forked from pkmital/StickFigureOSC
/
StickFigure.cpp
executable file
·1432 lines (1192 loc) · 39.1 KB
/
StickFigure.cpp
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/****************************************************************************
* *
* Nite 1.3 - Stick Figure Sample *
* *
* Author: Oz Magal, Ilan Atias, Alon Haber *
* Based on PrimeSense EE Sample 3DViewer, by Ziv Hendel *
* *
****************************************************************************/
/****************************************************************************
* *
* Nite 1.3 *
* Copyright (C) 2006 PrimeSense Ltd. All Rights Reserved. *
* *
* This file has been provided pursuant to a License Agreement containing *
* restrictions on its use. This data contains valuable trade secrets *
* and proprietary information of PrimeSense Ltd. and is protected by law. *
* *
****************************************************************************/
// Application Usage:
// 1 � Top right perspective camera view.
// 2 � Front camera view.
// 3 � Top camera view.
// 4 � Side camera view.
// s � Enable/Disable stick figure.
// p � Show the laser pointer and the cutoff parameters.
// m � Enable/Disable the mirror mode.
// c � Recalibrate first user (White user).
// C - Recalibrate second user (Black user).
// z - Enable/Disable 3D points view.
// o - Enable/Disable orientation drawing.
// b - Enable/Disable background.
// k - Start/Stop recording. (to Data\recording.xns)
// q � Decrease the minimum depth cutoff by 1.
// Q � Decrease the minimum depth cutoff by 50.
// w � Increase the minimum depth cutoff by 1.
// W � Increase the minimum depth cutoff by 50.
// e � Decrease the maximum depth cutoff by 1.
// E � Decrease the maximum depth cutoff by 50.
// r � Increase the maximum depth cutoff by 1.
// R � Increase the maximum depth cutoff by 50.
// + - Increase the GL point size by 1.
// - - Decrease the GL point size by 1.
// ESC � exit.
// --------------------------------
// Includes
// --------------------------------
#include <XnOpenNI.h>
#include <XnList.h>
#include <XnCppWrapper.h>
#include <XnCodecIDs.h>
#define GLH_EXT_SINGLE_FILE
#include "glh/glh_extensions.h"
#include "glh/glh_obs.h"
#include "glh/glh_glut2.h"
#include "glh/glh_glut_text.h"
using namespace glh;
// [parag]: OSC stuff
// --------------------------------
#include "ofxOsc.h"
#define HOST "localhost"
#define PORT 12345
bool bSendOSC = true;
ofxOscSender sender;
void sendOSCMarker(string prefix, XnSkeletonJointPosition &pos, XnSkeletonJointOrientation &ori);
#ifndef max(a,b)
#define max(a,b) (a) > (b) ? (a) : (b)
#endif
// --------------------------------
// Defines
// --------------------------------
#define GLSX -1.0
#define GLSY -1.0
#define GLSZ 1.0
#define GLUX 2.0
#define GLVY 2.0
#define WIN_SIZE_X 1280
#define WIN_SIZE_Y 1024
// [parag]: I've moved the sample data files into the root of the project folder in a
// directory called Data
#define RECORD_FILE "../../../Data/Recording.oni"
#define SAMPLE_XML_PATH "../../../Data/Sample-User.xml"
// --------------------------------
// Global Variables
// --------------------------------
glut_callbacks cb;
glut_simple_mouse_interactor camera, light, room, object;
glut_perspective_reshaper reshaper;
display_list face;
tex_object_2D wall;
bool b[256];
vec4f light_position(1,1,1,1);
float room_ambient = .4;
bool bDoRGBFix = true;
bool bStaticFilter = false;
bool bRealWorld = true;
bool bShowPointer = false;
bool g_bDrawOrientations = false;
bool g_bPrintFrameID = false;
int nGLPointSize = 5;
bool g_bDrawPointCloud = true;
bool g_verbose = false;
bool g_bRecord = false;
xn::Recorder* g_pRecorder;
int nPointerX;
int nPointerY;
int nPointerDiffX;
int nPointerDiffY;
XnUInt64 nCutOffMin;
XnUInt64 nCutOffMax;
short* PointCloudShadowArr;
float fXRes;
float fYRes;
float fMaxDepth;
xn::Context g_Context;
xn::DepthGenerator g_DepthGenerator;
xn::UserGenerator g_UserGenerator;
double g_LastSmoothingFactor = 0.0;
XnBool g_bCalibrate1 = false, g_bCalibrate2 = false;
XnBool g_bShowBG = false;
XnBool g_IsSkeletonEnabled = true;
// --------------------------------
// Function Declaration
// --------------------------------
void display();
void key(unsigned char k, int x, int y);
void draw_pointcloud();
void draw_mesh(float size, int tess);
void draw_cube();
void draw_room(bool do_diffuse);
void idle();
void init_opengl();
void init_model();
void glPrintString(void *font, char *str);
// --------------------------------
// Code
// --------------------------------
void glPrintString(void *font, char *str)
{
int i,l = strlen(str);
for(i=0; i<l; i++)
{
glutBitmapCharacter(font,*str++);
}
}
void MotionCallback(int x, int y)
{
nPointerX = x / nPointerDiffX;
nPointerY = y / nPointerDiffY;
}
// [parag]: I completely hacked this i had no idea what the original return values were all about
// but now they are just int and void *... this does crash occasionally when there
// are multiple skeletons being tracked!!!
