XnStatus UserSelector::TranslateStateToLabel(const UserSelectionState* pUserState, char *strLabel, XnUInt32 maxStrLen)
{
switch(pUserState->m_eState)
{
case XN_SELECTION_UNSELECTED:
xnOSStrCopy(strLabel,"Not selected",maxStrLen);
return XN_STATUS_OK;
case XN_SELECTION_SELECTED:
xnOSStrCopy(strLabel,"Selected [",maxStrLen);
xnOSStrAppend(strLabel,GetCalibrationErrorString((XnCalibrationStatus)pUserState->m_subState),maxStrLen);
xnOSStrAppend(strLabel,"]",maxStrLen);
return XN_STATUS_OK;
case XN_SELECTION_TRACKING:
xnOSStrCopy(strLabel,"Tracking",maxStrLen);
return XN_STATUS_OK;
case XN_SELECTION_FAILED:
xnOSStrCopy(strLabel,"Failed to track [",maxStrLen);
xnOSStrAppend(strLabel,GetCalibrationErrorString((XnCalibrationStatus)pUserState->m_subState),maxStrLen);
xnOSStrAppend(strLabel,"]",maxStrLen);
return XN_STATUS_OK;
default:
xnOSStrCopy(strLabel,"User in illegal state!\n",maxStrLen);
return XN_STATUS_ERROR;
}
}
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
static bool bInitialized = false;
static GLuint depthTexID;
static unsigned char* pDepthTexBuf;
static int texWidth, texHeight;
float topLeftX;
float topLeftY;
float bottomRightY;
float bottomRightX;
float texXpos;
float texYpos;
if(!bInitialized)
{
texWidth = getClosestPowerOfTwo(dmd.XRes());
texHeight = getClosestPowerOfTwo(dmd.YRes());
// printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;
// printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
bInitialized = true;
topLeftX = dmd.XRes();
topLeftY = 0;
bottomRightY = dmd.YRes();
bottomRightX = 0;
texXpos =(float)dmd.XRes()/texWidth;
texYpos =(float)dmd.YRes()/texHeight;
memset(texcoords, 0, 8*sizeof(float));
texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;
}
unsigned int nValue = 0;
unsigned int nHistValue = 0;
unsigned int nIndex = 0;
unsigned int nX = 0;
unsigned int nY = 0;
unsigned int nNumberOfPoints = 0;
XnUInt16 g_nXRes = dmd.XRes();
XnUInt16 g_nYRes = dmd.YRes();
unsigned char* pDestImage = pDepthTexBuf;
const XnDepthPixel* pDepth = dmd.Data();
const XnLabel* pLabels = smd.Data();
// Calculate the accumulative histogram
memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = dmd.Data();
if (g_bDrawPixels)
{
XnUInt32 nIndex = 0;
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++, nIndex++)
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
if (g_bDrawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
if (nValue != 0)
{
nHistValue = g_pDepthHist[nValue];
pDestImage[0] = nHistValue * Colors[nColorID][0];
pDestImage[1] = nHistValue * Colors[nColorID][1];
pDestImage[2] = nHistValue * Colors[nColorID][2];
}
}
pDepth++;
pLabels++;
pDestImage+=3;
}
pDestImage += (texWidth - g_nXRes) *3;
}
}
else
{
xnOSMemSet(pDepthTexBuf, 0, 3*2*g_nXRes*g_nYRes);
}
glBindTexture(GL_TEXTURE_2D, depthTexID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, texWidth, texHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, pDepthTexBuf);
// Display the OpenGL texture map
glColor4f(0.75,0.75,0.75,1);
glEnable(GL_TEXTURE_2D);
DrawTexture(dmd.XRes(),dmd.YRes(),0,0);
glDisable(GL_TEXTURE_2D);
char strLabel[50] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
if (g_bPrintID)
{
XnPoint3D com;
g_UserGenerator.GetCoM(aUsers[i], com);
g_DepthGenerator.ConvertRealWorldToProjective(1, &com, &com);
xnOSMemSet(strLabel, 0, sizeof(strLabel));
if (!g_bPrintState)
{
// Tracking
sprintf(strLabel, "%d", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
// Tracking
sprintf(strLabel, "%d - Tracking", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsCalibrating(aUsers[i]))
{
// Calibrating
sprintf(strLabel, "%d - Calibrating [%s]", aUsers[i], GetCalibrationErrorString(m_Errors[aUsers[i]].first));
}
else
{
// Nothing
sprintf(strLabel, "%d - Looking for pose [%s]", aUsers[i], GetPoseErrorString(m_Errors[aUsers[i]].second));
}
glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(com.X, com.Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel);
}
//Draw skeleton
if (g_bDrawSkeleton && g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
glBegin(GL_LINES);
glColor4f(1-Colors[aUsers[i]%nColors][0], 1-Colors[aUsers[i]%nColors][1], 1-Colors[aUsers[i]%nColors][2], 1);
DrawLimb(aUsers[i], XN_SKEL_HEAD, XN_SKEL_NECK);
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_LEFT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_LEFT_ELBOW);
DrawLimb(aUsers[i], XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_HAND);
