BayesianClass::BayesianClass(string name,string path):className(name),fileCount(0)
{
DIR *dir;
struct dirent *ent;
cout<<"Calculating "<<className<<endl;
if ((dir = opendir (path.c_str())) != NULL)
{
/* print all the files and directories within directory */
while ((ent = readdir (dir)) != NULL)
{
struct _stat buf;
string directory_name(ent->d_name);
if((directory_name==".")||(directory_name==".."))
continue;
string class_path = path + "\\" + directory_name;
int status = _stat(class_path.c_str(),&buf);
if(status!=0)
continue;
if (!(buf.st_mode&S_IFREG))
continue;
calculateHistogram(class_path);
}
closedir (dir);
}
else
{
/* could not open directory */
perror ("");
exit(errno);
}
}
void RobotIdentifier::loadShirtImages()
{
std::string path;
ros::param::get("/vision/tracker/team", team_color_);
path = ros::package::getPath("unball");
path += "/data/camisas/";
// Loads the shirt images
if (team_color_ == "Blue")
{
shirt_images_[0] = cv::imread(path + "red/blue.png", CV_LOAD_IMAGE_COLOR);
shirt_images_[1] = cv::imread(path + "green/blue.png", CV_LOAD_IMAGE_COLOR);
shirt_images_[2] = cv::imread(path + "purple/blue.png", CV_LOAD_IMAGE_COLOR);
}
else if (team_color_ == "Yellow")
{
shirt_images_[0] = cv::imread(path + "red/yellow.png", CV_LOAD_IMAGE_COLOR);
shirt_images_[1] = cv::imread(path + "green/yellow.png", CV_LOAD_IMAGE_COLOR);
shirt_images_[2] = cv::imread(path + "purple/yellow.png", CV_LOAD_IMAGE_COLOR);
}
else
{
ROS_ERROR("Unknown team identification");
}
// Calculates shirt histograms
for (int i = 0; i < 3; ++i)
shirt_histograms_[i] = calculateHistogram(shirt_images_[i]);
}
void ColorMatcher::addTrainingInstance(const ed::Entity& e, const std::string& property, const std::string& value)
{
if (property != "type")
return;
ColorHistogram color_histogram;
calculateHistogram(e, color_histogram);
std::map<std::string, ColorModel>::iterator it = models_.find(value);
if (it == models_.end())
{
// No other training instances for this type
ColorModel& model = models_[value];
model.min = color_histogram;
model.max = color_histogram;
}
else
{
ColorModel& model = it->second;
// Determine maximum for each histogram bin (i.e., determine maximum for each color)
for(unsigned int i = 0; i < ColorNameTable::NUM_COLORS; ++i)
{
model.min[i] = std::min(model.min[i], color_histogram[i]);
model.max[i] = std::max(model.max[i], color_histogram[i]);
}
}
}
// Display the count images in bgr and compute their HSV histograms.
// Then compare each histogram to the first one and report results.
//
static void showHistogramComparisons(int count,
const char *name[],
const cv::Mat bgr[])
{
std::vector<cv::Mat> hsv(count);
std::vector<cv::Mat> histogram(count);
for (int i = 0; i < count; ++i) {
makeWindow(name[i], bgr[i]);
cv::cvtColor(bgr[i], hsv[i], cv::COLOR_BGR2HSV);
}
for (int i = 0; i < histogram.size(); ++i) {
histogram[i] = calculateHistogram(hsv[i]);
}
compareHistograms(histogram, name);
std::cout << "Press a key to quit." << std::endl;
cv::waitKey(0);
}
void ColorMatcher::classify(const ed::Entity& e, const std::string& property,
const ed::perception::CategoricalDistribution& prior,
ed::perception::ClassificationOutput& output) const
{
tue::Configuration& result = output.data;
ColorHistogram color_histogram;
calculateHistogram(e, color_histogram);
if (property == "color")
{
for(unsigned int i = 0; i < ColorNameTable::NUM_COLORS; ++i)
output.likelihood.setScore(color_table_.intToColorName(i), color_histogram[i]);
output.likelihood.setUnknownScore(0);
return;
}
for(std::map<std::string, ColorModel>::const_iterator it = models_.begin(); it != models_.end(); ++it)
{
const std::string& model_name = it->first;
const ColorModel& model = it->second;
output.likelihood.setScore(model_name, 1);
for(unsigned int i = 0; i < ColorNameTable::NUM_COLORS; ++i)
{
float v = color_histogram[i];
if (v < model.min[i] - color_margin_ || v > model.max[i] + color_margin_)
output.likelihood.setScore(model_name, 0);
}
}
// Represent data (for debugging)
result.writeArray("colors");
for(unsigned int i = 0; i < ColorNameTable::NUM_COLORS; ++i)
{
result.addArrayItem();
result.setValue("color", ColorNameTable::intToColorName(i));
result.setValue("value", color_histogram[i]);
result.endArrayItem();
}
result.endArray();
}
void drawFrame()
{
// calculate locations
g_DrawConfig.DepthLocation.uBottom = 0;
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.DepthLocation.uLeft = 0;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X - 1;
g_DrawConfig.ColorLocation.uBottom = 0;
g_DrawConfig.ColorLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.ColorLocation.uLeft = 0;
g_DrawConfig.ColorLocation.uRight = WIN_SIZE_X - 1;
if (g_DrawConfig.Streams.ScreenArrangement == SIDE_BY_SIDE)
{
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X / 2 - 1;
g_DrawConfig.ColorLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.ColorLocation.uLeft = WIN_SIZE_X / 2;
}
// Texture map init
openni::VideoFrameRef* pDepthMD = &getDepthFrame();
if (isDepthOn() && pDepthMD->isValid())
{
int maxDepth = 0;
maxDepth = getDepthStream().getMaxPixelValue();
g_fMaxDepth = maxDepth;
TextureMapInit(&g_texDepth, pDepthMD->getVideoMode().getResolutionX(), pDepthMD->getVideoMode().getResolutionY(), 4, pDepthMD->getWidth(), pDepthMD->getHeight());
fixLocation(&g_DrawConfig.DepthLocation, pDepthMD->getVideoMode().getResolutionX(), pDepthMD->getVideoMode().getResolutionY());
}
openni::VideoFrameRef* pImageMD = NULL;
if (isColorOn())
{
pImageMD = &getColorFrame();
}
else if (isIROn())
{
pImageMD = &getIRFrame();
}
if (pImageMD != NULL && pImageMD->isValid())
{
TextureMapInit(&g_texColor, pImageMD->getVideoMode().getResolutionX(), pImageMD->getVideoMode().getResolutionY(), 4, pImageMD->getWidth(), pImageMD->getHeight());
fixLocation(&g_DrawConfig.ColorLocation, pImageMD->getVideoMode().getResolutionX(), pImageMD->getVideoMode().getResolutionY());
}
// check if pointer is over a map
bool bOverDepth = (pDepthMD != NULL && pDepthMD->isValid()) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.DepthLocation);
bool bOverImage = (pImageMD != NULL && pImageMD->isValid()) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.ColorLocation);
bool bDrawDepthPointer = false;
bool bDrawImagePointer = false;
int imagePointerRed = 255;
int imagePointerGreen = 0;
int imagePointerBlue = 0;
IntPair pointerInDepth = {0,0};
IntPair pointerInColor = {0,0};
if (bOverImage)