/*
DWORD WINAPI EEThreadProc(LPVOID lpThreadParameter)
{
{
g_Context.WaitAndUpdateAll();
if (g_bRecord)
{
g_pRecorder->Record();
}
}
return 0;
}
*/
int EEThreadProc(void *lpThreadParameter)
{
{
g_Context.WaitAndUpdateAll();
if (g_bRecord)
{
g_pRecorder->Record();
}
}
return 0;
}
void XN_CALLBACK_TYPE NewUser(xn::UserGenerator& generator, XnUserID user, void* pCookie)
{
printf("New user identified: %d\n", user);
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection("Psi", user);
}
void XN_CALLBACK_TYPE LostUser(xn::UserGenerator& generator, XnUserID user, void* pCookie)
{
printf("User %d lost\n", user);
}
void XN_CALLBACK_TYPE CalibrationStart(xn::SkeletonCapability& skeleton, XnUserID user, void* pCookie)
{
printf("Calibration start for user %d\n", user);
}
void XN_CALLBACK_TYPE CalibrationEnd(xn::SkeletonCapability& skeleton, XnUserID user, XnBool bSuccess, void* pCookie)
{
printf("Calibration complete for user %d: %s\n", user, bSuccess?"Success":"Failure");
if (bSuccess)
{
skeleton.StartTracking(user);
}
else
{
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection("Psi", user);
}
}
void XN_CALLBACK_TYPE PoseDetected(xn::PoseDetectionCapability& poseDetection, const XnChar* strPose, XnUserID nId, void* pCookie)
{
printf("Pose '%s' detected for user %d\n", strPose, nId);
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, FALSE);
g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
}
#define CHECK_RC(rc, what) \
if (rc != XN_STATUS_OK) \
{ \
printf("%s failed: %s\n", what, xnGetStatusString(rc)); \
return rc; \
}
#include <XnLog.h>
int main(int argc, char **argv)
{
sender.setup(HOST, PORT);
XnStatus rc = XN_STATUS_OK;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
CHECK_RC(rc, "Find user generator");
XnCallbackHandle h;
g_UserGenerator.RegisterUserCallbacks(NewUser, LostUser, NULL, h);
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
XnCallbackHandle hCalib;
XnCallbackHandle hPose;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(&CalibrationStart, &CalibrationEnd, NULL, hCalib);
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(&PoseDetected, NULL, NULL, hPose);
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
fXRes = depthMD.XRes();
fYRes = depthMD.YRes();
fMaxDepth = depthMD.ZRes();
nCutOffMin = 0;
nCutOffMax = fMaxDepth;
nPointerX = fXRes / 2;
nPointerY = fXRes / 2;
nPointerDiffX = (WIN_SIZE_X / fXRes / 2) + 1;
nPointerDiffY = (WIN_SIZE_Y / fXRes / 2) + 1;
if (argc == 2)
{
nCutOffMax = atol(argv[1]);
}
srand(XnUInt32(time(NULL)));
glutInit(&argc, argv);
glutInitDisplayString("stencil depth>16 double rgb samples=0");
glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
glutCreateWindow("Prime Sense Stick Figure Sample");
glutSetCursor(GLUT_CURSOR_NONE);
init_opengl();
glut_helpers_initialize();
cb.passive_motion_function = MotionCallback;
cb.keyboard_function = key;
camera.configure_buttons(0);
camera.set_camera_mode(true);
camera.set_parent_rotation( & camera.trackball.r);
camera.enable();
object.configure_buttons(1);
object.translator.t[2] = -1;
object.translator.scale *= .1f;
object.trackball.r = rotationf(vec3f(2.0,0.01,0.01), to_radians(180));
object.set_parent_rotation( & camera.trackball.r);
object.disable();
light.configure_buttons(0);
light.translator.t = vec3f(.5, .5, -1);
light.set_parent_rotation( & camera.trackball.r);
light.disable();
reshaper.zNear = 1;
reshaper.zFar = 100;
// make sure all interactors get glut events
