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Marcin Rogowski
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Initial commit == ngsmith/calvr_plugins
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‎CMakeLists.txt

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SET(LIB_NAME KinectDemo)
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SET(PLUGIN_HEADERS
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KinectDemo.h
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Skeleton.h
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MCylinder.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/skeletonframe.pb.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/skeleton.pb.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/colormap.pb.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/depthmap.pb.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/pointcloud.pb.h
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${REMOTEKINECT_INCLUDE_DIR}/protocol/packing.pb.h
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kUtils.h
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SelectableItem.h
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CloudManager.h
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SkeletonManager.h
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)
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ADD_LIBRARY(${LIB_NAME}
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"SHARED"
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${PLUGIN_HEADERS}
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KinectDemo.cpp
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Skeleton.cpp
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MCylinder.cpp
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${REMOTEKINECT_INCLUDE_DIR}/protocol/skeletonframe.pb.cc
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${REMOTEKINECT_INCLUDE_DIR}/protocol/skeleton.pb.cc
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${REMOTEKINECT_INCLUDE_DIR}/protocol/colormap.pb.cc
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${REMOTEKINECT_INCLUDE_DIR}/protocol/depthmap.pb.cc
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${REMOTEKINECT_INCLUDE_DIR}/protocol/pointcloud.pb.cc
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${REMOTEKINECT_INCLUDE_DIR}/protocol/packing.pb.cc
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kUtils.cpp
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SelectableItem.cpp
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CloudManager.cpp
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# SkeletonManager.cpp
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)
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SET(CMAKE_BUILD_TYPE Release)
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ADD_DEFINITIONS(-std=c++0x -O3)
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FIND_PACKAGE(Snappy)
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FIND_PACKAGE(Protobuf)
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FIND_PACKAGE(ZMQ)
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FIND_PACKAGE(UUID)
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FIND_PACKAGE(RemoteKinect)
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INCLUDE_DIRECTORIES(${OSG_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${MXML_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${SPACENAV_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${SNAPPY_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${ZMQ_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${REMOTEKINECT_INCLUDE_DIR})
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INCLUDE_DIRECTORIES(${CalVR_Plugins_SOURCE_DIR}/calit2/KinectDemo/)
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${OSG_LIBRARIES})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${MXML_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${SNAPPY_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${PROTOBUF_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${ZMQ_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${UUID_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${SPACENAV_LIBRARY})
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TARGET_LINK_LIBRARIES(${LIB_NAME} ${VRPN_LIBRARY})
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ADD_CALVR_LIBRARIES(${LIB_NAME})
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INSTALL(TARGETS ${LIB_NAME} DESTINATION lib/plugins)

