unmapped v4l2 thermal

zoneb/addons.make

@@ -1,2 +1,3 @@
 ofxAzureKinect
+ofxV4L2
 ofxShader

zoneb/bin/data/shaders/bound.frag

@@ -4,6 +4,7 @@ precision mediump float;
 
 uniform sampler2D   u_depth;
 uniform sampler2D   u_ofcam;
+uniform sampler2D   u_v4l2cam;
 uniform sampler2D   u_buffer0;
 uniform sampler2D   u_buffer1;
 
@@ -16,7 +17,7 @@ uniform bool        u_init;
 varying vec2        v_texcoord;
 
 float depthToSilhouette(float depth) {
-  if(depth < 0.005) return 0;
+  if(depth <= 0.0) return 0;
   // if(depth > 0.1) return 0;
   else return 1;
 }
@@ -97,7 +98,7 @@ void main() {
     minVal = min(minVal, tmp);
   }
 
-  if(maxVal - minVal > 0.1) {
+  if(maxVal - minVal > 0.8) {
     dispColor.rgb = vec3(1);
   }
 
@@ -105,7 +106,7 @@ void main() {
   gl_FragColor = vec4(dispColor, 1.0);
   gl_FragColor += pointCloudColor; // not good
 
-  // gl_FragColor = texture2D(u_depth, st) * 100; 
+  // gl_FragColor =  texture2D(u_v4l2cam, st/3);
 
 #endif
 

zoneb/bin/data/shaders/render.frag

@@ -5,11 +5,12 @@ precision mediump float;
 // Custom attributes.
 
 uniform sampler2D uColorTex; // Sampler for the color registered data
+uniform sampler2D u_v4l2cam;
 
 in vec2 gTexCoord;
 
 void main()
 {
-    // gl_FragColor = texture2D(uColorTex, gTexCoord);
-    gl_FragColor = vec4(1);
+    gl_FragColor = texture2D(u_v4l2cam, gTexCoord/3);
+    // gl_FragColor = vec4(1);
 }

zoneb/bin/data/shaders/render.vert

@@ -34,6 +34,9 @@ void main()
     posWorld.x = ray.x * posWorld.z;
     posWorld.y = ray.y * posWorld.z;
 
+    if(depth < 0.012) vValid = 0;
+    if(depth > 0.04) vValid = 0;
+
     // Flip X as OpenGL and K4A have different conventions on which direction is positive.
     posWorld.x *= -1;
 

zoneb/src/ofApp.cpp

@@ -1,9 +1,14 @@
 #include "ofApp.h"
 
+// some v4l2 global settings
+int camWidth = 640;
+int camHeight = 480;
+
 //--------------------------------------------------------------
 void ofApp::setup()
 {
   ofDisableArbTex();
+  ofSetVerticalSync(false);
   //ofSetLogLevel(OF_LOG_VERBOSE);
 
   ofLogNotice(__FUNCTION__) << "Found " << ofxAzureKinect::Device::getInstalledCount() << " installed devices.";
@@ -35,7 +40,7 @@ void ofApp::setup()
   std::vector<glm::vec3> verts(1);
   vbo.setVertexData(verts.data(), verts.size(), GL_STATIC_DRAW);
 
-  pointSize = 1.0f;
+  pointSize = 2.0f;
   useColorSpace = false;
 
   boundShader.allocate(ofGetWidth(), ofGetHeight());
@@ -43,6 +48,26 @@ void ofApp::setup()
 
   fbos.insert({"ofcam", ofFbo()});
   fbos.at("ofcam").allocate(ofGetWidth(), ofGetHeight(), GL_RGB32F_ARB);
+
+  // this must be called before init (otherwise fprintf will tell you so)
+  // note that high framerates will only function properly if the usb has enough bandwidth
+  // for example, a ps3 eye cam at 60 fps will only function when it has full USB 2.0 bandwidth available
+  v4l2Cam.setDesiredFramerate(60);
+
+  // use this to set appropriate device and capture method
+  v4l2Cam.initGrabber("/dev/video2", IO_METHOD_MMAP, camWidth, camHeight);
+
+  // some initial settings
+  int set_gain = 2.0;
+  bool set_autogain = true;
+
+  // rudimentary settings implementation: each settings needs a seperate call to the settings method
+  v4l2Cam.settings(ofxV4L2_AUTOGAIN, set_autogain);
+  v4l2Cam.settings(ofxV4L2_GAIN, set_gain);
+
+  // we use a texture because the ofxV4L2 class has no draw method (yet)
+  // we use GL_LUMINANCE because the ofxV4L2 class supports only grayscale (for now)
+  v4l2Tex.allocate(camWidth, camHeight, GL_LUMINANCE);
 }
 
 //--------------------------------------------------------------
@@ -54,6 +79,18 @@ void ofApp::exit()
 //--------------------------------------------------------------
 void ofApp::update()
 {
+  v4l2Cam.grabFrame();
+  if (v4l2Cam.isNewFrame())
+  {
+    // v4l2Tex.loadData(v4l2Cam.getPixels(), camWidth, camHeight, GL_RED);
+    ofPixels p;
+    p.allocate(camWidth, camHeight, OF_PIXELS_RGB);
+    for (int i = 0; i < camHeight * camWidth; i++)
+      p.setColor(i, v4l2Cam.getPixels()[i]);
+    v4l2Tex.allocate(p);
+    // v4l2Tex.setRGToRGBASwizzles(true);
+    // ofLogError() << v4l2Cam.getPixels();
+  }
 }
 