{
pointerInColor.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.ColorLocation.uLeft) / (g_DrawConfig.ColorLocation.uRight - g_DrawConfig.ColorLocation.uLeft + 1) * pImageMD->getVideoMode().getResolutionX();
pointerInColor.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.ColorLocation.uBottom) / (g_DrawConfig.ColorLocation.uTop - g_DrawConfig.ColorLocation.uBottom + 1) * pImageMD->getVideoMode().getResolutionY();
bDrawImagePointer = true;
}
if (bOverDepth)
{
pointerInDepth.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.DepthLocation.uLeft) / (g_DrawConfig.DepthLocation.uRight - g_DrawConfig.DepthLocation.uLeft + 1) * pDepthMD->getVideoMode().getResolutionX();
pointerInDepth.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.DepthLocation.uBottom) / (g_DrawConfig.DepthLocation.uTop - g_DrawConfig.DepthLocation.uBottom + 1) * pDepthMD->getVideoMode().getResolutionY();
bDrawDepthPointer = true;
if (!bOverImage && g_DrawConfig.bShowPointer &&
pointerInDepth.X >= pDepthMD->getCropOriginX() && pointerInDepth.X < (pDepthMD->getCropOriginX() + pDepthMD->getWidth()) &&
pointerInDepth.Y >= pDepthMD->getCropOriginY() && pointerInDepth.Y < (pDepthMD->getCropOriginY() + pDepthMD->getHeight()))
{
// try to translate depth pixel to image
openni::DepthPixel* pDepthPixels = (openni::DepthPixel*)pDepthMD->getData();
openni::DepthPixel pointerDepth = pDepthPixels[(pointerInDepth.Y - pDepthMD->getCropOriginY()) * pDepthMD->getWidth() + (pointerInDepth.X - pDepthMD->getCropOriginX())];
if (convertDepthPointToColor(pointerInDepth.X, pointerInDepth.Y, pointerDepth, &pointerInColor.X, &pointerInColor.Y))
{
bDrawImagePointer = true;
imagePointerRed = 0;
imagePointerGreen = 0;
imagePointerBlue = 255;
}
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
// Setup the opengl env for fixed location view
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0,WIN_SIZE_X,WIN_SIZE_Y,0,-1.0,1.0);
glDisable(GL_DEPTH_TEST);
if (g_DrawConfig.Streams.Depth.Coloring == CYCLIC_RAINBOW_HISTOGRAM || g_DrawConfig.Streams.Depth.Coloring == LINEAR_HISTOGRAM || g_DrawConfig.bShowPointer)
calculateHistogram();
drawColor(&g_DrawConfig.ColorLocation, bDrawImagePointer ? &pointerInColor : NULL, imagePointerRed, imagePointerGreen, imagePointerBlue);
drawDepth(&g_DrawConfig.DepthLocation, bDrawDepthPointer ? &pointerInDepth : NULL);
printRecordingInfo();
if (g_DrawConfig.bShowPointer)
drawPointerMode(bOverDepth ? &pointerInDepth : NULL);
drawUserInput(!bOverDepth && !bOverImage);
drawUserMessage();
drawPlaybackSpeed();
if (g_DrawConfig.strErrorState[0] != '\0')
drawErrorState();
if (g_DrawConfig.bHelp)
drawHelpScreen();
glutSwapBuffers();
}
void drawFrame()
{
// calculate locations
g_DrawConfig.DepthLocation.uBottom = 0;
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.DepthLocation.uLeft = 0;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X - 1;
g_DrawConfig.ImageLocation.uBottom = 0;
g_DrawConfig.ImageLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.ImageLocation.uLeft = 0;
g_DrawConfig.ImageLocation.uRight = WIN_SIZE_X - 1;
if (g_DrawConfig.Streams.ScreenArrangement == SIDE_BY_SIDE)
{
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X / 2 - 1;
g_DrawConfig.ImageLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.ImageLocation.uLeft = WIN_SIZE_X / 2;
}
// Texture map init
const DepthMetaData* pDepthMD = getDepthMetaData();
if (isDepthOn())
{
g_nMaxDepth = getDepthGenerator()->GetDeviceMaxDepth();
TextureMapInit(&g_texDepth, pDepthMD->FullXRes(), pDepthMD->FullYRes(), 4, pDepthMD->XRes(), pDepthMD->YRes());
fixLocation(&g_DrawConfig.DepthLocation, pDepthMD->FullXRes(), pDepthMD->FullYRes());
}
const MapMetaData* pImageMD = NULL;
if (isImageOn())
{
pImageMD = getImageMetaData();
}
else if (isIROn())
{
pImageMD = getIRMetaData();
}
if (pImageMD != NULL)
{
TextureMapInit(&g_texImage, pImageMD->FullXRes(), pImageMD->FullYRes(), 4, pImageMD->XRes(), pImageMD->YRes());
fixLocation(&g_DrawConfig.ImageLocation, pImageMD->FullXRes(), pImageMD->FullYRes());
}
// check if pointer is over a map
bool bOverDepth = (pDepthMD != NULL) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.DepthLocation);
bool bOverImage = (pImageMD != NULL) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.ImageLocation);
bool bDrawDepthPointer = false;
bool bDrawImagePointer = false;
int imagePointerRed = 255;
int imagePointerGreen = 0;
int imagePointerBlue = 0;
IntPair pointerInDepth;
IntPair pointerInImage;
if (bOverImage)
{
pointerInImage.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.ImageLocation.uLeft) / (g_DrawConfig.ImageLocation.uRight - g_DrawConfig.ImageLocation.uLeft + 1) * pImageMD->FullXRes();
pointerInImage.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.ImageLocation.uBottom) / (g_DrawConfig.ImageLocation.uTop - g_DrawConfig.ImageLocation.uBottom + 1) * pImageMD->FullYRes();
bDrawImagePointer = true;
}
if (bOverDepth)
{
pointerInDepth.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.DepthLocation.uLeft) / (g_DrawConfig.DepthLocation.uRight - g_DrawConfig.DepthLocation.uLeft + 1) * pDepthMD->FullXRes();
pointerInDepth.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.DepthLocation.uBottom) / (g_DrawConfig.DepthLocation.uTop - g_DrawConfig.DepthLocation.uBottom + 1) * pDepthMD->FullYRes();
// make sure we're in cropped area
if (pointerInDepth.X >= pDepthMD->XOffset() && pointerInDepth.X < (pDepthMD->XOffset() + pDepthMD->XRes()) &&
pointerInDepth.Y >= pDepthMD->YOffset() && pointerInDepth.Y < (pDepthMD->YOffset() + pDepthMD->YRes()))
{
bDrawDepthPointer = true;
if (!bOverImage && g_DrawConfig.bShowPointer)
{
// try to translate depth pixel to image
if (getImageCoordinatesForDepthPixel(pointerInDepth.X, pointerInDepth.Y, pointerInImage.X, pointerInImage.Y))
{
bDrawImagePointer = true;
imagePointerRed = 0;
imagePointerGreen = 0;
imagePointerBlue = 255;
}
}
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
// Setup the opengl env for fixed location view
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0,WIN_SIZE_X,WIN_SIZE_Y,0,-1.0,1.0);
glDisable(GL_DEPTH_TEST);
if (g_DrawConfig.Streams.Depth.Coloring == CYCLIC_RAINBOW_HISTOGRAM || g_DrawConfig.Streams.Depth.Coloring == LINEAR_HISTOGRAM || g_DrawConfig.bShowPointer)
calculateHistogram();
drawColorImage(&g_DrawConfig.ImageLocation, bDrawImagePointer ? &pointerInImage : NULL, imagePointerRed, imagePointerGreen, imagePointerBlue);
