void max_jit_kinect2_outputmatrix(t_max_jit_kinect2 *x)
{
long outputmode = max_jit_mop_getoutputmode(x);
void *mop = max_jit_obex_adornment_get(x,_jit_sym_jit_mop);
t_jit_err err;
if (outputmode && mop)
{
//always output unless output mode is none
if (outputmode==2) // pass input case, but since jit.kinect2 has no input then this means no output
{
return;
}
if (outputmode==1)
{
if ((err = (t_jit_err)jit_object_method(max_jit_obex_jitob_get(x), _jit_sym_matrix_calc,
jit_object_method(mop,_jit_sym_getinputlist),
jit_object_method(mop,_jit_sym_getoutputlist))))
{
if (err != JIT_ERR_HW_UNAVAILABLE) jit_error_code(x,err);
return;
}
}
max_jit_mop_outputmatrix(x);
}
}
void max_jit_leap_outputmatrix(t_max_jit_leap *x)
{
long outputmode = max_jit_mop_getoutputmode(x);
void *mop = max_jit_obex_adornment_get(x,_jit_sym_jit_mop);
t_jit_err err;
if (outputmode && mop) //always output unless output mode is none
{
if (outputmode == 1)
{
if ((err=(t_jit_err)jit_object_method(max_jit_obex_jitob_get(x), _jit_sym_matrix_calc, jit_object_method(mop,_jit_sym_getinputlist), jit_object_method(mop,_jit_sym_getoutputlist))))
{
jit_error_code(x,err);
}
else
{
max_jit_mop_outputmatrix(x);
}
}
else
{
max_jit_mop_outputmatrix(x);
}
}
}
void max_jit_realsense_grab_outputmatrix(t_max_jit_realsense_grab *x)
{
// post("%s", __FUNCTION__);
t_atom a;
long outputmode = max_jit_mop_getoutputmode(x);
void *mop = max_jit_obex_adornment_get(x, _jit_sym_jit_mop);
t_jit_err err;
if (outputmode&&mop)
{ //always output unless output mode is none
if (outputmode == 1)
{
if (err = (t_jit_err)jit_object_method(
max_jit_obex_jitob_get(x),
_jit_sym_matrix_calc,
jit_object_method(mop, _jit_sym_getinputlist),
jit_object_method(mop, _jit_sym_getoutputlist)))
{
jit_error_code(x, err);
}
else {
max_jit_mop_outputmatrix(x);
}
}
else {
max_jit_mop_outputmatrix(x);
}
}
}
void
PenizeBang(
msobPenize* me)
{
if (max_jit_mop_getoutputmode(me) != 0) {
jcobPenize* jitOb = (jcobPenize*) max_jit_obex_jitob_get(me);
SendDataToOutlet(jitOb, gSymGetDiffs, me->coreObject.o_outlet);
}
}
void max_jit_3m_bang(t_max_jit_3m *x)
{
long ac;
void *o;
if (max_jit_mop_getoutputmode(x)&&x->av) {
o=max_jit_obex_jitob_get(x);
//passing in memory to attr function. be sure object knows how to handle this
ac=JIT_MATRIX_MAX_PLANECOUNT;
jit_object_method(o,ps_getmax,&ac,&(x->av));
if (ac>1)
outlet_anything(x->maxout,_jit_sym_list,ac,x->av);
else {
if (x->av->a_type==A_FLOAT)
outlet_float(x->maxout,jit_atom_getfloat(x->av));
else
outlet_int(x->maxout,jit_atom_getlong(x->av));
}
ac=JIT_MATRIX_MAX_PLANECOUNT;
jit_object_method(o,ps_getmean,&ac,&(x->av));
if (ac>1)
outlet_anything(x->meanout,_jit_sym_list,ac,x->av);
else {
if (x->av->a_type==A_FLOAT)
outlet_float(x->meanout,jit_atom_getfloat(x->av));
else
outlet_int(x->meanout,jit_atom_getlong(x->av));
}
ac=JIT_MATRIX_MAX_PLANECOUNT;
jit_object_method(o,ps_getmin,&ac,&(x->av));
if (ac>1)
outlet_anything(x->minout,_jit_sym_list,ac,x->av);
else {
if (x->av->a_type==A_FLOAT)
outlet_float(x->minout,jit_atom_getfloat(x->av));
else
outlet_int(x->minout,jit_atom_getlong(x->av));
}
}
}
void max_jit_SDIF_buffer_outputmatrix(t_max_jit_SDIF_buffer *x){
t_atom a;
long outputmode=max_jit_mop_getoutputmode(x);
void *mop=max_jit_obex_adornment_get(x,_jit_sym_jit_mop);