glut_add_interactor(&cb);
glut_add_interactor(&camera);
glut_add_interactor(&reshaper);
glut_add_interactor(&light);
glut_add_interactor(&object);
camera.translator.t = vec3f(0, 0, 0);
camera.trackball.r = rotationf(vec3f(0, 0, 0), to_radians(0));
light.translator.t = vec3f (0, 1.13, -2.41);
light.trackball.r = rotationf(vec3f(0.6038, -0.1955, -0.4391), to_radians(102));
glutIdleFunc(idle);
glutDisplayFunc(display);
// Per frame code is in display
glutMainLoop();
return (0);
}
void init_opengl()
{
glClearStencil(128);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_NORMALIZE);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_FALSE);
GLfloat ambient[] = {0.5, 0.5, 0.5, 1};
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
glLightf (GL_LIGHT0, GL_QUADRATIC_ATTENUATION, 0.1);
face.new_list(GL_COMPILE);
draw_mesh(20, 40);
face.end_list();
wall.bind();
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);
GLfloat * tex = new GLfloat[32*32];
{
for(int i=0; i < 32; i++)
{
for(int j=0; j < 32; j++)
{
if(i>>4 ^ j>>4)
tex[i+j*32] = 1;
else
tex[i+j*32] = .9;
}
}
}
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 32, 32, 0, GL_LUMINANCE, GL_FLOAT, tex);
delete [] tex;
}
void idle()
{
// [parag]: What is this function!?
EEThreadProc(NULL);
glutPostRedisplay();
}
void StopCapture()
{
g_bRecord = false;
if (g_pRecorder != NULL)
{
g_pRecorder->RemoveNodeFromRecording(g_DepthGenerator);
g_pRecorder->Unref();
delete g_pRecorder;
}
g_pRecorder = NULL;
}
#define START_CAPTURE_CHECK_RC(rc, what) \
if (nRetVal != XN_STATUS_OK) \
{ \
printf("Failed to %s: %s\n", what, xnGetStatusString(rc)); \
StopCapture(); \
return ; \
}
void StartCapture()
{
char recordFile[256] = {0};
time_t rawtime;
struct tm *timeinfo;
time(&rawtime);
timeinfo = localtime(&rawtime);
XnUInt32 size;
xnOSStrFormat(recordFile, sizeof(recordFile)-1, &size,
"%d_%02d_%02d[%02d_%02d_%02d].oni",
timeinfo->tm_year + 1900, timeinfo->tm_mon + 1, timeinfo->tm_mday, timeinfo->tm_hour, timeinfo->tm_min, timeinfo->tm_sec);
if (g_pRecorder != NULL)
{
StopCapture();
}
XnStatus nRetVal = XN_STATUS_OK;
g_pRecorder = new xn::Recorder;
nRetVal = g_Context.CreateAnyProductionTree(XN_NODE_TYPE_RECORDER, NULL, *g_pRecorder);
START_CAPTURE_CHECK_RC(nRetVal, "Create recorder");
nRetVal = g_pRecorder->SetDestination(XN_RECORD_MEDIUM_FILE, recordFile);
START_CAPTURE_CHECK_RC(nRetVal, "set destination");
nRetVal = g_pRecorder->AddNodeToRecording(g_DepthGenerator, XN_CODEC_16Z_EMB_TABLES);
START_CAPTURE_CHECK_RC(nRetVal, "add node");
g_bRecord = true;
}
void Cleanup()
{
if (g_pRecorder)
g_pRecorder->RemoveNodeFromRecording(g_DepthGenerator);
StopCapture();
g_Context.Shutdown();
}
void key(unsigned char k, int x, int y)
{
b[k] = !b[k];
if(k==27)
{
Cleanup();
exit(0);
}
else if('1' == k) // Camera view
{
camera.translator.t = vec3f(1.518, 0.916, -0.959);
camera.trackball.r = rotationf(vec3f(-0.392,0.883,0.191), to_radians(50));
}
else if('2' == k) // Front view
{
camera.translator.t = vec3f(0, 0, 0);
camera.trackball.r = rotationf(vec3f(0, 0, 0), to_radians(0));
}
else if('3' == k) // Top view
{
camera.translator.t = vec3f(0, 3.5, -2);
camera.trackball.r = rotationf(vec3f(-0.5, 0, 0), to_radians(90));
}
else if('4' == k) // Side view
{
camera.translator.t = vec3f(4, 0, -2);
camera.trackball.r = rotationf(vec3f(0, 0.5, 0), to_radians(90));
}
else if('p' == k) // Laser pointer
{
bShowPointer = !bShowPointer;
}
else if('m' == k) // Mirror
{
