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KinectDemo.cpp
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#include "KinectDemo.h"
using namespace osg;
using namespace std;
using namespace cvr;
CVRPLUGIN(KinectDemo)
KinectDemo* KinectDemo::_kinectDemo = NULL;
KinectDemo::KinectDemo() {}
KinectDemo::~KinectDemo()
{
if (skel_socket)
{
delete skel_socket;
skel_socket = NULL;
}
if (depth_socket)
{
delete depth_socket;
depth_socket = NULL;
}
if (cloud_socket)
{
delete cloud_socket;
cloud_socket = NULL;
}
if (cloud_socket2)
{
delete cloud_socket2;
cloud_socket2 = NULL;
}
if (color_socket)
{
delete color_socket;
color_socket = NULL;
}
}
KinectDemo* KinectDemo::instance()
{
if (!_kinectDemo)
_kinectDemo = new KinectDemo();
return _kinectDemo;
}
bool KinectDemo::init()
{
_root = new osg::MatrixTransform();
pointGeode = new osg::Geode();
useKinect = true;
_firstRun = true;
kShowPCloud = ConfigManager::getBool("Plugin.KinectDemo.KinectDefaultOn.ShowPCloud");
// kShowPCloud = false;
//kinectThreaded = false;
useKColor = ConfigManager::getBool("Plugin.KinectDemo.KinectDefaultOn.ShowColor");
kShowDepth = false;
kShowColor = false;
kNavSpheres = false;
kMoveWithCam = false;
kFreezeCloud = false;
std::cerr << "KinectDemo init\n";
//Menu Setup:
_avMenu = new SubMenu("Kinect Demo", "Kinect Demo");
_avMenu->setCallback(this);
_bookmarkLoc = new MenuButton("Save Location");
_bookmarkLoc->setCallback(this);
_testInteract = new MenuButton("Send Interact");
_testInteract->setCallback(this);
_kinectOn = new MenuCheckbox("Use Kinect", useKinect); //new
_kinectOn->setCallback(this);
_avMenu->addItem(_kinectOn);
_kShowColor = new MenuCheckbox("Show Color Map", kShowColor); //new
_kShowColor->setCallback(this);
_kShowDepth = new MenuCheckbox("Show Depth Map", kShowDepth);
_kShowDepth->setCallback(this);
_kMoveWithCam = new MenuCheckbox("Move skeleton with camera", kMoveWithCam);
_kMoveWithCam->setCallback(this);
_kFreezeCloud = new MenuCheckbox("Move skeleton with camera", kFreezeCloud);
_kFreezeCloud->setCallback(this);
colorfps = 100;
_kColorFPS = new MenuRangeValue("1/FPS for camera/depth", 1, 100, colorfps);
_kColorFPS->setCallback(this);
_kShowPCloud = new MenuCheckbox("Show Point Cloud", kShowPCloud); //new
_kShowPCloud->setCallback(this);
_kShowInfoPanel = new MenuCheckbox("Show Info Panel", kShowInfoPanel); //new
_kShowInfoPanel->setCallback(this);
_infoPanel = new TabbedDialogPanel(500, 20, 4, "Info Panel", "Plugin.KinectDemo.InfoPanel");
_infoPanel->addTextTab("Info", "");
_infoPanel->setVisible(false);
_infoPanel->setActiveTab("Info");
_kColorOn = new MenuCheckbox("Show Real Colors on Point Cloud", useKColor); //new
_kColorOn->setCallback(this);
_kNavSpheres = new MenuCheckbox("Navigation Spheres", kNavSpheres);
_kNavSpheres->setCallback(this);
_avMenu->addItem(_kShowColor);
_avMenu->addItem(_kShowDepth);
_avMenu->addItem(_kShowPCloud);
_avMenu->addItem(_kColorOn);
_avMenu->addItem(_kColorFPS);
_avMenu->addItem(_bookmarkLoc);
_avMenu->addItem(_testInteract);
_avMenu->addItem(_kMoveWithCam);
_avMenu->addItem(_kFreezeCloud);
_avMenu->addItem(_kNavSpheres);
_avMenu->addItem(_kShowInfoPanel);
MenuSystem::instance()->addMenuItem(_avMenu);
_devMenu = new SubMenu("Dev options", "Dev options");
_devMenu->setCallback(this);
_devFixXY = new MenuCheckbox("Fix XY", fixXY);
_devIgnoreZeros = new MenuCheckbox("Ignore 0s", ignoreZeros);
_devFilterBackground = new MenuCheckbox("Filter background", filterBackground);
_devAssignPointsToSkeletons = new MenuCheckbox("Assign points to skeletons", assignPointsToSkeletons);