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_RIGHT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND);
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_LEFT_HIP);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_RIGHT_HIP);
glEnd();
}
}
}
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
static bool bInitialized = false;
static GLuint depthTexID;
static unsigned char* pDepthTexBuf;
static int texWidth, texHeight;
float topLeftX;
float topLeftY;
float bottomRightY;
float bottomRightX;
float texXpos;
float texYpos;
/*
if not initialized
set parameters and reserve memory space
*/
if(!bInitialized)
{
texWidth = getClosestPowerOfTwo(dmd.XRes());
texHeight = getClosestPowerOfTwo(dmd.YRes());
// printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;
// printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
bInitialized = true;
topLeftX = dmd.XRes();
topLeftY = 0;
bottomRightY = dmd.YRes();
bottomRightX = 0;
texXpos =(float)dmd.XRes()/texWidth;
texYpos =(float)dmd.YRes()/texHeight;
memset(texcoords, 0, 8*sizeof(float));
texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;
}
unsigned int nValue = 0;
unsigned int nHistValue = 0;
unsigned int nIndex = 0;
unsigned int nX = 0;
unsigned int nY = 0;
unsigned int nNumberOfPoints = 0;
XnUInt16 g_nXRes = dmd.XRes();
XnUInt16 g_nYRes = dmd.YRes();
unsigned char* pDestImage = pDepthTexBuf;
const XnDepthPixel* pDepth = dmd.Data();
const XnLabel* pLabels = smd.Data();
// get the depth resolution
static unsigned int nZRes = dmd.ZRes();
static float* pDepthHist = (float*)malloc(nZRes* sizeof(float));
// Calculate the accumulative histogram
memset(pDepthHist, 0, nZRes*sizeof(float));
// count the number of pixels of every possible depth value
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<nZRes; nIndex++)
{
pDepthHist[nIndex] += pDepthHist[nIndex-1];
}
// calculate percentage for every depth value
// the larger the value is, the darker the pixel should be
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<nZRes; nIndex++)
{
pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = dmd.Data();
if (g_bDrawPixels)
{
XnUInt32 nIndex = 0;
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++, nIndex++)
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
if (g_bDrawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
if (nValue != 0)
{
nHistValue = pDepthHist[nValue];
pDestImage[0] = nHistValue * Colors[nColorID][0];
pDestImage[1] = nHistValue * Colors[nColorID][1];
pDestImage[2] = nHistValue * Colors[nColorID][2];
}
}
pDepth++;
pLabels++;
pDestImage+=3;
}
pDestImage += (texWidth - g_nXRes) *3;
}
}
else
{
xnOSMemSet(pDepthTexBuf, 0, 3*2*g_nXRes*g_nYRes);
}
glBindTexture(GL_TEXTURE_2D, depthTexID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, texWidth, texHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, pDepthTexBuf);
// Display the OpenGL texture map
glColor4f(0.75,0.75,0.75,1);
glEnable(GL_TEXTURE_2D);
DrawTexture(dmd.XRes(),dmd.YRes(),0,0);
glDisable(GL_TEXTURE_2D);
char strLabel[50] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
#ifndef USE_GLES
if (g_bPrintID)
{
XnPoint3D com;
g_UserGenerator.GetCoM(aUsers[i], com);
g_DepthGenerator.ConvertRealWorldToProjective(1, &com, &com);
XnUInt32 nDummy = 0;
xnOSMemSet(strLabel, 0, sizeof(strLabel));
if (!g_bPrintState)
{
// Tracking
xnOSStrFormat(strLabel, sizeof(strLabel), &nDummy, "%d", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
// Tracking
xnOSStrFormat(strLabel, sizeof(strLabel), &nDummy, "%d - Tracking", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsCalibrating(aUsers[i]))
{
// Calibrating
xnOSStrFormat(strLabel, sizeof(strLabel), &nDummy, "%d - Calibrating [%s]", aUsers[i], GetCalibrationErrorString(m_Errors[aUsers[i]].first));
}
else
{
// Nothing
xnOSStrFormat(strLabel, sizeof(strLabel), &nDummy, "%d - Looking for pose [%s]", aUsers[i], GetPoseErrorString(m_Errors[aUsers[i]].second));
}
glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(com.X, com.Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel);
}
#endif
if (g_bDrawSkeleton && g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
glColor4f(1-Colors[aUsers[i]%nColors][0], 1-Colors[aUsers[i]%nColors][1], 1-Colors[aUsers[i]%nColors][2], 1);
// Draw Joints
if (g_bMarkJoints)
{
// Try to draw all joints
DrawJoint(aUsers[i], XN_SKEL_HEAD);
DrawJoint(aUsers[i], XN_SKEL_NECK);
DrawJoint(aUsers[i], XN_SKEL_TORSO);