drawDepth(&g_DrawConfig.DepthLocation, bDrawDepthPointer ? &pointerInDepth : NULL);
printStatisticsInfo();
printRecordingInfo();
if (g_DrawConfig.bShowPointer)
drawPointerMode(bDrawDepthPointer ? &pointerInDepth : NULL);
drawUserInput(!bOverDepth && !bOverImage);
drawUserMessage();
drawPlaybackSpeed();
if (g_DrawConfig.strErrorState != NULL)
drawErrorState();
if (g_DrawConfig.bHelp)
drawHelpScreen();
glutSwapBuffers();
}
void SampleViewer::display()
{
if (!m_pClosestPointListener->isAvailable())
{
return;
}
openni::VideoFrameRef depthFrame = m_pClosestPointListener->getFrame();
const closest_point::IntPoint3D& closest = m_pClosestPointListener->getClosestPoint();
m_pClosestPointListener->setUnavailable();
if (m_pTexMap == NULL)
{
// Texture map init
m_nTexMapX = MIN_CHUNKS_SIZE(depthFrame.getWidth(), TEXTURE_SIZE);
m_nTexMapY = MIN_CHUNKS_SIZE(depthFrame.getHeight(), TEXTURE_SIZE);
m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
}
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
if (depthFrame.isValid())
{
calculateHistogram(m_pDepthHist, MAX_DEPTH, depthFrame);
}
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
float factor[3] = {1, 1, 1};
// check if we need to draw depth frame to texture
if (depthFrame.isValid())
{
const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrame.getCropOriginY() * m_nTexMapX;
int rowSize = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
int width = depthFrame.getWidth();
int height = depthFrame.getHeight();
for (int y = 0; y < height; ++y)
{
const openni::DepthPixel* pDepth = pDepthRow;
openni::RGB888Pixel* pTex = pTexRow + depthFrame.getCropOriginX();
for (int x = 0; x < width; ++x, ++pDepth, ++pTex)
{
if (*pDepth != 0)
{
if (*pDepth == closest.Z)
{
factor[0] = factor[1] = 0;
}
// // Add debug lines - every 10cm
// else if ((*pDepth / 10) % 10 == 0)
// {
// factor[0] = factor[2] = 0;
// }
int nHistValue = m_pDepthHist[*pDepth];
pTex->r = nHistValue*factor[0];
pTex->g = nHistValue*factor[1];
pTex->b = nHistValue*factor[2];
factor[0] = factor[1] = factor[2] = 1;
}
}
pDepthRow += rowSize;
pTexRow += m_nTexMapX;
}
}
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
int nXRes = depthFrame.getWidth();
int nYRes = depthFrame.getHeight();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, (float)nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
glDisable(GL_TEXTURE_2D);
float closestCoordinates[3] = {closest.X*GL_WIN_SIZE_X/float(depthFrame.getWidth()), closest.Y*GL_WIN_SIZE_Y/float(depthFrame.getHeight()), 0};
glVertexPointer(3, GL_FLOAT, 0, closestCoordinates);
glColor3f(1.f, 0.f, 0.f);
glPointSize(10);
glDrawArrays(GL_POINTS, 0, 1);
glFlush();
// Swap the OpenGL display buffers
glutSwapBuffers();
}
bool CHistogram2D::compute() throw()
{
typedef boost::shared_ptr<ImageType> ImagePtr;
typedef typename ImageType::TDataType ValueType;
ImagePtr imagePtr = static_pointer_cast<ImageType>( getInput() );
ImagePtr classPtr = static_pointer_cast<ImageType>( getInput(1) );
ImagePtr gradientPtr = static_pointer_cast<ImageType>( getInput(2) );
if ( !checkInput<ImageType>( imagePtr, 2, 3 )
|| !checkInput<ImageType>( classPtr, 2, 3 )
|| !checkInput<ImageType>( gradientPtr, 2, 3 ) )
{
return false;
}
bModuleReady = true;
deleteOldOutput();
double dClassOneMean = 0.0;
double dClassOneVariance = 0.0;
vector<ValueType> classOneValuesVec;
double dClassTwoMean = 0.0;
double dClassTwoVariance = 0.0;
vector<ValueType> classTwoValuesVec;
uint uiClassOne = parameters.getUnsignedLong( "Class1" );
uint uiClassTwo = parameters.getUnsignedLong( "Class2" );
cerr << uiClassOne << " " << uiClassTwo << endl;
// Calculate intensity mean and variance of the selected classes
typename ImageType::iterator classIt = classPtr->begin();
typename ImageType::iterator imageIt = imagePtr->begin();
while( classIt != classPtr->end() )
{
if ( *classIt == static_cast<ValueType>( uiClassOne ) )
classOneValuesVec.push_back( *imageIt );
else if ( *classIt == static_cast<ValueType>( uiClassTwo ) )
classTwoValuesVec.push_back( *imageIt );
++classIt;
++imageIt;
}
for_each( classOneValuesVec.begin(), classOneValuesVec.end(), dClassOneMean += _1 );
dClassOneMean /= static_cast<double>( classOneValuesVec.size() );
for_each( classOneValuesVec.begin(), classOneValuesVec.end(),
dClassOneVariance += ( _1 - dClassOneMean ) * ( _1 - dClassOneMean ) );
dClassOneVariance /= static_cast<double>( classOneValuesVec.size() );
dClassOneVariance = sqrt( dClassOneVariance );
for_each( classTwoValuesVec.begin(), classTwoValuesVec.end(), dClassTwoMean += _1 );
dClassTwoMean /= static_cast<double>( classTwoValuesVec.size() );
for_each( classTwoValuesVec.begin(), classTwoValuesVec.end(),
dClassTwoVariance += ( _1 - dClassTwoMean ) * ( _1 - dClassTwoMean ) );
dClassTwoVariance /= static_cast<double>( classTwoValuesVec.size() );
dClassTwoVariance = sqrt( dClassTwoVariance );
cerr << " C1 (" << uiClassOne << ") : Mean " << dClassOneMean << " SD " << dClassOneVariance << endl
<< " C2 (" << uiClassTwo << ") : Mean " << dClassTwoMean << " SD " << dClassTwoVariance << endl;
int rangeMin, rangeMax;
rangeMin = static_cast<int>(
std::min( dClassOneMean - dClassOneVariance, dClassTwoMean - dClassTwoVariance ) );
rangeMax = static_cast<int>(
std::max( dClassOneMean - dClassOneVariance, dClassTwoMean - dClassTwoVariance ) );
ImagePtr tmp( new ImageType( *gradientPtr ) );
classIt = imagePtr->begin();
imageIt = tmp->begin();
while( classIt != imagePtr->end() )
{
if ( *classIt < rangeMin || *classIt > rangeMax )
*imageIt = 0;
++classIt;
++imageIt;
}
calculateHistogram( tmp );
// Do a gaussian smoothing on the histogram
// Compute gaussian mask
double dSigma = parameters.getDouble( "HistoSmooth" );
cerr << "HistoSmooth " << dSigma << endl;
int iMaskSize = static_cast<uint>( floor( 6.0 * dSigma + 0.5 ) );
vector<double> dGaussMask;
for( int i = -( iMaskSize / 2 ); i <= ( iMaskSize / 2 ); ++i )
{
double dExponential = ( 1.0 / sqrt( dSigma * dSigma * 2.0 * M_PI ) )
* exp( static_cast<double>( -i * i ) / ( 2.0 * ( dSigma * dSigma ) ) );
dGaussMask.push_back( dExponential );
}
cerr << "Mask size " << iMaskSize << endl;
// Shift histogram to attend smoothing
vector<double> shiftedHisto;
for( int i = 0; i < iMaskSize/2; ++i )
shiftedHisto.push_back(0.0);
for( uint i = 0; i < theHistogramVec[0].size(); ++i )
{
shiftedHisto.push_back( theHistogramVec[0][i] );
}