_devClassifyPoints = new MenuCheckbox("Classify points", classifyPoints);
_devDenoise = new MenuCheckbox("Denoise (mode)", denoise);
_devFixXY->setCallback(this);
_devIgnoreZeros->setCallback(this);
_devFilterBackground->setCallback(this);
_devAssignPointsToSkeletons->setCallback(this);
_devClassifyPoints->setCallback(this);
_devDenoise->setCallback(this);
_devMenu->addItem(_devFixXY);
_devMenu->addItem(_devIgnoreZeros);
_devMenu->addItem(_devFilterBackground);
_devMenu->addItem(_devAssignPointsToSkeletons);
_devMenu->addItem(_devClassifyPoints);
_devMenu->addItem(_devDenoise);
_avMenu->addItem(_devMenu);
SceneManager::instance()->getObjectsRoot()->addChild(_root);
if (useKinect) kinectInit();
std::cerr << "KinectDemo initialized\n";
return true;
}
void KinectDemo::menuCallback(MenuItem* menuItem)
{
if (menuItem == _kinectOn)
{
if (useKinect) kinectOff();
else kinectInit();
useKinect = !useKinect;
}
if (menuItem == _kColorFPS)
{
colorfps = _kColorFPS->getValue();
}
if (menuItem == _kMoveWithCam)
{
if (_kMoveWithCam->getValue())
{
moveWithCamOn();
kMoveWithCam = true;
}
else
{
moveWithCamOff();
kMoveWithCam = false;
}
}
if (menuItem == _kFreezeCloud)
{
if (_kFreezeCloud->getValue())
{
kFreezeCloud = true;
}
else
{
kFreezeCloud = false;
}
}
if (menuItem == _kShowPCloud)
{
if (_kShowPCloud->getValue())
{
kShowPCloud = true;
cloudOn();
}
else
{
kShowPCloud = false;
cloudOff();
}
}
if (menuItem == _kShowDepth)
{
if (_kShowDepth->getValue())
{
depthOn();
kShowDepth = true;
}
else
{
depthOff();
kShowDepth = false;
}
}
if (menuItem == _kNavSpheres)
{
if (_kNavSpheres->getValue())
{
navOn();
kNavSpheres = true;
}
else
{
navOff();
kNavSpheres = false;
}
}
if (menuItem == _kShowColor)
{
if (_kShowColor->getValue())
{
colorOn();
kShowColor = true;
}
else
{
colorOff();
kShowColor = false;
}
}
if (menuItem == _kColorOn)
{
if (_kColorOn->getValue())
{
for (int i = 0; i < kinects->size(); i++)
{
kinects->at(i)->cm->useKColor = true;
}
}
else
{
for (int i = 0; i < kinects->size(); i++)
{
kinects->at(i)->cm->useKColor = false;
}
}
}
if (menuItem == _bookmarkLoc)
{
Matrixd camMat = PluginHelper::getObjectMatrix();
float cscale = PluginHelper::getObjectScale();
Vec3 camTrans = camMat.getTrans();
Quat camQuad = camMat.getRotate();
cerr << "Saved camera position: " << endl;
cerr << cscale << ", " << (camTrans.x() / cscale) << ", " << (camTrans.y() / cscale) << ", " << (camTrans.z() / cscale) << ", " << camQuad.x() << ", " << camQuad.y() << ", " << camQuad.z() << ", " << camQuad.w() << endl;
bool savePointCloud = true;
if (savePointCloud && cloud_socket)
{
ExportPointCloud();
}
}
if (menuItem == _testInteract)
{
sendEvents();
}
if (menuItem == sliderX)
{
kinectX = sliderX->getValue();
}
if (menuItem == sliderY)
{
kinectY = sliderY->getValue();
}
if (menuItem == sliderZ)
{
kinectZ = sliderZ->getValue();
}
if (menuItem == slider2X)
{
kinect2X = slider2X->getValue();
}
if (menuItem == slider2Y)
{
kinect2Y = slider2Y->getValue();
}
if (menuItem == slider2Z)
{
kinect2Z = slider2Z->getValue();
}
}
void KinectDemo::preFrame()
{
if (!useKinect || !kinectInitialized) return;
if (kinectThreaded)
{
if (kinects != NULL && kinects->size() > 0)
{
for (int i = 0; i < kinects->size(); i++)
{
kinects->at(i)->update();
}
}
}
// else
// {
// // loop getting new data from Kinect server
// ThirdLoop();
// updateInfoPanel();
// }
// show image from Kinect camera every ... frames
if (kShowColor || kShowDepth)
{
bcounter = ++bcounter % (int)colorfps;
if (bcounter == (int)colorfps - 1)
{
if (kShowColor) showCameraImage();
