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comparison example/KinectTrack.cc @ 4:edf80c055589 default tip

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kinect run on Cerium
author kazz <kazz@cr.ie.u-ryukyu.ac.jp>
date Tue, 01 Feb 2011 14:44:56 +0900
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3:7e112b536f0a 4:edf80c055589
1 #include <stdio.h>
2 #include <XnVNite.h>
3
4 #include "kinect.h"
5
6 #define N_COLORS 6
7
8 XnVPointDrawer::XnVPointDrawer(XnUInt32 nHistory, xn::DepthGenerator depthGenerator) :
9 XnVPointControl("XnVPointDrawer"),
10 mNHistorySize(nHistory), mDepthGenerator(depthGenerator), mBDrawDM(false), mBFrameID(false) {
11 mPFPositionBuffer = new XnFloat[nHistory*3];
12 }
13
14 XnVPointDrawer::~XnVPointDrawer() {
15 std::map<XnUInt32, std::list<XnPoint3D> >::iterator iter;
16 for (iter = mHistory.begin(); iter != mHistory.end(); ++iter)
17 {
18 iter->second.clear();
19 }
20 mHistory.clear();
21
22 delete []mPFPositionBuffer;
23 }
24
25 void XnVPointDrawer::setDepthMap(XnBool bDrawDM) {
26 mBDrawDM = bDrawDM;
27 }
28
29 void XnVPointDrawer::Update(XnVMessage* pMessage) {
30 // PointControl's Update calls all callbacks for each hand
31 XnVPointControl::Update(pMessage);
32
33 if (mBDrawDM)
34 {
35 // Draw depth map
36 xn::DepthMetaData depthMD;
37 mDepthGenerator.GetMetaData(depthMD);
38 //drawDepthMap(depthMD);
39 }
40 if (mBFrameID)
41 {
42 // Print out frame ID
43 xn::DepthMetaData depthMD;
44 mDepthGenerator.GetMetaData(depthMD);
45 //DrawFrameID(depthMD.FrameID());
46 }
47
48 // Draw hands
49 Draw();
50 }
51
52 int XnVPointDrawer::getPosition(float &x, float &y, float &z) const {
53 std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator itr;
54 itr = mHistory.begin();
55 if (itr == mHistory.end()) return -1;
56 std::list<XnPoint3D>::const_iterator itr2;
57 itr2 = itr->second.begin();
58 if (itr2 == itr->second.end()) return -1;
59 XnPoint3D pt(*itr2);
60 x = pt.X;
61 y = pt.Y;
62 z = pt.Z;
63 return 1;
64 }
65 void XnVPointDrawer::Draw() const {
66 std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator itr;
67 itr = mHistory.begin();
68 if (itr == mHistory.end()) return;
69 std::list<XnPoint3D>::const_iterator itr2;
70 itr2 = itr->second.begin();
71 if (itr2 == itr->second.end()) return;
72 XnPoint3D pt(*itr2);
73 // printf("%f, %f, %f\n", pt.X, pt.Y, pt.Z);
74
75
76 // std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator PointIterator;
77
78 // // Go over each existing hand
79 // for (PointIterator = mHistory.begin();
80 // PointIterator != mHistory.end();
81 // ++PointIterator)
82 // {
83 // // Clear buffer
84 // XnUInt32 nPoints = 0;
85 // XnUInt32 i = 0;
86 // XnUInt32 Id = PointIterator->first;
87
88 // // Go over all previous positions of current hand
89 // std::list<XnPoint3D>::const_iterator PositionIterator;
90 // for (PositionIterator = PointIterator->second.begin();
91 // PositionIterator != PointIterator->second.end();
92 // ++PositionIterator, ++i)
93 // {
94 // // Add position to buffer
95 // XnPoint3D pt(*PositionIterator);
96 // printf("%f, %f, %f\n", pt.X, pt.Y, pt.Z);
97 // mPFPositionBuffer[3*i] = pt.X;
98 // mPFPositionBuffer[3*i + 1] = pt.Y;
99 // mPFPositionBuffer[3*i + 2] = 0;//pt.Z();
100 // break;
101 // }
102
103 // // Set color
104 // XnUInt32 nColor = Id % N_COLORS;
105 // //XnUInt32 nSingle = GetPrimaryID();
106 // if (Id == GetPrimaryID())
107 // nColor = 6;
108 // }
109 }
110
111 static XnBool bShouldPrint = false;
112 void XnVPointDrawer::OnPointCreate(const XnVHandPointContext* cxt)
113 {
114 printf("** %d\n", cxt->nID);
115 // Create entry for the hand
116 mHistory[cxt->nID].clear();
117 bShouldPrint = true;
118 OnPointUpdate(cxt);
119 bShouldPrint = true;
120 }
121 // Handle new position of an existing hand
122 void XnVPointDrawer::OnPointUpdate(const XnVHandPointContext* cxt)
123 {
124 // positions are kept in projective coordinates, since they are only used for drawing
125 XnPoint3D ptProjective(cxt->ptPosition);
126
127 if (bShouldPrint)printf("Point (%f,%f,%f)", ptProjective.X, ptProjective.Y, ptProjective.Z);
128 mDepthGenerator.ConvertRealWorldToProjective(1, &ptProjective, &ptProjective);
129 if (bShouldPrint)printf(" -> (%f,%f,%f)\n", ptProjective.X, ptProjective.Y, ptProjective.Z);
130
131 // Add new position to the history buffer
132 mHistory[cxt->nID].push_front(ptProjective);
133 // Keep size of history buffer
134 if (mHistory[cxt->nID].size() > mNHistorySize)
135 mHistory[cxt->nID].pop_back();
136 bShouldPrint = false;
137 }
138
139 // Handle destruction of an existing hand
140 void XnVPointDrawer::OnPointDestroy(XnUInt32 nID)
141 {
142 // No need for the history buffer
143 mHistory.erase(nID);
144 }