for( int i = 0; i <= iMaskSize/2; ++i )
shiftedHisto.push_back(0.0);
const uint uiShift = iMaskSize/2;
vector<double> smoothedHisto( shiftedHisto.size() + uiShift);
for( uint i = uiShift+1; i < shiftedHisto.size() - uiShift; ++i )
{
double smoothed = 0.0;
for( int j = -(uiShift+1); j <= uiShift; ++j )
{
smoothed += shiftedHisto[i+j]*dGaussMask[j+uiShift+1];
}
smoothedHisto[i] = smoothed;
}
smoothedHisto = shiftedHisto;
// Smooth
// Reshift histogram
// Determine the global maximum g1
uint g1 = 0;
double gv1 = 0.0;
for( uint i = uiShift+1; i < smoothedHisto.size(); ++i )
{
if ( smoothedHisto[i] >= smoothedHisto[i-1] && smoothedHisto[i] >= gv1 )
{
gv1 = smoothedHisto[i]; g1 = i;
}
else if ( smoothedHisto[i] < smoothedHisto[i-1] )
break;
}
// Determine next global maximum g2
/* if ( g1 == 0 ) g1 = parameters.getUnsignedLong("Shift");*/
uint t = g1 + parameters.getUnsignedLong("Shift");
while( smoothedHisto[t] <= smoothedHisto[t-1] )
++t;
uint g2 = t+1;
double gv2 = 0;
for( uint i = t+1; i < smoothedHisto.size(); ++i )
{
if ( smoothedHisto[i] > smoothedHisto[i-1] && smoothedHisto[i] > gv2 )
{
gv2 = smoothedHisto[i]; g2 = i;
}
else if ( smoothedHisto[i] < smoothedHisto[i-1] )
break;
}
if ( g1 == 0 )
{
g1 = g2;
t = g1+parameters.getUnsignedLong("Shift");
while( smoothedHisto[t] <= smoothedHisto[t-1] )
++t;
g2 = t+1;
gv2 = 0;
for( uint i = t+1; i < smoothedHisto.size(); ++i )
{
if ( smoothedHisto[i] > smoothedHisto[i-1] && smoothedHisto[i] > gv2 )
{
gv2 = smoothedHisto[i]; g2 = i;
}
else if ( smoothedHisto[i] < smoothedHisto[i-1] )
break;
}
}
if ( g2-g1 > (2 * parameters.getUnsignedLong("Shift")) )
g2 = g1 + 2 * parameters.getUnsignedLong("Shift");
g1--;
g2--;
cerr << "Threshold values are " << g1 << " and " << g2;
parameters.setUnsignedLong("T1", static_cast<ulong>( g1 * 0.33)-1 );
parameters.setUnsignedLong("T2",
static_cast<ulong>( std::max( g1 * 0.66, g1 + parameters.getDouble("Shift") + 1) ) - 1 );
ofstream file( "/home/hendrik/orig_histogram.data" );
for( uint i = 0; i <= theHistogramVec[0].size(); ++i )
{
file << i << " " << theHistogramVec[0][i] << endl;
}
file.close();
ofstream file2( "/home/hendrik/shifted_histogram.data" );
for( uint i = 0; i <= shiftedHisto.size(); ++i )
{
file2 << i << " " << shiftedHisto[i] << endl;
}
file2.close();
ofstream file3( "/home/hendrik/smoothed_histogram.data" );
for( uint i = 0; i <= smoothedHisto.size(); ++i )
{
file3 << i << " " << smoothedHisto[i] << endl;
}
file3.close();
return true;
}
void SampleViewer::display()
{
int changedIndex;
openni::Status rc = openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex);
if (rc != openni::STATUS_OK)
{
printf("Wait failed\n");
return;
}
switch (changedIndex)
{
case 0:
m_depth1.readFrame(&m_depth1Frame); break;
case 1:
m_depth2.readFrame(&m_depth2Frame); break;
default:
printf("Error in wait\n");
}
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
if (m_depth1Frame.isValid() && m_eViewState != DISPLAY_MODE_DEPTH2)
calculateHistogram(m_pDepthHist, MAX_DEPTH, m_depth1Frame);
else
calculateHistogram(m_pDepthHist, MAX_DEPTH, m_depth2Frame);
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
// check if we need to draw image frame to texture
switch (m_eViewState)
{
case DISPLAY_MODE_DEPTH1:
displayFrame(m_depth1Frame);
break;
case DISPLAY_MODE_DEPTH2:
displayFrame(m_depth2Frame);
break;
default:
displayBothFrames();
}
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glBegin(GL_QUADS);
int nXRes = m_width;
int nYRes = m_height;
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, (float)nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
// Swap the OpenGL display buffers
glutSwapBuffers();
}
void SampleViewer::Display()
{
// namespace bg = boost::geometry;
nite::UserTrackerFrameRef userTrackerFrame;
openni::VideoFrameRef depthFrame;
nite::Status rc = m_pUserTracker->readFrame(&userTrackerFrame);
if (rc != nite::STATUS_OK)
{
printf("GetNextData failed\n");
return;
}
depthFrame = userTrackerFrame.getDepthFrame();
if (m_pTexMap == NULL)
{
// Texture map init
m_nTexMapX = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionX(), TEXTURE_SIZE);
m_nTexMapY = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionY(), TEXTURE_SIZE);
m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
}
const nite::UserMap& userLabels = userTrackerFrame.getUserMap();
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
if (depthFrame.isValid() && g_drawDepth)
{
calculateHistogram(m_pDepthHist, MAX_DEPTH, depthFrame);
}
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
float factor[3] = {1, 1, 1};
// check if we need to draw depth frame to texture
if (depthFrame.isValid() && g_drawDepth)
{
const nite::UserId* pLabels = userLabels.getPixels();
const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrame.getCropOriginY() * m_nTexMapX;
int rowSize = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
for (int y = 0; y < depthFrame.getHeight(); ++y)
{
const openni::DepthPixel* pDepth = pDepthRow;
openni::RGB888Pixel* pTex = pTexRow + depthFrame.getCropOriginX();
for (int x = 0; x < depthFrame.getWidth(); ++x, ++pDepth, ++pTex, ++pLabels)
{
if (*pDepth != 0)
{
if (*pLabels == 0)
{
if (!g_drawBackground)
{
factor[0] = factor[1] = factor[2] = 0;
}
else
{
factor[0] = Colors[colorCount][0];
factor[1] = Colors[colorCount][1];
factor[2] = Colors[colorCount][2];
}
}
else
{
factor[0] = Colors[*pLabels % colorCount][0];
factor[1] = Colors[*pLabels % colorCount][1];
factor[2] = Colors[*pLabels % colorCount][2];
}
// // Add debug lines - every 10cm
// else if ((*pDepth / 10) % 10 == 0)
// {
// factor[0] = factor[2] = 0;
// }
int nHistValue = m_pDepthHist[*pDepth];
pTex->r = nHistValue*factor[0];
pTex->g = nHistValue*factor[1];
pTex->b = nHistValue*factor[2];
factor[0] = factor[1] = factor[2] = 1;
}
}
pDepthRow += rowSize;
pTexRow += m_nTexMapX;
}
}
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
g_nXRes = depthFrame.getVideoMode().getResolutionX();
g_nYRes = depthFrame.getVideoMode().getResolutionY();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
glDisable(GL_TEXTURE_2D);
const nite::Array<nite::UserData>& users = userTrackerFrame.getUsers();
// 11.16.15 remove for loop for tracking only one user
// for (int i = 0; i < users.getSize(); ++i)
// {
//const nite::UserData& user = users[i];
if (users.getSize() > 0) {
const nite::UserData& user = users[0];
updateUserState(user, userTrackerFrame.getTimestamp());