‎CloudManager.cpp

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#include "CloudManager.h"
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#include <cvrKernel/ComController.h>
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#include <sstream>
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#include <algorithm>
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#include <cstdio>
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#include <sys/syscall.h>
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#include <sys/stat.h>
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using namespace cvr;
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using namespace std;
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CloudManager::CloudManager()
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{
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useKColor = true;
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should_quit = false;
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//initialPointScale = 0.001;
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initialPointScale = ConfigManager::getFloat("Plugin.KinectDemo.KinectDefaultOn.KinectPointSize",0.0f);
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pgm1 = new osg::Program;
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pgm1->setName("Sphere");
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std::string shaderPath = ConfigManager::getEntry("Plugin.Points.ShaderPath");
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pgm1->addShader(osg::Shader::readShaderFile(osg::Shader::VERTEX, osgDB::findDataFile(shaderPath + "/Sphere.vert")));
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pgm1->addShader(osg::Shader::readShaderFile(osg::Shader::FRAGMENT, osgDB::findDataFile(shaderPath + "/Sphere.frag")));
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pgm1->addShader(osg::Shader::readShaderFile(osg::Shader::GEOMETRY, osgDB::findDataFile(shaderPath + "/Sphere.geom")));
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pgm1->setParameter(GL_GEOMETRY_VERTICES_OUT_EXT, 4);
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pgm1->setParameter(GL_GEOMETRY_INPUT_TYPE_EXT, GL_POINTS);
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pgm1->setParameter(GL_GEOMETRY_OUTPUT_TYPE_EXT, GL_TRIANGLE_STRIP);
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minDistHSV = 700;
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maxDistHSV = 5000;
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kinectgrp = new osg::Group();
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osg::StateSet* state = kinectgrp->getOrCreateStateSet();
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state->setAttribute(pgm1);
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state->addUniform(new osg::Uniform("pointScale", initialPointScale));
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state->addUniform(new osg::Uniform("globalAlpha", 1.0f));
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float pscale = 1.0;
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osg::Uniform* _scaleUni = new osg::Uniform("pointScale", 1.0f * pscale);
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kinectgrp->getOrCreateStateSet()->addUniform(_scaleUni);
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_root = new osg::MatrixTransform();
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SceneManager::instance()->getObjectsRoot()->addChild(_root);
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_root->addChild(kinectgrp);
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}
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CloudManager::~CloudManager()
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{
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}
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bool CloudManager::isCacheDone()
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{
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return _cacheDone;
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}
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void CloudManager::update()
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{
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static bool frameLoading = false;
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bool cDone;
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if(true)
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{
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if(cvr::ComController::instance()->isMaster())
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{
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cDone = _cacheDone;
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int numSlaves = cvr::ComController::instance()->getNumSlaves();
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bool sDone[numSlaves];
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cvr::ComController::instance()->readSlaves(sDone,sizeof(bool));
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for(int i = 0; i < numSlaves; i++)
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{
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cDone = cDone && sDone[i];
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}
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cvr::ComController::instance()->sendSlaves(&cDone,sizeof(bool));
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}
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else
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{
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cDone = _cacheDone;
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cvr::ComController::instance()->sendMaster(&cDone,sizeof(bool));
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cvr::ComController::instance()->readMaster(&cDone,sizeof(bool));
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}
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if(!cDone)
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{
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//std::cerr << "Waiting for load to finish." << std::endl;
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return;
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}
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cvr::ComController::instance()->sync();
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//Add not here?
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return;
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}
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if(cDone)
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{
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std::cerr << "Load Finished." << std::endl;
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//Add loaded node to root
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}
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else
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{
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// std::cerr << "Waiting for GPU load finish." << std::endl;
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}
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}
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void CloudManager::run()
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{
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//Do functions
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cerr << ".";
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if(kinectgrp != NULL)
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{
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zmq::context_t context2(1);
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cloudT_socket = NULL;
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cloudT_socket = new SubSocket<RemoteKinect::PointCloud> (context2, ConfigManager::getEntry("Plugin.KinectDemo.KinectServer.PointCloud"));
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packet = new RemoteKinect::PointCloud();
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while(!should_quit)
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{
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//printf(".");
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if(cloudT_socket != NULL)
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{
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// printf("NotNull");
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if (cloudT_socket->recv(*packet))
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{
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float r, g, b, a;
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osg::Vec3Array* kinectVertices = new osg::Vec3Array;
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// kinectVertices->empty();
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osg::Vec3Array* normals = new osg::Vec3Array;
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osg::Vec4Array* kinectColours = new osg::Vec4Array;
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// kinectColours->empty();
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// cerr << ".";
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//int size = packet->points_size();
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//printf("Points %i\n",size);
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if(true)
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{
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for (int i = 0; i < packet->points_size(); i++)
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{
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/*
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osg::Vec3f ppos((packet->points(i).x() / 1000) + Skeleton::camPos.x(),
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(packet->points(i).z() / -1000) + Skeleton::camPos.y(),
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(packet->points(i).y() / 1000) + Skeleton::camPos.z());
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*/
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osg::Vec3f ppos((packet->points(i).x() / 1000),
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(packet->points(i).z() / -1000),
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(packet->points(i).y() / 1000));
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kinectVertices->push_back(ppos);
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//useKColor
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if (useKColor)
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{
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r = (packet->points(i).r() / 255.);
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g = (packet->points(i).g() / 255.);
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b = (packet->points(i).b() / 255.);
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a = 1;
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kinectColours->push_back(osg::Vec4f(r, g, b, a));
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}
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else
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{
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kinectColours->push_back(getColorRGB(packet->points(i).z()));
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}
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}
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//cerr << kinectVertices->size();
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osg::Geode* kgeode = new osg::Geode();
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kgeode->setCullingActive(false);
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osg::Geometry* nodeGeom = new osg::Geometry();
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osg::StateSet* state = nodeGeom->getOrCreateStateSet();
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nodeGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, kinectVertices->size()));
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osg::VertexBufferObject* vboP = nodeGeom->getOrCreateVertexBufferObject();
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vboP->setUsage(GL_STREAM_DRAW);
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nodeGeom->setUseDisplayList(true);
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nodeGeom->setUseVertexBufferObjects(true);
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nodeGeom->setVertexArray(kinectVertices);
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nodeGeom->setColorArray(kinectColours);
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nodeGeom->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
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kgeode->addDrawable(nodeGeom);
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kgeode->dirtyBound();
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//if (kinectgrp != NULL) _root->removeChild(kinectgrp);
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kinectgrp->removeChild(0, 1);
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kinectgrp->addChild(kgeode);
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}
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}
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if(should_quit)
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{
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pgm1->ref();
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kinectgrp->removeChild(0, 1);
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_root->removeChild(kinectgrp);
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kinectgrp = NULL;
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}
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}
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}
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}
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//When Finished
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_cacheDone = true;
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std::cerr << "All frames loaded." << std::endl;
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}
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void CloudManager::quit()
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{
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should_quit = true;
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// pgm1->ref();
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// kinectgrp->removeChild(0, 1);
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// _root->removeChild(kinectgrp);
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// kinectgrp = NULL;
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}
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osg::Vec4f CloudManager::getColorRGB(int dist)
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{
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if (distanceColorMap.count(dist) == 0) // that can be commented out after precomputing completely if the range of Z is known (and it is set on the server side)
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{
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float r, g, b;
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float h = depth_to_hue(minDistHSV, dist, maxDistHSV);
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HSVtoRGB(&r, &g, &b, h, 1, 1);
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distanceColorMap[dist] = osg::Vec4f(r, g, b, 1);
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}
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return distanceColorMap[dist];
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}

