# HG changeset patch
# User kazz <kazz@cr.ie.u-ryukyu.ac.jp>
# Date 1296539096 -32400
# Node ID edf80c055589598552b38187a2ce4ed628616024
# Parent  7e112b536f0a4d1497118b8acc2ab50a56fcda48
kinect run on Cerium

diff -r 7e112b536f0a -r edf80c055589 KinectTrack.cc
--- a/KinectTrack.cc	Tue Feb 01 06:37:06 2011 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,144 +0,0 @@
-#include <stdio.h>
-#include <XnVNite.h>
-
-#include "KinectTrack.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);
-}
diff -r 7e112b536f0a -r edf80c055589 KinectTrack.h
--- a/KinectTrack.h	Tue Feb 01 06:37:06 2011 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-#include <map>
-#include <list>
-#include <XnCppWrapper.h>
-#include <XnVPointControl.h>
-
-typedef enum {
-	IN_SESSION,
-	NOT_IN_SESSION,
-	QUICK_REFOCUS
-} SessionState;
-
-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);
-	int getPosition(float &x, float &y, float &z) const;
-protected:
-	XnUInt32 mNHistorySize;
-	std::map<XnUInt32, std::list<XnPoint3D> > mHistory;
-	xn::DepthGenerator mDepthGenerator;
-	XnFloat *mPFPositionBuffer;
-	XnBool mBDrawDM;
-	XnBool mBFrameID;
-};
diff -r 7e112b536f0a -r edf80c055589 Makefile
--- a/Makefile	Tue Feb 01 06:37:06 2011 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,16 +0,0 @@
-CC      = g++
-CFLAGS  = -Wall -g -O2
-INCLUDE = -I/usr/include/ni -I/usr/include/nite
-LIBS    = -lOpenNI -lXnVNite
-OBJS    = main.o KinectTrack.o
-TARGET  = kinect
-
-.SUFFIXES: .cc .o
-
-all: $(OBJS)
-	$(CC) $(CFLAGS) $(INCLUDE) $(LIBS) $(OBJS) -o $(TARGET)
-.cc.o:
-	$(CC) $(CFLAGS) $(INCLUDE) -c $< -o $@
-clean:
-	rm *.o
-	rm $(TARGET)
diff -r 7e112b536f0a -r edf80c055589 example/KinectTrack.cc
--- /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);
+}
diff -r 7e112b536f0a -r edf80c055589 example/Makefile
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/Makefile	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,13 @@
+all:  
+	make -f Makefile.macosx $*
+fifo64:  
+	make -f Makefile.macosx ABIBIT=64 $*
+linux:  
+	make -f Makefile.linux $*
+cell:
+	make -f Makefile.cell $*
+
+
+clean:
+	make -f Makefile.macosx clean
+	make -f Makefile.cell clean
diff -r 7e112b536f0a -r edf80c055589 example/Makefile.cell
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/Makefile.cell	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,134 @@
+include ./Makefile.def
+ABIBIT=32
+
+LIBS +=  -lCerium -lCellManager  -lspe2 -lpthread
+
+CFLAGS += `sdl-config --cflags` `xml2-config --cflags`
+LIBS   += `sdl-config --libs` -lSDL_image -lGL `xml2-config --libs` 
+
+
+.SUFFIXES: .proto .pb.o .pb.cc .cc .o .xml .xml.h .xml.cc
+
+.cc.o:
+	$(CC) $(CFLAGS) $(INCLUDE) -c $< -o $@
+
+%.pb.cc: $(PROTODIR)/%.proto
+	$(PROTO) $(PROTOFLAGS) $<
+
+ALL = spe-main ball_bound boss1_action direction gaplant ieshoot node panel universe untitled vacuum dynamic viewer SgRootChange property_test create_task property_universe chain_old property_chain aquarium network init_aquarium
+
+all: $(ALL)
+
+speobject:
+	cd spe; $(MAKE)
+
+run: $(TARGET)
+	sudo ./$(TARGET) -width 576 -height 384 -bpp 32
+run-hd: $(TARGET)
+	sudo /usr/sbin/ps3-video-mode -v 133
+	sudo ./$(TARGET) -video fb -width 1920 -height 1080 -bpp 32
+
+
+spe-main:
+	ln -s ../Engine/spe-main .
