrix3D to a file. Really simple file format, using saveStrings. + * + * @param pa + * @param mat + * @param filename + */ + public static void savePMatrix3D(PApplet pa, PMatrix3D mat, String filename) { + String[] lines = new String[16]; + lines[0] = Float.toString(mat.m00); + lines[1] = Float.toString(mat.m01); + lines[2] = Float.toString(mat.m02); + lines[3] = Float.toString(mat.m03); + lines[4] = Float.toString(mat.m10); + lines[5] = Float.toString(mat.m11); + lines[6] = Float.toString(mat.m12); + lines[7] = Float.toString(mat.m13); + lines[8] = Float.toString(mat.m20); + lines[9] = Float.toString(mat.m21); + lines[10] = Float.toString(mat.m22); + lines[11] = Float.toString(mat.m23); + lines[12] = Float.toString(mat.m30); + lines[13] = Float.toString(mat.m31); + lines[14] = Float.toString(mat.m32); + lines[15] = Float.toString(mat.m33); + pa.saveStrings(filename, lines); + } + + /** + * Multiply each element of a PMatrix3D by the scale. mat.m00 *= scale and + * so on... + * + * @param mat + * @param scale + */ + public static void scaleMat(PMatrix3D mat, float scale) { + mat.m00 *= scale; + mat.m01 *= scale; + mat.m02 *= scale; + mat.m03 *= scale; + mat.m10 *= scale; + mat.m11 *= scale; + mat.m12 *= scale; + mat.m13 *= scale; + mat.m20 *= scale; + mat.m21 *= scale; + mat.m22 *= scale; + mat.m23 *= scale; + mat.m30 *= scale; + mat.m31 *= scale; + mat.m32 *= scale; + mat.m33 *= scale; + } + + // ---- Color Utility ---- + /** + * Get a pixel from a PImage. + * + * @param img incoming image. + * @param x image space coordinate. + * @param y image space coordinate. + * @param RGB true if RGB, false if BGR + * @return + */ + public static int getColor(opencv_core.IplImage img, int x, int y, boolean RGB) { + if (img.nChannels() == 3) { + ByteBuffer buff = img.getByteBuffer(); + int offset = (img.width() * y + x) * 3; + if (RGB) { + return (buff.get(offset) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset + 2) & 255); + } else { + return (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255); + } + } + // Operation not supported + return 0; + } + + /** + * RGB distance of two colors. Return true if all channels differences are + * below the difference threshold. + * + * @param c1 + * @param c2 + * @param threshold + * @return + */ + public static boolean colorDistRGB(int c1, int c2, int threshold) { + int r1 = c1 >> 16 & 255; + int g1 = c1 >> 8 & 255; + int b1 = c1 >> 0 & 255; + int r2 = c2 >> 16 & 255; + int g2 = c2 >> 8 & 255; + int b2 = c2 >> 0 & 255; + int dr = PApplet.abs(r1 - r2); + int dg = PApplet.abs(g1 - g2); + int db = PApplet.abs(b1 - b2); + return dr < threshold && dg < threshold && db < threshold; + } + + /** + * Color distance on the HSB scale. The incomingPix is compared with the + * baseline. The method returns true if each channel validates the condition for + * the given threshold. + * + * @param g + * @param baseline + * @param incomingPix + * @param hueTresh + * @param saturationTresh + * @param brightnessTresh + * @return + */ + public static boolean colorDistHSB(PGraphics g, int baseline, int incomingPix, + float hueTresh, float saturationTresh, float brightnessTresh) { + float h1 = g.hue(baseline); + float h2 = g.hue(incomingPix); + + return abs(h1 - h2) < hueTresh + && // Avoid desaturated pixels + g.saturation(incomingPix) > saturationTresh + && // avoid pixels not bright enough + g.brightness(incomingPix) > brightnessTresh; + } + + /** + * Warning here, the threshold is the same for each channel. Often the range + * depends on the declaration. To change the intensity of each, try to call + * HSB(100, 100, 100) for even thresholding or HSB(100, 200, 50) to be less + * picky on the brigthness and more picky on the saturation. + * + * @param g + * @param baseline + * @param incomingPix + * @param threshold + * @return + */ + public static boolean colorDistHSBAutoThresh(PGraphics g, int baseline, int incomingPix, + float threshold) { + float h1 = g.hue(baseline); + float h2 = g.hue(incomingPix); + + float d1 = abs(h1 - h2); + float d2 = abs(g.saturation(baseline) - g.saturation(incomingPix)); + float d3 = abs(g.brightness(baseline) - g.brightness(incomingPix)); + + return (d1 + d2 + d3) < (threshold * 3); + } + +} From e42395158929c4107dee61c0d36532193ca0e76a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 16 Dec 2016 17:44:34 +0100 Subject: [PATCH 69/99] This font is not required anymore. --- papart/data/Font/GentiumBookBasic-48.vlw | Bin 181486 -> 0 bytes .../procam/utils/ARToolkitPlusUtils.java | 0 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b/papart/src/fr/inria/papart/procam/utils/DrawUtils.java old mode 100644 new mode 100755 From 1430176c129f81fc812e71fcbe18f3fdb4151e3b Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Fri, 16 Dec 2016 17:44:49 +0100 Subject: [PATCH 70/99] Refactor tests. --- papart/test/fr/inria/papart/UtilsTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/papart/test/fr/inria/papart/UtilsTest.java b/papart/test/fr/inria/papart/UtilsTest.java index e908039b..bca3c49f 100644 --- a/papart/test/fr/inria/papart/UtilsTest.java +++ b/papart/test/fr/inria/papart/UtilsTest.java @@ -19,7 +19,7 @@ */ package fr.inria.papart; -import fr.inria.papart.procam.Utils; +import fr.inria.papart.procam.utils.ARToolkitPlusUtils; import org.bytedeco.javacpp.opencv_core.IplImage; import processing.core.PApplet; From 454e4cb42dbdea34fac66f86f8b497a9455a283e Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Tue, 20 Dec 2016 17:35:20 +0100 Subject: [PATCH 71/99] =?UTF-8?q?CameraFFMPEG=20was=20broken=C2=A0.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../papart/procam/camera/CameraFFMPEG.java | 39 +++++-------------- 1 file changed, 10 insertions(+), 29 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/camera/CameraFFMPEG.java b/papart/src/fr/inria/papart/procam/camera/CameraFFMPEG.java index c9079d11..00a51e9a 100644 --- a/papart/src/fr/inria/papart/procam/camera/CameraFFMPEG.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraFFMPEG.java @@ -44,7 +44,7 @@ public class CameraFFMPEG extends Camera { protected CameraFFMPEG(String description, String imFormat) { this.cameraDescription = description; - this.setPixelFormat(Camera.PixelFormat.BGR); +// this.setPixelFormat(Camera.PixelFormat.RGB); this.imageFormat = imFormat; converter = new OpenCVFrameConverter.ToIplImage(); } @@ -52,17 +52,17 @@ protected CameraFFMPEG(String description, String imFormat) { @Override public void start() { FFmpegFrameGrabber grabberFF = new FFmpegFrameGrabber(this.cameraDescription); - grabberFF.setImageWidth(width()); - grabberFF.setImageHeight(height()); -// grabberCV.setFrameRate(60); - -// grabberFF.setImageMode(FrameGrabber.ImageMode.COLOR); - grabberFF.setImageMode(FrameGrabber.ImageMode.RAW); + + grabberFF.setImageMode(FrameGrabber.ImageMode.COLOR); - this.setPixelFormat(PixelFormat.RGB); + this.setPixelFormat(PixelFormat.BGR); grabberFF.setFormat(this.imageFormat); + grabberFF.setImageWidth(width()); + grabberFF.setImageHeight(height()); + grabberFF.setFrameRate(frameRate); + try { grabberFF.start(); this.grabber = grabberFF; @@ -85,28 +85,9 @@ public void grab() { return; } try { - - if(parent.millis() > 5000){ - Frame frame = grabber.grab(); - Buffer b = frame.image[0]; -// byte[] arr = ((ByteBuffer) b).array(); -// System.out.println("Data: " + arr[0]); -// System.out.println("Data: " + arr[1]); - } -// IplImage img = converter.convertToIplImageDepth(grabber.grab()); -// -// -// if (img != null) { -// System.out.println(img.asByteBuffer().get(100)); -// System.out.println(img.asByteBuffer().get(101)); -// -// System.out.println("ipl depth: " + img.depth()); -// System.out.println("ipl channels: " + img.nChannels()); -// -// this.updateCurrentImage(img); -// } + this.updateCurrentImage(converter.convertToIplImage(grabber.grab())); } catch (Exception e) { - System.err.println("Camera: OpenCV Grab() Error ! " + e); + System.err.println("Camera: FFMPEG Grab() Error ! " + e); e.printStackTrace(); } } From 6de2fb4b1e29e5df2a1782a14e260aeaa62eb295 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 10:33:56 +0100 Subject: [PATCH 72/99] =?UTF-8?q?Small=20additions:=C2=A0=20-=20Mouse=20ca?= =?UTF-8?q?n=20be=20pointer=20in=20skatolo.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../calibration/CalibrationExtrinsic.java | 2 +- .../papart/multitouch/KinectTouchInput.java | 2 +- .../inria/papart/multitouch/SkatoloLink.java | 27 +++++++++++++++++-- .../papart/multitouch/TUIOTouchInput.java | 4 +-- .../inria/papart/multitouch/TouchInput.java | 18 ------------- .../fr/inria/papart/procam/camera/Camera.java | 4 +++ .../papart/procam/camera/CameraRealSense.java | 1 + .../papart/procam/display/BaseDisplay.java | 20 +++++++++++++- 8 files changed, 53 insertions(+), 25 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 5813033e..7f2de537 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -40,7 +40,7 @@ public class CalibrationExtrinsic { private final PApplet parent; private static final float OPEN_KINECT_Z_OFFSET = -15f; - private static final float REALSENSE_Z_OFFSET = -42f; + private static final float REALSENSE_Z_OFFSET = -52f; // Cameras private ProjectorDisplay projector; private final PMatrix3D kinectCameraExtrinsics = new PMatrix3D(); diff --git a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java index 58212719..a12ac655 100755 --- a/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/KinectTouchInput.java @@ -401,7 +401,7 @@ private PVector projectPointToScreen(Screen screen, // This is not working with raw Depth, because the coordinates // of pNorm is not in display Space, but in a custom space // defined for the touch surface... - paperScreenCoord = project(screen, display, + paperScreenCoord = display.project(screen, pNorm.x, pNorm.y); diff --git a/papart/src/fr/inria/papart/multitouch/SkatoloLink.java b/papart/src/fr/inria/papart/multitouch/SkatoloLink.java index cd5ec6fd..eb40256e 100644 --- a/papart/src/fr/inria/papart/multitouch/SkatoloLink.java +++ b/papart/src/fr/inria/papart/multitouch/SkatoloLink.java @@ -19,10 +19,13 @@ */ package fr.inria.papart.multitouch; +import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.PaperTouchScreen; import fr.inria.skatolo.Skatolo; import fr.inria.skatolo.gui.Pointer; import java.util.ArrayList; import java.util.HashMap; +import processing.core.PApplet; import processing.core.PVector; /** @@ -33,14 +36,34 @@ public class SkatoloLink { public static HashMap> pointersMap = new HashMap(); + // Warning -> Must be linked to a physical screen // a Renderer. + // Warning -> the mouse must be "displayed" ... + + public static Touch mouseTouch = new Touch(); + + public static void addMouseTo(TouchList touchList, Skatolo skatolo, PaperTouchScreen paperScreen) { + PApplet applet = Papart.getPapart().getApplet(); + + float normX = (float) applet.mouseX / (float) applet.width; + float normY = (float) applet.mouseY / (float) applet.height; +// PVector pointer = paperScreen.getDisplay().projectPointer(paperScreen.getScreen(), normX, normY); + PVector pointer = paperScreen.getDisplay().project(paperScreen.getScreen(), normX, normY); + + System.out.println("Pointer: " + pointer); + + mouseTouch.setPosition(pointer.x * paperScreen.getDrawingSize().x, + pointer.y * paperScreen.getDrawingSize().y, 0); + touchList.add(mouseTouch); + } + public static void updateTouch(TouchList touchList, Skatolo skatolo) { // TODO: Full integration ! // TODO: use the pointerList ? ArrayList pointers; - if(pointersMap.containsKey(skatolo)){ + if (pointersMap.containsKey(skatolo)) { pointers = pointersMap.get(skatolo); - }else { + } else { pointers = new ArrayList<>(); pointersMap.put(skatolo, pointers); } diff --git a/papart/src/fr/inria/papart/multitouch/TUIOTouchInput.java b/papart/src/fr/inria/papart/multitouch/TUIOTouchInput.java index 8b003049..3a86f99b 100755 --- a/papart/src/fr/inria/papart/multitouch/TUIOTouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/TUIOTouchInput.java @@ -78,7 +78,7 @@ private Touch getCursor(Screen screen, BaseDisplay display, TuioCursor tcur) thr Touch touch = touchPoint.getTouch(); TuioPoint tuioPoint = tcur.getPosition(); - PVector v = project(screen, display, tuioPoint.getX(), tuioPoint.getY()); + PVector v = display.project(screen, tuioPoint.getX(), tuioPoint.getY()); touch.setPosition(v); return touch; } @@ -89,7 +89,7 @@ private Touch getObject(Screen screen, BaseDisplay display, TuioObject tobj) thr Touch touch = tp.getTouch(); TuioPoint tuioPoint = tobj.getPosition(); - PVector v = project(screen, display, tuioPoint.getX(), tuioPoint.getY()); + PVector v = display.project(screen, tuioPoint.getX(), tuioPoint.getY()); touch.setPosition(v); // // TODO: implement this ? diff --git a/papart/src/fr/inria/papart/multitouch/TouchInput.java b/papart/src/fr/inria/papart/multitouch/TouchInput.java index 6bd6b598..aefa1f2a 100755 --- a/papart/src/fr/inria/papart/multitouch/TouchInput.java +++ b/papart/src/fr/inria/papart/multitouch/TouchInput.java @@ -39,24 +39,6 @@ public abstract class TouchInput { abstract public TouchList projectTouchToScreen(Screen screen, BaseDisplay display); - public PVector project(Screen screen, BaseDisplay display, float x, float y) { - boolean isProjector = display instanceof ProjectorDisplay; - boolean isARDisplay = display instanceof ARDisplay; - - // check that the correct method is called ! - PVector paperScreenCoord; - if (isProjector) { - paperScreenCoord = ((ProjectorDisplay) display).projectPointer(screen, x, y); - } else { - if (isARDisplay) { - paperScreenCoord = ((ARDisplay) display).projectPointer(screen, x, y); - } else { - paperScreenCoord = display.projectPointer(screen, x, y); - } - } - return paperScreenCoord; - } - protected boolean computeOutsiders = false; public void computeOutsiders(boolean outsiders) { diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index f29b9989..2ba9ad71 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -181,6 +181,10 @@ private void updateCalibration() { public PImage getPImageCopy() { PImage out = parent.createImage(this.width, this.height, RGB); + if(currentImage == null){ + System.err.println("Error in PImageCopy(): no current image. "); + return out; + } ImageUtils.IplImageToPImage(currentImage, false, out); return out; } diff --git a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java index 19b62388..88113123 100755 --- a/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java +++ b/papart/src/fr/inria/papart/procam/camera/CameraRealSense.java @@ -94,6 +94,7 @@ public void internalStart() throws FrameGrabber.Exception { if (useHardwareIntrinsics) { if (useColor) { useHarwareIntrinsics(colorCamera, grabber); + System.out.println("setting hardware intrinsics for Realsense.."); } if (useIR) { useHarwareIntrinsics(IRCamera, grabber); diff --git a/papart/src/fr/inria/papart/procam/display/BaseDisplay.java b/papart/src/fr/inria/papart/procam/display/BaseDisplay.java index e8b7ed28..27bdaef3 100755 --- a/papart/src/fr/inria/papart/procam/display/BaseDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/BaseDisplay.java @@ -159,7 +159,7 @@ public void endDraw() { * Called in Automatic mode to display the image. */ public void draw() { - parent.g.background(100, 0, 0); + parent.g.background(30, 30, 30); drawScreensOver(); parent.noStroke(); parent.g.image(this.render(), 0, 0, this.drawingSizeX, this.drawingSizeY); @@ -280,4 +280,22 @@ public PVector projectPointer(Screen screen, float x, float y) { screenMat.mult(new PVector(x * drawingSizeX, y * drawingSizeY), transformed); return transformed; } + + + public PVector project(Screen screen, float x, float y) { + boolean isProjector = this instanceof ProjectorDisplay; + boolean isARDisplay = this instanceof ARDisplay; + // check that the correct method is called ! + PVector paperScreenCoord; + if (isProjector) { + paperScreenCoord = ((ProjectorDisplay) this).projectPointer(screen, x, y); + } else { + if (isARDisplay) { + paperScreenCoord = ((ARDisplay) this).projectPointer(screen, x, y); + } else { + paperScreenCoord = this.projectPointer(screen, x, y); + } + } + return paperScreenCoord; + } } From a70ecd11028e68ba8f2468dad4c57eab2cd90189 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 11:01:15 +0100 Subject: [PATCH 73/99] added small utility to refactor the examples as well as the core. --- linkExamples.sh | 3 +++ removeExamples.sh | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 linkExamples.sh create mode 100644 removeExamples.sh diff --git a/linkExamples.sh b/linkExamples.sh new file mode 100644 index 00000000..f7b08878 --- /dev/null +++ b/linkExamples.sh @@ -0,0 +1,3 @@ +#!/bin/sh + +ln -s ../../../Papart-examples/papart-examples papart/src/ diff --git a/removeExamples.sh b/removeExamples.sh new file mode 100644 index 00000000..24c1a6b0 --- /dev/null +++ b/removeExamples.sh @@ -0,0 +1,3 @@ +#!/bin/sh + +rm papart/src/papart-examples From 536f70c36839bbdc574415b926ce25bfc9942bd1 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 11:01:30 +0100 Subject: [PATCH 74/99] new P3B calibration. --- .../saved/projector-p3B-procamcalib.yaml | 214 ++++++++++++++++++ 1 file changed, 214 insertions(+) create mode 100644 papart/data/calibration/saved/projector-p3B-procamcalib.yaml diff --git a/papart/data/calibration/saved/projector-p3B-procamcalib.yaml b/papart/data/calibration/saved/projector-p3B-procamcalib.yaml new file mode 100644 index 00000000..eb86abfe --- /dev/null +++ b/papart/data/calibration/saved/projector-p3B-procamcalib.yaml @@ -0,0 +1,214 @@ +%YAML:1.0 +Cameras: + - Camera 0 +Projectors: + - Projector 0 +Camera 0: + imageWidth: 640 + imageHeight: 480 + responseGamma: 0. + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 6.0336619173044176e+02, 0., 3.1412708141403124e+02, 0., + 6.0442266333410726e+02, 2.3392992279062375e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 1.4581568172715451e-01, -2.9304335419508754e-01, + -9.8065868768166184e-03, 1.6642932396551816e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -4.7367538411373789e-01, -1.7019243542241474e-02, + 9.6458977737399372e-03, -1.7315164553833495e+02, + -1.8612635986348377e+02, 5.9631718160439220e+02, + -3.8444503786908940e-01, -3.3979268883880359e-01, + -1.4707484103287070e+00, -1.0419100304800661e+02, + 1.1588590155621586e+02, 4.4463736579914519e+02, + 2.2068113139126499e-02, -6.7299271184357712e-01, + -3.0379180380052189e+00, 2.4207425855627142e+02, + 1.1162729434716046e+02, 4.5226208703309703e+02, + 3.0598013668146801e-01, 7.2193572926477190e-01, + 2.9980060017234109e+00, 1.6652539272776798e+02, + 6.7284638612982860e+01, 3.6936358329709788e+02, + -3.3556896451320831e-02, -7.1764336643938598e-01, + -2.9682834843227135e+00, 3.1763144237120150e+02, + 1.0657052350183055e+02, 4.4532380686527551e+02, + -2.1200110711757125e-01, 1.9983615133679153e-01, + 1.5545015173670433e+00, 1.5088628680296540e+02, + -2.9256298554786582e+02, 5.5743412806818856e+02, + -4.7866525078363376e-01, -1.4366917002575195e-02, + 1.7585631052476892e-02, -1.8106507938446046e+02, + -2.0601489547772519e+02, 6.0676063229476370e+02, + -4.3131772290916159e-01, -2.7292253538956990e-01, + -1.2080720333000643e+00, -1.1849915403199785e+02, + 8.9595924951884456e+01, 4.5762470913268066e+02, + -3.8520408084693375e-01, -3.4756010049584646e-01, + -1.5744458144304001e+00, -1.8549613075878557e+02, + 1.3444778079343811e+02, 4.3410016706333994e+02, + -4.3079439584009879e-02, 6.4856011049213513e-01, + 3.0528076362429086e+00, 2.3154496913217247e+02, + 6.7738568062628090e+01, 4.7327165920781187e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 3.3297489451038192e-01, 2.7443017905966699e-01, + 3.9225867153663374e-01, 3.9662553380781163e-01, + 3.9094336019940662e-01, 2.3530066173482525e-01, + 3.6632875722997627e-01, 4.9026108948039909e-01, + 3.7893793502081008e-01, 4.1982561263259860e-01 ] + avgReprojErr: 3.7736326610161719e-01 + maxReprojErr: 1.1061860448533452e+00 + R: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + T: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ 0., 0., 0. ] + E: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ] + F: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ] + avgEpipolarErr: 0. + maxEpipolarErr: 0. + colorOrder: BGR + colorMixingMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] + additiveLight: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ 0., 0., 0. ] + avgColorErr: 0. + colorR2: 1. +Projector 0: + imageWidth: 1280 + imageHeight: 800 + responseGamma: 2.2000000000000002e+00 + cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 1.2563413051150239e+03, 0., 6.1553924606776650e+02, 0., + 1.2368291549251016e+03, 6.6016094038958443e+02, 0., 0., 1. ] + distortionCoeffs: !!opencv-matrix + rows: 1 + cols: 4 + dt: d + data: [ 3.5790450461787471e-02, -6.9014632423932951e-02, + -8.7105602669458101e-03, 2.0926794634546233e-03 ] + extrParams: !!opencv-matrix + rows: 10 + cols: 6 + dt: d + data: [ -3.3519585677079350e-01, -2.4751176841884402e-02, + 5.6450722169903156e-03, -1.7475803055902944e+02, + -2.8526769476846192e+02, 5.7654998758376394e+02, + -2.7005047957624245e-01, -2.3820884706815640e-01, + -1.4886005949136163e+00, -1.0442889063076275e+02, + 3.4438271626615823e+01, 4.6916406113879259e+02, + 3.9969391904097269e-02, -4.4952519180611317e-01, + -3.0831640429293725e+00, 2.4177702311562567e+02, + 2.8740672140084367e+01, 4.7854187036054810e+02, + 3.5846930653349890e-01, 5.2584112352569312e-01, + 3.0351324391641228e+00, 1.6507535549837374e+02, + -9.7429778083610135e+00, 3.6838252593390172e+02, + -2.1768127542179702e-02, -5.1135374556351265e-01, + -3.0132296343116525e+00, 3.1728637147825231e+02, + 2.3940672131866723e+01, 4.6919404513345796e+02, + -7.0044410993605852e-02, 3.3412158301295604e-02, + 1.5587061415014865e+00, 1.4865217483785480e+02, + -3.8915980756331180e+02, 5.0353924031304661e+02, + -3.4141268927128704e-01, -2.3196704363163921e-02, + 1.3235269962512643e-02, -1.8288377177069788e+02, + -3.0619084969696928e+02, 5.8406226907662108e+02, + -3.1096093446978923e-01, -1.8775397582118611e-01, + -1.2222532141593747e+00, -1.1895483027171115e+02, + 6.6751724785620228e+00, 4.7831449128361675e+02, + -2.7665670463571168e-01, -2.3756376324658632e-01, + -1.5926518995533041e+00, -1.8571238130387752e+02, + 5.4539902230989782e+01, 4.5997500830922348e+02, + -5.5179200125934351e-02, 4.1814329059201566e-01, + 3.0874837889528606e+00, 