Mercurial > hg > Game > Kinect
changeset 4:edf80c055589 default tip
kinect run on Cerium
| author | kazz <kazz@cr.ie.u-ryukyu.ac.jp> |
|---|---|
| date | Tue, 01 Feb 2011 14:44:56 +0900 |
| parents | 7e112b536f0a |
| children | |
| files | KinectTrack.cc KinectTrack.h Makefile example/KinectTrack.cc example/Makefile example/Makefile.cell example/Makefile.def example/Makefile.macosx example/kinect.cc example/kinect.h example/kinect.xml example/xml_file/Ball.xml kinect.xml main.cc test/KinectTrack.cc test/KinectTrack.h test/Makefile test/kinect.xml test/main.cc |
| diffstat | 19 files changed, 5238 insertions(+), 316 deletions(-) [+] |
line wrap: on
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--- 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); -}
--- 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; -};
--- 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)
--- /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); +}
--- /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
--- /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 $(BALL_BOUND_OBJ) + +-include depend.inc + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/example/Makefile.def Tue Feb 01 14:44:56 2011 +0900 @@ -0,0 +1,11 @@ + +CERIUM = ../../Cerium + +ABIBIT = 64 +ABI = -m$(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
--- /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
--- /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 */
--- /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); +};
--- /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>
--- /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> + -0.000012 -0.000030 -100.000000 + 18.023973 7.465775 -98.078522 + 19.509008 0.000000 -98.078529 + 19.509008 0.000000 -98.078529 + 18.023973 7.465775 -98.078522 + 35.355324 14.644656 -92.387970 + 35.355324 14.644656 -92.387970 + 38.268330 0.000000 -92.387962 + 19.509008 0.000000 -98.078529 + 38.268330 0.000000 -92.387962 + 35.355324 14.644656 -92.387970 + 51.327988 21.260750 -83.146973 + 51.327988 21.260750 -83.146973 + 55.556988 0.000031 -83.146973 + 38.268330 0.000000 -92.387962 + 55.556988 0.000031 -83.146973 + 51.327988 21.260750 -83.146973 + 65.328148 27.059807 -70.710678 + 65.328148 27.059807 -70.710678 + 70.710678 0.000000 -70.710678 + 55.556988 0.000031 -83.146973 + 70.710678 0.000000 -70.710678 + 65.328148 27.059807 -70.710678 + 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--- 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>
--- 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; -}
--- /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); +}
--- /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; +};
--- /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)
--- /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>
--- /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; +}