DrawJoint(aUsers[i], XN_SKEL_WAIST);
DrawJoint(aUsers[i], XN_SKEL_LEFT_COLLAR);
DrawJoint(aUsers[i], XN_SKEL_LEFT_SHOULDER);
DrawJoint(aUsers[i], XN_SKEL_LEFT_ELBOW);
DrawJoint(aUsers[i], XN_SKEL_LEFT_WRIST);
DrawJoint(aUsers[i], XN_SKEL_LEFT_HAND);
DrawJoint(aUsers[i], XN_SKEL_LEFT_FINGERTIP);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_COLLAR);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_SHOULDER);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_ELBOW);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_WRIST);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_HAND);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_FINGERTIP);
DrawJoint(aUsers[i], XN_SKEL_LEFT_HIP);
DrawJoint(aUsers[i], XN_SKEL_LEFT_KNEE);
DrawJoint(aUsers[i], XN_SKEL_LEFT_ANKLE);
DrawJoint(aUsers[i], XN_SKEL_LEFT_FOOT);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_HIP);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_KNEE);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_ANKLE);
DrawJoint(aUsers[i], XN_SKEL_RIGHT_FOOT);
}
#ifndef USE_GLES
glBegin(GL_LINES);
#endif
// Draw Limbs
DrawLimb(aUsers[i], XN_SKEL_HEAD, XN_SKEL_NECK);
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_LEFT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_LEFT_ELBOW);
if (!DrawLimb(aUsers[i], XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_WRIST))
{
DrawLimb(aUsers[i], XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_HAND);
}
else
{
DrawLimb(aUsers[i], XN_SKEL_LEFT_WRIST, XN_SKEL_LEFT_HAND);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HAND, XN_SKEL_LEFT_FINGERTIP);
}
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_RIGHT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW);
if (!DrawLimb(aUsers[i], XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_WRIST))
{
DrawLimb(aUsers[i], XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND);
}
else
{
DrawLimb(aUsers[i], XN_SKEL_RIGHT_WRIST, XN_SKEL_RIGHT_HAND);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_HAND, XN_SKEL_RIGHT_FINGERTIP);
}
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_LEFT_HIP);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_RIGHT_HIP);
#ifndef USE_GLES
glEnd();
#endif
}
}
if (g_bPrintFrameID)
{
static XnChar strFrameID[80];
xnOSMemSet(strFrameID, 0, 80);
XnUInt32 nDummy = 0;
xnOSStrFormat(strFrameID, sizeof(strFrameID), &nDummy, "%d", dmd.FrameID());
glColor4f(1, 0, 0, 1);
glRasterPos2i(10, 10);
glPrintString(GLUT_BITMAP_HELVETICA_18, strFrameID);
}
}
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd)
{
static bool bInitialized = false;
static GLuint depthTexID;
static unsigned char* pDepthTexBuf;
static int texWidth, texHeight;
float topLeftX;
float topLeftY;
float bottomRightY;
float bottomRightX;
float texXpos;
float texYpos;
if(!bInitialized)
{
texWidth = getClosestPowerOfTwo(dmd.XRes());
texHeight = getClosestPowerOfTwo(dmd.YRes());
// printf("Initializing depth texture: width = %d, height = %d\n", texWidth, texHeight);
depthTexID = initTexture((void**)&pDepthTexBuf,texWidth, texHeight) ;
// printf("Initialized depth texture: width = %d, height = %d\n", texWidth, texHeight);
bInitialized = true;
topLeftX = dmd.XRes();
topLeftY = 0;
bottomRightY = dmd.YRes();
bottomRightX = 0;
texXpos =(float)dmd.XRes()/texWidth;
texYpos =(float)dmd.YRes()/texHeight;
memset(texcoords, 0, 8*sizeof(float));
texcoords[0] = texXpos, texcoords[1] = texYpos, texcoords[2] = texXpos, texcoords[7] = texYpos;
}
unsigned int nValue = 0;
unsigned int nHistValue = 0;
unsigned int nIndex = 0;
unsigned int nX = 0;
unsigned int nY = 0;
unsigned int nNumberOfPoints = 0;
XnUInt16 g_nXRes = dmd.XRes();
XnUInt16 g_nYRes = dmd.YRes();
unsigned char* pDestImage = pDepthTexBuf;
const XnDepthPixel* pDepth = dmd.Data();
const XnLabel* pLabels = smd.Data();
// Calculate the accumulative histogram
memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = dmd.Data();
if (g_bDrawPixels)
{
XnUInt32 nIndex = 0;
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++, nIndex++)
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
if (g_bDrawBackground || *pLabels != 0)
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
if (nValue != 0)
{
nHistValue = g_pDepthHist[nValue];
pDestImage[0] = nHistValue * Colors[nColorID][0];
pDestImage[1] = nHistValue * Colors[nColorID][1];
pDestImage[2] = nHistValue * Colors[nColorID][2];
}
}
pDepth++;
pLabels++;
pDestImage+=3;
}