2.3097439532346635e+02, + -1.7744738014889073e+01, 4.9277929861942806e+02 ] + reprojErrs: !!opencv-matrix + rows: 1 + cols: 10 + dt: d + data: [ 3.4003159720932569e-01, 6.4400559331259588e-01, + 3.5493722205221800e-01, 8.1031265023380961e-01, + 3.4145181732367719e-01, 1.0597956456994664e+00, + 3.5947325905307848e-01, 5.5224144837909872e-01, + 3.5190322629802923e-01, 3.5917988120250516e-01 ] + avgReprojErr: 5.4262939199630345e-01 + maxReprojErr: 2.2710332160036666e+00 + R: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 9.9994587545892677e-01, 1.5340630900766295e-03, + -1.0290422883249568e-02, -2.7179253744314211e-03, + 9.9324101291584210e-01, -1.1603836927314588e-01, + 1.0042859868556547e-02, 1.1606005735113011e-01, + 9.9319142367084146e-01 ] + T: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ 4.3602330533858638e+00, -3.0662744530509769e+01, + 6.5825911898322609e+00 ] + E: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ -2.9005065488090453e-01, -1.0096819429753907e+01, + -2.9690141746652394e+01, 6.5384457005556351e+00, + -4.9595078805887116e-01, -4.3982837208398928e+00, + 3.0649234135479777e+01, 4.3778008791188139e+00, + -8.2148694114575849e-01 ] + F: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 2.0654990909259168e-07, 7.1775459066158173e-06, + 1.1012952274212352e-02, -4.7295911927624633e-06, + 3.5811944148860187e-07, 3.3215291123388229e-03, + -2.4425540991174687e-02, -8.5642820718516768e-03, 1. ] + avgEpipolarErr: 2.7443524713497749e+00 + maxEpipolarErr: 1.0151392941537374e+01 + colorOrder: BGR + colorMixingMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 7.6604573382889479e-02, -5.7218538924928064e-02, + -1.1554917018250581e-01, -8.6169109359339024e-02, + 3.4270475395352729e-01, -8.8937433175895225e-02, + -3.0311399592083395e-02, -2.9647717451540440e-01, + 6.6640269113887163e-01 ] + additiveLight: !!opencv-matrix + rows: 3 + cols: 1 + dt: d + data: [ 7.5043589623580176e-01, 5.6984854817797825e-01, + 2.8773446633667960e-01 ] + avgColorErr: 1.0188152067555140e-01 + colorR2: 8.0575256584721777e-01 From a2ef37e16cf10750f4f9619863e7dbabdb57ab22 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 11:58:25 +0100 Subject: [PATCH 75/99] createRedist does not create a libs anymore. --- createRedist.sh | 21 +-------------------- 1 file changed, 1 insertion(+), 20 deletions(-) diff --git a/createRedist.sh b/createRedist.sh index 6ab03597..bc58e24b 100755 --- a/createRedist.sh +++ b/createRedist.sh @@ -5,8 +5,7 @@ TMP=tmp NAME=PapARt ## NAME must match -## fr.inria.papart.procam.Utils.LibraryName = "ProCam"; - +## fr.inria.papart.procam.Utils.LibraryName = "PapARt" mkdir $TMP mkdir $TMP/$NAME @@ -41,7 +40,6 @@ cp -R papart/target/site/apidocs $TMP/$NAME/ echo "Copy the Data" cp -R papart/data $TMP/$NAME/ - echo "Download the examples" wget https://github.com/potioc/Papart-examples/archive/master.zip unzip master.zip @@ -53,18 +51,6 @@ echo "cleaning the examples" rm master.zip rm -rf Papart-examples-master - -# Calibration stuff -# cp -R sketches/calibration $TMP/$NAME/examples/calib - -# Now working with github examples and apps. - -# echo "Copy Examples, Calibration & Apps" -# Examples -# cp -R sketches/examples $TMP/$NAME/examples/examples -# Apps -# cp -R sketches/apps $TMP/$NAME/examples/apps - echo "Create the archive..." cd $TMP @@ -73,11 +59,6 @@ tar -zcf $NAME.tgz $NAME mv $NAME.tgz .. cd .. -cp -r $TMP/$NAME libraries/ - -echo "Create full archive : Papart & Deps" -tar -zcf papart-complete.tgz libraries - echo "Clean " rm -rf $TMP From 56f1dfdc8a32cd57fefe16662aefee0098ced94a Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 12:09:29 +0100 Subject: [PATCH 76/99] build scripts --- build.sh | 5 +++++ createAll.rb | 20 ++++++++++++++++++++ createAll.sh | 7 +++++++ createLibs.sh | 4 ++++ createRedist.sh | 31 ++++++------------------------- downloadExamples.sh | 8 ++++++++ 6 files changed, 50 insertions(+), 25 deletions(-) create mode 100644 build.sh create mode 100644 createAll.rb create mode 100644 createAll.sh create mode 100644 createLibs.sh create mode 100644 downloadExamples.sh diff --git a/build.sh b/build.sh new file mode 100644 index 00000000..3bba91d3 --- /dev/null +++ b/build.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +cd papart +mvn install +mvn javadoc:javadoc diff --git a/createAll.rb b/createAll.rb new file mode 100644 index 00000000..25a61e2d --- /dev/null +++ b/createAll.rb @@ -0,0 +1,20 @@ +#!/bin/ruby +# coding: utf-8 + + +`sh downloadExamples.sh` +`sh createLibs.sh` + + +output_names=["realsense"] + # "kinect", + # "hardware2", + # "hardware3"] + +output_names.each do |release_name| + %x(git checkout release-#{release_name}) + %x(sh build.sh) + %x(sh createRedist.sh #{release_name}) +end + + diff --git a/createAll.sh b/createAll.sh new file mode 100644 index 00000000..7e3d488b --- /dev/null +++ b/createAll.sh @@ -0,0 +1,7 @@ +#!/bin/ruby + +NAMES=realsense kinect hardware2 hardware3 + + + +git checkout diff --git a/createLibs.sh b/createLibs.sh new file mode 100644 index 00000000..057f7bc6 --- /dev/null +++ b/createLibs.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +echo "Create libraries" +tar -zcf libs.tgz libraries diff --git a/createRedist.sh b/createRedist.sh index bc58e24b..cf20fbc9 100755 --- a/createRedist.sh +++ b/createRedist.sh @@ -1,8 +1,8 @@ #!/bin/bash -SKETCHBOOK=sketches TMP=tmp NAME=PapARt +VERSION=$1 ## NAME must match ## fr.inria.papart.procam.Utils.LibraryName = "PapARt" @@ -12,22 +12,10 @@ mkdir $TMP/$NAME mkdir $TMP/$NAME/library mkdir $TMP/$NAME/examples - -echo "Cleaning previous versions" -rm -rf libraries/$NAME -echo "Create archive of depedencies" -tar -zcf libs.tgz libraries - echo "Copy Library" # Library cp papart/target/$NAME.jar $TMP/$NAME/library/$NAME.jar - -# echo "Copy JavaCV, OpenCV and friends" -# libs are javaCV and javaCV cppjars -# cp libs/* $NAME/library/ - - echo "Copy the sources" # copy the source also cp -R papart/src $TMP/$NAME/ @@ -40,23 +28,16 @@ cp -R papart/target/site/apidocs $TMP/$NAME/ echo "Copy the Data" cp -R papart/data $TMP/$NAME/ -echo "Download the examples" -wget https://github.com/potioc/Papart-examples/archive/master.zip -unzip master.zip - -mv Papart-examples-master/apps $TMP/$NAME/examples/ -mv Papart-examples-master/papart-examples $TMP/$NAME/examples/ - -echo "cleaning the examples" -rm master.zip -rm -rf Papart-examples-master +echo "Copy the examples" +cp -R Papart-examples-master/apps $TMP/$NAME/examples/ +cp -R Papart-examples-master/papart-examples $TMP/$NAME/examples/ echo "Create the archive..." cd $TMP -tar -zcf $NAME.tgz $NAME +tar -zcf $NAME-$VERSION.tgz $NAME -mv $NAME.tgz .. +mv $NAME-$VERSION.tgz .. cd .. echo "Clean " diff --git a/downloadExamples.sh b/downloadExamples.sh new file mode 100644 index 00000000..a36ac2be --- /dev/null +++ b/downloadExamples.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +echo "Download the examples" +wget https://github.com/potioc/Papart-examples/archive/master.zip +unzip master.zip + +echo "cleaning the examples" +rm master.zip From a34f571ab286cc6362c6b4e5ffe2d764238d79e9 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 12:09:51 +0100 Subject: [PATCH 77/99] ignore examples from github. --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 9dd4c285..b15fc544 100644 --- a/.gitignore +++ b/.gitignore @@ -11,3 +11,4 @@ build /papart-complete.tgz /PapARt.tgz /big-files/ +/Papart-examples-master/ From 235c2e920d3e5bea7cbd3636a33919c0bf37cb02 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 12:17:49 +0100 Subject: [PATCH 78/99] save current branch. --- createAll.rb | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/createAll.rb b/createAll.rb index 25a61e2d..815bb89a 100644 --- a/createAll.rb +++ b/createAll.rb @@ -2,9 +2,10 @@ # coding: utf-8 -`sh downloadExamples.sh` -`sh createLibs.sh` +# %x(sh downloadExamples.sh) +# %x(sh createLibs.sh) +current_branch = %x(git rev-parse --abbrev-ref HEAD).chomp output_names=["realsense"] # "kinect", @@ -12,9 +13,12 @@ # "hardware3"] output_names.each do |release_name| + puts "Get the version: " + release_name %x(git checkout release-#{release_name}) + puts "Build it." %x(sh build.sh) + puts "Create redistribuable." %x(sh createRedist.sh #{release_name}) end - +%x(git checkout #{current_branch}) From 1530f736d7e3bb1c586e6b2544480556713a40bb Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 12:18:50 +0100 Subject: [PATCH 79/99] createall test. --- createAll.rb | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/createAll.rb b/createAll.rb index 815bb89a..f8fb4d9f 100644 --- a/createAll.rb +++ b/createAll.rb @@ -7,10 +7,10 @@ current_branch = %x(git rev-parse --abbrev-ref HEAD).chomp -output_names=["realsense"] - # "kinect", - # "hardware2", - # "hardware3"] +output_names=["realsense", + "kinect", + "hardware2", + "hardware3"] output_names.each do |release_name| puts "Get the version: " + release_name From 3ac7026350282caf09668507326e5330fbd66e4f Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 16:43:12 +0100 Subject: [PATCH 80/99] Download and create archive for depedencies. --- deps/getLibs.sh | 77 +++++ deps/javacv-buid/createLibs.rb | 36 +++ deps/javacv-buid/pom-linux.xml | 441 +++++++++++++++++++++++++++ deps/javacv-buid/pom-windows.xml | 441 +++++++++++++++++++++++++++ deps/reflections-build/createLibs.rb | 20 ++ deps/reflections-build/pom.xml | 441 +++++++++++++++++++++++++++ 6 files changed, 1456 insertions(+) create mode 100644 deps/getLibs.sh create mode 100644 deps/javacv-buid/createLibs.rb create mode 100644 deps/javacv-buid/pom-linux.xml create mode 100644 deps/javacv-buid/pom-windows.xml create mode 100644 deps/reflections-build/createLibs.rb create mode 100644 deps/reflections-build/pom.xml diff --git a/deps/getLibs.sh b/deps/getLibs.sh new file mode 100644 index 00000000..46a86e82 --- /dev/null +++ b/deps/getLibs.sh @@ -0,0 +1,77 @@ +#!/bin/bash + + +mkdir libraries + +echo "Get Toxiclibs" + +wget https://bitbucket.org/postspectacular/toxiclibs/downloads/toxiclibs-complete-0020.zip + +unzip toxiclibs-complete-0020.zip +mv audioutils libraries/ +mv colorutils libraries/ +mv datautils libraries/ +mv simutils libraries/ +mv toxiclibscore libraries/ +mv toxiclibs_p5 libraries/ +mv verletphysics libraries/ +mv volumeutils libraries/ + +echo "Get SVGExtended" +wget https://github.com/Rea-lity-Tech/SVGExtended/releases/download/2.3.1/SVGExtended.tgz + +tar xvzf SVGExtended.tgz +mv SVGExtended libraries/ + +echo "Get Processing Video" +#wget https://github.com/processing/processing-video/releases/download/latest/video.zip + +unzip video.zip +unzip video +mv video libraries/ + + +echo "Get Processing TUIO" +wget https://github.com/poqudrof/ProcessingTUIO/releases/download/0.5/processingTUIO.tgz + +tar xvzf processingTUIO.tgz +mv processingTUIO libraries/ + + +echo "Get OSCP5" +wget http://www.sojamo.de/libraries/oscP5/download/oscP5-0.9.8.zip + +unzip oscP5-0.9.8.zip +mv oscP5 libraries/ + +echo "Get Skatolo" +wget https://github.com/poqudrof/Skatolo/releases/download/1.0.1/skatolo.tgz + +tar xvzf skatolo.tgz +mv skatolo libraries/ + +echo "Get Gui Modes" +wget https://github.com/poqudrof/guiModes/releases/download/0.5/guiModes.tgz + +tar xvzf guiModes.tgz +mv guiModes libraries/ + +echo "get Peasycam" +wget http://mrfeinberg.com/peasycam/peasycam_202.zip +unzip peasycam_202.zip +mv peasycam libraries/ + +echo "Compile reflections" +cd reflections-build +ruby createLibs.rb +cp reflections.tgz .. +cd .. +tar xvzf reflections.tgz +mv reflections libraries/ + +echo "Compile JavaCV" +cd javacv-build +ruby createLibs.rb + +echo "compile all" +zip -r libraries.zip libraries diff --git a/deps/javacv-buid/createLibs.rb b/deps/javacv-buid/createLibs.rb new file mode 100644 index 00000000..bd827ea7 --- /dev/null +++ b/deps/javacv-buid/createLibs.rb @@ -0,0 +1,36 @@ +#!