// this function is called each frame
void glutDisplay (void)
{
// Read next available data
g_Context.WaitAnyUpdateAll();
// Process the data
g_pSessionManager->Update(&g_Context);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
#ifdef USE_GLUT
//glOrtho(0, GL_WIN_SIZE_X, 0, GL_WIN_SIZE_Y, -1.0, 1.0);
glOrtho(0, 1.0, 1.0, 0, -1.0, 1.0);
#else
//glOrthof(0, GL_WIN_SIZE_X, 0, GL_WIN_SIZE_Y, -1.0, 1.0);
glOrthof(0, 1.0, 1.0, 0, -1.0, 1.0);
#endif
// draw
if (g_bDrawFrame)
{
DrawFrame(xnCreatePoint3D(0.0, 0.0, 0), xnCreatePoint3D(1.0, 1.0, 0), 8, g_fFrameR, g_fFrameG, g_fFrameB);
}
if (g_bDrawCircle)
{
XnV3DVector vec(0.5, 0.5, 0);
vec += XnV3DVector(sin(g_fCircleAngle), -cos(g_fCircleAngle), 0) * 0.3;
DrawCircle(xnCreatePoint3D(0.5, 0.5, 0), 0.3, 3, g_fCircleR, g_fCircleG, g_fCircleB);
DrawLine(xnCreatePoint3D(0.5, 0.5, 0), vec, 4, g_fCircleLineR, g_fCircleLineG, g_fCircleLineB);
}
// flip surfaces
#ifdef USE_GLUT
glutSwapBuffers();
#else
eglSwapBuffers(display, surface);
#endif
}
// More drawing
void DrawSlider()
{
if (!g_bInSession)
return;
XnPoint3D ptMin = xnCreatePoint3D(50, GL_WIN_SIZE_Y-380, 0);
XnPoint3D ptMax = xnCreatePoint3D(650, GL_WIN_SIZE_Y-460, 0);
XnDouble r, g, b;
XnBool bDrawCursor = false;
if (!g_bActive)
{
r = g = b = 1;
}
else if (!g_bIsInput)
{
r = g = b = 0.5;
}
else
{
r = b = 0;
g = 1;
bDrawCursor = true;
}
DrawFrame(ptMin, ptMax, 20, r, g, b);
if (bDrawCursor)
{
DrawLine(600*g_fValue+50, GL_WIN_SIZE_Y-380, 0,
600*g_fValue+50, GL_WIN_SIZE_Y-460, 0,
30, 1, 1, 0);
}
}
void DrawFrame(const XnPoint3D& ptMins, const XnPoint3D& ptMaxs, int width, double r, double g, double b)
{
XnPoint3D ptTopLeft = ptMins;
XnPoint3D ptBottomRight = ptMaxs;
// Top line
DrawLine(xnCreatePoint3D(ptTopLeft.X, ptTopLeft.Y, 0),
xnCreatePoint3D(ptBottomRight.X, ptTopLeft.Y, 0),
width, r, g, b);
// Right Line
DrawLine(xnCreatePoint3D(ptBottomRight.X, ptTopLeft.Y, 0),
xnCreatePoint3D(ptBottomRight.X, ptBottomRight.Y,0),
width, r, g, b);
// Bottom Line
DrawLine(xnCreatePoint3D(ptBottomRight.X, ptBottomRight.Y,0),
xnCreatePoint3D(ptTopLeft.X, ptBottomRight.Y,0),
width, r, g, b);
// Left Line
DrawLine(xnCreatePoint3D(ptTopLeft.X, ptBottomRight.Y,0),
xnCreatePoint3D(ptTopLeft.X, ptTopLeft.Y,0),
width, r, g, b);
}
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)));
}
}
XnPoint3D coms[20];
XnUInt32 labels[20] = {0};
for (int i = 0; i < 20; ++i)
{
coms[i] = xnCreatePoint3D(0,0,0);
}
pDepth = dmd.Data();
{
XnUInt32 nIndex = 0;
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++, nIndex++)
{
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];