if (kShowDepth) showDepthImage();
}
}
if (!skeletonThreaded)
{
// for every skeleton in mapIdSkel - draw, navigation spheres, check intersection with objects
std::map< osg::ref_ptr<osg::Geode>, int >::iterator iter;
for (std::map<int, Skeleton>::iterator it = mapIdSkel.begin(); it != mapIdSkel.end(); ++it)
{
int sk_id = it->first;
Skeleton* sk = &(it->second);
if (kNavSpheres)
{
if (sk->navSphere.lock == -1)
{
Vec3 navPos = sk->joints[3].position;
navPos.y() += 0.3;
sk->navSphere.update(navPos, Vec4(0, 0, 0, 1));
}
}
/******One hand selection ********/
if (sk->cylinder.attached == false)
checkHandsIntersections(sk_id);
// cout << sk->joints[M_LHAND].position.x() << " lbusy " << sk->leftHandBusy << endl;
Vec3 StartPoint = sk->joints[M_LHAND].position;
Vec3 EndPoint = sk->joints[M_RHAND].position;
// if cylinder would be >distanceMIN && <distanceMAX, draw it and check for collisions
double distance = (StartPoint - EndPoint).length();
float HAND_ELBOW_OFFSET = -0.15;
//printf("Distance Cylinder: %g \n",distance);
if (((sk->joints[9].position.z() - sk->joints[7].position.z() > HAND_ELBOW_OFFSET) && (sk->joints[15].position.z() - sk->joints[13].position.z() > HAND_ELBOW_OFFSET))) sk->cylinder.handsBeenAboveElbows = true;
sk->cylinder.update(StartPoint, EndPoint);
if (sk->cylinder.attached)
{
bool detachC = false;
if (sk->cylinder.locked && ((sk->joints[9].position.z() - sk->joints[7].position.z() < HAND_ELBOW_OFFSET) && (sk->joints[15].position.z() - sk->joints[13].position.z() < HAND_ELBOW_OFFSET)))
detachC = true;
if (sk->cylinder.handsBeenAboveElbows && (distance > distanceMAX * 0.667 || distance < distanceMIN || detachC))
{
sk->cylinder.detach(_pointClouds[0]->switchNode);
// unlock all the objects that were locked by this cylinder
for (int j = 0; j < selectableItems.size(); j++)
{
if (selectableItems[j].lock == sk_id) selectableItems[j].unlock();
}
// and NavSpheres
sk->navSphere.lock = -1;
navLock = -1;
sk->navSphere.activated = false;
sk->cylinder.locked = false;
}
else
{
// if sk->leton's cylinder is locked to some object, do not lock any more
if (sk->cylinder.locked == false)
{
// for every selectable item, check if it intersects with the current cylinder
const osg::BoundingBox& bboxCyl = sk->cylinder.geode->getDrawable(0)->getBound();
// NavSphere
if (kNavSpheres)
{
Sphere* tempNav = new Sphere(sk->navSphere.position, 0.03 * 2);
ShapeDrawable* ggg3 = new ShapeDrawable(tempNav);
const osg::BoundingBox& fakenav = ggg3->getBound();
if (bboxCyl.intersects(fakenav) && sk->navSphere.lock == -1)
{
sk->navSphere.lock = sk_id;
navLock = sk_id;
sk->cylinder.locked = true;
sk->cylinder.prevVec = (sk->joints[M_LHAND].position - osg::Vec3d((StartPoint.x() + EndPoint.x()) / 2, (StartPoint.y() + EndPoint.y()) / 2, (StartPoint.z() + EndPoint.z()) / 2));
sk->cylinder.handsBeenAboveElbows = true;
break;
}
}
for (int j = 0; j < selectableItems.size(); j++)
{
// fake sphere to easily calculate boundary
Vec3 center2 = Vec3(0, 0, 0) * (selectableItems[j].mt->getMatrix());
Box* fakeSphere = new Box(center2, selectableItems[j].scale);
ShapeDrawable* ggg2 = new ShapeDrawable(fakeSphere);
const osg::BoundingBox& fakeBbox = ggg2->getBound();
if (bboxCyl.intersects(fakeBbox) && selectableItems[j].lock == -1)
{
sk->cylinder.locked = true;
selectableItems[j].lockType = 0;
selectableItems[j].lockTo(sk_id);
sk->cylinder.prevVec = (sk->joints[M_LHAND].position - osg::Vec3d((StartPoint.x() + EndPoint.x()) / 2, (StartPoint.y() + EndPoint.y()) / 2, (StartPoint.z() + EndPoint.z()) / 2));
sk->cylinder.handsBeenAboveElbows = false;