+
+
+BALL_BOUND_OBJ = ball_bound.o
+ball_bound : $(BALL_BOUND_OBJ) 
+	$(CC) -o $@ $?   $(LIBS)
+
+BOSS_OBJ = boss1_action.o
+boss1_action : $(BOSS_OBJ) 
+	$(CC) -o $@ $?   $(LIBS)
+
+DIRECTION_OBJ = direction.o
+direction : $(DIRECTION_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+GAPLAN_OBJ = gaplant.o gaplant_action.o back_action.o ball_action.o
+gaplant : $(GAPLAN_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+IESHOOT_OBJ = ieshoot.o
+ieshoot : $(IESHOOT_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+NODE_OBJ = node.o
+node : $(NODE_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+PANEL_OBJ = panel.o
+panel : $(PANEL_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+UNIV_OBJ = universe.o
+universe : $(UNIV_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+UNTITLED_OBJ = untitled.o
+untitled : $(UNTITLED_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+VACUUM_OBJ = vacuum.o cube.o game_over.o title.o
+vacuum : $(VACUUM_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+DYNAMIC_OBJ = dynamic_create.o 
+dynamic : $(DYNAMIC_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+VIEWER_OBJ = viewer.o 
+viewer : $(VIEWER_OBJ) 
+	$(CC) -o $@ $?    $(LIBS)
+
+SG_CHANGE_OBJ = SgRootChange.o
+SgRootChange : $(SG_CHANGE_OBJ) 
+	$(CC) -o $@ $?   $(LIBS)
+
+PROPERTY_TEST_OBJ = property_test.o
+property_test : $(PROPERTY_TEST_OBJ)
+	$(CC) -o $@ $?   $(LIBS)
+
+CREATE_TASK_OBJ = create_task.o
+create_task : $(CREATE_TASK_OBJ)
+	$(CC) -o $@ $?   $(LIBS)
+
+P_UNIVERSE_OBJ = property_universe.o
+property_universe : $(P_UNIVERSE_OBJ)
+	$(CC) -o $@ $?   $(LIBS)
+
+CHAIN_OLD = chain_old.o
+chain_old : $(CHAIN_OLD)
+	$(CC) -o $@ $? $(LIBS)
+
+P_CHAIN_OBJ = property_chain.o
+property_chain : $(P_CHAIN_OBJ)
+	$(CC) -o $@ $? $(LIBS)
+
+AQUARIUM_OBJ = aquarium.pb.o aquarium.o
+aquarium : $(AQUARIUM_OBJ)
+	$(CC) -o $@ $?    $(LIBS) $(PROTOLIBS)
+
+NETWORK_OBJ = network_game.pb.o network.o
+network : $(NETWORK_OBJ)
+	$(CC) -o $@ $?    $(LIBS) $(PROTOLIBS)
+
+INIT_AQUARIUM_OBJ = aquarium.pb.o init_aquarium.o
+init_aquarium : $(INIT_AQUARIUM_OBJ)
+	$(CC) -o $@ $? $(LIBS) $(PROTOLIBS)
+
+debug: $(TARGET)
+	sudo ppu-gdb ./$(TARGET) 
+
+depend:
+	$(RM) depend.inc
+	$(CC) -MM -MG $(INCLUDE) $(CFLAGS) $(SRCS) $(TASK_SRCS) > depend.inc
+
+clean:
+	rm -f $(TARGET) $(OBJS) $(TASK_OBJS) *.o
+	rm -f *~ \#* $(ALL)
+	rm -f $(BALL_BOUND_XML).cc $(BALL_BOUND_XML).h $(BALL_BOUND_OBJ)
+
+-include depend.inc
+
+
diff -r 7e112b536f0a -r edf80c055589 example/Makefile.def
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/Makefile.def	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,11 @@
+
+CERIUM = ../../Cerium
+
+ABIBIT = 64
+ABI =  -m$(ABIBIT)
+CC      = g++
+CFLAGS  = -g -Wall $(ABI) # -O9   # -O -DDEBUG
+
+INCLUDE = -I$(CERIUM)/include/TaskManager -I$(CERIUM)/Renderer/Engine -I. -I$(CERIUM)/include/Cerium -I/usr/include/ni -I/usr/include/nite
+LIBS = -L$(CERIUM)/TaskManager -L$(CERIUM)/Renderer/Engine -lOpenNI -lXnVNite $(ABI)
+TOOL = $(CERIUM)/bin
diff -r 7e112b536f0a -r edf80c055589 example/Makefile.macosx
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/Makefile.macosx	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,37 @@
+include ./Makefile.def
+
+LIBS += -lCerium -lFifoManager 
+
+CFLAGS += `sdl-config --cflags` `xml2-config --cflags` $(INCLUDE)  
+LIBS   += `sdl-config --libs` `xml2-config --libs` -lSDL_image -Wl,-framework,OpenGL 
+
+.SUFFIXES: .cc .o .xml .xml.h .xml.cc
+
+.cc.o:
+	$(CC) $(CFLAGS)  -c $< -o $@
+
+ALL =  kinect
+
+all: $(ALL)
+
+KINECT_OBJ = kinect.o KinectTrack.o
+kinect : $(KINECT_OBJ) 
+	$(CC) $(CFLAGS) -o $@ $?   $(LIBS)
+
+run: $(TARGET)
+	sudo ./$(TARGET) -width 576 -height 384 -bpp 32
+
+debug: $(TARGET)
+	sudo ppu-gdb ./$(TARGET) 
+
+depend:
+	$(RM) depend.inc
