static void
bow_gesture (Salut *self, SkeltrackJointList list)
{
SkeltrackJoint *head, *previous_head;
if (list == NULL)
return;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
if (head == NULL)
return;
previous_head = self->gesture_list[self->gesture_index];
if (previous_head != NULL)
{
gfloat x, y, z, d;
gint dist = 100;
gint min_head_distance = 150;
x = previous_head->x - head->x;
y = previous_head->y - head->y;
z = previous_head->z - head->z;
d = sqrt (x * x + y * y + z * z);
if (d >= dist)
{
if (ABS (previous_head->z - head->z) > 100 &&
previous_head->z > head->z &&
previous_head->screen_y < head->screen_y)
{
self->gesture_list[++self->gesture_index] =
skeltrack_joint_copy (head);
}
else if (sqrt (x * x + y * y) > min_head_distance ||
(ABS (previous_head->z - head->z) > min_head_distance &&
previous_head->z < head->z))
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
if (self->gesture_index == 2)
{
if (self->callback != NULL)
self->callback(self->callback_data);
for (; self->gesture_index >= 0; self->gesture_index--)
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
self->gesture_index = 0;
}
}
}
else
{
self->gesture_list[self->gesture_index] = skeltrack_joint_copy (head);
}
}
static gboolean
on_skeleton_draw (ClutterCanvas *canvas,
cairo_t *cairo,
gint width,
gint height,
gpointer user_data)
{
ClutterColor *color;
SkeltrackJoint *head, *left_hand, *right_hand,
*left_shoulder, *right_shoulder, *left_elbow, *right_elbow;
if (list == NULL)
return FALSE;
head = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_HEAD);
left_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_HAND);
right_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_HAND);
left_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_SHOULDER);
right_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_SHOULDER);
left_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_ELBOW);
right_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_ELBOW);
/* Paint it white */
color = clutter_color_new (255, 255, 255, 255);
clutter_cairo_set_source_color (cairo, color);
cairo_rectangle (cairo, 0, 0, width, height);
cairo_fill (cairo);
clutter_color_free (color);
paint_joint (cairo, head, 50, "#FFF800");
connect_joints (cairo, left_shoulder, right_shoulder, "#afafaf");
connect_joints (cairo, left_shoulder, left_elbow, "#afafaf");
connect_joints (cairo, right_shoulder, right_elbow, "#afafaf");
connect_joints (cairo, right_hand, right_elbow, "#afafaf");
connect_joints (cairo, left_hand, left_elbow, "#afafaf");
paint_joint (cairo, left_hand, 30, "#C2FF00");
paint_joint (cairo, right_hand, 30, "#00FAFF");
skeltrack_joint_list_free (list);
list = NULL;
return FALSE;
}
static void
on_texture_draw (ClutterCairoTexture *texture,
cairo_t *cairo,
gpointer user_data)
{
guint width, height;
ClutterColor *color;
SkeltrackJoint *head, *left_hand, *right_hand,
*left_shoulder, *right_shoulder, *left_elbow, *right_elbow;
if (list == NULL)
return;
head = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_HEAD);
left_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_HAND);
right_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_HAND);
left_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_SHOULDER);
right_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_SHOULDER);
left_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_ELBOW);
right_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_ELBOW);
/* Paint it white */
clutter_cairo_texture_clear (texture);
clutter_cairo_texture_get_surface_size (texture, &width, &height);
color = clutter_color_new (255, 255, 255, 255);
clutter_cairo_set_source_color (cairo, color);
cairo_rectangle (cairo, 0, 0, width, height);
cairo_fill (cairo);
clutter_color_free (color);
paint_joint (cairo, head, 50, "#FFF800");
connect_joints (cairo, left_shoulder, right_shoulder, "#afafaf");
connect_joints (cairo, left_shoulder, left_elbow, "#afafaf");
connect_joints (cairo, right_shoulder, right_elbow, "#afafaf");
connect_joints (cairo, right_hand, right_elbow, "#afafaf");
connect_joints (cairo, left_hand, left_elbow, "#afafaf");
paint_joint (cairo, left_hand, 30, "#C2FF00");
paint_joint (cairo, right_hand, 30, "#00FAFF");
skeltrack_joint_list_free (list);
list = NULL;
}
static gboolean
hands_are_praying (guint16* depth,
guint width,
guint height,
SkeltrackJointList list)
{
guint x, y, z;
SkeltrackJoint *head, *left_elbow, *left_shoulder,
*right_shoulder, *right_elbow;
CvSeq *defects = NULL;
if (list == NULL)
return FALSE;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
right_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_ELBOW);
left_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_ELBOW);
right_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_SHOULDER);