t_jit_err err;
if (outputmode&&mop) { //always output unless output mode is none
if (outputmode==1) {
if (err=(t_jit_err)jit_object_method(
max_jit_obex_jitob_get(x),
_jit_sym_matrix_calc,
jit_object_method(mop,_jit_sym_getinputlist),
jit_object_method(mop,_jit_sym_getoutputlist),
x->t_matrix))
{
jit_error_code(x,err);
} else {
max_jit_mop_outputmatrix(x);
}
}
}
}
void max_jit_openni_outputmatrix(t_max_jit_openni *x)
{
long outputmode = max_jit_mop_getoutputmode(x);
void *mop = max_jit_obex_adornment_get(x,_jit_sym_jit_mop);
t_jit_openni *pJit_OpenNI = (t_jit_openni *)max_jit_obex_jitob_get(x);
t_jit_err err;
t_atom osc_argv[16]; // max number of atoms/values after the message selector
char osc_string[MAX_LENGTH_STR_JOINT_NAME + 10]; // max joint string + 9 for "/skel/xx/" + terminating null
char *msg_selector_string;
int i, j, k;
const char strSkelFormatOutput[3][12] = { "/skel/%u/%s", "skel", "/joint" }; // switchable skeleton output format selectors
// the [2] format string below should be an unsigned %u, however OSCeleton codebase incorrectly uses %d so I also use it here for compatibility
const char strUserCoMFormatOutput[3][9] = { "/user/%u", "user", "/user/%d" }; // switchable user CoM output format selectors
const char strFloorFormatOutput[3][7] = { "/floor", "floor", "/floor" }; // switchable floor output format selectors
LOG_DEBUG("starting custom outputmatrix()");
if (outputmode && mop)
{
//always output unless output mode is none
if (outputmode==2) // pass input case, but since jit.openni has no input then this means no output
{
LOG_DEBUG("bypassing matrix_calc(), bypassing outputmatrix()");
return;
}
if (outputmode==1)
{
LOG_DEBUG("about to call matrix_calc from custom outputmatrix");
if (err = (t_jit_err)jit_object_method(max_jit_obex_jitob_get(x), _jit_sym_matrix_calc,
jit_object_method(mop,_jit_sym_getinputlist),
jit_object_method(mop,_jit_sym_getoutputlist)))
{
if (err != JIT_ERR_HW_UNAVAILABLE) jit_error_code(x,err);
return;
}
}
// output floor from scene generator
if (pJit_OpenNI->hProductionNode[SCENE_GEN_INDEX] && pJit_OpenNI->bOutputSceneFloor)
{
msg_selector_string = (char *)strFloorFormatOutput[x->chrSkeletonOutputFormat];
atom_setfloat(&(osc_argv[0]), pJit_OpenNI->planeFloor.ptPoint.X);
atom_setfloat(&(osc_argv[1]), pJit_OpenNI->planeFloor.ptPoint.Y);
atom_setfloat(&(osc_argv[2]), pJit_OpenNI->planeFloor.ptPoint.Z);
atom_setfloat(&(osc_argv[3]), pJit_OpenNI->planeFloor.vNormal.X);
atom_setfloat(&(osc_argv[4]), pJit_OpenNI->planeFloor.vNormal.Y);
atom_setfloat(&(osc_argv[5]), pJit_OpenNI->planeFloor.vNormal.Z);
outlet_anything(x->osc_outlet, gensym(msg_selector_string), 6, osc_argv);
}
// output seen users' centers of mass and skeletons
for (i=0; i<pJit_OpenNI->iNumUsersSeen; i++)
{
short iNumAtoms = 0;
// output user center of mass
switch (x->chrSkeletonOutputFormat)
{
case 0: // default jit.openni skeleton OSC output format
case 2: // legacy OSCeleton format
snprintf_zero(osc_string, sizeof(osc_string), strUserCoMFormatOutput[x->chrSkeletonOutputFormat], pJit_OpenNI->pUserSkeletonJoints[i].userID);
msg_selector_string = osc_string;
break;
case 1: // native max route compatible format
msg_selector_string = (char *)strUserCoMFormatOutput[1];