if (user.isNew())
{
m_pUserTracker->startSkeletonTracking(user.getId());
m_pUserTracker->startPoseDetection(user.getId(), nite::POSE_CROSSED_HANDS);
}
else if (!user.isLost())
{
if (g_drawStatusLabel)
{
DrawStatusLabel(m_pUserTracker, user);
}
if (g_drawCenterOfMass)
{
DrawCenterOfMass(m_pUserTracker, user);
}
if (g_drawBoundingBox)
{
DrawBoundingBox(user);
}
if (user.getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawSkeleton)
{
DrawSkeleton(m_pUserTracker, user);
}
}
if (m_poseUser == 0 || m_poseUser == user.getId())
{
const nite::PoseData& pose = user.getPose(nite::POSE_CROSSED_HANDS);
if (pose.isEntered())
{
// Start timer
sprintf(g_generalMessage, "In exit pose. Keep it for %d second%s to exit\n", g_poseTimeoutToExit/1000, g_poseTimeoutToExit/1000 == 1 ? "" : "s");
printf("Counting down %d second to exit\n", g_poseTimeoutToExit/1000);
m_poseUser = user.getId();
m_poseTime = userTrackerFrame.getTimestamp();
}
else if (pose.isExited())
{
memset(g_generalMessage, 0, sizeof(g_generalMessage));
printf("Count-down interrupted\n");
m_poseTime = 0;
m_poseUser = 0;
}
else if (pose.isHeld())
{
// tick
if (userTrackerFrame.getTimestamp() - m_poseTime > g_poseTimeoutToExit * 1000)
{
printf("Count down complete. Exit...\n");
Finalize();
exit(2);
}
}
} //user
char buffer[80] = "";
// ---------------- calculate right shoulder 2 DOF ----------------------
int rightShoulderX, rightShoulderY, rightShoulderZ;
rightShoulderX = user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().x -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_SHOULDER).getPosition().x;
rightShoulderY = user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().y -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_SHOULDER).getPosition().y;
rightShoulderZ = user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().z -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_SHOULDER).getPosition().z;
Spherical rightShoulderSpherical;
rightShoulderSpherical = Cartesian2Spherical(rightShoulderX, rightShoulderY, rightShoulderZ);
int rightShoulderPhi, rightShoulderTheta;
rightShoulderTheta = radian2Degree(rightShoulderSpherical.radianTheta, rightShoulderThetaInit); // horizontal rise it's -60 degree
rightShoulderPhi = radian2Degree(rightShoulderSpherical.radianPhi, rightShoulderPitchInit); // when hand's down, it's 70 degree
int rightShoulderYawNow = rightShoulderPhi * sin(rightShoulderTheta * PI / 180);
int rightShoulderPitchNow = rightShoulderPhi * cos(rightShoulderTheta * PI / 180);
sprintf(buffer,"(rightShoulderTheta=%d, rightShoulderYaw=%d, rightShoulderPitch=%d)", rightShoulderTheta, rightShoulderYawNow, rightShoulderPitchNow);
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(20, 20);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
// ------------------- calculate right elbow 2 DOF -----------------------
int rightElbowX, rightElbowY, rightElbowZ;
rightElbowX = user.getSkeleton().getJoint(nite::JOINT_RIGHT_HAND).getPosition().x -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().x;
rightElbowY = user.getSkeleton().getJoint(nite::JOINT_RIGHT_HAND).getPosition().y -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().y;
rightElbowZ = user.getSkeleton().getJoint(nite::JOINT_RIGHT_HAND).getPosition().z -
user.getSkeleton().getJoint(nite::JOINT_RIGHT_ELBOW).getPosition().z;
Spherical rightElbowSpherical;
rightElbowSpherical = Cartesian2Spherical(rightElbowX, rightElbowY, rightElbowZ);
int rightElbowThetaNow = - radian2Degree(rightElbowSpherical.radianTheta, rightElbowThetaInit); // reverse for system
int rightElbowYawNow = radian2Degree(rightElbowSpherical.radianPhi, rightElbowYawInit);
sprintf(buffer,"(rightElbowThetaNow=%d, rightElbowYawNow=%d)", rightElbowThetaNow, rightElbowYawNow);
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(20, 60);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
// ---------------- calculate left shoulder 2 DOF ----------------------
int leftShoulderX, leftShoulderY, leftShoulderZ;
leftShoulderX = user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().x -
user.getSkeleton().getJoint(nite::JOINT_LEFT_SHOULDER).getPosition().x;
leftShoulderY = user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().y -
user.getSkeleton().getJoint(nite::JOINT_LEFT_SHOULDER).getPosition().y;
leftShoulderZ = user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().z -
user.getSkeleton().getJoint(nite::JOINT_LEFT_SHOULDER).getPosition().z;
Spherical leftShoulderSpherical;
leftShoulderSpherical = Cartesian2Spherical(leftShoulderX, leftShoulderY, leftShoulderZ);
int leftShoulderPhi, leftShoulderTheta;
leftShoulderTheta = radian2Degree(leftShoulderSpherical.radianTheta, leftShoulderThetaInit); // horizontal rise it's -60 degree
leftShoulderPhi = radian2Degree(leftShoulderSpherical.radianPhi, leftShoulderPitchInit); // when hand's down, it's 70 degree
// need to reverse in left side
int leftShoulderYawNow = - leftShoulderPhi * sin(leftShoulderTheta * PI / 180);
int leftShoulderPitchNow = - leftShoulderPhi * cos(leftShoulderTheta * PI / 180);
sprintf(buffer,"(leftShoulderTheta=%d, leftShoulderYaw=%d, leftShoulderPitch=%d)", leftShoulderTheta, leftShoulderYawNow, leftShoulderPitchNow);
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(20, 100);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
// ------------------- calculate left elbow 2 DOF -----------------------
int leftElbowX, leftElbowY, leftElbowZ;
leftElbowX = user.getSkeleton().getJoint(nite::JOINT_LEFT_HAND).getPosition().x -
user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().x;
leftElbowY = user.getSkeleton().getJoint(nite::JOINT_LEFT_HAND).getPosition().y -
user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().y;
leftElbowZ = user.getSkeleton().getJoint(nite::JOINT_LEFT_HAND).getPosition().z -
user.getSkeleton().getJoint(nite::JOINT_LEFT_ELBOW).getPosition().z;
Spherical leftElbowSpherical;
leftElbowSpherical = Cartesian2Spherical(leftElbowX, leftElbowY, leftElbowZ);
int leftElbowThetaNow = radian2Degree(leftElbowSpherical.radianTheta, leftElbowThetaInit);
int leftElbowYawNow = radian2Degree(leftElbowSpherical.radianPhi, leftElbowYawInit);
sprintf(buffer,"(leftElbowTheta=%d, leftElbowYawNow=%d)", leftElbowThetaNow, leftElbowYawNow);
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(20, 140);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