XnBool bMirror = g_DepthGenerator.GetMirrorCap().IsMirrored();
bMirror = !bMirror;
g_DepthGenerator.GetMirrorCap().SetMirror(bMirror);
}
else if('+' == k) // Point
{
nGLPointSize++;
}
else if('-' == k) // Point
{
nGLPointSize--;
}
else if('z' == k) // draw "zippel" point cloud
{
g_bDrawPointCloud = !g_bDrawPointCloud;
}
else if ('o' == k)
{
g_bDrawOrientations = !g_bDrawOrientations;
}
else if ('b' == k)
{
g_bShowBG = !g_bShowBG;
}
else if ('f' == k)
{
g_bPrintFrameID = !g_bPrintFrameID;
}
else if ('s' == k)
{
XnUserID Users[10];
XnUInt16 nUsers = 10;
g_UserGenerator.GetUsers(Users, nUsers);
g_IsSkeletonEnabled = !g_IsSkeletonEnabled;
for (int i = 0; i < nUsers; ++i)
g_UserGenerator.GetSkeletonCap().StopTracking(Users[i]);
}
else if ('k' == k)
{
if (g_bRecord)
{
// Stop capture
StopCapture();
}
else
{
StartCapture();
// Start capture
}
}
glutPostRedisplay();
}
#define DrawSinglePointRW(point, corner) \
{ \
float fX = (point.X / corner.X); \
float fY = -(point.Y / corner.X); \
float fU = fX + 0.5; \
float fV = fY + 0.5; \
glVertex3f(GLSX + (fU*GLUX), GLSY + (fV*GLVY), point.Z/1000); \
}
#define MAX_DEPTH 10000
float g_pDepthHist[MAX_DEPTH];
XnFloat g_r = 0, g_g = 0, g_b = 0;
void drawStickPoint(XnSkeletonJointPosition p, XnPoint3D corner)
{
float fX = 0;
float fY = 0;
float fU = 0;
float fV = 0;
if (bRealWorld)
{
DrawSinglePointRW(p.position, corner);
}
else
{
XnPoint3D point = p.position;
g_DepthGenerator.ConvertRealWorldToProjective(1, &point, &point);
fU = point.X / fXRes;
fV = point.Y / fYRes;
}
}
void drawStickLine(XnUserID user, xn::UserGenerator userGenerator, XnSkeletonJoint joint1, XnSkeletonJoint joint2, const XnPoint3D& corner)
{
XnSkeletonJointPosition pos1, pos2;
userGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, joint1, pos1);
userGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, joint2, pos2);
if (pos1.fConfidence == 1 &&
pos2.fConfidence == 1)
{
glColor3f(g_r,g_g, g_b);
}
else
{
glColor3f(0.5,0.5,0.5);
if ((pos1.position.X == 0 && pos1.position.Y == 0 && pos1.position.Z == 0) ||
(pos2.position.X == 0 && pos2.position.Y == 0 && pos2.position.Z == 0))
{
return;
}
}
drawStickPoint(pos1, corner);
drawStickPoint(pos2, corner);
}
void drawOrientation(XnUserID user, xn::UserGenerator userGenerator, XnSkeletonJoint joint, const XnPoint3D& corner)
{
XnSkeletonJointOrientation orientation;
XnSkeletonJointPosition position;
userGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, joint, position);
userGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, joint, orientation);
if (position.fConfidence != 1 &&
orientation.fConfidence != 1)
{
return;
}
XnSkeletonJointPosition virt1, virt2;
virt1.fConfidence = virt2.fConfidence = 1;
glColor3f(1,0,0);
virt1.position = position.position;
virt2.position = xnCreatePoint3D(100*orientation.orientation.elements[0],
100*orientation.orientation.elements[3],
100*orientation.orientation.elements[6]);
drawStickPoint(virt1, corner);
drawStickPoint(virt2, corner);
glColor3f(0,1,0);
virt1.position = position.position;
virt2.position = xnCreatePoint3D(100*orientation.orientation.elements[1],
100*orientation.orientation.elements[4],
100*orientation.orientation.elements[7]);
drawStickPoint(virt1, corner);
drawStickPoint(virt2, corner);
glColor3f(0,0,1);
virt1.position = position.position;
virt2.position = xnCreatePoint3D(100*orientation.orientation.elements[2],
100*orientation.orientation.elements[5],
100*orientation.orientation.elements[8]);