break; // lock only one object
}
}
}
}
}
else
{
// Cylinder is not attached
// Don't create a cylinder between hands if any of them is holding an object
if (sk->leftHandBusy == false && sk->rightHandBusy == false)
{
// CONDITIONS TO CREATE CYLINDER
if (distance < distanceMAX / 3 && distance > distanceMIN /*&& ((sk->joints[9].position.z() - sk->joints[7].position.z() > HAND_ELBOW_OFFSET) && (sk->joints[15].position.z() - sk->joints[13].position.z() > HAND_ELBOW_OFFSET))*/)
{
sk->cylinder.attach(_pointClouds[0]->switchNode);
}
}
}
}
// move all the objects that are locked to centers and rotate to centers rotation
for (int j = 0; j < selectableItems.size(); j++)
{
SelectableItem sel = selectableItems[j];
if (sel.lock == -1) continue;
if (sel.lockType == 0)
{
int cylinderId = sel.lock;
Matrix rotMat0;
rotMat0.makeRotate(mapIdSkel[cylinderId].cylinder.prevVec, mapIdSkel[cylinderId].cylinder.currVec);
selectableItems[j].rt->postMult(rotMat0);
Matrix posMat;
posMat.setTrans(mapIdSkel[cylinderId].cylinder.center);
selectableItems[j].mt->setMatrix(posMat);
double newscale = selectableItems[j].scale;
newscale *= (1 + ((mapIdSkel[cylinderId].cylinder.length - mapIdSkel[cylinderId].cylinder.prevLength) / (500 / 1.0)));
if (newscale < 1 / 1000.0) newscale = 1 / 1000.0;
selectableItems[j].setScale(newscale);
}
else if (sel.lockType != -1)
{
// moving artifact by one hand
Matrix posMat;
if (sel.lockType == 1) posMat.setTrans(mapIdSkel[sel.lock].joints[M_LHAND].position);
else if (sel.lockType == 2) posMat.setTrans(mapIdSkel[sel.lock].joints[M_RHAND].position);
else cout << "Error - unknown type of a lock (" << sel.lockType << ") on an object" << endl;
selectableItems[j].mt->setMatrix(posMat);
}
}
if (kNavSpheres && navLock != -1)
{
int cylinderId = navLock;
Vec3 diff = mapIdSkel[cylinderId].cylinder.center - mapIdSkel[cylinderId].navSphere.position;
bool navSphereActivated = mapIdSkel[cylinderId].navSphere.activated;
if (!navSphereActivated)
{
const osg::BoundingBox& bboxCyl = mapIdSkel[cylinderId].cylinder.geode->getDrawable(0)->getBound();
//Vec3 navPos = mapIdSkel[cylinderId].joints[3].position; navbang
Vec3 center2 = mapIdSkel[cylinderId].joints[3].position;
center2.y() += 0.4;
//center2.z() += 0.2;
Box* fakeSphere = new Box(center2, _sphereRadius * 1);
ShapeDrawable* ggg2 = new ShapeDrawable(fakeSphere);
const osg::BoundingBox& fakeBbox = ggg2->getBound();
if (bboxCyl.intersects(fakeBbox))
{
//printf("NavSphere Activated\n");
navSphereActivated = true;
mapIdSkel[cylinderId].navSphere.activated = true;
mapIdSkel[cylinderId].navSphere.update(mapIdSkel[cylinderId].navSphere.position, Vec4(0, 0, 0, 1));
}
if (!navSphereActivated)
{
mapIdSkel[cylinderId].navSphere.activated = false;
mapIdSkel[cylinderId].navSphere.update(mapIdSkel[cylinderId].cylinder.center, Vec4(0, 0, 0, 1));
}
}
else
{
Vec3 center2 = mapIdSkel[cylinderId].joints[3].position;
center2.y() += 0.4;
mapIdSkel[cylinderId].navSphere.update(center2, Vec4(0, 0, 0, 1));
}
Matrix rotMat0;
rotMat0.makeRotate(mapIdSkel[cylinderId].cylinder.prevVec, mapIdSkel[cylinderId].cylinder.currVec);
if (navSphereActivated)
{
double x, y, z;
x = y = z = 0.0;
double rx, ry, rz;
rx = ry = rz = 0.0;
double tranScale = -75;
bool moved = false;
if (diff.x() > 0.1 || diff.x() < -0.1)
{
x = diff.x() * tranScale;
moved = true;
}
if (diff.y() > 0.1 || diff.y() < -0.1)
{
y = diff.y() * tranScale;
moved = true;
}
if (diff.z() > 0.1 || diff.z() < -0.1)
{
z = diff.z() * tranScale;
moved = true;
}
if (moved)
{
Quat handQuad = rotMat0.getRotate();
