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 } } }