atom_setlong(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userID);
break;
}
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userCoM.X);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userCoM.Y);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userCoM.Z);
outlet_anything(x->osc_outlet, gensym(msg_selector_string), iNumAtoms, osc_argv);
// output skeletons
if (pJit_OpenNI->pUserSkeletonJoints[i].bUserSkeletonTracked)
{
for (j=1; j<= NUM_OF_SKELETON_JOINT_TYPES; j++)
{
if (pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].position.fConfidence >= pJit_OpenNI->fPositionConfidenceFilter &&
( pJit_OpenNI->bOutputSkeletonOrientation ?
(pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.fConfidence >= pJit_OpenNI->fOrientConfidenceFilter) : true))
{
iNumAtoms = 0;
switch (x->chrSkeletonOutputFormat)
{
case 0: // default jit.openni skeleton output format "/skel/%u/%s"
snprintf_zero(osc_string, sizeof(osc_string), strSkelFormatOutput[0], pJit_OpenNI->pUserSkeletonJoints[i].userID, strJointNames[j]);
msg_selector_string = osc_string;
break;
case 1: // skeleton output "skel %u %s" to easily use with standard max route object
msg_selector_string = (char *)strSkelFormatOutput[1];
atom_setlong(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userID);
atom_setsym(osc_argv + (iNumAtoms++), gensym(strJointNames[j]));
break;
case 2: // skeleton output "/joint %s %u" same format as OSCeleton's default output with no orientation and no OSCeleton's legacy "normalized" values
msg_selector_string = (char *)strSkelFormatOutput[2];
atom_setsym(osc_argv + (iNumAtoms++), gensym(strJointNames[j]));
atom_setlong(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].userID);
break;
}
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].position.position.X);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].position.position.Y);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].position.position.Z);
if (x->chrSkeletonOutputFormat != 2)
{
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].position.fConfidence);
}
if (pJit_OpenNI->bOutputSkeletonOrientation && (x->chrSkeletonOutputFormat != 2))
{
// General belief and https://groups.google.com/forum/#!topic/openni-dev/-ib1yX-o0lk say that OpenNI stores the
// orientation matrix in row-major order.
// X axis = (elements[0], elements[3], elements[6])
// Y axis = (elements[1], elements[4], elements[7])
// Z axis = (elements[2], elements[5], elements[8])
// Just in case, column major order is easy to substitute with: for (k=0; k<9; k++) atom_setfloat(osc_argv + iAtomOffset + 4 + k, pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.orientation.elements[k]);
for (k=0; k<3; k++)
{
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.orientation.elements[k]);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.orientation.elements[k+3]);
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.orientation.elements[k+6]);
}
if (x->chrSkeletonOutputFormat != 2)
{
atom_setfloat(osc_argv + (iNumAtoms++), pJit_OpenNI->pUserSkeletonJoints[i].jointTransform[j].orientation.fConfidence);
}
}
outlet_anything(x->osc_outlet, gensym(msg_selector_string), iNumAtoms, osc_argv);
}
}
}
}
LOG_DEBUG("now calling outputmatrix()");
max_jit_mop_outputmatrix(x);
LOG_DEBUG("called outputmatrix()");
}
}