left_shoulder = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_SHOULDER);
if (head == NULL || right_elbow == NULL ||
left_elbow == NULL ||
((right_elbow->y < right_shoulder->y) &&
(left_elbow->y < left_shoulder->y)))
return FALSE;
x = head->screen_x;
y = right_elbow->screen_y;
z = ((gfloat) (right_shoulder->z + left_shoulder->z)) / 2.0 - 300;
defects = get_defects (depth, width, height, x, y, z);
if (defects)
{
guint i, sum;
sum = 0;
for (i = 0; i < defects->total; i++)
{
gfloat orientation;
CvConvexityDefect *defect = CV_GET_SEQ_ELEM (CvConvexityDefect,
defects,
i);
orientation = get_orientation_angle (defect->start,
defect->depth_point,
defect->end);
orientation = ((gint) (orientation / M_PI * 180.0)) % 360;
if (defect->depth > 20.0 &&
orientation < 180 &&
orientation > 0 &&
ABS (orientation - 90) > 25)
{
gfloat x1, x2, sig_x1, sig_x2;
x1 = defect->start->x - defect->depth_point->x;
x2 = defect->end->x - defect->depth_point->x;
sig_x1 = x1 / ABS (x1);
sig_x2 = x2 / ABS (x2);
if (sig_x1 != sig_x2 || (x1 == 0 || x2 == 0))
{
continue;
}
cvSeqRemove(defects, i);
i--;
}
else
{
cvSeqRemove(defects, i);
i--;
}
}
if (defects->total > 1)
{
for (i = 1; i < defects->total; i++)
{
gfloat dist_hand1, dist_hand2, dist_depth_points;
CvConvexityDefect *defect1, *defect2;
CvPoint *defect1_top_point, *defect2_top_point;
defect1 = CV_GET_SEQ_ELEM (CvConvexityDefect,
defects,
i);
defect2 = CV_GET_SEQ_ELEM (CvConvexityDefect,
defects,
i - 1);
if (defect1->end->y < defect1->start->y)
defect1_top_point = defect1->end;
else
defect1_top_point = defect1->start;
if (defect2->end->y < defect2->start->y)
defect2_top_point = defect2->end;
else
defect2_top_point = defect2->start;
dist_hand1 = get_points_distance (defect1_top_point,
defect1->depth_point);
dist_hand2 = get_points_distance (defect2_top_point,
defect2->depth_point);
dist_depth_points = get_points_distance (defect1->depth_point,
defect2->depth_point);
if (dist_depth_points < MAX (dist_hand1, dist_hand2))
sum++;
}
}
if (sum > 0)
return TRUE;
}
return FALSE;
}
static CvSeq *
get_finger_defects (guint16* depth,
guint width,
guint height,
SkeltrackJointList list)
{
CvSeq *defects = NULL;
SkeltrackJoint *head, *left_hand, *right_hand, *hand = NULL;
if (list == NULL)
return NULL;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
right_hand = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_RIGHT_HAND);
left_hand = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_LEFT_HAND);
if (head == NULL || (left_hand == NULL && right_hand == NULL))
return NULL;
if (right_hand == NULL)
hand = left_hand;
else if (left_hand == NULL)
hand = right_hand;
else
{
if (right_hand->z < left_hand->z &&
ABS (right_hand->z - head->z) > 150)
{
hand = right_hand;
}
else if (left_hand->z < right_hand->z &&
ABS (left_hand->z - head->z) > 150)
{
hand = left_hand;
}
}
if (hand == NULL)
return NULL;
defects = get_defects (depth,
width,
height,
hand->screen_x,
hand->screen_y,
hand->z);
if (defects)
{
gfloat angle;
guint i;
for (i = 0; i < defects->total; i++)
{
CvConvexityDefect *defect = CV_GET_SEQ_ELEM (CvConvexityDefect, defects, i);
angle = get_angle (defect->start, defect->depth_point, defect->end);
if (angle > M_PI_2)
{
cvSeqRemove(defects, i);
i--;
}
}
return defects;
}
return NULL;
}
static void
hello_gesture (Salut *self, SkeltrackJointList list)
{
SkeltrackJoint *head, *left_hand, *left_elbow,
*right_hand, *right_elbow, *elbow = NULL, *hand = NULL;
if (list == NULL)
return;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
right_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_HAND);
left_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_HAND);
right_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_ELBOW);
left_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_ELBOW);
if (head == NULL || (left_hand == NULL && right_hand == NULL))
return;
if (can_wave_hello (right_hand, right_elbow))
{
hand = right_hand;
elbow = right_elbow;
}
else if (can_wave_hello (left_hand, left_elbow))
{
hand = left_hand;
elbow = left_elbow;
}
if (hand && elbow)
{
SkeltrackJoint *previous_hand = self->gesture_list[self->gesture_index];
SkeltrackJoint *previous_elbow =
self->gesture_list[self->gesture_index + 1];
/* Check if the hand has moved beyond the X coord of the elbow
(in comparison with the previous values) */
if (previous_hand == NULL ||
get_sign (previous_hand->x - previous_elbow->x) !=
get_sign (hand->x - elbow->x))
{
if (previous_hand)
self->gesture_index += 2;
self->gesture_list[self->gesture_index] =
skeltrack_joint_copy (hand);
self->gesture_list[self->gesture_index + 1] =
skeltrack_joint_copy (elbow);
}
if (self->gesture_index == 8)
{
gint i;
for (i = 0; i <= self->gesture_index; i += 2)
{
