# HG changeset patch
# User kazz <kazz@cr.ie.u-ryukyu.ac.jp>
# Date 1296496882 -32400
# Node ID 3b5465899da9e0c344066ceb7b1cab9e07500162
# Parent  2afd5c6cc8d23b8e68233a764a9d763d7dee21d5
add KinectTrack.cc

diff -r 2afd5c6cc8d2 -r 3b5465899da9 KinectTrack.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KinectTrack.cc	Tue Feb 01 03:01:22 2011 +0900
@@ -0,0 +1,25 @@
+#include <XnVNite.h>
+
+#include "KinectTrack.h"
+
+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;
+}
+
diff -r 2afd5c6cc8d2 -r 3b5465899da9 KinectTrack.h
--- a/KinectTrack.h	Mon Jan 31 03:49:24 2011 +0900
+++ b/KinectTrack.h	Tue Feb 01 03:01:22 2011 +0900
@@ -1,3 +1,8 @@
+#include <map>
+#include <list>
+#include <XnCppWrapper.h>
+#include <XnVPointControl.h>
+
 typedef enum {
 	IN_SESSION,
 	NOT_IN_SESSION,
@@ -7,8 +12,30 @@
 class NIState {
 public:
 	static SessionState gSessionState;
+	static XnBool gBDrawDepthMap;
 	static void XN_CALLBACK_TYPE sessionStarting(const XnPoint3D &ptPosition, void *userCxt);
 	static void XN_CALLBACK_TYPE sessionEnding(void *userCxt);
 	static void XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
 											   XnFloat fProgress, void *userCxt);
+	static void XN_CALLBACK_TYPE noHands(void *UserCxt);
 };
+
+class XnVPointDrawer : public XnVPointControl {
+public:
+	XnVPointDrawer(XnUInt32 nHistorySize, xn::DepthGenerator depthGenerator);
+	virtual ~XnVPointDrawer();
+	void update(XnVMessage *pMessage);
+	void onPointCreate(const XnVHandPointContext *cxt);
+	void onPointUpdate(const XnVHandPointContext *cxt);
+	void onPointDestroy(XnUInt32 nID);
+	void draw() const;
+	void setDepthMap(XnBool bDrawDM);
+	void setFrameID(XnBool bFrameID);
+protected:
+	XnUInt32 mNHistorySize;
+	std::map<XnUInt32, std::list<XnPoint3D> > mHistory;
+	xn::DepthGenerator mDepthGenerator;
+	XnFloat *mPFPositionBuffer;
+	XnBool mBDrawDM;
+	XnBool mBFrameID;
+};
diff -r 2afd5c6cc8d2 -r 3b5465899da9 Makefile
--- a/Makefile	Mon Jan 31 03:49:24 2011 +0900
+++ b/Makefile	Tue Feb 01 03:01:22 2011 +0900
@@ -2,7 +2,7 @@
 CFLAGS  = -Wall -g -O2
 INCLUDE = -I/usr/include/ni -I/usr/include/nite
 LIBS    = -lOpenNI -lXnVNite
-OBJS    = main.o
+OBJS    = main.o KinectTrack.o
 TARGET  = kinect
 
 .SUFFIXES: .cc .o
diff -r 2afd5c6cc8d2 -r 3b5465899da9 main.cc
--- a/main.cc	Mon Jan 31 03:49:24 2011 +0900
+++ b/main.cc	Tue Feb 01 03:01:22 2011 +0900
@@ -22,6 +22,7 @@
 }
 
 SessionState NIState::gSessionState = NOT_IN_SESSION;
+XnBool NIState::gBDrawDepthMap = true;
 void NIState::XN_CALLBACK_TYPE sessionStarting(const XnPoint3D &ptPosition, void *userCxt) {
 	printf("Session start: (%f, %f, %f)\n)", ptPosition.X,  ptPosition.Y,  ptPosition.Z);
 	gSessionState = IN_SESSION;
@@ -34,6 +35,12 @@
 										   XnFloat fProgress, void *userCxt) {
 	//printf("Focus progress: %s @(%f, %f, %f): %f\n)", strFocus, ptPosition.X,  ptPosition.Y,  ptPosition.Z, fProgress);
 }
+void NIState::XN_CALLBACK_TYPE noHands(void *UserCxt) {
+	if (gSessionState != NOT_IN_SESSION) {
+		printf("Quick refocus\n");
+		gSessionState = QUICK_REFOCUS;
+	}
+}
 
 int main(int argc, char *argv[]) {
 	xn::Context gContext;
@@ -52,7 +59,24 @@
 	XnVSessionManager *gPSessionManager = new XnVSessionManager();
 	rc = gPSessionManager->Initialize(&gContext, "Click,Wave", "RaiseHand");
 	checkRC(rc, "SessionManager::Initialize");
+
 	gPSessionManager->RegisterSession(NULL, NIState::sessionStarting, NIState::sessionEnding, NIState::focusProgress);
+
+	XnVPointDrawer *gPDrawer = new XnVPointDrawer(20, gDepthGenerator);
+	XnVFlowRouter *gPFlowRouter = new XnVFlowRouter;
+	gPFlowRouter->SetActive(gPDrawer);
+
+	gPSessionManager->AddListener(gPFlowRouter);
+
+	gPDrawer->RegisterNoPoints(NULL, NIState::noHands);
+	gPDrawer->setDepthMap(NIState::gBDrawDepthMap);
 	
+	rc = gContext.StartGeneratingAll();
+	checkRC(rc, "StartGenerating");
+
+	while (true) {
+		usleep(100);
+	}
+
 	return 0;
 }