--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/KinectTrack.cc	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,144 @@
+#include <stdio.h>
+#include <XnVNite.h>
+
+#include "kinect.h"
+
+#define N_COLORS 6
+
+XnVPointDrawer::XnVPointDrawer(XnUInt32 nHistory, xn::DepthGenerator depthGenerator) :
+	XnVPointControl("XnVPointDrawer"),
+	mNHistorySize(nHistory), mDepthGenerator(depthGenerator), mBDrawDM(false), mBFrameID(false) {
+	mPFPositionBuffer = new XnFloat[nHistory*3];
+}
+
+XnVPointDrawer::~XnVPointDrawer() {
+	std::map<XnUInt32, std::list<XnPoint3D> >::iterator iter;
+	for (iter = mHistory.begin(); iter != mHistory.end(); ++iter)
+	{
+		iter->second.clear();
+	}
+	mHistory.clear();
+
+	delete []mPFPositionBuffer;
+}
+
+void XnVPointDrawer::setDepthMap(XnBool bDrawDM) {
+	mBDrawDM = bDrawDM;
+}
+
+void XnVPointDrawer::Update(XnVMessage* pMessage) {
+	// PointControl's Update calls all callbacks for each hand
+	XnVPointControl::Update(pMessage);
+
+	if (mBDrawDM)
+	{
+		// Draw depth map
+		xn::DepthMetaData depthMD;
+		mDepthGenerator.GetMetaData(depthMD);
+		//drawDepthMap(depthMD);
+	}
+	if (mBFrameID)
+	{
+		// Print out frame ID
+		xn::DepthMetaData depthMD;
+		mDepthGenerator.GetMetaData(depthMD);
+		//DrawFrameID(depthMD.FrameID());
+	}
+
+	// Draw hands
+	Draw();
+}
+
+int XnVPointDrawer::getPosition(float &x, float &y, float &z) const {
+	std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator itr;
+	itr = mHistory.begin();
+	if (itr == mHistory.end()) return -1;
+	std::list<XnPoint3D>::const_iterator itr2;
+	itr2 = itr->second.begin();
+	if (itr2 == itr->second.end()) return -1;
+	XnPoint3D pt(*itr2);
+	x = pt.X;
+	y = pt.Y;
+	z = pt.Z;
+	return 1;
+}
+void XnVPointDrawer::Draw() const {
+	std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator itr;
+	itr = mHistory.begin();
+	if (itr == mHistory.end()) return;
+	std::list<XnPoint3D>::const_iterator itr2;
+	itr2 = itr->second.begin();
+	if (itr2 == itr->second.end()) return;
+	XnPoint3D pt(*itr2);
+//	printf("%f, %f, %f\n", pt.X, pt.Y, pt.Z);
+	
+
+	// std::map<XnUInt32, std::list<XnPoint3D> >::const_iterator PointIterator;
+	
+	// // Go over each existing hand
+	// for (PointIterator = mHistory.begin();
+	// 	PointIterator != mHistory.end();
+	// 	++PointIterator)
+	// {
+	// 	// Clear buffer
+	// 	XnUInt32 nPoints = 0;
+	// 	XnUInt32 i = 0;
+	// 	XnUInt32 Id = PointIterator->first;
+
+	// 	// Go over all previous positions of current hand
+	// 	std::list<XnPoint3D>::const_iterator PositionIterator;
+	// 	for (PositionIterator = PointIterator->second.begin();
+	// 		PositionIterator != PointIterator->second.end();
+	// 		++PositionIterator, ++i)
+	// 	{
+	// 		// Add position to buffer
+	// 		XnPoint3D pt(*PositionIterator);
+	// 		printf("%f, %f, %f\n", pt.X, pt.Y, pt.Z);
+	// 		mPFPositionBuffer[3*i] = pt.X;
+	// 		mPFPositionBuffer[3*i + 1] = pt.Y;
+	// 		mPFPositionBuffer[3*i + 2] = 0;//pt.Z();
+	// 		break;
+	// 	}
+		
+	// 	// Set color
+	// 	XnUInt32 nColor = Id % N_COLORS;
+	// 	//XnUInt32 nSingle = GetPrimaryID();
+	// 	if (Id == GetPrimaryID())
+	// 		nColor = 6;
+	// }
+}
+
+static XnBool bShouldPrint = false;
+void XnVPointDrawer::OnPointCreate(const XnVHandPointContext* cxt)
+{
+	printf("** %d\n", cxt->nID);
+	// Create entry for the hand
+	mHistory[cxt->nID].clear();
+	bShouldPrint = true;
+	OnPointUpdate(cxt);
+	bShouldPrint = true;
+}
+// Handle new position of an existing hand
+void XnVPointDrawer::OnPointUpdate(const XnVHandPointContext* cxt)
+{
+	// positions are kept in projective coordinates, since they are only used for drawing
+	XnPoint3D ptProjective(cxt->ptPosition);
+
+	if (bShouldPrint)printf("Point (%f,%f,%f)", ptProjective.X, ptProjective.Y, ptProjective.Z);
+	mDepthGenerator.ConvertRealWorldToProjective(1, &ptProjective, &ptProjective);
+	if (bShouldPrint)printf(" -> (%f,%f,%f)\n", ptProjective.X, ptProjective.Y, ptProjective.Z);
+
+	// Add new position to the history buffer
+	mHistory[cxt->nID].push_front(ptProjective);
+	// Keep size of history buffer
+	if (mHistory[cxt->nID].size() > mNHistorySize)
+		mHistory[cxt->nID].pop_back();
+	bShouldPrint = false;
+}
+
+// Handle destruction of an existing hand
+void XnVPointDrawer::OnPointDestroy(XnUInt32 nID)
+{
+	// No need for the history buffer
+	mHistory.erase(nID);
+}