/bin/ruby + + +platforms = ["linux", "windows"] +archs = ["x86_64", "x86"] + + +def build(platform, arch) + + puts "Build " + platform + %x(cp pom-#{platform}.xml pom.xml) + + puts "Get the library" + + %x(mvn -Dplatform=#{platform}-#{arch} dependency:copy-dependencies) + + %x(rm target/dependency/*linux*) if platform.eql? "windows" + + `mv target/dependency target/library` + `mv target javacv` + `mv javacv/library/javacv-1.2.jar javacv/library/javacv.jar` + + puts "compress library" + `tar -zcf javacv-#{platform}-#{arch}.tgz javacv` + `rm -rf javacv` + + puts "done javacv-" + platform + "-" + arch + + %x(rm pom.xml) +end + +build("linux", "x86_64") +build("windows", "x86_64") +build("windows", "x86") + +# mvn -Dplatform=windows-x86_64 dependency:copy-dependencies diff --git a/deps/javacv-buid/pom-linux.xml b/deps/javacv-buid/pom-linux.xml new file mode 100644 index 00000000..e29d35ab --- /dev/null +++ b/deps/javacv-buid/pom-linux.xml @@ -0,0 +1,441 @@ + + 4.0.0 + fr.inria + papart-deps + 0.7-SNAPSHOT + jar + + PapARt-deps + Paper Augmented Reality Toolkit + http://papart.gforge.inria.fr + + + + clojars.org + http://clojars.org/repo + + + + ossrh + https://oss.sonatype.org/content/repositories/snapshots + + + + central + Maven Repository Switchboard + default + http://repo1.maven.org/maven2 + + true + + + + + + + GNU Lesser General Public License version 2 (LGPLv2) + https://www.gnu.org/licenses/lgpl.html + repo + + + + + + Jeremy Laviole + jeremy.laviole@inria.fr + + + + + + linux-${os.arch} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + org.bytedeco + javacpp + 1.2 + + + + org.bytedeco + javacv + 1.2 + + + + org.bytedeco.javacpp-presets + opencv + 3.1.0-1.2 + ${platform} + runtime + + + + org.bytedeco.javacpp-presets + opencv + 3.1.0-1.2 + compile + + + + org.bytedeco.javacpp-presets + artoolkitplus + 2.3.1-1.2 + + + + org.bytedeco.javacpp-presets + artoolkitplus + 2.3.1-1.2 + ${platform} + runtime + + + + org.bytedeco.javacpp-presets + ffmpeg + 3.1.2-1.2 + + + + org.bytedeco.javacpp-presets + ffmpeg + 3.0.2-1.2 + ${platform} + + + + org.bytedeco.javacpp-presets + flycapture + 2.9.3.43-1.2 + + + + + + org.bytedeco.javacpp-presets + libfreenect + 0.5.3-1.2 + + + + org.bytedeco.javacpp-presets + libfreenect + 0.5.3-1.2 + ${platform} + runtime + + + + + + + org.bytedeco.javacpp-presets + librealsense + 1.9.6-1.2 + + + + org.bytedeco.javacpp-presets + librealsense + 1.9.6-1.2 + ${platform} + runtime + + + + + + + + + + + + + + + src + test + target/classes + + + + maven-dependency-plugin + 2.3 + + + + copy-dependencies + + + ${project.build.directory} + true + + + + + + + org.apache.maven.plugins + maven-jar-plugin + 2.3.2 + + PapARt + + + + + org.apache.maven.plugins + maven-compiler-plugin + 2.3.2 + + 1.8 + 1.8 + + + + + + + + src + + **/*.vert + **/*.frag + **/*.glsl + + + + + + + + + + + + linux + + + linux + + + + linux + + + + macosx + + + mac os x + + + + macosx + + + + windows + + + windows + + + + windows + + + + i386 + + + i386 + + + + x86 + + + + i486 + + + i486 + + + + x86 + + + + i586 + + + i586 + + + + x86 + + + + i686 + + + i686 + + + + x86 + + + + amd64 + + + amd64 + + + + x86_64 + + + + x86-64 + + + x86-64 + + + + x86_64 + + + + + + + diff --git a/deps/javacv-buid/pom-windows.xml b/deps/javacv-buid/pom-windows.xml new file mode 100644 index 00000000..f2e975f8 --- /dev/null +++ b/deps/javacv-buid/pom-windows.xml @@ -0,0 +1,441 @@ + + 4.0.0 + fr.inria + papart-deps + 0.7-SNAPSHOT + jar + + PapARt-deps + Paper Augmented Reality Toolkit + http://papart.gforge.inria.fr + + + + clojars.org + http://clojars.org/repo + + + + ossrh + https://oss.sonatype.org/content/repositories/snapshots + + + + central + Maven Repository Switchboard + default + http://repo1.maven.org/maven2 + + true + + + + + + + GNU Lesser General Public License version 2 (LGPLv2) + https://www.gnu.org/licenses/lgpl.html + repo + + + + + + Jeremy Laviole + jeremy.laviole@inria.fr + + + + + + windows-${os.arch} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + org.bytedeco + javacpp + 1.2 + + + + org.bytedeco + javacv + 1.2 + + + + org.bytedeco.javacpp-presets + opencv + 3.1.0-1.2 + ${platform} + runtime + + + + org.bytedeco.javacpp-presets + opencv + 3.1.0-1.2 + compile + + + + org.bytedeco.javacpp-presets + artoolkitplus + 2.3.1-1.2 + + + + org.bytedeco.javacpp-presets + artoolkitplus + 2.3.1-1.2 + ${platform} + runtime + + + + org.bytedeco.javacpp-presets + ffmpeg + 3.1.2-1.2 + + + + org.bytedeco.javacpp-presets + ffmpeg + 3.0.2-1.2 + ${platform} + + + + org.bytedeco.javacpp-presets + flycapture + 2.9.3.43-1.2 + + + + + + org.bytedeco.javacpp-presets + libfreenect + 0.5.3-1.2 + + + + org.bytedeco.javacpp-presets + libfreenect + 0.5.3-1.2 + ${platform} + runtime + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + src + test + target/classes + + + + maven-dependency-plugin + 2.3 + + + + copy-dependencies + + + ${project.build.directory} + true + + + + + + + org.apache.maven.plugins + maven-jar-plugin + 2.3.2 + + PapARt + + + + + org.apache.maven.plugins + maven-compiler-plugin + 2.3.2 + + 1.8 + 1.8 + + + + + + + + src + + **/*.vert + **/*.frag + **/*.glsl + + + + + + + + + + + + linux + + + linux + + + + linux + + + + macosx + + + mac os x + + + + macosx + + + + windows + + + windows + + + + windows + + + + i386 + + + i386 + + + + x86 + + + + i486 + + + i486 + + + + x86 + + + + i586 + + + i586 + + + + x86 + + + + i686 + + + i686 + + + + x86 + + + + amd64 + + + amd64 + + + + x86_64 + + + + x86-64 + + + x86-64 + + + + x86_64 + + + + + + + diff --git a/deps/reflections-build/createLibs.rb b/deps/reflections-build/createLibs.rb new file mode 100644 index 00000000..6e0dc93f --- /dev/null +++ b/deps/reflections-build/createLibs.rb @@ -0,0 +1,20 @@ +#!/bin/ruby + +puts "Get the library" + +%x(mvn dependency:copy-dependencies) + +`mv target/dependency target/library` +`mv target reflections` + +`mv reflections/library/reflections-0.9.9.jar reflections/library/reflections.jar` + +puts "compress library" +`tar -zcf reflections.tgz reflections` + + +`rm -rf reflections` + +puts "done reflections" + +# mvn -Dplatform=windows-x86_64 dependency:copy-dependencies diff --git a/deps/reflections-build/pom.xml b/deps/reflections-build/pom.xml new file mode 100644 index 00000000..b0131ad5 --- /dev/null +++ b/deps/reflections-build/pom.xml @@ -0,0 +1,441 @@ + + 4.0.0 + fr.inria + papart-deps + 0.7-SNAPSHOT + jar + + PapARt-deps + Paper Augmented Reality Toolkit + http://papart.gforge.inria.fr + + + + clojars.org + http://clojars.org/repo + + + + ossrh + https://oss.sonatype.org/content/repositories/snapshots + + + + central + Maven Repository Switchboard + default + http://repo1.maven.org/maven2 + + true + + + + + + + GNU Lesser General Public License version 2 (LGPLv2) + https://www.gnu.org/licenses/lgpl.html + repo + + + + + + Jeremy Laviole + jeremy.laviole@inria.fr + + + + + + linux-${os.arch} + + + + + + org.reflections + reflections + 0.9.9 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + src + test + target/classes + + + + maven-dependency-plugin + 2.3 + + + + copy-dependencies + + + ${project.build.directory} + true + + + + + + + org.apache.maven.plugins + maven-jar-plugin + 2.3.2 + + PapARt + + + + + org.apache.maven.plugins + maven-compiler-plugin + 2.3.2 + + 1.8 + 1.8 + + + + + + + + src + + **/*.vert + **/*.frag + **/*.glsl + + + + + + + + + + + + linux + + + linux + + + + linux + + + + macosx + + + mac os x + + + + macosx + + + + windows + + + windows + + + + windows + + + + i386 + + + i386 + + + + x86 + + + + i486 + + + i486 + + + + x86 + + + + i586 + + + i586 + + + + x86 + + + + i686 + + + i686 + + + + x86 + + + + amd64 + + + amd64 + + + + x86_64 + + + + x86-64 + + + x86-64 + + + + x86_64 + + + + + + + From d60f555fc1a5135598f4ceb9bbfcbf4b789bd212 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 17:04:14 +0100 Subject: [PATCH 81/99] updated pom to correct version. --- deps/getLibs.sh | 1 + deps/javacv-buid/pom-linux.xml | 3 ++- deps/javacv-buid/pom-windows.xml | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/deps/getLibs.sh b/deps/getLibs.sh index 46a86e82..23774a86 100644 --- a/deps/getLibs.sh +++ b/deps/getLibs.sh @@ -72,6 +72,7 @@ mv reflections libraries/ echo "Compile JavaCV" cd javacv-build ruby createLibs.rb +mv javacv-*.tgz .. echo "compile all" zip -r libraries.zip libraries diff --git a/deps/javacv-buid/pom-linux.xml b/deps/javacv-buid/pom-linux.xml index e29d35ab..b44d6722 100644 --- a/deps/javacv-buid/pom-linux.xml +++ b/deps/javacv-buid/pom-linux.xml @@ -193,6 +193,7 @@ runtime + org.bytedeco.javacpp-presets ffmpeg @@ -202,7 +203,7 @@ org.bytedeco.javacpp-presets ffmpeg - 3.0.2-1.2 + 3.1.2-1.2 ${platform} diff --git a/deps/javacv-buid/pom-windows.xml b/deps/javacv-buid/pom-windows.xml index f2e975f8..59378162 100644 --- a/deps/javacv-buid/pom-windows.xml +++ b/deps/javacv-buid/pom-windows.xml @@ -202,7 +202,7 @@ org.bytedeco.javacpp-presets ffmpeg - 3.0.2-1.2 + 3.1.2-1.2 ${platform} From f26de63c5e52ac1fe665ad15e59b4156387056a1 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 17:04:33 +0100 Subject: [PATCH 82/99] cleaning in the pom. --- papart/pom.xml | 233 +++++++++++++++++++++++++++---------------------- 1 file changed, 127 insertions(+), 106 deletions(-) diff --git a/papart/pom.xml b/papart/pom.xml index 10567805..ad07b4aa 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -53,50 +53,112 @@ + + + org.reflections + reflections + 0.9.9 + + - tech.lity.rea - SVGExtended - 3.2.1 + org.processing + core + 3.2.3 + - org.bytedeco - javacpp - 1.2 + org.jogamp.jogl + jogl + 2.3.2 + + + + org.jogamp.jogl + jogl-all + 2.3.2 + + + + org.jogamp.gluegen + gluegen-rt-main + 2.3.2 + + + + org.jogamp.jogl + newt-main + 2.3.2 - org.bytedeco.javacpp-presets - opencv - 3.1.0-1.2 - compile + org.jogamp.jogl + nativewindow-main + 2.3.2 - + - org.bytedeco.javacpp-presets - ffmpeg - 3.1.2-1.2 + org.processing + video + 3.2.3 + + - org.bytedeco.javacpp-presets - flycapture - 2.9.3.43-1.2 + com.googlecode.gstreamer-java + gstreamer-java + 1.5 + + + + - org.bytedeco.javacpp-presets - libdc1394 - 2.2.4-1.2 + tech.lity.rea + SVGExtended + 3.2.1 + + - org.bytedeco.javacpp-presets - videoinput - 0.200-1.2 + fr.inria.potioc + ProcessingTUIO + 1.1.0 - + + + + org.clojars.frederikdb + oscp5 + 0.9.8-SNAPSHOT + + + + + org.clojars.hozumi + toxiclibscore + 0022 + + + + + fr.inria.potioc + skatolo + 1.0 + + + + + org.bytedeco + javacpp + 1.2 + + + org.bytedeco javacv 1.2 @@ -110,6 +172,13 @@ runtime + + org.bytedeco.javacpp-presets + opencv + 3.1.0-1.2 + compile + + org.bytedeco.javacpp-presets