KinectTracker.pde

class KinectTracker {

  // Size of kinect image
  int kw = 640;
  int kh = 480;
  int threshold = 745;

  // Raw location
  PVector loc;

  // Interpolated location
  PVector lerpedLoc;

  // Depth data
  int[] depth;

  PImage display;

  KinectTracker() {
    //kinect.start();
    //kinect.enableDepth(true);
    kinect.initDepth();

    // We could skip processing the grayscale image for efficiency
    // but this example is just demonstrating everything
    //kinect.processDepthImage(true);

    display = createImage(kw,kh,PConstants.RGB);

    loc = new PVector(0,0);
    lerpedLoc = new PVector(0,0);
  }

  void track() {

    // Get the raw depth as array of integers
    depth = kinect.getRawDepth();

    // Being overly cautious here
    if (depth == null) return;

    float sumX = 0;
    float sumY = 0;
    float count = 0;

    for(int x = 0; x < kw; x++) {
      for(int y = 0; y < kh; y++) {
        // Mirroring the image
        int offset = kw-x-1+y*kw;
        // Grabbing the raw depth
        int rawDepth = depth[offset];

        // Testing against threshold
        if (rawDepth < threshold) {
          sumX += x;
          sumY += y;
          count++;
        }
      }
    }
    // As long as we found something
    if (count != 0) {
      loc = new PVector(sumX/count,sumY/count);
    }
  }

  PVector getPos() {
    return loc;
  }

  void display() {
    PImage img = kinect.getDepthImage();

    // Being overly cautious here
    if (depth == null || img == null) return;

    // Going to rewrite the depth image to show which pixels are in threshold
    // A lot of this is redundant, but this is just for demonstration purposes
    display.loadPixels();
    for(int x = 0; x < kw; x++) {
      for(int y = 0; y < kh; y++) {
        // mirroring image
        int offset = kw-x-1+y*kw;
        // Raw depth
        int rawDepth = depth[offset];

        int pix = x+y*display.width;
        if (rawDepth < threshold) {
          // A red color instead
          display.pixels[pix] = color(150,50,50);
          startGame = true;
        } 
        else {
          display.pixels[pix] = img.pixels[offset];
        }
      }
    }
    display.updatePixels();

    // Draw the image
    image(display,0,0);
    //fill(0,0,0,0);
    //rect(0,0,width*2,height*2);
  }

  void quit() {
    //kinect.quit();
  }

  int getThreshold() {
    return threshold;
  }

  void setThreshold(int t) {
    threshold =  t;
  }
}