double rscale = 1;
rx = 0.0; //handQuad.x();
ry = 0.0; //handQuad.y();
rz = handQuad.z();
if (rz > 0.03 || rz < -0.03)
{
rz = 0.0;
}
else
{
rz = 0.0;
}
Matrixd finalmat;
Matrix view = PluginHelper::getHeadMat();
Vec3 campos = view.getTrans();
Vec3 trans = Vec3(x, y, z);
trans = (trans * view) - campos;
Matrix tmat;
tmat.makeTranslate(trans);
Vec3 xa = Vec3(1.0, 0.0, 0.0);
Vec3 ya = Vec3(0.0, 1.0, 0.0);
Vec3 za = Vec3(0.0, 0.0, 1.0);
xa = (xa * view) - campos;
ya = (ya * view) - campos;
za = (za * view) - campos;
Matrix rot;
rot.makeRotate(rx, xa, ry, ya, rz, za);
Matrix ctrans, nctrans;
ctrans.makeTranslate(campos);
nctrans.makeTranslate(-campos);
finalmat = PluginHelper::getObjectMatrix() * nctrans * rot * tmat * ctrans;
PluginHelper::setObjectMatrix(finalmat);
}
}
}
}
}
void KinectDemo::kinectInit()
{
// moving from points to spheres in kinect point cloud
//bang
kinectThreaded = ConfigManager::getBool("Plugin.KinectDemo.KinectDefaultOn.KinectThreaded");
skeletonThreaded = false;
fixXY = false;
ignoreZeros = false;
filterBackground = false;
assignPointsToSkeletons = false;
classifyPoints = false;
kinects = new std::vector<KinectObject*>();
//Get KinectSkeleton Offset
kinect2X = kinectX = ConfigManager::getFloat("x", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2Y = kinectY = ConfigManager::getFloat("y", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2Z = kinectZ = ConfigManager::getFloat("z", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2RX = kinectRX = ConfigManager::getFloat("rx", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2RY = kinectRY = ConfigManager::getFloat("ry", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2RZ = kinectRZ = ConfigManager::getFloat("rz", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
kinect2RW = kinectRW = ConfigManager::getFloat("rw", "Plugin.KinectDemo.KinectSkeleton", 0.0f);
//Show info Panel
kShowInfoPanel = ConfigManager::getBool("Plugin.KinectDemo.KinectDefaultOn.ShowInfoPanel");
if (kShowInfoPanel)
{
_kShowInfoPanel->setValue(true);
_infoPanel->setVisible(true);
sliderX = new MenuRangeValue("X", -1000.0, 1000.0, kinectX, 0.01);
sliderX->setCallback(this);
_infoPanel->addMenuItem(sliderX);
sliderY = new MenuRangeValue("Y", -1000.0, 1000.0, kinectY, 0.01);
sliderY->setCallback(this);
_infoPanel->addMenuItem(sliderY);
sliderZ = new MenuRangeValue("Z", -1000.0, 1000.0, kinectZ, 0.01);
sliderZ->setCallback(this);
_infoPanel->addMenuItem(sliderZ);
slider2X = new MenuRangeValue("X-2", -1000.0, 1000.0, kinect2X, 0.01);
slider2X->setCallback(this);
_infoPanel->addMenuItem(slider2X);
slider2Y = new MenuRangeValue("Y-2", -1000.0, 1000.0, kinect2Y, 0.01);
slider2Y->setCallback(this);
_infoPanel->addMenuItem(slider2Y);
slider2Z = new MenuRangeValue("Z-2", -1000.0, 1000.0, kinect2Z, 0.01);
slider2Z->setCallback(this);
_infoPanel->addMenuItem(slider2Z);
/*
sliderRX = new MenuRangeValue("RX",-1000.0,1000.0,kinectRX,0.01);
sliderRX->setCallback(this);
_infoPanel->addMenuItem(sliderRX);
sliderRY = new MenuRangeValue("RY",-1000.0,1000.0,kinectRY,0.01);
sliderRY->setCallback(this);
_infoPanel->addMenuItem(sliderRY);
sliderRZ = new MenuRangeValue("RZ",-1000.0,1000.0,kinectRZ,0.01);
sliderRZ->setCallback(this);
_infoPanel->addMenuItem(sliderRZ);
sliderRW = new MenuRangeValue("RW",-1000.0,1000.0,kinectRW,0.01);
sliderRW->setCallback(this);
_infoPanel->addMenuItem(sliderRW);
*/
}
float camX = ConfigManager::getFloat("x", "Plugin.KinectDemo.CamStart", 0.0f);
float camY = ConfigManager::getFloat("y", "Plugin.KinectDemo.CamStart", 0.0f);