drawStickPoint(virt1, corner);
drawStickPoint(virt2, corner);
}
XnFloat Colors[][3] =
{
{1,0,1},
{1,1,0},
{1,0.5,0},
{0,1,1},
{0,0.5,1},
{1,0,0.5},
{1,1,1}
};
XnUInt32 nColors = 6;
void DrawSingleUser(XnUserID user, xn::UserGenerator g_UserGenerator, const XnPoint3D& corner)
{
glPushMatrix();
object.apply_transform();
glLineWidth(3.0);
glBegin(GL_LINES);
g_r = 1-Colors[user][0];
g_g = 1-Colors[user][1];
g_b = 1-Colors[user][2];
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_HAND, XN_SKEL_LEFT_ELBOW, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_HAND, XN_SKEL_LEFT_ELBOW, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_SHOULDER, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_SHOULDER, XN_SKEL_RIGHT_SHOULDER, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_TORSO, XN_SKEL_RIGHT_SHOULDER, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_NECK, XN_SKEL_HEAD, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_TORSO, XN_SKEL_LEFT_HIP, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_HIP, XN_SKEL_RIGHT_HIP, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE, corner);
drawStickLine(user, g_UserGenerator, XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT, corner);
XnSkeletonJointPosition leftShoulder;
XnSkeletonJointPosition rightShoulder;
XnSkeletonJointPosition neck;
XnSkeletonJointPosition midShoulder;
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_SHOULDER, leftShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_SHOULDER, rightShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_NECK, neck);
midShoulder.position = xnCreatePoint3D((leftShoulder.position.X + rightShoulder.position.X) / 2,
(leftShoulder.position.Y + rightShoulder.position.Y) / 2,
(leftShoulder.position.Z + rightShoulder.position.Z) / 2);
midShoulder.fConfidence = (leftShoulder.fConfidence + rightShoulder.fConfidence) / 2;
drawStickPoint(neck, corner);
drawStickPoint(midShoulder, corner);
if (g_bDrawOrientations)
{
drawOrientation(user, g_UserGenerator, XN_SKEL_TORSO, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_HEAD, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_SHOULDER, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_SHOULDER, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_ELBOW, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_ELBOW, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_NECK, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_HAND, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_HAND, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_HIP, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_HIP, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_KNEE, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_KNEE, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_LEFT_FOOT, corner);
drawOrientation(user, g_UserGenerator, XN_SKEL_RIGHT_FOOT, corner);
}
if(bSendOSC)
{
XnSkeletonJointPosition leftShoulder;
XnSkeletonJointPosition rightShoulder;
XnSkeletonJointPosition neck;
XnSkeletonJointPosition midShoulder;
XnSkeletonJointPosition torso;
XnSkeletonJointPosition head;
XnSkeletonJointPosition leftElbow;
XnSkeletonJointPosition rightElbow;
XnSkeletonJointPosition leftHand;
XnSkeletonJointPosition rightHand;
XnSkeletonJointPosition leftHip;
XnSkeletonJointPosition rightHip;
XnSkeletonJointPosition leftKnee;
XnSkeletonJointPosition rightKnee;
XnSkeletonJointPosition leftFoot;
XnSkeletonJointPosition rightFoot;