+	$(CC) -MM -MG $(INCLUDE) $(CFLAGS) $(SRCS) $(TASK_SRCS) > depend.inc
+
+clean:
+	rm -f $(TARGET) $(OBJS) $(TASK_OBJS) *.o
+	rm -f *~ \#* $(ALL)
+	rm -f $(BALL_BOUND_XML).cc $(BALL_BOUND_XML).h $(BALL_BOUND_OBJ)
+	rm -f *.pb.{cc,h}
+
+-include depend.inc
diff -r 7e112b536f0a -r edf80c055589 example/kinect.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/kinect.cc	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,154 @@
+#include <math.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "SceneGraphRoot.h"
+#include "MainLoop.h"
+
+#include <XnOpenNI.h>
+#include <XnCppWrapper.h>
+#include <XnVNite.h>
+
+#include "kinect.h"
+
+#define INIT_XML_PATH "./kinect.xml"
+
+void checkRC(const XnStatus &rc, const char *what) {
+	if (rc != XN_STATUS_OK) {
+		printf("%s faild: %s\n", what, xnGetStatusString(rc));
+	}
+}
+
+void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
+	if (rc == XN_STATUS_NO_NODE_PRESENT) {
+		XnChar strError[1024];
+		errors.ToString(strError, 1024);
+		printf("%s\n", strError);
+	}
+}
+
+SessionState NIState::gSessionState = NOT_IN_SESSION;
+XnBool NIState::gBDrawDepthMap = true;
+xn::Context NIState::gContext;
+XnVSessionManager *NIState::gPSessionManager;
+XnVPointDrawer *NIState::gPDrawer;
+
+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;
+}
+void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
+	printf("Session end\n");
+	gSessionState = NOT_IN_SESSION;
+}
+void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
+										   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;
+	}
+}
+
+// prototype
+static void ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h);
+static void null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h, SceneGraphPtr tree);
+
+static void
+ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
+{
+	NIState::gContext.WaitNoneUpdateAll();
+	NIState::gPSessionManager->Update(&NIState::gContext);
+	float x, y, z;
+	int error = NIState::gPDrawer->getPosition(x, y, z);
+	if (error > 0) {
+		node->xyz[0] = x/640 * screen_w;
+		node->xyz[1] = y/480 * screen_h;
+		node->xyz[2] = z - 500;
+	}
+}
+
+static void
+null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h,
+			   SceneGraphPtr tree)
+{
+}
+
+MainLoopPtr 
+Kinect::init(Viewer *sgroot, int screen_w, int screen_h)
+{
+    SceneGraphPtr ball;
+
+    srandom(100);
+
+    sgroot->createFromXMLfile("xml_file/Ball.xml");
+
+    ball = sgroot->createSceneGraph("Ball");
+    ball->set_move_collision(ball_move, null_collision);
+
+    ball->xyz[0] = screen_w/2;
+    ball->xyz[1] = screen_h/2;
+    ball->xyz[2] = 550.0f;
+
+    sgroot->setSceneData(ball);
+
+	xn::EnumerationErrors errors;
+	XnStatus rc = NIState::gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
+	checkErrors(rc, errors, "InitFromXMLFile");
+	checkRC(rc, "InitFromXMLFile");
+
+	xn::DepthGenerator gDepthGenerator;
+	rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
+	checkRC(rc, "Find depth generator");
+
+	xn::HandsGenerator gHandsGenerator;
+	rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
+	checkRC(rc, "Find hands generator");
+	NIState::gPSessionManager = new XnVSessionManager();
+	rc = NIState::gPSessionManager->Initialize(&NIState::gContext, "Click,Wave", "RaiseHand");
+	checkRC(rc, "SessionManager::Initialize");
+
+	NIState::gPSessionManager->RegisterSession(NULL, NIState::sessionStarting, NIState::sessionEnding, NIState::focusProgress);
+
+	NIState::gPDrawer = new XnVPointDrawer(20, gDepthGenerator);
+	XnVFlowRouter *gPFlowRouter = new XnVFlowRouter;
+	gPFlowRouter->SetActive(NIState::gPDrawer);
+
+	NIState::gPSessionManager->AddListener(gPFlowRouter);
+
+	NIState::gPDrawer->RegisterNoPoints(NULL, NIState::noHands);
+	NIState::gPDrawer->setDepthMap(NIState::gBDrawDepthMap);
+	