float camZ = ConfigManager::getFloat("z", "Plugin.KinectDemo.CamStart", 0.0f);
float camS = ConfigManager::getFloat("s", "Plugin.KinectDemo.CamStart", 0.0f);
float camRX = ConfigManager::getFloat("rx", "Plugin.KinectDemo.CamStart", 0.0f);
float camRY = ConfigManager::getFloat("ry", "Plugin.KinectDemo.CamStart", 0.0f);
float camRZ = ConfigManager::getFloat("rz", "Plugin.KinectDemo.CamStart", 0.0f);
float camRW = ConfigManager::getFloat("rw", "Plugin.KinectDemo.CamStart", 0.0f);
//moveCam(273.923, 0.178878, -1.27967, 1.64388, -0.0247491, 0.294768, 0.952783, 0.0685912);
//moveCam(camS, camX, camY, camZ, camRX, camRY, camRZ, camRW);
if (!skeletonThreaded)
{
distanceMAX = ConfigManager::getFloat("Plugin.KinectDemo.Cylinder.Max");
distanceMIN = ConfigManager::getFloat("Plugin.KinectDemo.Cylinder.Min");
Skeleton::navSpheres = false;
bcounter = 0;
// _modelFileNode1 = osgDB::readNodeFile(ConfigManager::getEntry("Plugin.KinectDemo.3DModelFolder").append("kinect_mm.obj"));
_modelFileNode2 = osgDB::readNodeFile(ConfigManager::getEntry("Plugin.KinectDemo.3DModelFolder").append("50563.ply"));//dumptruck.osg"));
_modelFileNode5 = osgDB::readNodeFile(ConfigManager::getEntry("Plugin.KinectDemo.3DModelFolder").append("cessna.osg"));
_modelFileNode4 = osgDB::readNodeFile(ConfigManager::getEntry("Plugin.KinectDemo.3DModelFolder").append("cow.osg"));
_modelFileNode3 = osgDB::readNodeFile(ConfigManager::getEntry("Plugin.KinectDemo.3DModelFolder").append("robot.osg"));
_sphereRadius = 0.07 * 500;
// Group* kinectgrp = new Group();
// kinectgrp->addChild(_modelFileNode3);
// createSceneObject(kinectgrp);
// createSelObj(Vec3(-0.70, -2.0, 0.15), string("DD"), 0.002, _modelFileNode1);
createSelObj(Vec3(0.00, 3000.0, 0.0), string("FD"), 1, _modelFileNode2);
createSelObj(Vec3(-400, 3000.0, 0.15), string("GD"), 20, _modelFileNode3);
createSelObj(Vec3(400, 3000.0, 0.15), string("ED"), 20, _modelFileNode4);
createSelObj(Vec3(700, 3000.0, 0.15), string("ZD"), 10, _modelFileNode5);
//CreateSceneObject for all Kinect Data
//createSceneObject();
//createSceneObject2();
}
minDistHSV = 700;
maxDistHSV = 5000;
minDistHSVDepth = 300;
maxDistHSVDepth = 6000;
// if (!kinectThreaded)
// {
// // precompute colors for ... mm distances
// for (int i = 0; i < 10001; i++) getColorRGB(i);
// for (int i = 0; i < 15001; i++) getColorRGBDepth(i);
// // precompute packed values for colors on depthmap
// for (int i = 0; i < 15000; i++)
// {
// //http://graphics.stanford.edu/~mdfisher/Kinect.html
// osg::Vec4 color = getColorRGBDepth(i);
// char rrr = (char)((float)color.r() * 255.0);
// char ggg = (char)((float)color.g() * 255.0);
// char bbb = (char)((float)color.b() * 255.0);
// uint32_t packed = (((rrr << 0) | (ggg << 8) | (bbb << 16)) & 0x00FFFFFF);
// dpmap[i] = packed;
// }
// }
ThirdInit();
kinectInitialized = true;
NPIX = 307201;
NFRAMES = 10;
environmentX = (float*)malloc(NPIX * sizeof(float));
environmentY = (float*)malloc(NPIX * sizeof(float));
environmentZ = (float*)malloc(NPIX * sizeof(float));
X = (float*)malloc(NPIX * sizeof(float));
Y = (float*)malloc(NPIX * sizeof(float));
Z = (float*)malloc(NPIX * sizeof(float));
// frameXMinus = (float**)malloc(NFRAMES * sizeof(float*));
// for (int i = 0; i < NFRAMES; i++)
// {
// frameXMinus[i] = (float*)malloc(NPIX * sizeof(float));
// }
// frameYMinus = (float**)malloc(NFRAMES * sizeof(float*));
// for (int i = 0; i < NFRAMES; i++)
// {
// frameYMinus[i] = (float*)malloc(NPIX * sizeof(float));
// }
// frameZMinus = (float**)malloc(NFRAMES * sizeof(float*));
// for (int i = 0; i < NFRAMES; i++)