// ---------------- constraint movement and publish message ------------
int rightShoulderYawDiff = abs(rightShoulderYaw - rightShoulderYawNow);
int rightShoulderPitchDiff = abs(rightShoulderPitch - rightShoulderPitchNow);
int rightElbowThetaDiff = abs(rightElbowTheta - rightElbowThetaNow);
int rightElbowYawDiff = abs(rightElbowYaw - rightElbowYawNow);
int leftShoulderYawDiff = abs(leftShoulderYaw - leftShoulderYawNow);
int leftShoulderPitchDiff = abs(leftShoulderPitch - leftShoulderPitchNow);
int leftElbowThetaDiff = abs(leftElbowTheta - leftElbowThetaNow);
int leftElbowYawDiff = abs(leftElbowYaw - leftElbowYawNow);
if ((rightShoulderYawDiff < moveLimitDegree) && (rightShoulderPitchDiff < moveLimitDegree) && (rightElbowThetaDiff < moveLimitDegree) && (rightElbowYawDiff < moveLimitDegree) && (rightShoulderTheta >= 0)) {
// in range then refresh robot angle
rightShoulderYaw = rightShoulderYawNow;
rightShoulderPitch = rightShoulderPitchNow;
rightElbowTheta = rightElbowThetaNow;
rightElbowYaw = rightElbowYawNow;
// change the angle to 0 to 360 and publish
rightShoulderYawPub = angleHandler(rightShoulderYaw);
rightShoulderPitchPub = angleHandler(rightShoulderPitch);
rightElbowThetaPub = angleHandler(rightElbowTheta);
rightElbowYawPub = angleHandler(rightElbowYaw);
sprintf(buffer,"tracking!");
glColor3f(0.0f, 0.0f, 1.0f);
glRasterPos2i(20, 180);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
actionPublish(rightShoulderYawPub, rightShoulderPitchPub, rightElbowThetaPub, rightElbowYawPub, leftShoulderYawPub, leftShoulderPitchPub, leftElbowThetaPub, leftElbowYawPub);
}
else {
sprintf(buffer,"soulder yaw: %d, soulder pitch: %d, elbow yaw: %d, rightShoulderTheta > 0: %d", rightShoulderYaw - rightShoulderYawNow, rightShoulderPitch - rightShoulderPitchNow, rightElbowYaw - rightElbowYawNow, rightShoulderTheta);
glColor3f(1.0f, 0.0f, 0.5f);
glRasterPos2i(20, 180);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
}
if((leftShoulderYawDiff < moveLimitDegree) && (leftShoulderPitchDiff < moveLimitDegree) && (leftElbowThetaDiff < moveLimitDegree) && (leftElbowYawDiff < moveLimitDegree) && (leftShoulderTheta >= 0)) {
leftShoulderYaw = leftShoulderYawNow;
leftShoulderPitch = leftShoulderPitchNow;
leftElbowTheta = leftElbowThetaNow;
leftElbowYaw = leftElbowYawNow;
leftShoulderYawPub = angleHandler(leftShoulderYaw);
leftShoulderPitchPub = angleHandler(leftShoulderPitch);
leftElbowThetaPub = angleHandler(leftElbowTheta);
leftElbowYawPub = angleHandler(leftElbowYaw);
sprintf(buffer,"tracking!");
glColor3f(0.0f, 0.3f, 1.0f);
glRasterPos2i(20, 220);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
actionPublish(rightShoulderYawPub, rightShoulderPitchPub, rightElbowThetaPub, rightElbowYawPub, leftShoulderYawPub, leftShoulderPitchPub, leftElbowThetaPub, leftElbowYawPub);
}
else {
sprintf(buffer,"soulder yaw: %d, soulder pitch: %d, elbow yaw: %d, leftShoulderTheta > 0: %d", leftShoulderYaw - leftShoulderYawNow, leftShoulderPitch - leftShoulderPitchNow, leftElbowYaw - leftElbowYawNow, leftShoulderTheta);
glColor3f(0.7f, 0.8f, 2.0f);
glRasterPos2i(20, 220);
glPrintString(GLUT_BITMAP_HELVETICA_18, buffer);
}
}
if (g_drawFrameId)
{
DrawFrameId(userTrackerFrame.getFrameIndex());
}
if (g_generalMessage[0] != '\0')
{
char *msg = g_generalMessage;
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(100, 20);
glPrintString(GLUT_BITMAP_HELVETICA_18, msg);
}
// Swap the OpenGL display buffers
glutSwapBuffers();
}
void SampleViewer::display()
{
int changedIndex;
openni::Status rc = openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex);
if (rc != openni::STATUS_OK)
{
printf("Wait failed\n");
return;
}
switch (changedIndex)
{
case 0:
m_depthStream.readFrame(&m_depthFrame); break;
case 1:
m_colorStream.readFrame(&m_colorFrame); break;
default:
printf("Error in wait\n");
}
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
if (m_depthFrame.isValid())
{
calculateHistogram(m_pDepthHist, MAX_DEPTH, m_depthFrame);
}
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
// check if we need to draw image frame to texture
if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
m_eViewState == DISPLAY_MODE_IMAGE) && m_colorFrame.isValid())
{
const openni::RGB888Pixel* pImageRow = (const openni::RGB888Pixel*)m_colorFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + m_colorFrame.getCropOriginY() * m_nTexMapX;
int rowSize = m_colorFrame.getStrideInBytes() / sizeof(openni::RGB888Pixel);
for (int y = 0; y < m_colorFrame.getHeight(); ++y)
{
const openni::RGB888Pixel* pImage = pImageRow;
openni::RGB888Pixel* pTex = pTexRow + m_colorFrame.getCropOriginX();
for (int x = 0; x < m_colorFrame.getWidth(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += rowSize;
pTexRow += m_nTexMapX;
}
}
// check if we need to draw depth frame to texture
if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
m_eViewState == DISPLAY_MODE_DEPTH) && m_depthFrame.isValid())
{
const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)m_depthFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + m_depthFrame.getCropOriginY() * m_nTexMapX;
int rowSize = m_depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
for (int y = 0; y < m_depthFrame.getHeight(); ++y)
{
const openni::DepthPixel* pDepth = pDepthRow;
openni::RGB888Pixel* pTex = pTexRow + m_depthFrame.getCropOriginX();
for (int x = 0; x < m_depthFrame.getWidth(); ++x, ++pDepth, ++pTex)
{
if (*pDepth != 0)
{
int nHistValue = m_pDepthHist[*pDepth];
pTex->r = nHistValue;
pTex->g = nHistValue;
pTex->b = 0;
}
}
pDepthRow += rowSize;
pTexRow += m_nTexMapX;
}
}
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glBegin(GL_QUADS);
int nXRes = m_width;
int nYRes = m_height;
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)nXRes/(float)m_nTexMapX, (float)nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
// Swap the OpenGL display buffers
glutSwapBuffers();
KVector4 vec;
m_device.getProperty( KINECT_DEVICE_PROPERTY_ACCELEROMETER, &vec );
printf( "%f, %f, %f\n", vec.x, vec.y, vec.z );
}
void SampleViewer::Display()
{
if (g_pause)
return;
nite::UserTrackerFrameRef userTrackerFrame;
nite::Status rc1 = m_pUserTracker->readFrame(&userTrackerFrame);
if (rc1 != nite::STATUS_OK) {
printf("GetNextData failed\n");
return;
}
openni::VideoFrameRef depthFrameSide = userTrackerFrame.getDepthFrame();
int height = depthFrameSide.getHeight();
int width = depthFrameSide.getWidth();