pDestImage += (texWidth - g_nXRes) *3;
}
}
else
{
xnOSMemSet(pDepthTexBuf, 0, 3*2*g_nXRes*g_nYRes);
}
glBindTexture(GL_TEXTURE_2D, depthTexID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, texWidth, texHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, pDepthTexBuf);
// Display the OpenGL texture map
glColor4f(0.75,0.75,0.75,1);
glEnable(GL_TEXTURE_2D);
DrawTexture(dmd.XRes(),dmd.YRes(),0,0);
glDisable(GL_TEXTURE_2D);
char strLabel[50] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
#ifndef USE_GLES
if (g_bPrintID)
{
XnPoint3D com;
g_UserGenerator.GetCoM(aUsers[i], com);
g_DepthGenerator.ConvertRealWorldToProjective(1, &com, &com);
xnOSMemSet(strLabel, 0, sizeof(strLabel));
if (!g_bPrintState)
{
// Tracking
sprintf(strLabel, "%d", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
// Tracking
sprintf(strLabel, "%d - Tracking", aUsers[i]);
}
else if (g_UserGenerator.GetSkeletonCap().IsCalibrating(aUsers[i]))
{
// Calibrating
sprintf(strLabel, "%d - Calibrating [%s]", aUsers[i], GetCalibrationErrorString(m_Errors[aUsers[i]].first));
}
else
{
// Nothing
sprintf(strLabel, "%d - Looking for pose [%s]", aUsers[i], GetPoseErrorString(m_Errors[aUsers[i]].second));
}
glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(com.X, com.Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel);
}
#endif
if (g_bDrawSkeleton && g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
#ifndef USE_GLES
glBegin(GL_LINES);
#endif
glColor4f(1-Colors[aUsers[i]%nColors][0], 1-Colors[aUsers[i]%nColors][1], 1-Colors[aUsers[i]%nColors][2], 1);
DrawLimb(aUsers[i], XN_SKEL_HEAD, XN_SKEL_NECK);
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_LEFT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_LEFT_ELBOW);
DrawLimb(aUsers[i], XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_HAND);
DrawLimb(aUsers[i], XN_SKEL_NECK, XN_SKEL_RIGHT_SHOULDER);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND);
DrawLimb(aUsers[i], XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_SHOULDER, XN_SKEL_TORSO);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_LEFT_HIP);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE);
DrawLimb(aUsers[i], XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT);
DrawLimb(aUsers[i], XN_SKEL_LEFT_HIP, XN_SKEL_RIGHT_HIP);
//---------------- get skeleton data ----------------------
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_HEAD, head);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_NECK, neck);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_TORSO, torso);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_SHOULDER, leftShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_ELBOW, leftElbow);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_HAND, leftHand);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_SHOULDER, rightShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_ELBOW, rightElbow);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_HAND, rightHand);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_HIP, leftHip);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_KNEE, leftKnee);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_LEFT_FOOT, leftFoot);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_HIP, rightHip);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_KNEE, rightKnee);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],
XN_SKEL_RIGHT_FOOT, rightFoot);
//-------------- store frame data in frameData ------------
char headX[30], headY[30], headZ[30], headC[30];
strcpy(frameData, "");
char space[2] = " ";
sprintf(headX, "%f", head.position.X);
sprintf(headY, "%f", head.position.Y);
sprintf(headZ, "%f", head.position.Z);
sprintf(headC, "%f", head.fConfidence);
strcat(frameData, headX);
strcat(frameData, space);
strcat(frameData, headY);
strcat(frameData, space);
strcat(frameData, headZ);
strcat(frameData, space);
strcat(frameData, headC);
strcat(frameData, space);
//std::cout << "Frame data: " << frameData << std::endl;
std::cout << "frameData to be sent: " << frameData << std::endl;
HandleConnection(frameData);
////------- print to console -------
//xnOSGetTimeStamp(&nNow);
//nNow /= 1000;
//std::cout << "-------------time: " << nNow << "---------------\n"
// << "User " << aUsers[i] <<std::endl
// << " Head: " << head.position.X << " "
// << head.position.Y << " " << head.position.Z
// << head.fConfidence << std::endl;
#ifndef USE_GLES
glEnd();
#endif
}
}
}