hand = self->gesture_list[i];
elbow = self->gesture_list[i + 1];
skeltrack_joint_free (hand);
skeltrack_joint_free (elbow);
self->gesture_list[i] = NULL;
self->gesture_list[i + 1] = NULL;
}
if (self->callback != NULL)
self->callback (self->callback);
self->gesture_index = 0;
}
}
else if (self->gesture_list[self->gesture_index])
{
skeltrack_joint_free(self->gesture_list[self->gesture_index + 1]);
self->gesture_list[self->gesture_index + 1] = NULL;
skeltrack_joint_free(self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
if (self->gesture_index > 0)
self->gesture_index-=2;
}
}
static void
curtsy_gesture (Salut *self, SkeltrackJointList list)
{
SkeltrackJoint *head, *left_hand, *right_hand, *left_elbow, *right_elbow;
if (list == NULL)
return;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
right_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_HAND);
left_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_HAND);
right_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_ELBOW);
left_elbow = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_ELBOW);
if (head == NULL || (left_hand == NULL || right_hand == NULL))
return;
if (head)
{
/* Check if arms are in the correct pose,
if not, clean the list so far */
if (USE_HANDS_IN_CURTSY &&
(right_hand->y < head->y ||
left_hand->y < head->y ||
right_hand->x > right_elbow->x ||
left_hand->x < left_elbow->x))
{
for (; self->gesture_index >= 0; self->gesture_index--)
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
self->gesture_index = 0;
}
SkeltrackJoint *previous_head = self->gesture_list[self->gesture_index];
if (previous_head != NULL)
{
gfloat x, y, z, d;
gint dist_with_previous_head = 150;
gint min_head_movement = 100;
x = previous_head->x - head->x;
y = previous_head->y - head->y;
z = previous_head->z - head->z;
d = sqrt (x * x + y * y + z * z);
if (d >= dist_with_previous_head)
{
if (ABS (previous_head->z - head->z) < min_head_movement &&
ABS (previous_head->y - head->y) > min_head_movement)
{
/* Movement reached lowest point (initial movement) */
if (self->gesture_index == 0 && previous_head->y < head->y)
{
self->gesture_list[++self->gesture_index] =
skeltrack_joint_copy (head);
}
/* Movement went back up (final movement) */
else if (self->gesture_index == 1 &&
previous_head->y > head->y)
{
self->gesture_list[++self->gesture_index] =
skeltrack_joint_copy (head);
}
}
else
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
if (self->gesture_index > 0)
self->gesture_index--;
self->gesture_list[self->gesture_index] =
skeltrack_joint_copy (head);
}
if (self->gesture_index == 2)
{
if (self->callback != NULL)
self->callback(self->callback_data);
for (; self->gesture_index >= 0; self->gesture_index--)
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
self->gesture_index = 0;
}
}
}
else
{
self->gesture_list[self->gesture_index] = skeltrack_joint_copy (head);
}
}
}
static void
kiss_gesture (Salut *self, SkeltrackJointList list)
{
SkeltrackJoint *head, *left_hand, *right_hand, *hand, *previous_hand;
if (list == NULL)
return;
head = skeltrack_joint_list_get_joint (list, SKELTRACK_JOINT_ID_HEAD);
right_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_RIGHT_HAND);
left_hand = skeltrack_joint_list_get_joint (list,
SKELTRACK_JOINT_ID_LEFT_HAND);
hand = NULL;
previous_hand = NULL;
if (head == NULL || (left_hand == NULL && right_hand == NULL))
{
for (self->gesture_index = 3;
self->gesture_index >= 0; self->gesture_index--)
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
self->gesture_index = 0;
return;
}
if (right_hand == NULL)
hand = left_hand;
else if (left_hand == NULL)
hand = right_hand;
if (hand == NULL)
{
if (left_hand->y < right_hand->y)
hand = left_hand;
else
hand = right_hand;
}
previous_hand = NULL;
if (self->gesture_index == 0)
{
if (self->gesture_list[0] == NULL)
{
self->gesture_list[0] = skeltrack_joint_copy (head);
}
}
else
{
previous_hand = self->gesture_list[self->gesture_index];
}
if (previous_hand == NULL)
{
guint initial_hand_head_max_dist = 400;
if (get_distance (hand, head) < initial_hand_head_max_dist)
{
self->gesture_index++;
self->gesture_list[self->gesture_index] = skeltrack_joint_copy (hand);
}
}
else
{
guint dist = get_distance (previous_hand, hand);
if ((dist > 200) && (dist < 500) && (hand->z < previous_hand->z))
{
self->gesture_list[++self->gesture_index] =
skeltrack_joint_copy (hand);
}
}
if (self->gesture_index == -1 || self->gesture_index == 3)
{
if (self->gesture_index == 3 && self->callback)
self->callback (self->callback_data);
for (self->gesture_index = 3;
self->gesture_index >= 0; self->gesture_index--)
{
skeltrack_joint_free (self->gesture_list[self->gesture_index]);
self->gesture_list[self->gesture_index] = NULL;
}
self->gesture_index = 0;
}
}
