kingrid

Part of a collection of Kinect hacks and tools by Mike Bourgeous.

kingrid displays basic statistics for each sector in a grid, displays a histogram for each sector in the grid, or displays an ASCII-art representation of the depth data.

The histogram mode and median calculation are currently broken.

Requirements

You will need libfreenect from the OpenKinect project to compile kingrid.

Compiling and Running

$ make
$ ./kingrid          # Grid stats mode
$ ./kingrid -a -g 40 # ASCII art mode (40x40)

Command-line Options

usage: ./kingrid -[sha] [-g divisions] [-zZ distance]
Use up to one of:
    s - Stats mode (default)
    h - Histogram mode
    a - ASCII art mode
Use any of:
    g - Set grid divisions for both dimensions
    z - Set near clipping plane in meters for ASCII art mode (default 0.5)
    Z - Set far clipping plane in meters for ASCII art mode (default 5.0)

Sample Output

$ ./kingrid
kingrid.c:199: depth(): time: 4028375914 frame: 64 out: 10%
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 4.408420 | Avg 5.175214 | Avg 5.154256 | Avg 5.056608 | Avg 5.387090 | Avg 4.033168 |
| Min 4.135463 | Min 4.339985 | Min 4.565750 | Min 4.625907 | Min 4.687690 | Min 3.315089 |
| Med ~4.13546 | Med ~4.13546 | Med ~4.13546 | Med ~4.13546 | Med ~0.30546 | Med ~0.30546 |
| Max 4.507137 | Max 6.897511 | Max 7.329297 | Max 5.409945 | Max 7.329297 | Max 4.952149 |
|      Out 48% |      Out 33% |       Out 9% |       Out 3% |      Out 20% |      Out 21% |
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 4.508284 | Avg 5.951095 | Avg 5.593506 | Avg 5.154082 | Avg 5.535252 | Avg 4.085456 |
| Min 4.235250 | Min 4.394309 | Min 4.751122 | Min 4.883278 | Min 4.687690 | Min 3.479467 |
| Med ~4.13546 | Med ~5.09588 | Med ~0.31047 | Med ~4.13546 | Med ~0.30546 | Med ~0.30546 |
| Max 4.816294 | Max 6.897511 | Max 7.329297 | Max 5.248237 | Max 8.378263 | Max 4.816294 |
|      Out 20% |       Out 1% |       Out 6% |       Out 0% |      Out 22% |      Out 15% |
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 4.351297 | Avg 5.996928 | Avg 5.549759 | Avg 5.140886 | Avg 5.453139 | Avg 2.477981 |
| Min 3.905393 | Min 4.286987 | Min 4.687690 | Min 4.883278 | Min 4.625907 | Min 0.911927 |
| Med ~4.13546 | Med ~5.09588 | Med ~0.31047 | Med ~4.13546 | Med ~0.30546 | Med ~0.30546 |
| Max 4.565750 | Max 6.897511 | Max 7.329297 | Max 5.170927 | Max 7.818793 | Max 5.022990 |
|       Out 8% |      Out 14% |       Out 0% |       Out 0% |       Out 6% |      Out 15% |
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 1.680257 | Avg 2.868687 | Avg 2.890044 | Avg 2.877384 | Avg 1.742995 | Avg 0.875108 |
| Min 1.278588 | Min 2.194463 | Min 2.167303 | Min 2.140801 | Min 0.893035 | Min 0.809033 |
| Med ~1.34267 | Med ~2.12779 | Med ~2.12779 | Med ~2.12779 | Med ~1.19512 | Med ~0.82854 |
| Max 4.450008 | Max 7.179486 | Max 7.179486 | Max 6.897511 | Max 6.764667 | Max 4.339985 |
|      Out 16% |       Out 0% |       Out 1% |       Out 5% |      Out 11% |      Out 14% |
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 1.411009 | Avg 2.249891 | Avg 2.231924 | Avg 2.206147 | Avg 1.241436 | Avg 0.831686 |
| Min 1.182921 | Min 1.307397 | Min 2.167303 | Min 2.140801 | Min 0.826555 | Min 0.777843 |
| Med ~1.34267 | Med ~2.12779 | Med ~2.12779 | Med ~2.12779 | Med ~1.13277 | Med ~0.79775 |
| Max 2.310252 | Max 2.372835 | Max 2.265433 | Max 2.236500 | Max 2.236500 | Max 0.993195 |
|      Out 21% |      Out 10% |       Out 0% |       Out 0% |       Out 1% |       Out 6% |
+--------------+--------------+--------------+--------------+--------------+--------------+
|     Pix 8560 |     Pix 8560 |     Pix 8480 |     Pix 8560 |     Pix 8560 |     Pix 8480 |
| Avg 1.137213 | Avg 1.897875 | Avg 2.301367 | Avg 2.261466 | Avg 1.213459 | Avg 0.851140 |
| Min 1.066606 | Min 1.140213 | Min 2.222311 | Min 2.208299 | Min 0.962778 | Min 0.795900 |
| Med ~1.07654 | Med ~2.12779 | Med ~2.12779 | Med ~2.12779 | Med ~1.07654 | Med ~0.79775 |
| Max 1.297652 | Max 2.526822 | Max 2.473323 | Max 2.438899 | Max 2.310252 | Max 1.028611 |
|      Out 19% |      Out 22% |       Out 0% |       Out 0% |       Out 0% |       Out 6% |
+--------------+--------------+--------------+--------------+--------------+--------------+

$ ./kingrid -a -g 40 -z 0.75 -Z 1.0
kingrid.c:199: depth(): time: 1027768440 frame: 1298 out: 18%
________________________________________
________________________________________
___ ____ _______________________________
_________   ____________________________
_________ ______________________    ____
__   ___________________________    ____
__   ____________________________  _____
___ ____________________________________
__________________________+_____________
________________________++++  __________
_______________________+++++++__________
_______________________+++++++ _________
_______________________+++++++ _________
_________88___________++++++++ _________
________ 888___%%_____++++++++ _________
________  888__%%______++++++-__________
________ 8888__%%_______+++++ __________
________ 8888%_%%_______+++++___________
________888%%%%% _____---+++ ___________
________88%%%%%%%  _-----+++- __________
....____8%%%%%%%  ++++----------________
....____%%%%%%%%  +++++----------_____  
....______%%%%%% ++++++---------- ____  
--.._______%%%%  +++++++------+++ ___   
--..________%%% +++++++++-+-++++++___   
---_________%%%%++++++++++++++++++____  
---__________%%%%+++++++++++++++++ ___  
---__________%%%%++++++++++++++++++ _ __
--.___________%%%+--++++++++++++++++  __
--._______________--+++++++++++-+++++   
-----_____________--++++++++++--++++++..
----______________---++++++++++__+++%%..
----______________---+++++++++-__++%%%%-
----______________---++++++++--___+%%%% 
----______________--++++++++++-___+%%%%%
---_______________--++++++++++-____%%%%%
--_________________--+++++++++---___%%%%
____________________++++++++++++-____%%%
___________________-+++++++++++++_____%%
___________________++++++++++++++++____%

Copyright

(C)2011 Mike Bourgeous, licensed under GPLv2 or later