// {
// frameZMinus[i] = (float*)malloc(NPIX * sizeof(float));
// }
// saveEnvironment();
}
// saves environment in environmentX,Y,Z - mean over 100 frames ignoring zeros
//void KinectDemo::saveEnvironment()
//{
// for (int i = 0; i < NPIX; i++)
// environmentX[i] = environmentY[i] = environmentZ[i] = 0;
//
// cloud_socket = new SubSocket<RemoteKinect::PointCloud> (context, ConfigManager::getEntry("Plugin.KinectDemo.KinectServer.PointCloud"));
// cloud_socket2 = new SubSocket<RemoteKinect::PointCloud> (context, ConfigManager::getEntry("Plugin.KinectDemo.KinectServer.PointCloud2"));
// packet = new RemoteKinect::PointCloud();
// int nframes = 100;
// int cntx = 0;
// int cnty = 0;
// int cntz = 0;
//
// for (int i = 0; i < nframes; i++)
// {
// if (cloud_socket->recv(*packet))
// {
// for (int i = 0; i < packet->points_size(); i++)
// {
// float x = packet->points(i).x();
// float y = packet->points(i).z();
// float z = packet->points(i).y();
//
// if (x != 0)
// {
// environmentX[i] += x;
// cntx++;
// }
//
// if (y != 0)
// {
// environmentY[i] += y;
// cnty++;
// }
//
// if (z != 0)
// {
// environmentZ[i] += z;
// cntz++;
// }
// }
// }
// }
//
// for (int i = 0; i < NPIX; i++)
// {
// environmentX[i] /= cntx;
// environmentY[i] /= cnty;
// environmentZ[i] /= cntz;
// }
//
// delete cloud_socket;
// cloud_socket = NULL;
// delete cloud_socket2;
// cloud_socket2 = NULL;
// cout << "Environment captured" << endl;
//}
void KinectDemo::createSelObj(osg::Vec3 pos, string color, float scalenumber, osg::Node* model)
{
Matrixd scale;
double snum = scalenumber;
scale.makeScale(snum, snum, snum);
MatrixTransform* modelScaleTrans = new MatrixTransform();
modelScaleTrans->setMatrix(scale);
modelScaleTrans->addChild(model);
//Vec3d poz0(0, 0, 0);
//Box* sphereShape = new Box(poz0, radius);
//ShapeDrawable* ggg2 = new ShapeDrawable(sphereShape);
//ggg2->setColor(_colors[KinectDemo::dc2Int(color)]);
osg::Geode* boxGeode = new osg::Geode;
//boxGeode->addDrawable(ggg2);
MatrixTransform* rotate = new osg::MatrixTransform();
Matrix rotMat;
rotMat.makeRotate(0, 1, 0, 1);
rotate->setMatrix(rotMat);
//rotate->addChild(boxGeode);
MatrixTransform* translate = new osg::MatrixTransform();
osg::Matrixd tmat;
tmat.makeTranslate(pos);
translate->setMatrix(tmat);
translate->addChild(rotate);
_root->addChild(translate);
selectableItems.push_back(SelectableItem(boxGeode, modelScaleTrans, translate, rotate, snum));
}
//void KinectDemo::showPointCloud()
//{
// // cerr << ".";
// float r, g, b, a;
// kinectVertices = new osg::Vec3Array;
// //kinectVertices->empty();
// osg::Vec3Array* normals = new osg::Vec3Array;
// kinectColours = new osg::Vec4Array;
// //kinectColours->empty();
// int i;
//
// if (cloud_socket->recv(*packet))
// {
// // cerr << "packet=" << packet->points_size() << "\n";
// for (i = 0; i < packet->points_size(); i++)
// {
// float x = packet->points(i).x();
// float y = packet->points(i).z();
// float z = packet->points(i).y();
// X[i] = x;
// Y[i] = y;
// Z[i] = z;
// osg::Vec3 ppos(X[i] + Skeleton::camPos.x(),
// Y[i] + Skeleton::camPos.y(),
// Z[i] + Skeleton::camPos.z());
// kinectVertices->push_back(ppos);
//
// if (useKColor)
// {
// r = (packet->points(i).r() / 255.);
// g = (packet->points(i).g() / 255.);
// b = (packet->points(i).b() / 255.);
// a = 1;
// kinectColours->push_back(osg::Vec4f(r, g, b, a));
// }
// else
// {
// kinectColours->push_back(getColorRGB(packet->points(i).z()));
// }
//
// // for (int j = NFRAMES; j > 0; j--)
// {
// // frameXMinus[j][i] = frameXMinus[j - 1][i];