artoolkitplus @@ -124,6 +193,35 @@ runtime + + org.bytedeco.javacpp-presets + ffmpeg + 3.1.2-1.2 + + + + org.bytedeco.javacpp-presets + ffmpeg + 3.1.2-1.2 + ${platform} + + + + org.bytedeco.javacpp-presets + flycapture + 2.9.3.43-1.2 + + + + org.bytedeco.javacpp-presets libfreenect @@ -136,14 +234,14 @@ 0.5.3-1.2 ${platform} runtime - - + + + junit junit @@ -198,62 +274,7 @@ test - - org.jogamp.jogl - jogl - 2.3.2 - - - - org.jogamp.jogl - jogl-all - 2.3.2 - - - - org.jogamp.gluegen - gluegen-rt-main - 2.3.2 - - - - org.jogamp.jogl - newt-main - 2.3.2 - - - - org.jogamp.jogl - nativewindow-main - 2.3.2 - - - - fr.inria.potioc - ProcessingTUIO - 1.1.0 - - - com.googlecode.gstreamer-java - gstreamer-java - 1.5 - - - org.clojars.frederikdb - oscp5 - 0.9.8-SNAPSHOT - - - org.clojars.hozumi - toxiclibscore - 0022 - - - - fr.inria.potioc - skatolo - 1.0 - + From ce44725334caba3e9d5bc6ee4ab17e8ff3d2c762 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:39:35 +0100 Subject: [PATCH 83/99] renamed folder, update to papart 1.0 (JavaCV 1.3). --- .../createLibs.rb | 2 +- .../pom-linux.xml | 135 ++--------------- .../pom-windows.xml | 136 ++---------------- 3 files changed, 31 insertions(+), 242 deletions(-) rename deps/{javacv-buid => javacv-build}/createLibs.rb (91%) rename deps/{javacv-buid => javacv-build}/pom-linux.xml (68%) rename deps/{javacv-buid => javacv-build}/pom-windows.xml (68%) diff --git a/deps/javacv-buid/createLibs.rb b/deps/javacv-build/createLibs.rb similarity index 91% rename from deps/javacv-buid/createLibs.rb rename to deps/javacv-build/createLibs.rb index bd827ea7..fb7ddd17 100644 --- a/deps/javacv-buid/createLibs.rb +++ b/deps/javacv-build/createLibs.rb @@ -18,7 +18,7 @@ def build(platform, arch) `mv target/dependency target/library` `mv target javacv` - `mv javacv/library/javacv-1.2.jar javacv/library/javacv.jar` + `mv javacv/library/javacv-1.3.jar javacv/library/javacv.jar` puts "compress library" `tar -zcf javacv-#{platform}-#{arch}.tgz javacv` diff --git a/deps/javacv-buid/pom-linux.xml b/deps/javacv-build/pom-linux.xml similarity index 68% rename from deps/javacv-buid/pom-linux.xml rename to deps/javacv-build/pom-linux.xml index b44d6722..a183998b 100644 --- a/deps/javacv-buid/pom-linux.xml +++ b/deps/javacv-build/pom-linux.xml @@ -53,121 +53,25 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + org.bytedeco javacpp - 1.2 + 1.3 org.bytedeco javacv - 1.2 + 1.3 org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 ${platform} runtime @@ -175,42 +79,41 @@ org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 compile org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 ${platform} runtime - org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 ${platform} org.bytedeco.javacpp-presets flycapture - 2.9.3.43-1.2 + 2.9.3.43-1.3 - - - - - - - + diff --git a/deps/javacv-buid/pom-windows.xml b/deps/javacv-build/pom-windows.xml similarity index 68% rename from deps/javacv-buid/pom-windows.xml rename to deps/javacv-build/pom-windows.xml index 59378162..675be854 100644 --- a/deps/javacv-buid/pom-windows.xml +++ b/deps/javacv-build/pom-windows.xml @@ -53,121 +53,24 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + org.bytedeco javacpp - 1.2 + 1.3 org.bytedeco javacv - 1.2 + 1.3 org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 ${platform} runtime @@ -175,20 +78,20 @@ org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 compile org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 ${platform} runtime @@ -196,20 +99,20 @@ org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 ${platform} org.bytedeco.javacpp-presets flycapture - 2.9.3.43-1.2 + 2.9.3.43-1.3 - + - + - - - - - - - - - - + From 1ac6bd262dce3bb999aa1c1b8859e4f40c04b735 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:46:46 +0100 Subject: [PATCH 84/99] added gitignore to ignore build in deps. --- deps/.gitignore | 2 ++ deps/javacv-build/.gitignore | 1 + deps/reflections-build/.gitignore | 1 + 3 files changed, 4 insertions(+) create mode 100644 deps/.gitignore create mode 100644 deps/javacv-build/.gitignore create mode 100644 deps/reflections-build/.gitignore diff --git a/deps/.gitignore b/deps/.gitignore new file mode 100644 index 00000000..20811576 --- /dev/null +++ b/deps/.gitignore @@ -0,0 +1,2 @@ +/libraries/ +*.tgz diff --git a/deps/javacv-build/.gitignore b/deps/javacv-build/.gitignore new file mode 100644 index 00000000..aa1ec1ea --- /dev/null +++ b/deps/javacv-build/.gitignore @@ -0,0 +1 @@ +*.tgz diff --git a/deps/reflections-build/.gitignore b/deps/reflections-build/.gitignore new file mode 100644 index 00000000..aa1ec1ea --- /dev/null +++ b/deps/reflections-build/.gitignore @@ -0,0 +1 @@ +*.tgz From b4507712b2ad17dbf870cfdac43852d518920b75 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:47:00 +0100 Subject: [PATCH 85/99] cleaning old scripts. --- createAll.sh | 7 ----- createRedist-public.sh | 70 ------------------------------------------ 2 files changed, 77 deletions(-) delete mode 100644 createAll.sh delete mode 100755 createRedist-public.sh diff --git a/createAll.sh b/createAll.sh deleted file mode 100644 index 7e3d488b..00000000 --- a/createAll.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/ruby - -NAMES=realsense kinect hardware2 hardware3 - - - -git checkout diff --git a/createRedist-public.sh b/createRedist-public.sh deleted file mode 100755 index 8ce3b392..00000000 --- a/createRedist-public.sh +++ /dev/null @@ -1,70 +0,0 @@ -#!/bin/bash - -SKETCHBOOK=sketches -TMP=tmp -NAME=PapARt -OUTPUT_NAME=PapARt-public - -## NAME must match -## fr.inria.papart.procam.Utils.LibraryName = "ProCam"; - - -mkdir $TMP -mkdir $TMP/$NAME -mkdir $TMP/$NAME/library -mkdir $TMP/$NAME/examples - - -echo "Cleaning previous versions" -rm -rf libraries/$NAME -echo "Create archive of depedencies" -tar -zcf libs.tgz libraries - - -echo "Cleaning sketches" -sh $SKETCHBOOK/clean.sh - -echo "Copy Library" -# Library -cp papart/target/$NAME.jar $TMP/$NAME/library/$NAME.jar - - -# echo "Copy JavaCV, OpenCV and friends" -# libs are javaCV and javaCV cppjars -# cp libs/* $NAME/library/ - -echo "Copy the deps & tests" -cp -R papart/deps $TMP/$NAME/ -cp -R papart/test $TMP/$NAME/ - -echo "Copy the JavaDoc" -cp -R papart/target/site/apidocs $TMP/$NAME/ - -echo "Copy the Data" -cp -R papart/data $TMP/$NAME/ - - -echo "Copy Examples, Calibration & Apps" -# Examples -cp -R sketches/examples $TMP/$NAME/examples/examples - -# Calibration stuff -cp -R sketches/calibration $TMP/$NAME/examples/calib - -# Apps -cp -R sketches/apps $TMP/$NAME/examples/apps - - -echo "Create the archive..." -cd $TMP - -tar -zcf $OUTPUT_NAME.tgz $NAME - -mv $OUTPUT_NAME.tgz .. -cd .. - -echo "Clean " -rm -rf $TMP - - -echo "Creation OK" From 0f6b1023f886deae9fbae35ee3bf97dda425dd6d Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:47:10 +0100 Subject: [PATCH 86/99] update in scrpits. --- createRedist.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/createRedist.sh b/createRedist.sh index cf20fbc9..8d3fe383 100755 --- a/createRedist.sh +++ b/createRedist.sh @@ -15,6 +15,8 @@ mkdir $TMP/$NAME/examples echo "Copy Library" # Library cp papart/target/$NAME.jar $TMP/$NAME/library/$NAME.jar +echo "Copy the dependencies" +cp papart/target/reflections.jar $TMP/$NAME/library/ echo "Copy the sources" # copy the source also From 4b9ed150afc821479769ef31f0f5108e0c28c162 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:48:47 +0100 Subject: [PATCH 87/99] libs handled in the deps folder. --- createAll.rb | 1 - createLibs.sh | 4 ---- 2 files changed, 5 deletions(-) delete mode 100644 createLibs.sh diff --git a/createAll.rb b/createAll.rb index f8fb4d9f..28033fd3 100644 --- a/createAll.rb +++ b/createAll.rb @@ -3,7 +3,6 @@ # %x(sh downloadExamples.sh) -# %x(sh createLibs.sh) current_branch = %x(git rev-parse --abbrev-ref HEAD).chomp diff --git a/createLibs.sh b/createLibs.sh deleted file mode 100644 index 057f7bc6..00000000 --- a/createLibs.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash - -echo "Create libraries" -tar -zcf libs.tgz libraries From 8bb3311f3a6e07eb0b9c6e6ef3b34588c705798d Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Wed, 21 Dec 2016 18:51:59 +0100 Subject: [PATCH 88/99] update to JavacPP 1.3 --- papart/pom.xml | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/papart/pom.xml b/papart/pom.xml index ad07b4aa..c88a3fd5 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -155,19 +155,19 @@ org.bytedeco javacpp - 1.2 + 1.3 org.bytedeco javacv - 1.2 + 1.3 org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 ${platform} runtime @@ -175,20 +175,20 @@ org.bytedeco.javacpp-presets opencv - 3.1.0-1.2 + 3.1.0-1.3 compile org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 org.bytedeco.javacpp-presets artoolkitplus - 2.3.1-1.2 + 2.3.1-1.3 ${platform} runtime @@ -196,20 +196,20 @@ org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 org.bytedeco.javacpp-presets ffmpeg - 3.1.2-1.2 + 3.2.1-1.3 ${platform} org.bytedeco.javacpp-presets flycapture - 2.9.3.43-1.2 + 2.9.3.43-1.3 - + org.bytedeco.javacpp-presets diff --git a/papart/pom.xml b/papart/pom.xml index c88a3fd5..bd43caff 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -237,18 +237,18 @@ - + org.bytedeco.javacpp-presets From 4bca5abb5428fbad3f55b3334cbaaf548f50a410 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 15:42:46 +0100 Subject: [PATCH 91/99] new utility to create redistribuable. --- .gitignore | 2 ++ createRedist.sh | 4 ++-- downloadExamples.sh | 10 +++++++--- mergeCurrentToRedist.rb | 20 ++++++++++++++++++++ 4 files changed, 31 insertions(+), 5 deletions(-) create mode 100644 mergeCurrentToRedist.rb diff --git a/.gitignore b/.gitignore index b15fc544..88fd6a67 100644 --- a/.gitignore +++ b/.gitignore @@ -12,3 +12,5 @@ build /PapARt.tgz /big-files/ /Papart-examples-master/ +/Papart-examples/ +*.tgz diff --git a/createRedist.sh b/createRedist.sh index cf20fbc9..21f8170a 100755 --- a/createRedist.sh +++ b/createRedist.sh @@ -29,8 +29,8 @@ echo "Copy the Data" cp -R papart/data $TMP/$NAME/ echo "Copy the examples" -cp -R Papart-examples-master/apps $TMP/$NAME/examples/ -cp -R Papart-examples-master/papart-examples $TMP/$NAME/examples/ +cp -R Papart-examples/apps $TMP/$NAME/examples/ +cp -R Papart-examples/papart-examples $TMP/$NAME/examples/ echo "Create the archive..." cd $TMP diff --git a/downloadExamples.sh b/downloadExamples.sh index a36ac2be..cbac6c8b 100644 --- a/downloadExamples.sh +++ b/downloadExamples.sh @@ -1,8 +1,12 @@ #!/bin/bash +BRANCH=realsense + echo "Download the examples" -wget https://github.com/potioc/Papart-examples/archive/master.zip -unzip master.zip +wget https://github.com/potioc/Papart-examples/archive/$BRANCH.zip +unzip $BRANCH.zip + +mv Papart-examples-$BRANCH Papart-examples echo "cleaning the examples" -rm master.zip +rm $BRANCH.zip diff --git a/mergeCurrentToRedist.rb b/mergeCurrentToRedist.rb new file mode 100644 index 00000000..e36f8470 --- /dev/null +++ b/mergeCurrentToRedist.rb @@ -0,0 +1,20 @@ +#!