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_SHOULDER, leftShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_SHOULDER, rightShoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_NECK, neck);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_TORSO, torso);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_HEAD, head);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_ELBOW, leftElbow);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_ELBOW, rightElbow);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_HAND, leftHand);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_HAND, rightHand);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_HIP, leftHip);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_HIP, rightHip);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_KNEE, leftKnee);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_KNEE, rightKnee);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_LEFT_FOOT, leftFoot);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, XN_SKEL_RIGHT_FOOT, rightFoot);
midShoulder.position = xnCreatePoint3D((leftShoulder.position.X + rightShoulder.position.X) / 2,
(leftShoulder.position.Y + rightShoulder.position.Y) / 2,
(leftShoulder.position.Z + rightShoulder.position.Z) / 2);
XnSkeletonJointOrientation leftShoulderO;
XnSkeletonJointOrientation rightShoulderO;
XnSkeletonJointOrientation neckO;
XnSkeletonJointOrientation midShoulderO;
XnSkeletonJointOrientation torsoO;
XnSkeletonJointOrientation headO;
XnSkeletonJointOrientation leftElbowO;
XnSkeletonJointOrientation rightElbowO;
XnSkeletonJointOrientation leftHandO;
XnSkeletonJointOrientation rightHandO;
XnSkeletonJointOrientation leftHipO;
XnSkeletonJointOrientation rightHipO;
XnSkeletonJointOrientation leftKneeO;
XnSkeletonJointOrientation rightKneeO;
XnSkeletonJointOrientation leftFootO;
XnSkeletonJointOrientation rightFootO;
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_SHOULDER, leftShoulderO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_SHOULDER, rightShoulderO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_NECK, neckO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_TORSO, torsoO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_HEAD, headO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_ELBOW, leftElbowO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_ELBOW, rightElbowO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_HAND, leftHandO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_HAND, rightHandO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_HIP, leftHipO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_HIP, rightHipO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_KNEE, leftKneeO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_KNEE, rightKneeO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_LEFT_FOOT, leftFootO);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, XN_SKEL_RIGHT_FOOT, rightFootO);
sendOSCMarker("/body/head", head, headO);
sendOSCMarker("/body/torso", torso, torsoO);
sendOSCMarker("/body/neck", neck, neckO);
sendOSCMarker("/body/leftShoulder", leftShoulder, leftShoulderO);
sendOSCMarker("/body/rightShoulder", rightShoulder, rightShoulderO);
sendOSCMarker("/body/midShoulder", midShoulder, midShoulderO);
sendOSCMarker("/body/leftElbow", leftElbow, leftElbowO);
sendOSCMarker("/body/rightElbow", rightElbow, rightElbowO);
sendOSCMarker("/body/leftHand", leftHand, leftHandO);