+	rc = NIState::gContext.StartGeneratingAll();
+	checkRC(rc, "StartGenerating");
+	
+    return sgroot;
+}
+
+extern Application *
+application() {
+    return new Kinect();
+}
+
+const char *usr_help_str = "Usage: ./kinect [OPTION]\n";
+
+extern int init(TaskManager *manager, int argc, char *argv[]);
+extern void task_initialize();
+static void TMend(TaskManager *manager);
+
+int
+TMmain(TaskManager *manager, int argc, char *argv[])
+{
+    task_initialize();
+    manager->set_TMend(TMend);
+    return init(manager, argc, argv);
+}
+
+void
+TMend(TaskManager *manager)
+{
+    printf("kinect end\n");
+}
+
+/* end */
diff -r 7e112b536f0a -r edf80c055589 example/kinect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/kinect.h	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,57 @@
+#include <math.h>
+#include <stdlib.h>
+#include "SceneGraphRoot.h"
+#include "Application.h"
+#include "MainLoop.h"
+#include "viewer.h"
+
+#include <map>
+#include <list>
+#include <XnCppWrapper.h>
+#include <XnVPointControl.h>
+
+class Kinect : public Application {
+	
+    MainLoopPtr init(Viewer *viewer, int screen_w, int screen_h);
+};
+
+typedef enum {
+	IN_SESSION,
+	NOT_IN_SESSION,
+	QUICK_REFOCUS
+} SessionState;
+
+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);
+	int getPosition(float &x, float &y, float &z) const;
+protected:
+	XnUInt32 mNHistorySize;
+	std::map<XnUInt32, std::list<XnPoint3D> > mHistory;
+	xn::DepthGenerator mDepthGenerator;
+	XnFloat *mPFPositionBuffer;
+	XnBool mBDrawDM;
+	XnBool mBFrameID;
+};
+
+class NIState {
+public:
+	static xn::Context gContext;
+	static XnVSessionManager *gPSessionManager;
+	static XnVPointDrawer *gPDrawer;
+	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);
+};
diff -r 7e112b536f0a -r edf80c055589 example/kinect.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/kinect.xml	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,24 @@
+<OpenNI>
+        <Licenses>
+                <License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
+        </Licenses>
+        <Log writeToConsole="true" writeToFile="false">
+                <!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
+                <LogLevel value="3"/>
+                <Masks>
+                        <Mask name="ALL" on="false"/>
+                </Masks>
+                <Dumps>
+                </Dumps>
+        </Log>
+        <ProductionNodes>
+                <Node type="Depth">
+                        <Configuration>
+                                <MapOutputMode xRes="640" yRes="480" FPS="30"/>
+                                <Mirror on="true"/>
+                        </Configuration>
+                </Node>
+                <Node type="Gesture" />
+                <Node type="Hands" />
+        </ProductionNodes>
+</OpenNI>
diff -r 7e112b536f0a -r edf80c055589 example/xml_file/Ball.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/xml_file/Ball.xml	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,4348 @@
+<?xml version="1.0"?>
+<OBJECT-3D>
+	<surface name="Ball" size="1440" prim="Triangle" parent="NULL">
+		<coordinate>
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+			1.000000 0.000000
+			1.000000 1.000000
+		</texture>
+		<image name="ball.jpg">
+			/9j/4AAQSkZJRgABAQEAYABgAAD/2wBDAAgGBgcGBQgHBwcJCQgKDBQNDAsLDBkSEw8UHRofHh0a
+			HBwgJC4nICIsIxwcKDcpLDAxNDQ0Hyc5PTgyPC4zNDL/2wBDAQkJCQwLDBgNDRgyIRwhMjIyMjIy
+			MjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjIyMjL/wAARCAAQABADASIA
+			AhEBAxEB/8QAHwAAAQUBAQEBAQEAAAAAAAAAAAECAwQFBgcICQoL/8QAtRAAAgEDAwIEAwUFBAQA
+			AAF9AQIDAAQRBRIhMUEGE1FhByJxFDKBkaEII0KxwRVS0fAkM2JyggkKFhcYGRolJicoKSo0NTY3
+			ODk6Q0RFRkdISUpTVFVWV1hZWmNkZWZnaGlqc3R1dnd4eXqDhIWGh4iJipKTlJWWl5iZmqKjpKWm
+			p6ipqrKztLW2t7i5usLDxMXGx8jJytLT1NXW19jZ2uHi4+Tl5ufo6erx8vP09fb3+Pn6/8QAHwEA