/bin/ruby + + + + +current_branch = %x(git rev-parse --abbrev-ref HEAD).chomp + +output_names=["realsense", + "kinect", + "hardware2", + "hardware3"] + +output_names.each do |release_name| + puts %x(git checkout release-#{release_name}) + puts %x(git merge --commit -m "automatic merge for deployment" #{current_branch}) + + puts %x(git push github release-#{release_name}) +end + +puts %x(git checkout #{current_branch}) From a21c2be35f7105b8a543a5ec7508ecd52b9352ad Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 16:14:50 +0100 Subject: [PATCH 92/99] fixed bugs for papart HW2 . --- .../fr/inria/papart/calibration/CalibrationExtrinsic.java | 2 +- .../src/fr/inria/papart/calibration/CalibrationPopup.java | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java index 7f2de537..ea4cfe10 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationExtrinsic.java @@ -39,7 +39,7 @@ public class CalibrationExtrinsic { private final PApplet parent; - private static final float OPEN_KINECT_Z_OFFSET = -15f; + private static final float OPEN_KINECT_Z_OFFSET = -25f; private static final float REALSENSE_Z_OFFSET = -52f; // Cameras private ProjectorDisplay projector; diff --git a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java index 0c0ad567..d13a5f76 100644 --- a/papart/src/fr/inria/papart/calibration/CalibrationPopup.java +++ b/papart/src/fr/inria/papart/calibration/CalibrationPopup.java @@ -132,7 +132,7 @@ public void setup() { calibrationApp = new CalibrationApp(); calibrationApp.pre(); } - + board = calibrationApp.getBoard(); cameraTracking = Papart.getPapart().getPublicCameraTracking(); @@ -162,7 +162,8 @@ public void setup() { } // 2. Tracking camera is another camera. - if (!(cameraTracking instanceof SubCamera)) { + if (cameraTracking != depthCameraDevice.getColorCamera() + && cameraTracking != depthCameraDevice.getIRCamera()) { // the depth camera initTrackingOn(papart.getDepthCameraDevice()); System.out.println("Calibration with a Depth and color camera in DIFFERENT devices."); @@ -344,7 +345,7 @@ void initMatrixGui() { .setLineHeight(14); if (useExternalColorCamera) { - System.out.println("Kinect 360 OK..."); + System.out.println("Depth camera OK..."); kinectMatrixText = skatolo.addTextarea("Kinect") .setPosition(600, MATRICES_HEIGHT) .setSize(330, 100) From 5341cc6ed8e2fc12bc480b80810bee6a237c750d Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 16:51:42 +0100 Subject: [PATCH 93/99] Refactor, utils moved one package level lower. --- .../papart/depthcam/analysis/KinectDepthAnalysis.java | 4 ++-- .../inria/papart/depthcam/devices/DepthCameraDevice.java | 2 +- papart/src/fr/inria/papart/procam/ColorDetection.java | 4 ++-- papart/src/fr/inria/papart/procam/Papart.java | 4 ++-- papart/src/fr/inria/papart/procam/PaperTouchScreen.java | 4 ++-- papart/src/fr/inria/papart/procam/Screen.java | 4 ++-- .../src/fr/inria/papart/procam/camera/CamImageColor.java | 4 ++-- .../src/fr/inria/papart/procam/camera/CamImageGray.java | 4 ++-- papart/src/fr/inria/papart/procam/camera/Camera.java | 8 ++++---- .../fr/inria/papart/procam/camera/ProjectorAsCamera.java | 2 +- papart/src/fr/inria/papart/procam/camera/TrackedView.java | 4 ++-- papart/src/fr/inria/papart/procam/display/ARDisplay.java | 2 +- .../fr/inria/papart/procam/display/ProjectorDisplay.java | 2 +- .../papart/{procam => }/utils/ARToolkitPlusUtils.java | 2 +- .../src/fr/inria/papart/{procam => }/utils/DrawUtils.java | 2 +- .../fr/inria/papart/{procam => }/utils/ImageUtils.java | 2 +- .../fr/inria/papart/{procam => }/utils/LibraryUtils.java | 2 +- .../src/fr/inria/papart/{procam => }/utils/MathUtils.java | 2 +- 18 files changed, 29 insertions(+), 29 deletions(-) rename papart/src/fr/inria/papart/{procam => }/utils/ARToolkitPlusUtils.java (99%) rename papart/src/fr/inria/papart/{procam => }/utils/DrawUtils.java (99%) rename papart/src/fr/inria/papart/{procam => }/utils/ImageUtils.java (99%) rename papart/src/fr/inria/papart/{procam => }/utils/LibraryUtils.java (99%) rename papart/src/fr/inria/papart/{procam => }/utils/MathUtils.java (99%) diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 0a6815c1..4595f354 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -31,8 +31,8 @@ import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; import fr.inria.papart.depthcam.devices.RealSense; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.utils.MathUtils; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.MathUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraRealSense; import java.nio.ByteBuffer; diff --git a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java index 3888a52e..9a7ee106 100644 --- a/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java +++ b/papart/src/fr/inria/papart/depthcam/devices/DepthCameraDevice.java @@ -22,7 +22,7 @@ import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.multitouch.KinectTouchInput; import fr.inria.papart.procam.Papart; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraRGBIRDepth; diff --git a/papart/src/fr/inria/papart/procam/ColorDetection.java b/papart/src/fr/inria/papart/procam/ColorDetection.java index 7192fe48..f1c5c6ce 100755 --- a/papart/src/fr/inria/papart/procam/ColorDetection.java +++ b/papart/src/fr/inria/papart/procam/ColorDetection.java @@ -19,8 +19,8 @@ */ package fr.inria.papart.procam; -import fr.inria.papart.procam.utils.MathUtils; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.MathUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.camera.TrackedView; import processing.core.PApplet; diff --git a/papart/src/fr/inria/papart/procam/Papart.java b/papart/src/fr/inria/papart/procam/Papart.java index cbfecb88..587a6da8 100755 --- a/papart/src/fr/inria/papart/procam/Papart.java +++ b/papart/src/fr/inria/papart/procam/Papart.java @@ -40,7 +40,7 @@ import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.KinectTouchInput; -import fr.inria.papart.procam.utils.LibraryUtils; +import fr.inria.papart.utils.LibraryUtils; import fr.inria.papart.procam.camera.CameraFactory; import fr.inria.papart.procam.camera.CameraOpenKinect; import fr.inria.papart.procam.camera.CameraRGBIRDepth; @@ -141,7 +141,7 @@ public Papart(Object applet) { // TODO: singleton -> Better implementation. if (Papart.singleton == null) { Papart.singleton = this; - fr.inria.papart.procam.utils.DrawUtils.applet = (PApplet) applet; + fr.inria.papart.utils.DrawUtils.applet = (PApplet) applet; } } diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index 468bd352..063bb6f5 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -19,7 +19,7 @@ */ package fr.inria.papart.procam; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.BaseDisplay; import fr.inria.papart.multitouch.TouchInput; @@ -28,7 +28,7 @@ import fr.inria.papart.multitouch.TUIOTouchInput; import fr.inria.papart.multitouch.TouchList; import fr.inria.papart.multitouch.TouchPoint; -import fr.inria.papart.procam.utils.MathUtils; +import fr.inria.papart.utils.MathUtils; import fr.inria.papart.procam.display.ProjectorDisplay; import java.nio.ByteBuffer; import java.util.ArrayList; diff --git a/papart/src/fr/inria/papart/procam/Screen.java b/papart/src/fr/inria/papart/procam/Screen.java index 7cf63a1c..bdf6ad70 100755 --- a/papart/src/fr/inria/papart/procam/Screen.java +++ b/papart/src/fr/inria/papart/procam/Screen.java @@ -23,10 +23,10 @@ import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.calibration.HomographyCalibration; import fr.inria.papart.calibration.HomographyCreator; -import fr.inria.papart.procam.utils.MathUtils; +import fr.inria.papart.utils.MathUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.ProjectorDisplay; -import static fr.inria.papart.procam.utils.MathUtils.toVec; +import static fr.inria.papart.utils.MathUtils.toVec; import processing.core.PApplet; import processing.core.PMatrix3D; import processing.core.PVector; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java index 4892d68e..a4ad3204 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageColor.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageColor.java @@ -19,8 +19,8 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.utils.ImageUtils; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ImageUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import java.awt.Image; import java.nio.ByteBuffer; import org.bytedeco.javacpp.opencv_core.IplImage; diff --git a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java index aac3a579..3afaf465 100755 --- a/papart/src/fr/inria/papart/procam/camera/CamImageGray.java +++ b/papart/src/fr/inria/papart/procam/camera/CamImageGray.java @@ -20,8 +20,8 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.utils.ImageUtils; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ImageUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera.PixelFormat; import java.awt.Image; import java.nio.ByteBuffer; diff --git a/papart/src/fr/inria/papart/procam/camera/Camera.java b/papart/src/fr/inria/papart/procam/camera/Camera.java index 2ba9ad71..e498da20 100755 --- a/papart/src/fr/inria/papart/procam/camera/Camera.java +++ b/papart/src/fr/inria/papart/procam/camera/Camera.java @@ -24,10 +24,10 @@ * @author jeremylaviole */ import fr.inria.papart.procam.HasExtrinsics; -import fr.inria.papart.procam.utils.ImageUtils; +import fr.inria.papart.utils.ImageUtils; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.tracking.DetectedMarker; import fr.inria.papart.tracking.MarkerList; import org.bytedeco.javacpp.opencv_core.CvMat; @@ -505,7 +505,7 @@ static public void convertARParams(PApplet parent, String calibrationFile, // ARToolkit Plus 2.1.1 // fr.inria.papart.procam.Utils.convertARParam(parent, calibrationYAML, calibrationData, width, height); // ARToolkit Plus 2.3.0 - fr.inria.papart.procam.utils.ARToolkitPlusUtils.convertARParam2(parent, calibrationFile, calibrationARtoolkit); + fr.inria.papart.utils.ARToolkitPlusUtils.convertARParam2(parent, calibrationFile, calibrationARtoolkit); } catch (Exception e) { PApplet.println("Conversion error. " + e); } @@ -514,7 +514,7 @@ static public void convertARParams(PApplet parent, String calibrationFile, static public void convertARParams(PApplet parent, ProjectiveDeviceP projectiveDevice, String calibrationARtoolkit) { try { - fr.inria.papart.procam.utils.ARToolkitPlusUtils.convertARParamFromDevice(parent, projectiveDevice, calibrationARtoolkit); + fr.inria.papart.utils.ARToolkitPlusUtils.convertARParamFromDevice(parent, projectiveDevice, calibrationARtoolkit); } catch (Exception e) { PApplet.println("Conversion error. " + e); } diff --git a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java index f6dbc063..3f164ab3 100644 --- a/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java +++ b/papart/src/fr/inria/papart/procam/camera/ProjectorAsCamera.java @@ -20,7 +20,7 @@ package fr.inria.papart.procam.camera; import fr.inria.papart.procam.ProjectiveDeviceP; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.display.ProjectorDisplay; import java.util.logging.Level; import java.util.logging.Logger; diff --git a/papart/src/fr/inria/papart/procam/camera/TrackedView.java b/papart/src/fr/inria/papart/procam/camera/TrackedView.java index bb44d268..c3ec998d 100755 --- a/papart/src/fr/inria/papart/procam/camera/TrackedView.java +++ b/papart/src/fr/inria/papart/procam/camera/TrackedView.java @@ -19,11 +19,11 @@ */ package fr.inria.papart.procam.camera; -import