Real time Kinect recording

beginners
#1

Hi everyone,
I need a little guidance on a small project we’re doing at my University. What I’m trying to do, is recording and playing a point cloud created with Kinect. I’m using as a base the ofxKinect example, and I’ve created two functions saveKinectDepth() and playKinectDepth() which is almost a copy/paste of drawPointCloud(). The first function generates for each frame a .dat file that contains the Z measurements, while the latter just reads the files and generates the mesh.

At the moment this solution works but I have few problems:

  • the play function it’s not fast, it plays at 10fps (even with an SSD)
  • the image played back is scaled down and it shouldn’t be a problem with the easy cam

Here are the two functions, you know for sure a better way to do it, thanks.

  
void testApp::saveKinectDepth() {  
    // create a filename according to the curent frame count  
    string fileName("KinectData/frame" + ofToString(frameCount) + ".dat");  
  
    // create and open a new .dat file  
    ofFile data;  
    data.open(ofToDataPath(fileName), ofFile::WriteOnly, false);  
    data.create();  
  
    // loop through the array and save data to the .dat file  
    int step = 2;  
	for(int y = 0; y < 480; y += step) {  
		for(int x = 0; x < 640; x += step) {  
            data << kinect.getDistanceAt(x, y) << "\n";  
		}  
	}  
  
    // close the file  
    data.close();  
    frameCount++;  
}  


  
void testApp::playKinectDepth()  
{  
    // create a filename according to the curent frame count  
    string fileName("KinectData/frame" + ofToString(frameCount) + ".dat");  
      
    // open a .dat file  
    ofFile data;  
    data.open(ofToDataPath(fileName), ofFile::ReadOnly, false);  
      
    // if the file doesn't exist restart the loop through files  
    if (!data.exists()) {  
        frameCount = 0;  
        fileName = "KinectData/frame0.dat";  
    }  
      
    vector<string> zData = ofSplitString(ofBufferFromFile(fileName), "\n");  
      
    ofMesh mesh;  
	mesh.setMode(OF_PRIMITIVE_POINTS);  
      
    // loop through the zData array and add points to the mesh  
    int count = 0;  
    int step = 2;  
	for(int y = 0; y < 480; y += step) {  
		for(int x = 0; x < 640; x += step) {  
            float z = ofToFloat(zData[count]);  
            // draw a point on the mesh only when there is a Z value  
            if (z != 0) {  
                mesh.addColor(0);  
                mesh.addVertex(ofVec3f(x, y, z));  
            }  
            count++;  
		}  
	}  
      
    glPointSize(2);  
	ofPushMatrix();  
	ofScale(1.1, -1.1, -1.1); // the projected points are 'upside down' and 'backwards'  
	ofTranslate(0, 0, -1000); // center the points a bit  
	glEnable(GL_DEPTH_TEST);  
	mesh.drawVertices();  
	glDisable(GL_DEPTH_TEST);  
	ofPopMatrix();  
      
    // close the file  
    data.close();  
    frameCount++;  
}