+			AwEBAQEBAQEBAQAAAAAAAAECAwQFBgcICQoL/8QAtREAAgECBAQDBAcFBAQAAQJ3AAECAxEEBSEx
+			BhJBUQdhcRMiMoEIFEKRobHBCSMzUvAVYnLRChYkNOEl8RcYGRomJygpKjU2Nzg5OkNERUZHSElK
+			U1RVVldYWVpjZGVmZ2hpanN0dXZ3eHl6goOEhYaHiImKkpOUlZaXmJmaoqOkpaanqKmqsrO0tba3
+			uLm6wsPExcbHyMnK0tPU1dbX2Nna4uPk5ebn6Onq8vP09fb3+Pn6/9oADAMBAAIRAxEAPwDyWiii
+			vLPuT//Z
+		</image>
+	</surface>
+</OBJECT-3D>
\ No newline at end of file
diff -r 7e112b536f0a -r edf80c055589 kinect.xml
--- a/kinect.xml	Tue Feb 01 06:37:06 2011 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,24 +0,0 @@
-<OpenNI>
-        <Licenses>
-                <License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
-        </Licenses>
-        <Log writeToConsole="true" writeToFile="false">
-                <!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
-                <LogLevel value="3"/>
-                <Masks>
-                        <Mask name="ALL" on="false"/>
-                </Masks>
-                <Dumps>
-                </Dumps>
-        </Log>
-        <ProductionNodes>
-                <Node type="Depth">
-                        <Configuration>
-                                <MapOutputMode xRes="640" yRes="480" FPS="30"/>
-                                <Mirror on="true"/>
-                        </Configuration>
-                </Node>
-                <Node type="Gesture" />
-                <Node type="Hands" />
-        </ProductionNodes>
-</OpenNI>
diff -r 7e112b536f0a -r edf80c055589 main.cc
--- a/main.cc	Tue Feb 01 06:37:06 2011 +0900
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,90 +0,0 @@
-#include <stdio.h>
-#include <XnOpenNI.h>
-#include <XnCppWrapper.h>
-#include <XnVNite.h>
-
-#include "KinectTrack.h"
-
-#define INIT_XML_PATH "./kinect.xml"
-
-void checkRC(const XnStatus &rc, const char *what) {
-	if (rc != XN_STATUS_OK) {
-		printf("%s faild: %s\n", what, xnGetStatusString(rc));
-	}
-}
-
-void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
-	if (rc == XN_STATUS_NO_NODE_PRESENT) {
-		XnChar strError[1024];
-		errors.ToString(strError, 1024);
-		printf("%s\n", strError);
-	}
-}
-
-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;
-}
-void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
-	printf("Session end\n");
-	gSessionState = NOT_IN_SESSION;
-}
-void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
-										   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;
-	xn::EnumerationErrors errors;
-	XnStatus rc = gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
-	checkErrors(rc, errors, "InitFromXMLFile");
-	checkRC(rc, "InitFromXMLFile");
-
-	xn::DepthGenerator gDepthGenerator;
-	rc = gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
-	checkRC(rc, "Find depth generator");
-
-	xn::HandsGenerator gHandsGenerator;
-	rc = gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
-	checkRC(rc, "Find hands generator");
-	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) {
-		gContext.WaitAndUpdateAll();
-		gPSessionManager->Update(&gContext);
-		float x, y, z;
-		int error = gPDrawer->getPosition(x, y, z);
-		if (error > 0) {
-			printf("%f, %f, %f\n", x, y, z);
-		}
-		
-		//usleep(10);
-	}
-
-	return 0;
-}
diff -r 7e112b536f0a -r edf80c055589 test/KinectTrack.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/KinectTrack.cc	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,144 @@
+#include <stdio.h>
+#include <XnVNite.h>
+
+#include "KinectTrack.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);
+}
diff -r 7e112b536f0a -r edf80c055589 test/KinectTrack.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/KinectTrack.h	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,42 @@
+#include <map>
+#include <list>
+#include <XnCppWrapper.h>