if (!label) {
label = (int *)malloc(width*height*sizeof(int));
}
openni::VideoFrameRef depthFrameTop;
openni::Status rc2 = depthStreamTop.readFrame(&depthFrameTop);
if (rc2 != openni::STATUS_OK) {
printf("GetNextData failed\n");
return;
}
if (m_pTexMap == NULL)
{
// Texture map init
m_nTexMapX = MIN_CHUNKS_SIZE(depthFrameSide.getVideoMode().getResolutionX(), TEXTURE_SIZE);
m_nTexMapY = MIN_CHUNKS_SIZE(depthFrameSide.getVideoMode().getResolutionY(), TEXTURE_SIZE);
m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
}
const nite::UserMap& userLabels = userTrackerFrame.getUserMap();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
if (depthFrameSide.isValid() && g_drawDepth)
{
calculateHistogram(m_pDepthHistSide, MAX_DEPTH, depthFrameSide);
}
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
float factor[3] = {1, 1, 1};
// check if we need to draw depth frame to texture
if (depthFrameSide.isValid() && g_drawDepth)
{
const nite::UserId* pLabels = userLabels.getPixels();
const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrameSide.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrameSide.getCropOriginY() * m_nTexMapX;
int rowSize = depthFrameSide.getStrideInBytes() / sizeof(openni::DepthPixel);
for (int y = 0; y < height; ++y)
{
const openni::DepthPixel* pDepth = pDepthRow;
openni::RGB888Pixel* pTex = pTexRow + depthFrameSide.getCropOriginX();
for (int x = 0; x < width; ++x, ++pDepth, ++pTex, ++pLabels)
{
if (*pDepth != 0)
{
if (*pLabels == 0)
{
if (!g_drawBackground)
{
factor[0] = factor[1] = factor[2] = 0;
}
else
{
factor[0] = Colors[colorCount][0];
factor[1] = Colors[colorCount][1];
factor[2] = Colors[colorCount][2];
}
}
else
{
factor[0] = Colors[*pLabels % colorCount][0];
factor[1] = Colors[*pLabels % colorCount][1];
factor[2] = Colors[*pLabels % colorCount][2];
}
// // Add debug lines - every 10cm
// else if ((*pDepth / 10) % 10 == 0)
// {
// factor[0] = factor[2] = 0;
// }
int nHistValue = m_pDepthHistSide[*pDepth];
pTex->r = nHistValue*factor[0];
pTex->g = nHistValue*factor[1];
pTex->b = nHistValue*factor[2];
factor[0] = factor[1] = factor[2] = 1;
}
}
pDepthRow += rowSize;
pTexRow += m_nTexMapX;
}
}
const openni::DepthPixel *imgBufferSide = (const openni::DepthPixel *)depthFrameSide.getData();
const openni::DepthPixel *imgBufferTop = (const openni::DepthPixel *)depthFrameTop.getData();
calculateHistogram(m_pDepthHistTop, MAX_DEPTH, depthFrameTop);
imgTop = Mat(depthFrameTop.getHeight(), depthFrameTop.getWidth(), CV_8UC3);
Mat(depthFrameTop.getHeight(), depthFrameTop.getWidth(), CV_16U, (void *)imgBufferTop).convertTo(depthTop, CV_8U, 1.0/256);
for (int i = 0; i < imgTop.rows; i++) {
for (int j = 0; j < imgTop.cols; j++) {
int val = (int)m_pDepthHistTop[imgBufferTop[j + i*imgTop.cols]];
imgTop.at<Vec3b>(i, j).val[0] = val;
imgTop.at<Vec3b>(i, j).val[1] = val;
imgTop.at<Vec3b>(i, j).val[2] = val;
}
}
if (g_getBackground)
bgSubtractor->processImages(depthTop);
bgSubtractor->getMask(depthTop, mask);
imshow("Mask", mask);
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
// 320x240
g_nXRes = depthFrameSide.getVideoMode().getResolutionX();
g_nYRes = depthFrameSide.getVideoMode().getResolutionY();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
glDisable(GL_TEXTURE_2D);
const nite::Array<nite::UserData>& users = userTrackerFrame.getUsers();
float maxSize = -1;
int maxIdx = -1;
for (int i = 0; i < users.getSize(); ++i) {
const nite::UserData &user = users[i];
if (!user.isVisible())
continue;
if (getSize(user) > maxSize) {
maxSize = getSize(user);
maxIdx = i;
}
//printf("user %d: size=%f\n, lost=%d, new=%d, visible=%d\n",
// i, getSize(user), user.isLost(), user.isNew(), user.isVisible());
}
for (int i = 0; i < users.getSize(); ++i)
{
const nite::UserData &user = users[i];
updateUserState(user, userTrackerFrame.getTimestamp());
if (user.isNew())
{
m_pUserTracker->startSkeletonTracking(user.getId());
m_pUserTracker->startPoseDetection(user.getId(), nite::POSE_CROSSED_HANDS);
}
else if (!user.isLost())
{
if (g_drawStatusLabel) {
DrawStatusLabel(m_pUserTracker, user);
}
if (g_drawCenterOfMass) {
DrawCenterOfMass(m_pUserTracker, user);
}
if (g_drawBoundingBox) {
DrawBoundingBox(user);
}
if (users[i].getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawSkeleton) {
if (maxIdx == i) {
DrawSkeleton(m_pUserTracker, user);
sideSkel.setTo(Scalar(0, 0, 0));
drawSkeleton(sideSkel, sideJoints);
topSkel.setTo(Scalar(0, 0, 0));
drawSkeleton(topSkel, topJoints);
drawSkeleton(imgTop, topJoints);
}
}
}
// exit the program after a few seconds if PoseType == POSE_CROSSED_HANDS
if (m_poseUser == 0 || m_poseUser == user.getId())
{
const nite::PoseData& pose = user.getPose(nite::POSE_CROSSED_HANDS);
if (pose.isEntered())
{
// Start timer
sprintf(g_generalMessage, "In exit pose. Keep it for %d second%s to exit\n", g_poseTimeoutToExit/1000, g_poseTimeoutToExit/1000 == 1 ? "" : "s");
printf("Counting down %d second to exit\n", g_poseTimeoutToExit/1000);
m_poseUser = user.getId();
m_poseTime = userTrackerFrame.getTimestamp();
}
else if (pose.isExited())
{
memset(g_generalMessage, 0, sizeof(g_generalMessage));
printf("Count-down interrupted\n");
m_poseTime = 0;
m_poseUser = 0;
}
else if (pose.isHeld())
{
// tick
if (userTrackerFrame.getTimestamp() - m_poseTime > g_poseTimeoutToExit * 1000)
{
printf("Count down complete. Exit...\n");
Finalize();
exit(2);
}
}
}
}
if (g_drawFrameId)
{
DrawFrameId(userTrackerFrame.getFrameIndex());
}
if (g_generalMessage[0] != '\0')
{
char *msg = g_generalMessage;
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(100, 20);
glPrintString(GLUT_BITMAP_HELVETICA_18, msg);
}
imshow("Side", sideSkel);
imshow("Top", topSkel);
imshow("DepthTop", imgTop);
if (!g_getBackground) {
knnsearch(topJoints, imgBufferTop, mask, labelTop, label, 320, 240);
drawSkeleton(labelTop, topJoints);
cv::resize(labelTop, labelTop, Size(), 2, 2);
imshow("Label", labelTop);
if (g_capture2) {
// c style
string path = outDir + "/depth-top" + to_string(nFrame) + ".txt";
FILE *f = fopen(path.c_str(), "w");
for (int i = 0; i < width*height; i++) {
fprintf(f, "%u\n", imgBufferTop[i]);
}
fclose(f);
path = outDir + "/depth-side" + to_string(nFrame) + ".txt";
f = fopen(path.c_str(), "w");
for (int i = 0; i < width*height; i++) {
fprintf(f, "%u\n", imgBufferSide[i]);
}
fclose(f);
path = outDir + "/joints-top" + to_string(nFrame) + ".txt";
f = fopen(path.c_str(), "w");
