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import org.openrndr.application
import org.openrndr.draw.ColorFormat
import org.openrndr.draw.colorBuffer
import org.openrndr.extra.fx.colormap.GrayscaleColormap
import org.openrndr.extra.fx.colormap.SpectralZucconiColormap
import org.openrndr.extra.fx.colormap.TurboColormap
import org.openrndr.extra.gui.GUI
import org.openrndr.extra.kinect.v1.Kinect1
import org.openrndr.extra.parameters.BooleanParameter
import org.openrndr.math.Vector2
/**
* Shows 4 different color representations of the depth map:
*
* * the original depth map stored as RED channel values
* * the same values expressed as gray tones
* * zucconi6 color map according to natural light dispersion as described
* by Alan Zucconi in
* [Improving the Rainbow](https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/)
* article
* * turbo color map according to
* [Turbo, An Improved Rainbow Colormap for Visualization](https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html)
* by Google.
*
* Note: the values are normalized in range 0-1, not in meters.
* @see GrayscaleColormap
* @see SpectralZucconiColormap
* @see TurboColormap
*/
fun main() = application {
val guiOffset = 200
configure {
width = 2 * 640 + guiOffset
height = 2 * 480
}
program {
val kinect = extend(Kinect1())
val device = kinect.openDevice()
val camera = device.depthCamera
fun outputBuffer() = colorBuffer(
camera.resolution.x,
camera.resolution.y,
format = ColorFormat.RGB
)
val grayscaleColormap = GrayscaleColormap()
val spectralZucconiColormap = SpectralZucconiColormap()
val turboColormap = TurboColormap()
val grayscaleBuffer = outputBuffer()
val zucconiBuffer = outputBuffer()
val turboBuffer = outputBuffer()
@Suppress("unused")
val settings = object {
@BooleanParameter(label = "enabled", order = 0)
var enabled: Boolean
get() = camera.enabled
set(value) { camera.enabled = value }
@BooleanParameter(label = "flipH", order = 1)
var flipH: Boolean
get() = camera.flipH
set(value) { camera.flipH = value }
@BooleanParameter(label = "flipV", order = 2)
var flipV: Boolean
get() = camera.flipV
set(value) { camera.flipV = value }
}
camera.onFrameReceived { frame ->
grayscaleColormap.apply(frame, grayscaleBuffer)
spectralZucconiColormap.apply(frame, zucconiBuffer)
turboColormap.apply(frame, turboBuffer)
}
camera.enabled = true
extend(GUI()) {
persistState = false
compartmentsCollapsedByDefault = false
add(settings, label = "depth camera")
add(grayscaleColormap)
add(spectralZucconiColormap)
add(turboColormap)
}
extend {
drawer.image(camera.currentFrame, guiOffset.toDouble(), 0.0)
drawer.image(grayscaleBuffer, guiOffset + camera.resolution.x.toDouble(), 0.0)
drawer.image(turboBuffer, guiOffset.toDouble(), camera.resolution.y.toDouble())
drawer.image(zucconiBuffer, Vector2(guiOffset.toDouble(), 0.0) + camera.resolution.vector2)
}
}
}
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