void Level::load(World &world) const
{
fs::DataFile df(datafile());
tinyxml2::XMLDocument doc;
{
fs::DataStream ds(df, "terrain.xml");
string xmlstr = string(
(std::istreambuf_iterator<char>(ds)),
std::istreambuf_iterator<char>());
int error = doc.Parse(xmlstr.c_str());
if(error != tinyxml2::XML_NO_ERROR)
throw LevelException(doc.GetErrorStr1());
}
const XMLElement *root = doc.RootElement();
setWorldBounds(root, world);
const XMLElement *el = root->FirstChildElement();
while(el) {
if(strcmp(el->Name(), "zones")==0)
loadZones(el, world);
else if(strcmp(el->Name(), "static")==0)
loadStatic(el, world);
else if(strcmp(el->Name(), "solid")==0)
loadSolid(el, world);
else {
#ifndef NDEBUG
cerr << "Warning: Unknown level file element: " << el->Name() << endl;
#endif
}
el = el->NextSiblingElement();
}
}
//--------------------------------------------------------------
void testApp::setup() {
ofSetLogLevel(OF_LOG_VERBOSE);
ofEnableAlphaBlending();
ofSetPolyMode(OF_POLY_WINDING_NONZERO);
ofTrueTypeFont::setGlobalDpi(72);
font.loadFont("GUI/dinnextroundedltprolight.ttf", 28, true, true);
// enable depth->rgb image calibration
kinect.setRegistration(true);
//kinect.init();
//kinect.init(true); // shows infrared instead of RGB video image
kinect.init(false, false); // disable video image (faster fps)
kinect.open();
angle=kinect.getCurrentCameraTiltAngle();
//kinect.setCameraTiltAngle(angle);
//ofSleepMillis(1000);
kinect.enableDepthNearValueWhite(true);
ofAddListener(blob2DTracker.blobAdded, this, &testApp::blob2DAdded);
ofAddListener(blob2DTracker.blobMoved, this, &testApp::blob2DMoved);
ofAddListener(blob2DTracker.blobDeleted, this, &testApp::blob2DDeleted);
blobFinder.init(&kinect, true); // standarized coordinate system: z in the direction of gravity
blobFinder.setResolution(BF_LOW_RES);
blobFinder.setRotation( ofVec3f( angle, 0, 0) );
blobFinder.setTranslation(ofVec3f(0,0,0));
blobFinder.setScale(ofVec3f(0.001, 0.001, 0.001)); // mm to meters
// bind our kinect to the blob finder
// in order to do this we need to declare in testApp.h: class testApp : public ofBaseApp, public ofxKinectBlobListener
blobTracker.setListener( this );
blobImage.allocate(kinect.width, kinect.height, OF_IMAGE_GRAYSCALE);
background.allocate(kinect.width, kinect.height, OF_IMAGE_GRAYSCALE);
backgroundTex.allocate(kinect.width, kinect.height);//,OF_IMAGE_GRAYSCALE);
inPainter.setup(kinect.width, kinect.height);
tmpMapMask = new unsigned char[kinect.width*kinect.height];
tmpZonesMask = new unsigned char[kinect.width*kinect.height];
nearThreshold=10000.;
farThreshold=10000.;
diffThreshold=100.;
maxBlobs = 10;
minBlobPoints=250;
maxBlobPoints=1000000;
// NOTE: measurement units in meters!!!
minBlobVol = 0.02f;
maxBlobVol = 2.0f;
damping=10.;
mass=1.;
K=30.;
/*zonesCols=3;
zonesRows=3;
zonesColSpacing=20;
zonesRowSpacing=20;*/
dilate=10;
erode=10;
getPitchAndRoll=false;
pitch=0.;
roll=0.;
mapPoint=0;
mapFbo.allocate(kinect.width,kinect.height);
mapPixels.allocate(kinect.width,kinect.height,OF_IMAGE_GRAYSCALE);
mapMask.allocate(kinect.width, kinect.height);
zonesDistance=10.;
zonesFbo.allocate(kinect.width,kinect.height);
gui = new ofxUISuperCanvas("kinectMap", OFX_UI_FONT_MEDIUM);
gui->addSpacer();
gui->addTextArea("CONTROL", "Control de parametros de kinectMap");
gui->addSpacer();
gui->addSlider("angle", -30, 30, &angle);
gui->addLabelToggle("learnBackground", &learnBackground);
gui->addSlider("backFrames", 0.0, BACKGROUND_FRAMES, &backFrames);
gui->addSpacer();
gui->addSlider("maxBlobs", 0, 20, &maxBlobs);
gui->addSlider("min blob points", 0, 2000, &minBlobPoints);
gui->addSlider("min blob vol", 0.0, 0.2, &minBlobVol);
gui->addSlider("max blob vol", 1., 10., &maxBlobVol);
gui->addSpacer();
gui->addRangeSlider("near and far threshold", 0., 5000., &nearThreshold,&farThreshold);
gui->addSlider("diff threshold", 0., 1000., &diffThreshold);
gui->addSpacer();
gui->addSlider("person damping", 0., 10., &damping);
gui->addSlider("person mass", 1., 10., &mass);
gui->addSlider("person K", 1., 30., &K);
gui->addSpacer();
gui->addLabelToggle("get pitch and roll",&getPitchAndRoll);
gui->addSlider("pitch", -180., 180., &pitch);
gui->addSlider("roll", -180., 180., &roll);
gui->addSpacer();
gui->addLabelToggle("mapOpen", &mapOpen);
gui->addSpacer();
gui->addLabelButton("zonesNew", &zonesNew);
gui->addLabelButton("zonesClear", &zonesClear);
gui->addSpacer();
gui->addSlider("dilate", 0, 20, &dilate);
gui->addSlider("erode", 0, 20, &erode);
gui->autoSizeToFitWidgets();
ofAddListener(gui->newGUIEvent,this,&testApp::guiEvent);
if(ofFile::doesFileExist("GUI/guiSettings.xml"))
gui->loadSettings("GUI/guiSettings.xml");
loadMap();
loadZones();
sender.setup(IP,PORT);
mapOpen=false;
zonesNew=false;
zonesClear=false;
rotation.makeRotationMatrix(-90-pitch,ofVec3f(1,0,0),0,ofVec3f(0,1,0),-roll,ofVec3f(0,0,1));
learnBackground = true;
backFrames=0.;
ofSetFrameRate(60);
}