fr.inria.papart.procam.utils.ImageUtils; +import fr.inria.papart.utils.ImageUtils; import fr.inria.papart.tracking.MarkerBoard; import fr.inria.papart.tracking.MarkerBoardInvalid; import fr.inria.papart.procam.PaperScreen; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import fr.inria.papart.procam.camera.Camera; import org.bytedeco.javacpp.opencv_core.CvMat; import org.bytedeco.javacpp.opencv_core.IplImage; diff --git a/papart/src/fr/inria/papart/procam/display/ARDisplay.java b/papart/src/fr/inria/papart/procam/display/ARDisplay.java index 1e560f36..b6c97def 100755 --- a/papart/src/fr/inria/papart/procam/display/ARDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ARDisplay.java @@ -22,7 +22,7 @@ import fr.inria.papart.calibration.PlaneCalibration; import processing.opengl.PGraphicsOpenGL; import org.bytedeco.javacv.ProjectiveDevice; -import fr.inria.papart.procam.utils.DrawUtils; +import fr.inria.papart.utils.DrawUtils; import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.HasExtrinsics; diff --git a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java index d74b7415..f11dced7 100755 --- a/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java +++ b/papart/src/fr/inria/papart/procam/display/ProjectorDisplay.java @@ -20,7 +20,7 @@ package fr.inria.papart.procam.display; import fr.inria.papart.calibration.PlaneCalibration; -import fr.inria.papart.procam.utils.DrawUtils; +import fr.inria.papart.utils.DrawUtils; import fr.inria.papart.multitouch.TouchInput; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.tracking.MarkerBoard; diff --git a/papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java b/papart/src/fr/inria/papart/utils/ARToolkitPlusUtils.java similarity index 99% rename from papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java rename to papart/src/fr/inria/papart/utils/ARToolkitPlusUtils.java index c40cff62..258004e8 100755 --- a/papart/src/fr/inria/papart/procam/utils/ARToolkitPlusUtils.java +++ b/papart/src/fr/inria/papart/utils/ARToolkitPlusUtils.java @@ -17,7 +17,7 @@ * Public License along with this library; If not, see * . */ -package fr.inria.papart.procam.utils; +package fr.inria.papart.utils; import fr.inria.papart.procam.Papart; import fr.inria.papart.procam.ProjectiveDeviceP; diff --git a/papart/src/fr/inria/papart/procam/utils/DrawUtils.java b/papart/src/fr/inria/papart/utils/DrawUtils.java similarity index 99% rename from papart/src/fr/inria/papart/procam/utils/DrawUtils.java rename to papart/src/fr/inria/papart/utils/DrawUtils.java index c62af84f..c9a0a0e3 100755 --- a/papart/src/fr/inria/papart/procam/utils/DrawUtils.java +++ b/papart/src/fr/inria/papart/utils/DrawUtils.java @@ -17,7 +17,7 @@ * Public License along with this library; If not, see * . */ -package fr.inria.papart.procam.utils; +package fr.inria.papart.utils; import processing.core.PApplet; import processing.core.PFont; diff --git a/papart/src/fr/inria/papart/procam/utils/ImageUtils.java b/papart/src/fr/inria/papart/utils/ImageUtils.java similarity index 99% rename from papart/src/fr/inria/papart/procam/utils/ImageUtils.java rename to papart/src/fr/inria/papart/utils/ImageUtils.java index 7e7dea83..16d36a42 100644 --- a/papart/src/fr/inria/papart/procam/utils/ImageUtils.java +++ b/papart/src/fr/inria/papart/utils/ImageUtils.java @@ -3,7 +3,7 @@ * To change this template file, choose Tools | Templates * and open the template in the editor. */ -package fr.inria.papart.procam.utils; +package fr.inria.papart.utils; import fr.inria.papart.procam.camera.Camera; import java.nio.ByteBuffer; diff --git a/papart/src/fr/inria/papart/procam/utils/LibraryUtils.java b/papart/src/fr/inria/papart/utils/LibraryUtils.java similarity index 99% rename from papart/src/fr/inria/papart/procam/utils/LibraryUtils.java rename to papart/src/fr/inria/papart/utils/LibraryUtils.java index a75168c6..dc479942 100644 --- a/papart/src/fr/inria/papart/procam/utils/LibraryUtils.java +++ b/papart/src/fr/inria/papart/utils/LibraryUtils.java @@ -3,7 +3,7 @@ * To change this template file, choose Tools | Templates * and open the template in the editor. */ -package fr.inria.papart.procam.utils; +package fr.inria.papart.utils; import fr.inria.papart.procam.Papart; import java.io.BufferedReader; diff --git a/papart/src/fr/inria/papart/procam/utils/MathUtils.java b/papart/src/fr/inria/papart/utils/MathUtils.java similarity index 99% rename from papart/src/fr/inria/papart/procam/utils/MathUtils.java rename to papart/src/fr/inria/papart/utils/MathUtils.java index 1a9973ae..704bc1a2 100644 --- a/papart/src/fr/inria/papart/procam/utils/MathUtils.java +++ b/papart/src/fr/inria/papart/utils/MathUtils.java @@ -3,7 +3,7 @@ * To change this template file, choose Tools | Templates * and open the template in the editor. */ -package fr.inria.papart.procam.utils; +package fr.inria.papart.utils; import java.io.FileNotFoundException; import java.nio.ByteBuffer; From a4c4dff424efc17f32f9c717b6a00c903d9a6161 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 18:54:34 +0100 Subject: [PATCH 94/99] Screen location update moved to pre(). --- papart/src/fr/inria/papart/multitouch/SkatoloLink.java | 6 ++++-- papart/src/fr/inria/papart/procam/PaperScreen.java | 4 ++++ papart/src/fr/inria/papart/procam/PaperTouchScreen.java | 5 ++--- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/papart/src/fr/inria/papart/multitouch/SkatoloLink.java b/papart/src/fr/inria/papart/multitouch/SkatoloLink.java index eb40256e..8a21f52b 100644 --- a/papart/src/fr/inria/papart/multitouch/SkatoloLink.java +++ b/papart/src/fr/inria/papart/multitouch/SkatoloLink.java @@ -1,6 +1,7 @@ /* * Part of the PapARt project - https://project.inria.fr/papart/ * + * Copyright (C) 2016 RealityTech * Copyright (C) 2014-2016 Inria * Copyright (C) 2011-2013 Bordeaux University * @@ -20,6 +21,7 @@ package fr.inria.papart.multitouch; import fr.inria.papart.procam.Papart; +import fr.inria.papart.procam.PaperScreen; import fr.inria.papart.procam.PaperTouchScreen; import fr.inria.skatolo.Skatolo; import fr.inria.skatolo.gui.Pointer; @@ -30,7 +32,7 @@ /** * - * @author Jérémy Laviole - jeremy.laviole@inria.fr + * @author Jérémy Laviole */ public class SkatoloLink { @@ -41,7 +43,7 @@ public class SkatoloLink { public static Touch mouseTouch = new Touch(); - public static void addMouseTo(TouchList touchList, Skatolo skatolo, PaperTouchScreen paperScreen) { + public static void addMouseTo(TouchList touchList, Skatolo skatolo, PaperScreen paperScreen) { PApplet applet = Papart.getPapart().getApplet(); float normX = (float) applet.mouseX / (float) applet.width; diff --git a/papart/src/fr/inria/papart/procam/PaperScreen.java b/papart/src/fr/inria/papart/procam/PaperScreen.java index 330ab538..b622e34a 100755 --- a/papart/src/fr/inria/papart/procam/PaperScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperScreen.java @@ -196,6 +196,10 @@ public void pre() { isInitialized = true; } + + // Needed for touch and projection operations + screen.computeScreenPosTransform(cameraTracking); + // assert (isInitialized); // if (this.isWithoutCamera || useManualLocation) { // return; diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index 063bb6f5..2d744c84 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -84,6 +84,7 @@ public void setLocation(PVector v) { @Override public void setLocation(float x, float y, float z) { super.setLocation(x, y, z); + screen.computeScreenPosTransform(cameraTracking); updateTouch(); } @@ -93,8 +94,6 @@ public void updateTouch() { return; } } - screen.computeScreenPosTransform(cameraTracking); - // Warning TODO: Hack.. V_V // Touch in 2D  mode has boundaries. // Touch in 3D mode has no boundaries. @@ -130,7 +129,7 @@ protected void drawTouch(int ellipseSize) { // fill(185, 142, 62); } else { fill(58, 71, 198); - ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); + ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); } // ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); From a1dc7b86a24cf7c4e95a658f6a9f12dc74b5cf94 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 19:13:01 +0100 Subject: [PATCH 95/99] cleaning. --- .../inria/papart/procam/PaperTouchScreen.java | 92 ++----------------- papart/src/fr/inria/papart/procam/Screen.java | 36 -------- .../src/fr/inria/papart/utils/ImageUtils.java | 3 +- .../src/fr/inria/papart/utils/MathUtils.java | 59 +++++++++++- 4 files changed, 68 insertions(+), 122 deletions(-) diff --git a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java index 2d744c84..0c70c8ff 100755 --- a/papart/src/fr/inria/papart/procam/PaperTouchScreen.java +++ b/papart/src/fr/inria/papart/procam/PaperTouchScreen.java @@ -131,14 +131,6 @@ protected void drawTouch(int ellipseSize) { fill(58, 71, 198); ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); } - // ellipse(t.position.x, t.position.y, ellipseSize, ellipseSize); - -// ellipse(t.pposition.x, t.pposition.y, ellipseSize /2 , ellipseSize /2); -// pushMatrix(); -// translate(t.position.x, t.position.y); -// ellipse(0, 0, ellipseSize, ellipseSize); -// line(0, 0, t.speed.x * 4, t.speed.y *4); -// popMatrix(); } } @@ -214,53 +206,19 @@ public PImage getImageFrom(PVector coord, PImage src, PImage dst, int radius) { return dst; } - /** - * Unsafe do not use unless you are sure. - */ - public int getColorOccurencesFrom(PVector coord, PImage cameraImage, int radius, int col, int threshold) { - int x = (int) coord.x; - int y = (int) coord.y; - int minX = PApplet.constrain(x - radius, 0, cameraTracking.width() - 1); - int maxX = PApplet.constrain(x + radius, 0, cameraTracking.width() - 1); - int minY = PApplet.constrain(y - radius, 0, cameraTracking.height() - 1); - int maxY = PApplet.constrain(y + radius, 0, cameraTracking.height() - 1); - int k = 0; - for (int j = minY; j <= maxY; j++) { - for (int i = minX; i <= maxX; i++) { - int offset = i + j * cameraTracking.width(); - int pxCol = cameraImage.pixels[offset]; - if (colorDist(col, pxCol) < threshold) { - k++; - } - } - } - return k; - } - - /** - * Unsafe do not use unless you are sure. - */ - public int getColorOccurencesFrom(PVector coord, int radius, int col, int threshold) { + public int getColorAt(PVector coord) { int x = (int) coord.x; int y = (int) coord.y; - int minX = PApplet.constrain(x - radius, 0, cameraTracking.width() - 1); - int maxX = PApplet.constrain(x + radius, 0, cameraTracking.width() - 1); - int minY = PApplet.constrain(y - radius, 0, cameraTracking.height() - 1); - int maxY = PApplet.constrain(y + radius, 0, cameraTracking.height() - 1); - ByteBuffer buff = cameraTracking.getIplImage().getByteBuffer(); + int offset = x + y * cameraTracking.width(); + return getColor(buff, offset); + } - int k = 0; - for (int j = minY; j <= maxY; j++) { - for (int i = minX; i <= maxX; i++) { - int offset = i + j * cameraTracking.width(); - int pxCol = getColor(buff, offset); - if (MathUtils.colorDistRGB(col, pxCol, threshold)) { - k++; - } - } - } - return k; + private int getColor(ByteBuffer buff, int offset) { + offset = offset * 3; + return (buff.get(offset + 2) & 0xFF) << 16 + | (buff.get(offset + 1) & 0xFF) << 8 + | (buff.get(offset) & 0xFF); } public int getColorFrom3D(PVector point) { @@ -276,38 +234,6 @@ public PVector getPxCoordinates(PVector cameraTracking3DCoord) { return coord; } - public int getColorAt(PVector coord) { - int x = (int) coord.x; - int y = (int) coord.y; - ByteBuffer buff = cameraTracking.getIplImage().getByteBuffer(); - int offset = x + y * cameraTracking.width(); - return getColor(buff, offset); - } - - private int getColor(ByteBuffer buff, int offset) { - offset = offset * 3; - return (buff.get(offset + 2) & 0xFF) << 16 - | (buff.get(offset + 1) & 0xFF) << 8 - | (buff.get(offset) & 0xFF); - } - - // TODO: move this to image analysis module - private int colorDist(int c1, int c2) { - int r1 = c1 >> 16 & 0xFF; - int g1 = c1 >> 8 & 0xFF; - int b1 = c1 >> 0 & 0xFF; - - int r2 = c2 >> 16 & 0xFF; - int g2 = c2 >> 8 & 0xFF; - int b2 = c2 >> 0 & 0xFF; - - int dr = PApplet.abs(r1 - r2); - int dg = PApplet.abs(g1 - g2); - int db = PApplet.abs(b1 - b2); - - return dr + dg + db; - } - /** * Unsafe do not use unless you are sure. */ diff --git a/papart/src/fr/inria/papart/procam/Screen.java b/papart/src/fr/inria/papart/procam/Screen.java index bdf6ad70..f05f1dfe 100755 --- a/papart/src/fr/inria/papart/procam/Screen.java +++ b/papart/src/fr/inria/papart/procam/Screen.java @@ -26,7 +26,6 @@ import fr.inria.papart.utils.MathUtils; import fr.inria.papart.procam.camera.Camera; import fr.inria.papart.procam.display.ProjectorDisplay; -import static fr.inria.papart.utils.MathUtils.toVec; import processing.core.PApplet; import processing.core.PMatrix3D; import processing.core.PVector; @@ -110,28 +109,6 @@ public PGraphicsOpenGL getGraphics() { return thisGraphics; } - // The board must be registered with the camera. - /** - * ** - * @deprecated - * - */ -// public void setAutoUpdatePos(Camera camera, MarkerBoard board) { -// if (!camera.tracks(board)) { -// camera.trackMarkerBoard(board); -// } -// -// isFloatArrayUpdating = board.useFloatArray(); -// if (this.isFloatArrayUpdating) { -// posFloat = board.getTransfo(camera); -// transformation = new PMatrix3D(); -// } else { -//// System.out.println("Getting the original transfo"); -// -// transformation = board.getTransfoMat(camera); -// posFloat = new float[12]; -// } -// } public boolean isOpenGL() { return isOpenGL; } @@ -230,19 +207,6 @@ public float getScale() { return this.scale; } - /** - * update the internals of the screen to match the tracking. - */ - @Deprecated - public void updatePos(Camera camera, MarkerBoard board) { - System.err.println("ERROR Depracted call updatePos. "); -// transformation.set(board.getTransfoMat(camera)); - } - - protected void updatePos() { - - } - public void computeScreenPosTransform(Camera camera) { ///////////////////// PLANE COMPUTATION ////////////////// diff --git a/papart/src/fr/inria/papart/utils/ImageUtils.java b/papart/src/fr/inria/papart/utils/ImageUtils.java index 16d36a42..dafda369 100644 --- a/papart/src/fr/inria/papart/utils/ImageUtils.java +++ b/papart/src/fr/inria/papart/utils/ImageUtils.java @@ -5,6 +5,7 @@ */ package fr.inria.papart.utils; +import fr.inria.papart.procam.PaperTouchScreen; import fr.inria.papart.procam.camera.Camera; import java.nio.ByteBuffer; import java.nio.FloatBuffer; @@ -421,5 +422,5 @@ public static void byteBufferGRAY32toARGB(ByteBuffer gray, ByteBuffer argb) { } argb.rewind(); } - + } diff --git a/papart/src/fr/inria/papart/utils/MathUtils.java b/papart/src/fr/inria/papart/utils/MathUtils.java index 704bc1a2..359d4ace 100644 --- a/papart/src/fr/inria/papart/utils/MathUtils.java +++ b/papart/src/fr/inria/papart/utils/MathUtils.java @@ -5,12 +5,15 @@ */ package fr.inria.papart.utils; +import fr.inria.papart.procam.PaperTouchScreen; +import fr.inria.papart.procam.camera.Camera; import java.io.FileNotFoundException; import java.nio.ByteBuffer; import org.bytedeco.javacpp.opencv_core; import processing.core.PApplet; import static processing.core.PApplet.abs; import processing.core.PGraphics; +import processing.core.PImage; import processing.core.PMatrix3D; import processing.core.PVector; import toxi.geom.Vec3D; @@ -229,8 +232,8 @@ public static boolean colorDistRGB(int c1, int c2, int threshold) { /** * Color distance on the HSB scale. The incomingPix is compared with the - * baseline. The method returns true if each channel validates the condition for - * the given threshold. + * baseline. The method returns true if each channel validates the condition + * for the given threshold. * * @param g * @param baseline @@ -276,4 +279,56 @@ public static boolean colorDistHSBAutoThresh(PGraphics g, int baseline, int inco return (d1 + d2 + d3) < (threshold * 3); } + /** + * Unsafe do not use unless you are sure. + */ + public static int getColorOccurencesFrom(Camera camera, PVector coord, int radius, int col, int threshold, PaperTouchScreen paperTouchScreen) { + int x = (int) coord.x; + int y = (int) coord.y; + int minX = PApplet.constrain(x - radius, 0, camera.width() - 1); + int maxX = PApplet.constrain(x + radius, 0, camera.width() - 1); + int minY = PApplet.constrain(y - radius, 0, camera.height() - 1); + int maxY = PApplet.constrain(y + radius, 0, camera.height() - 1); + ByteBuffer buff = camera.getIplImage().getByteBuffer(); + int k = 0; + for (int j = minY; j <= maxY; j++) { + for (int i = minX; i <= maxX; i++) { + int offset = i + j * camera.width(); + int pxCol = getColor(buff, offset); + if (MathUtils.colorDistRGB(col, pxCol, threshold)) { + k++; + } + } + } + return k; + } + + private static int getColor(ByteBuffer buff, int offset) { + offset = offset * 3; + return (buff.get(offset + 2) & 255) << 16 | (buff.get(offset + 1) & 255) << 8 | (buff.get(offset) & 255); + } + + /** + * Unsafe do not use unless you are sure. + */ + public int getColorOccurencesFrom(PVector coord, PImage cameraImage, int radius, int col, int threshold, PaperTouchScreen paperTouchScreen) { + int x = (int) coord.x; + int y = (int) coord.y; + int minX = PApplet.constrain(x - radius, 0, cameraImage.width - 1); + int maxX = PApplet.constrain(x + radius, 0, cameraImage.width - 1); + int minY = PApplet.constrain(y - radius, 0, cameraImage.height - 1); + int maxY = PApplet.constrain(y + radius, 0, cameraImage.height - 1); + int k = 0; + for (int j = minY; j <= maxY; j++) { + for (int i = minX; i <= maxX; i++) { + int offset = i + j * cameraImage.width; + int pxCol = cameraImage.pixels[offset]; + if (colorDistRGB(col, pxCol, threshold)) { + k++; + } + } + } + return k; + } + } From d75962deb24ddee98835f5f041b22ec88292a648 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 19:13:18 +0100 Subject: [PATCH 96/99] refactor missed. --- papart/test/fr/inria/papart/UtilsTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/papart/test/fr/inria/papart/UtilsTest.java b/papart/test/fr/inria/papart/UtilsTest.java index bca3c49f..056b59c3 100644 --- a/papart/test/fr/inria/papart/UtilsTest.java +++ b/papart/test/fr/inria/papart/UtilsTest.java @@ -19,7 +19,7 @@ */ package fr.inria.papart; -import fr.inria.papart.procam.utils.ARToolkitPlusUtils; +import fr.inria.papart.utils.ARToolkitPlusUtils; import org.bytedeco.javacpp.opencv_core.IplImage; import processing.core.PApplet; From f704e4ab07d1234f061e0fa0a32c3655661a87bc Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 19:33:51 +0100 Subject: [PATCH 97/99] Pointcloud visualization handles better RGB vs BGR. --- .../analysis/KinectDepthAnalysis.java | 2 +- .../depthcam/analysis/KinectProcessing.java | 30 ++++++++++++++++++- 2 files changed, 30 insertions(+), 2 deletions(-) diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java index 4595f354..128a2781 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectDepthAnalysis.java @@ -73,7 +73,7 @@ public class KinectDepthAnalysis extends DepthAnalysis { protected DepthCameraDevice depthCameraDevice; protected DepthComputation depthComputationMethod; - private Camera colorCamera; + protected Camera colorCamera; public DepthCameraDevice getDepthCameraDevice() { return this.depthCameraDevice; diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index 22ab0dfe..e7aa602a 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -25,6 +25,7 @@ import fr.inria.papart.depthcam.devices.DepthCameraDevice; import fr.inria.papart.depthcam.devices.KinectOne; import static fr.inria.papart.depthcam.analysis.DepthAnalysis.papplet; +import fr.inria.papart.procam.camera.Camera; import java.util.ArrayList; import java.util.Arrays; import org.bytedeco.javacpp.indexer.UByteIndexer; @@ -226,7 +227,14 @@ public PImage update(IplImage depth, IplImage color, int skip) { // computeDepthAndDo(skip, new DoNothing()); // TODO: get the color with Kinect2... - computeDepthAndDo(skip, new SetImageData()); + + System.out.println("PixelFormat " + colorCamera.getPixelFormat().name()); + if(this.colorCamera.getPixelFormat() == Camera.PixelFormat.RGB){ + computeDepthAndDo(skip, new SetImageDataRGB()); + } + if(this.colorCamera.getPixelFormat() == Camera.PixelFormat.BGR){ + computeDepthAndDo(skip, new SetImageData()); + } // computeDepthAndDo(skip, new Select2DPointOverPlane()); validPointsPImage.updatePixels(); @@ -255,6 +263,16 @@ public void execute(Vec3D p, PixelOffset px) { setPixelColor(px.offset); } } + class SetImageDataRGB implements DepthPointManiplation { + public SetImageDataRGB(){ + super(); + } + @Override + public void execute(Vec3D p, PixelOffset px) { + depthData.validPointsMask[px.offset] = true; + setPixelColorRGB(px.offset); + } + } private void setFakeColor(int offset, int r, int g, int b) { int c = (r & 0xFF) << 16 @@ -273,6 +291,16 @@ private void setPixelColor(int offset) { validPointsPImage.pixels[offset] = c; } + private void setPixelColorRGB(int offset) { + + // TODO: Get a cleaner way go obtain the color... + int colorOffset = depthCameraDevice.findColorOffset(depthData.depthPoints[offset]) * 3; + int c = (colorRaw[colorOffset + 0] & 0xFF) << 16 + | (colorRaw[colorOffset + 1] & 0xFF) << 8 + | (colorRaw[colorOffset + 2] & 0xFF); + + validPointsPImage.pixels[offset] = c; + } public PImage getColouredDepthImage() { return validPointsPImage; From 73c2efc49e8ca45336ad69815b001f68434b6e5c Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 19:34:35 +0100 Subject: [PATCH 98/99] note added. --- .../src/fr/inria/papart/depthcam/analysis/KinectProcessing.java | 1 + 1 file changed, 1 insertion(+) diff --git a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java index e7aa602a..59781818 100755 --- a/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java +++ b/papart/src/fr/inria/papart/depthcam/analysis/KinectProcessing.java @@ -281,6 +281,7 @@ private void setFakeColor(int offset, int r, int g, int b) { validPointsPImage.pixels[offset] = c; } + // TODO: Generalization here, same functions as those to convert the pixels for OpenGL. private void setPixelColor(int offset) { // TODO: Get a cleaner way go obtain the color... From 12e6b07867552f344d210d2ddc841e84543e1e77 Mon Sep 17 00:00:00 2001 From: Jeremy Laviole Date: Thu, 22 Dec 2016 19:37:28 +0100 Subject: [PATCH 99/99] version 1.0 --- papart/pom.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/papart/pom.xml b/papart/pom.xml index bd43caff..6530a48d 100755 --- a/papart/pom.xml +++ b/papart/pom.xml @@ -3,7 +3,7 @@ 4.0.0 fr.inria papart - 0.7-SNAPSHOT + 1.0 jar PapARt