+#include <XnVPointControl.h>
+
+typedef enum {
+	IN_SESSION,
+	NOT_IN_SESSION,
+	QUICK_REFOCUS
+} SessionState;
+
+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);
+	int getPosition(float &x, float &y, float &z) const;
+protected:
+	XnUInt32 mNHistorySize;
+	std::map<XnUInt32, std::list<XnPoint3D> > mHistory;
+	xn::DepthGenerator mDepthGenerator;
+	XnFloat *mPFPositionBuffer;
+	XnBool mBDrawDM;
+	XnBool mBFrameID;
+};
diff -r 7e112b536f0a -r edf80c055589 test/Makefile
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/Makefile	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,16 @@
+CC      = g++
+CFLAGS  = -Wall -g -O2
+INCLUDE = -I/usr/include/ni -I/usr/include/nite
+LIBS    = -lOpenNI -lXnVNite
+OBJS    = main.o KinectTrack.o
+TARGET  = kinect
+
+.SUFFIXES: .cc .o
+
+all: $(OBJS)
+	$(CC) $(CFLAGS) $(INCLUDE) $(LIBS) $(OBJS) -o $(TARGET)
+.cc.o:
+	$(CC) $(CFLAGS) $(INCLUDE) -c $< -o $@
+clean:
+	rm *.o
+	rm $(TARGET)
diff -r 7e112b536f0a -r edf80c055589 test/kinect.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/kinect.xml	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,24 @@
+<OpenNI>
+        <Licenses>
+                <License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
+        </Licenses>
+        <Log writeToConsole="true" writeToFile="false">
+                <!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
+                <LogLevel value="3"/>
+                <Masks>
+                        <Mask name="ALL" on="false"/>
+                </Masks>
+                <Dumps>
+                </Dumps>
+        </Log>
+        <ProductionNodes>
+                <Node type="Depth">
+                        <Configuration>
+                                <MapOutputMode xRes="640" yRes="480" FPS="30"/>
+                                <Mirror on="true"/>
+                        </Configuration>
+                </Node>
+                <Node type="Gesture" />
+                <Node type="Hands" />
+        </ProductionNodes>
+</OpenNI>
diff -r 7e112b536f0a -r edf80c055589 test/main.cc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test/main.cc	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,90 @@
+#include <stdio.h>
+#include <XnOpenNI.h>
+#include <XnCppWrapper.h>
+#include <XnVNite.h>
+
+#include "KinectTrack.h"
+
+#define INIT_XML_PATH "./kinect.xml"
+
+void checkRC(const XnStatus &rc, const char *what) {
+	if (rc != XN_STATUS_OK) {
+		printf("%s faild: %s\n", what, xnGetStatusString(rc));
+	}
+}
+
+void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
+	if (rc == XN_STATUS_NO_NODE_PRESENT) {
+		XnChar strError[1024];
+		errors.ToString(strError, 1024);
+		printf("%s\n", strError);
+	}
+}
+
+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;
+}
+void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
+	printf("Session end\n");
+	gSessionState = NOT_IN_SESSION;
+}
+void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
+										   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;
+	xn::EnumerationErrors errors;
+	XnStatus rc = gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
+	checkErrors(rc, errors, "InitFromXMLFile");
+	checkRC(rc, "InitFromXMLFile");
+
+	xn::DepthGenerator gDepthGenerator;
+	rc = gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
+	checkRC(rc, "Find depth generator");
+
+	xn::HandsGenerator gHandsGenerator;
+	rc = gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
+	checkRC(rc, "Find hands generator");
+	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) {
+		gContext.WaitAndUpdateAll();
+		gPSessionManager->Update(&gContext);
+		float x, y, z;
+		int error = gPDrawer->getPosition(x, y, z);
+		if (error > 0) {
+			printf("%f, %f, %f\n", x, y, z);
+		}
+		
+		//usleep(10);
+	}
+
+	return 0;
+}