for (int i = 0; i < N_JOINTS; i++) {
fprintf(f, "%f, %f, %f, %f, %f\n", topJoints[i][0], topJoints[i][1],
topJoints[i][2], topJoints[i][3], topJoints[i][4]);
}
fclose(f);
path = outDir + "/joints-side" + to_string(nFrame) + ".txt";
f = fopen(path.c_str(), "w");
for (int i = 0; i < N_JOINTS; i++) {
fprintf(f, "%f, %f, %f, %f, %f\n", sideJoints[i][0], sideJoints[i][1],
sideJoints[i][2], sideJoints[i][3], sideJoints[i][4]);
}
fclose(f);
path = outDir + "/label-top" + to_string(nFrame) + ".txt";
f = fopen(path.c_str(), "w");
for (int i = 0; i < width*height; i++) {
fprintf(f, "%d\n", label[i]);
}
fclose(f);
path = outDir + "/label-side" + to_string(nFrame) + ".txt";
f = fopen(path.c_str(), "w");
const nite::UserId* labelsTop = userLabels.getPixels();
for (int i = 0; i < width*height; i++) {
fprintf(f, "%d\n", (int)labelsTop[i]);
}
fclose(f);
nFrame++;
}
}
// Swap the OpenGL display buffers
glutSwapBuffers();
}
void SampleViewer::Display()
{
nite::UserTrackerFrameRef userTrackerFrame;
openni::VideoFrameRef depthFrame;
nite::Status rc = m_pUserTracker->readFrame(&userTrackerFrame);
if (rc != nite::STATUS_OK)
{
printf("GetNextData failed\n");
return;
}
depthFrame = userTrackerFrame.getDepthFrame();
m_colorStream.readFrame(&m_colorFrame);
if (m_pTexMap == NULL)
{
// Texture map init
m_nTexMapX = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionX(), TEXTURE_SIZE);
m_nTexMapY = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionY(), TEXTURE_SIZE);
m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
}
const nite::UserMap& userLabels = userTrackerFrame.getUserMap();
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -2000.0, 2000.0);
if (depthFrame.isValid() && g_drawDepth)
{
calculateHistogram(m_pDepthHist, MAX_DEPTH, depthFrame);
}
memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));
// check if we need to draw image frame to texture
if (m_eViewState == DISPLAY_MODE_IMAGE && m_colorFrame.isValid())
{
const openni::RGB888Pixel* pImageRow = (const openni::RGB888Pixel*)m_colorFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + m_colorFrame.getCropOriginY() * m_nTexMapX;
int rowSize = m_colorFrame.getStrideInBytes() / sizeof(openni::RGB888Pixel);
for (int y = 0; y < m_colorFrame.getHeight(); ++y)
{
const openni::RGB888Pixel* pImage = pImageRow;
openni::RGB888Pixel* pTex = pTexRow + m_colorFrame.getCropOriginX();
for (int x = 0; x < m_colorFrame.getWidth(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += rowSize;
pTexRow += m_nTexMapX;
}
}
float factor[3] = {1, 1, 1};
// check if we need to draw depth frame to texture
if (depthFrame.isValid() && g_drawDepth)
{
const nite::UserId* pLabels = userLabels.getPixels();
const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();
openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrame.getCropOriginY() * m_nTexMapX;
int rowSize = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
for (int y = 0; y < depthFrame.getHeight(); ++y)
{
const openni::DepthPixel* pDepth = pDepthRow;
openni::RGB888Pixel* pTex = pTexRow + depthFrame.getCropOriginX();
for (int x = 0; x < depthFrame.getWidth(); ++x, ++pDepth, ++pTex, ++pLabels)
{
if (*pDepth != 0)
{
if (*pLabels == 0)
{
if (!g_drawBackground)
{
factor[0] = factor[1] = factor[2] = 0;
}
else
{
factor[0] = Colors[colorCount][0];
factor[1] = Colors[colorCount][1];
factor[2] = Colors[colorCount][2];
}
}
else
{
factor[0] = Colors[*pLabels % colorCount][0];
factor[1] = Colors[*pLabels % colorCount][1];
factor[2] = Colors[*pLabels % colorCount][2];
}
// // Add debug lines - every 10cm
// else if ((*pDepth / 10) % 10 == 0)
// {
// factor[0] = factor[2] = 0;
// }
int nHistValue = m_pDepthHist[*pDepth];
pTex->r = nHistValue*factor[0];
pTex->g = nHistValue*factor[1];
pTex->b = nHistValue*factor[2];
factor[0] = factor[1] = factor[2] = 1;
}
}
pDepthRow += rowSize;
pTexRow += m_nTexMapX;
}
}
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
g_nXRes = depthFrame.getVideoMode().getResolutionX();
g_nYRes = depthFrame.getVideoMode().getResolutionY();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)g_nXRes/(float)m_nTexMapX, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)g_nYRes/(float)m_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
glDisable(GL_TEXTURE_2D);
const nite::Array<nite::UserData>& users = userTrackerFrame.getUsers();
for (int i = 0; i < users.getSize(); ++i)
{
const nite::UserData& user = users[i];
updateUserState(user, userTrackerFrame.getTimestamp());
if (user.isNew())
{
m_pUserTracker->startSkeletonTracking(user.getId());
m_pUserTracker->startPoseDetection(user.getId(), nite::POSE_CROSSED_HANDS);
}
else if (!user.isLost())
{
if (g_drawStatusLabel)
{
DrawStatusLabel(m_pUserTracker, user);
}
if (g_drawCenterOfMass)
{
DrawCenterOfMass(m_pUserTracker, user);
}
if (g_drawBoundingBox)
{
DrawBoundingBox(user);
}
if (users[i].getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawSkeleton)
{
DrawSkeleton(m_pUserTracker, user);
}
if (users[i].getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawHat)
{
DrawHat(m_pUserTracker, user);
}
if (users[i].getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawCube)
{
DrawCube(m_pUserTracker, user);
}
if (users[i].getSkeleton().getState() == nite::SKELETON_TRACKED && g_drawCubeFront)
{
DrawCubeFront(m_pUserTracker, user);
}
}
if (m_poseUser == 0 || m_poseUser == user.getId())
{
const nite::PoseData& pose = user.getPose(nite::POSE_CROSSED_HANDS);
if (pose.isEntered())
{
// Start timer
sprintf(g_generalMessage, "In exit pose. Keep it for %d second%s to exit\n", g_poseTimeoutToExit/1000, g_poseTimeoutToExit/1000 == 1 ? "" : "s");
printf("Counting down %d second to exit\n", g_poseTimeoutToExit/1000);
m_poseUser = user.getId();
m_poseTime = userTrackerFrame.getTimestamp();
}
else if (pose.isExited())
{
memset(g_generalMessage, 0, sizeof(g_generalMessage));
printf("Count-down interrupted\n");
m_poseTime = 0;
m_poseUser = 0;
}
else if (pose.isHeld())
{
// tick
if (userTrackerFrame.getTimestamp() - m_poseTime > g_poseTimeoutToExit * 1000)
{
printf("Count down complete. Exit...\n");
Finalize();
exit(2);
}
}
}
}
if (g_drawFrameId)
{
DrawFrameId(userTrackerFrame.getFrameIndex());
}
if (g_generalMessage[0] != '\0')
{
char *msg = g_generalMessage;
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos2i(100, 20);
glPrintString(GLUT_BITMAP_HELVETICA_18, msg);
}
// Swap the OpenGL display buffers
glutSwapBuffers();
}