sendOSCMarker("/body/rightHand", rightHand, rightHandO);
sendOSCMarker("/body/leftHip", leftHip, leftHipO);
sendOSCMarker("/body/rightHip", rightHip, rightHipO);
sendOSCMarker("/body/leftKnee", leftKnee, leftKneeO);
sendOSCMarker("/body/rightKnee", rightKnee, rightKneeO);
sendOSCMarker("/body/leftFoot", leftFoot, leftFootO);
sendOSCMarker("/body/rightFoot", rightFoot, rightFootO);
}
glEnd();
glPopMatrix();
}
void sendOSCMarker(string prefix, XnSkeletonJointPosition &pos, XnSkeletonJointOrientation &ori)
{
ofxOscMessage m;
m.setAddress(prefix);
m.addFloatArg(pos.position.X);
m.addFloatArg(pos.position.Y);
m.addFloatArg(pos.position.Z);
float m00 = ori.orientation.elements[0],
m01 = ori.orientation.elements[1],
m02 = ori.orientation.elements[2],
m10 = ori.orientation.elements[3],
m11 = ori.orientation.elements[4],
m12 = ori.orientation.elements[5],
m20 = ori.orientation.elements[6],
m21 = ori.orientation.elements[7],
m22 = ori.orientation.elements[8];
float x, y, z, w;
w = sqrt( max( 0, 1 + m00 + m11 + m22 ) ) / 2.0f;
x = sqrt( max( 0, 1 + m00 - m11 - m22 ) ) / 2.0f;
y = sqrt( max( 0, 1 - m00 + m11 - m22 ) ) / 2.0f;
z = sqrt( max( 0, 1 - m00 - m11 + m22 ) ) / 2.0f;
x = copysign( x, m21 - m12 );
y = copysign( y, m02 - m20 );
z = copysign( z, m10 - m01 );
//m.addFloatArg(x);
//m.addFloatArg(y);
//m.addFloatArg(z);
//m.addFloatArg(w);
sender.sendMessage(m);
}
void draw_stickfigure()
{
XnUInt16 nXRes;
XnUInt16 nYRes;
xn::DepthMetaData dm;
g_DepthGenerator.GetMetaData(dm);
XnPoint3D corner = xnCreatePoint3D(dm.XRes(), dm.YRes(), dm.ZRes());
g_DepthGenerator.ConvertProjectiveToRealWorld(1, &corner, &corner);
nXRes = dm.XRes();
nYRes = dm.YRes();
glDisable(GL_LIGHTING);
XnUserID users[10];
XnUInt16 nUsers = 10;
g_UserGenerator.GetUsers(users, nUsers);
for (int i = 0; i < nUsers; ++i)
{
if (g_UserGenerator.GetSkeletonCap().IsTracking(users[i]))
{
DrawSingleUser(users[i], g_UserGenerator, corner);
}
}
glEnable(GL_LIGHTING);
}
void draw_pointcloud()
{
float fValueH = 0;
float fX = 0;
float fY = 0;
float fU = 0;
float fV = 0;
float fNewColor = 0;
XnUInt16 nXRes;
XnUInt16 nYRes;
XnDepthPixel nMaxDepth;
xn::DepthMetaData dm;
g_DepthGenerator.GetMetaData(dm);
nXRes = dm.XRes();
nYRes = dm.YRes();
nMaxDepth = dm.ZRes();
const XnDepthPixel* pDepth = dm.Data();
memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
int nNumberOfPoints = 0;
XnDepthPixel nValue;
for (XnUInt16 nY=0; nY<nYRes; nY++)
{
for (XnUInt16 nX=0; nX<nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
XnUInt32 nIndex;
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
if (g_pDepthHist[nIndex] != 0)
{
g_pDepthHist[nIndex] = (nNumberOfPoints-g_pDepthHist[nIndex]) / nNumberOfPoints;
}
}
pDepth = dm.Data();
// GL Transform
glPushMatrix();
object.apply_transform();
// Point cloud
float zero[] = {0,0,0,0};
float dim[] = {.2,.2,.2,.2};
glLightfv(GL_LIGHT0, GL_DIFFUSE, dim);
glLightfv(GL_LIGHT0, GL_SPECULAR, zero);
glPolygonOffset(0,-2);
glPushAttrib(GL_ENABLE_BIT);
glEnable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
glPointSize (nGLPointSize);
glBegin(GL_POINTS);
XnPoint3D corner = xnCreatePoint3D(dm.XRes(), dm.YRes(), dm.ZRes());
g_DepthGenerator.ConvertProjectiveToRealWorld(1, &corner, &corner);
XnBool bLabelsExists = false;
const XnLabel* pLabels = NULL;
xn::SceneMetaData smd;
if (g_UserGenerator.GetUserPixels(0, smd) == XN_STATUS_OK)
{
bLabelsExists = TRUE;
pLabels = smd.Data();
}
nIndex = 0;