if (label < 20 && label > 0)
{
coms[label].X += nX;
coms[label].Y += nY;
coms[label].Z += *pDepth;
labels[label]++;
}
}
else
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
}
pDepth++;
pLabels++;
pDestImage+=3;
}
pDestImage += (texWidth - g_nXRes) *3;
}
}
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);
#ifdef USE_GLUT
char strLabel[3] = "";
for (int i = 0; i < 20; ++i)
{
if (labels[i] == 0)
continue;
coms[i].X /= labels[i];
coms[i].Y /= labels[i];
coms[i].Z /= labels[i];
sprintf(strLabel, "%d", i);
glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(coms[i].X, coms[i].Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel);
}
#endif
}
// More drawing
void DrowTrackPad()
{
if (!g_bInSession)
return;
XnDouble r, g, b;
if (!g_bActive)
{
r = g = b = 1;
}
else if (!g_bIsInput)
{
r = g = b = 0.5;
}
else
{
r = b = 0;
g = 1;
}
XnFloat width = 20;
XnFloat x_step = (XnFloat)GL_WIN_SIZE_X/g_TP_XDim;
for(XnUInt32 i=0 ; i<=g_TP_XDim ; ++i)
{
DrawLine(xnCreatePoint3D(GL_WIN_SIZE_X-(i*x_step), GL_WIN_SIZE_Y, 0.0),
xnCreatePoint3D(GL_WIN_SIZE_X-(i*x_step), 0.0, 0.0),
width, r, g, b);
}
XnFloat y_step = (XnFloat)GL_WIN_SIZE_Y/g_TP_YDim;
for(XnUInt32 j=1 ; j<=g_TP_YDim ; ++j)
{
DrawLine(xnCreatePoint3D(GL_WIN_SIZE_X, GL_WIN_SIZE_Y-(j*y_step), 0.0),
xnCreatePoint3D(0.0, GL_WIN_SIZE_Y-(j*y_step), 0.0),
width, r, g, b);
}
if(TRUE == g_isPrintItemHover)
{
XnPoint3D ptTopLeft = xnCreatePoint3D((CurrentItem.X*x_step), /*GL_WIN_SIZE_Y-*/(CurrentItem.Y*y_step), 0.0);
XnPoint3D ptBottomRight = xnCreatePoint3D(((CurrentItem.X+1)*x_step), /*GL_WIN_SIZE_Y-*/((CurrentItem.Y+1)*y_step), 0.0);
if(TRUE == g_isInputStarted)
DrawFrame(ptTopLeft, ptBottomRight, width, 1, 1, 0);
else
DrawFrame(ptTopLeft, ptBottomRight, width, 0.2, 0.2, 0);
}
width /= 2;
if(TRUE == g_isPrintValueChange)
{
XnFloat TopPointX = (g_fXValue)*GL_WIN_SIZE_X;
XnFloat TopPointY = (g_fYValue)*GL_WIN_SIZE_Y;
XnPoint3D ptTopLeft = xnCreatePoint3D(TopPointX, TopPointY, 0.0);
XnPoint3D ptBottomRight = xnCreatePoint3D(TopPointX+width, TopPointY+width, 0.0);
if(TRUE == g_isInputStarted)
DrawFrame(ptTopLeft, ptBottomRight, width, 1, 0, 0);
else
DrawFrame(ptTopLeft, ptBottomRight, width, 0.2, 0, 0);
}
if(TRUE == g_bIsPushed)
{
XnPoint3D ptTopLeft = xnCreatePoint3D((CurrentItem.X*x_step), (CurrentItem.Y*y_step), 0.0);
XnPoint3D ptBottomRight = xnCreatePoint3D(((CurrentItem.X+1)*x_step), ((CurrentItem.Y+1)*y_step), 0.0);
DrawFrame(ptTopLeft, ptBottomRight, width, 1, 0.5, 0);
++g_nCurrentFrame;
if(XN_PUSH_DISPLAY_FRAMES <= g_nCurrentFrame)
{
g_bIsPushed = FALSE;
g_nCurrentFrame = 0;
}
}
}