 //--------------------------------------------------------------
@@ -68,7 +105,7 @@ void ofApp::draw()
     cam.begin();
     ofEnableDepthTest();
 
-    ofDrawAxis(100.0f);
+    // ofDrawAxis(100.0f);
 
     ofPushMatrix();
     ofRotateXDeg(180);
@@ -83,6 +120,7 @@ void ofApp::draw()
       shader.setUniformTexture("uDepthTex", kinectDevice.getDepthInColorTex(), 1);
       shader.setUniformTexture("uWorldTex", kinectDevice.getColorToWorldTex(), 2);
       shader.setUniformTexture("uColorTex", kinectDevice.getColorTex(), 3);
+      shader.setUniformTexture("u_v4l2cam", v4l2Tex, 4);
       shader.setUniform2i("uFrameSize", kinectDevice.getColorTex().getWidth(), kinectDevice.getColorTex().getHeight());
       shader.setUniform2i("uDepthFrameSize", kinectDevice.getDepthInColorTex().getWidth(), kinectDevice.getDepthInColorTex().getHeight());
 
@@ -93,6 +131,7 @@ void ofApp::draw()
       shader.setUniformTexture("uDepthTex", kinectDevice.getDepthTex(), 1);
       shader.setUniformTexture("uWorldTex", kinectDevice.getDepthToWorldTex(), 2);
       shader.setUniformTexture("uColorTex", kinectDevice.getColorInDepthTex(), 3);
+      shader.setUniformTexture("u_v4l2cam", v4l2Tex, 4);
       shader.setUniform2i("uFrameSize", kinectDevice.getDepthTex().getWidth(), kinectDevice.getDepthTex().getHeight());
       shader.setUniform2i("uDepthFrameSize", kinectDevice.getDepthTex().getWidth(), kinectDevice.getDepthTex().getHeight());
 
@@ -109,14 +148,17 @@ void ofApp::draw()
     auto tex = kinectDevice.getDepthTex();
     boundShader.setUniformTexture("u_depth", tex);
     boundShader.setUniformTexture("u_ofcam", fbos.at("ofcam"));
+    boundShader.setUniformTexture("u_v4l2cam", v4l2Tex);
     boundShader.setUniform1i("u_init", 1);
     boundShader.render();
     boundShader.setUniform1i("u_init", 0);
-    for (int i = 0; i < 60; i++) {
+    for (int i = 0; i < 60; i++)
+    {
       boundShader.render();
     }
     boundShader.draw(0, 0);
   }
+  // v4l2Tex.draw(0, 0);
 
   ofDrawBitmapStringHighlight(ofToString(ofGetFrameRate(), 2) + " FPS", 10, 20);
 }
@@ -124,11 +166,11 @@ void ofApp::draw()
 //--------------------------------------------------------------
 void ofApp::keyPressed(int key)
 {
-  if (key == OF_KEY_UP)
+  if (key == 'w')
   {
     pointSize *= 2;
   }
-  else if (key == OF_KEY_DOWN)
+  else if (key == 's')
   {
     pointSize /= 2;
   }

zoneb/src/ofApp.h

@@ -3,39 +3,44 @@
 #include "ofMain.h"
 
 #include "ofxAzureKinect.h"
+
 #include "ofxShaderFilter.h"
 
-class ofApp 
-	: public ofBaseApp 
+#include "ofxV4L2.h"
+
+class ofApp
+    : public ofBaseApp
 {
 public:
-	void setup();
-	void exit();
+  void setup();
+  void exit();
 
-	void update();
-	void draw();
+  void update();
+  void draw();
 
-	void keyPressed(int key);
-	void keyReleased(int key);
-	void mouseMoved(int x, int y);
-	void mouseDragged(int x, int y, int button);
-	void mousePressed(int x, int y, int button);
-	void mouseReleased(int x, int y, int button);
-	void mouseEntered(int x, int y);
-	void mouseExited(int x, int y);
-	void windowResized(int w, int h);
-	void dragEvent(ofDragInfo dragInfo);
-	void gotMessage(ofMessage msg);
+  void keyPressed(int key);
+  void keyReleased(int key);
+  void mouseMoved(int x, int y);
+  void mouseDragged(int x, int y, int button);
+  void mousePressed(int x, int y, int button);
+  void mouseReleased(int x, int y, int button);
+  void mouseEntered(int x, int y);
+  void mouseExited(int x, int y);
+  void windowResized(int w, int h);
+  void dragEvent(ofDragInfo dragInfo);
+  void gotMessage(ofMessage msg);
 
 private:
-	ofxAzureKinect::Device kinectDevice;
-	ofEasyCam cam;
-	ofVbo vbo;
-	ofxShader shader;
-	ofxShaderFilter boundShader;
+  ofxAzureKinect::Device kinectDevice;
+  ofEasyCam cam;
+  ofVbo vbo;
+  ofxShader shader;
+  ofxShaderFilter boundShader;
 
-	std::map<string, ofFbo> fbos;
+  std::map<string, ofFbo> fbos;
 
-	float pointSize;
-	bool useColorSpace;
+  float pointSize;
+  bool useColorSpace;
+  ofxV4L2 v4l2Cam;
+  ofTexture v4l2Tex;
 };