// // frameYMinus[j][i] = frameYMinus[j - 1][i];
// // frameZMinus[j][i] = frameZMinus[j - 1][i];
// }
// }
// }
//
// if (kinectVertices->size() != 0 && true)
// {
// if (_firstRun)
// {
// _firstRun = false;
// osg::Geode* kgeode = new osg::Geode();
// kgeode->setCullingActive(false);
// knodeGeom = new osg::Geometry();
// osg::StateSet* state = knodeGeom->getOrCreateStateSet();
// state->setMode(GL_LIGHTING, StateAttribute::OFF | osg::StateAttribute::OVERRIDE);
// knodeGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, kinectVertices->size()));
// osg::VertexBufferObject* vboP = knodeGeom->getOrCreateVertexBufferObject();
// vboP->setUsage(GL_STREAM_DRAW);
// knodeGeom->setUseDisplayList(false);
// knodeGeom->setUseVertexBufferObjects(true);
// knodeGeom->setVertexArray(kinectVertices);
// knodeGeom->setColorArray(kinectColours);
// knodeGeom->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
// kgeode->addDrawable(knodeGeom);
// kgeode->dirtyBound();
// //if (kinectgrp != NULL) _root->removeChild(kinectgrp);
// kinectgrp->removeChild(0, 1);
// kinectgrp->addChild(kgeode);
// }
// else
// {
// knodeGeom->setVertexArray(kinectVertices);
// knodeGeom->setColorArray(kinectColours);
// }
// }
//
// kinectVertices2 = new osg::Vec3Array;
// //kinectVertices->empty();
// normals = new osg::Vec3Array;
// kinectColours2 = new osg::Vec4Array;
// //kinectColours2->empty();
//
// if (cloud_socket2->recv(*packet))
// {
// for (int i = 0; i < packet->points_size(); i++)
// {
// float x = packet->points(i).x();
// float y = packet->points(i).z();
// float z = packet->points(i).y();
// X[i] = x;
// Y[i] = y;
// Z[i] = z;
// osg::Vec3 ppos(X[i] + Skeleton::camPos2.x(),
// Y[i] + Skeleton::camPos2.y(),
// Z[i] + Skeleton::camPos2.z());
// kinectVertices2->push_back(ppos);
//
// if (useKColor)
// {
// r = (packet->points(i).r() / 255.);
// g = (packet->points(i).g() / 255.);
// b = (packet->points(i).b() / 255.);
// a = 1;
// kinectColours2->push_back(osg::Vec4f(r, g, b, a));
// }
// else
// {
// kinectColours2->push_back(getColorRGB(packet->points(i).z()));
// }
// }
// }
//
// if (kinectVertices2->size() != 0 && true)
// {
// osg::Geode* kgeode = new osg::Geode();
// kgeode->setCullingActive(false);
// osg::Geometry* nodeGeom = new osg::Geometry();
// osg::StateSet* state = nodeGeom->getOrCreateStateSet();
// state->setMode(GL_LIGHTING, StateAttribute::OFF | osg::StateAttribute::OVERRIDE);
// nodeGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, kinectVertices2->size()));
// osg::VertexBufferObject* vboP = nodeGeom->getOrCreateVertexBufferObject();
// vboP->setUsage(GL_STREAM_DRAW);
// nodeGeom->setUseDisplayList(false);
// nodeGeom->setUseVertexBufferObjects(true);
// nodeGeom->setVertexArray(kinectVertices2);
// nodeGeom->setColorArray(kinectColours2);
// nodeGeom->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
// kgeode->addDrawable(nodeGeom);
// kgeode->dirtyBound();
// //if (kinectgrp != NULL) _root->removeChild(kinectgrp);
// kinectgrp2->removeChild(0, 1);
// kinectgrp2->addChild(kgeode);
// }
//
// // frameXMinus[0][i] = x;
// // frameYMinus[0][i] = y;
// // frameZMinus[0][i] = z;
// // else
// // {
// // osg::Geode* kgeode = new osg::Geode();
// // kgeode->setCullingActive(false);
// // osg::Geometry* geometry = new osg::Geometry();
// // geometry->setUseDisplayList(false);
// // geometry->setUseVertexBufferObjects(true);
// // // geometry->setVertexArray(kinectVertices);
// // geometry->setVertexArray(kinectVertices);
// // geometry->setNormalArray(normals);