Merge pull request shiffman#71 from nicolasraga1/master

Added documentation and examples

Author: shiffman

OpenKinect-Processing/examples/Kinect_v1/DepthThreshold/DepthThreshold.pde

@@ -16,8 +16,9 @@ Kinect kinect;
 PImage depthImg;
 
 // Which pixels do we care about?
-int minDepth =  60;
-int maxDepth = 860;
+// These thresholds can also be found with a variaty of methods
+float minDepth =  996;
+float maxDepth = 2493;
 
 // What is the kinect's angle
 float angle;
@@ -37,6 +38,10 @@ void draw() {
   // Draw the raw image
   image(kinect.getDepthImage(), 0, 0);
 
+  // Calibration
+   //minDepth = map(mouseX,0,width, 0, 4500);
+  //maxDepth = map(mouseY,0,height, 0, 4500);
+
   // Threshold the depth image
   int[] rawDepth = kinect.getRawDepth();
   for (int i=0; i < rawDepth.length; i++) {
@@ -50,10 +55,16 @@ void draw() {
   // Draw the thresholded image
   depthImg.updatePixels();
   image(depthImg, kinect.width, 0);
-
+  
+  //Comment for Calibration
   fill(0);
   text("TILT: " + angle, 10, 20);
   text("THRESHOLD: [" + minDepth + ", " + maxDepth + "]", 10, 36);
+  
+  //Calibration Text
+  //fill(255);
+  //textSize(32);
+  //text(minDepth + " " + maxDepth, 10, 64);
 }
 
 // Adjust the angle and the depth threshold min and max

OpenKinect-Processing/examples/Kinect_v1/PointCloud/PointCloud.pde

@@ -40,8 +40,11 @@ void draw() {
 
   // Translate and rotate
   translate(width/2, height/2, -50);
-  rotateY(a);
-
+  //rotateY(a);
+  
+  // Nested for loop that initializes x and y pixels and, for those less than the
+  // maximum threshold and at every skiping point, the offset is caculated to map
+  // them on a plane instead of just a line
   for (int x = 0; x < kinect.width; x += skip) {
     for (int y = 0; y < kinect.height; y += skip) {
       int offset = x + y*kinect.width;
@@ -73,13 +76,15 @@ float rawDepthToMeters(int depthValue) {
   return 0.0f;
 }
 
+// Only needed to make sense of the ouput depth values from the kinect
 PVector depthToWorld(int x, int y, int depthValue) {
 
   final double fx_d = 1.0 / 5.9421434211923247e+02;
   final double fy_d = 1.0 / 5.9104053696870778e+02;
   final double cx_d = 3.3930780975300314e+02;
   final double cy_d = 2.4273913761751615e+02;
 
+// Drawing the result vector to give each point its three-dimensional space
   PVector result = new PVector();
   double depth =  depthLookUp[depthValue];//rawDepthToMeters(depthValue);
   result.x = (float)((x - cx_d) * depth * fx_d);

OpenKinect-Processing/examples/Kinect_v1/PointCloudOGL/PointCloudOGL.pde

@@ -47,6 +47,7 @@ void draw() {
 
   image(kinect.getDepthImage(), 0, 0, 320, 240);
 
+  // Set up origin at middle of display, scale, and translate
   pushMatrix();
   translate(width/2, height/2, 50);
   scale(150);
@@ -97,5 +98,6 @@ void draw() {
   text(frameRate, 50, 50);
 
   // Rotate
+  // Uncomment for rotation
   // a += 0.015f;
 }