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POStiching multiple textures/frames together in OpenGL using a Kinect
 

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  1. POStiching multiple textures/frames together in OpenGL using a Kinect
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    <p>I came across the following situation:</p> <ol> <li>I have a Kinect camera and I keep taking frames (but they are stored only when the user presses a key). </li> <li>I am using the <a href="http://openkinect.org/wiki/Main_Page" rel="nofollow">freenect</a> library in order to retrieve the depth and the color of the frame (I am no interested in skeleton tracking or something like that).</li> <li>For a single frame I am using the glpclview example that comes with the freenect <a href="https://github.com/OpenKinect/libfreenect" rel="nofollow">library</a></li> </ol> <p>After retrieving the space data from the Kinect sensor, in the glpclview example, the current frame it is drawn like this:</p> <pre><code>glEnableClientState(GL_VERTEX_ARRAY); glVertexPointer(3, GL_SHORT, 0, xyz); glEnableClientState(GL_TEXTURE_COORD_ARRAY); glTexCoordPointer(3, GL_SHORT, 0, xyz); glEnable(GL_TEXTURE_2D); glBindTexture(GL_TEXTURE_2D, gl_rgb_tex); glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb); glPointSize(2.0f); glDrawElements(GL_POINTS, 640*480, GL_UNSIGNED_INT, indices); </code></pre> <p>where </p> <pre><code>static unsigned int indices[480][640]; static short xyz[480][640][3]; char *rgb = 0; short *depth = 0; </code></pre> <p>where:</p> <ul> <li><strong>rgb</strong> is the color information for the current frame</li> <li><strong>depth</strong> is the depth information for the current frame</li> <li><p><strong>xyz</strong> is constructed as : </p> <p>xyz[i][j][0] = j xyz[i][j]<a href="http://openkinect.org/wiki/Main_Page" rel="nofollow">3</a> = i xyz[i][j]<a href="https://github.com/OpenKinect/libfreenect" rel="nofollow">4</a> = depth[i*640+j]</p></li> <li><p><strong>indices</strong> is (I guess only) array that keeps track of the rgb/depth data and is constructed as:</p> <p>indices[i][j] = i*640+j</p></li> </ul> <p>So far, so good, but now I need to render more that just one frame (some of them rotated and translated with a certain angle/offsets). How can I do this? I'ved tried to increase the size of the arrays and keep reallocationg memory for each new frame, but how can I render them? Should I change this current line to something else? </p> <pre><code>glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb) </code></pre> <p>If so, to what values should I change 640 and 480 since now <strong>xyz</strong> and <strong>rgb</strong> is a contiguos pointer of 640x480x(number of frames)? </p> <p>To get a better ideea, I am trying to get something similar to <a href="http://www.youtube.com/watch?v=9Y4RQVpp-BY&amp;feature=related" rel="nofollow">this</a> in the end (except the robot :D ).</p> <p>If somewone has a better ideea, hint anything on how I should approach this problem, please let me know. </p>
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