‎CloudManager.h

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//#ifndef _ANIMATION_MANAGER_MULT
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//#define _ANIMATION_MANAGER_MULT
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#include <osgDB/ReadFile>
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#include <osgDB/FileUtils>
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#include <cvrKernel/SceneManager.h>
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#include <cvrConfig/ConfigManager.h>
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#include <cvrKernel/PluginHelper.h>
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#include <cvrKernel/CVRPlugin.h>
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#include <cvrMenu/MenuCheckbox.h>
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#include <cvrMenu/MenuButton.h>
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#include <cvrMenu/MenuRangeValue.h>
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#include <shared/PubSub.h>
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#include <protocol/skeletonframe.pb.h>
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#include <protocol/colormap.pb.h>
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#include <protocol/depthmap.pb.h>
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#include <protocol/pointcloud.pb.h>
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#include <zmq.hpp>
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#include "kUtils.h"
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//#include "Skeleton.h"
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#include <unordered_map>
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#include <iostream>
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#include <string>
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#include <map>
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#include <OpenThreads/Thread>
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// zmq::context_t contextCloud(1);
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class CloudManager : public OpenThreads::Thread {
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public:
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CloudManager();
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~CloudManager();
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//contextCloud(1);
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SubSocket<RemoteKinect::PointCloud>* cloudT_socket;
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void update();
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bool isCacheDone();
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RemoteKinect::PointCloud* packet;
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virtual void run();
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void quit();
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protected:
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// osg::ref_ptr<osg::Vec4Array> kinectColours;
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// osg::ref_ptr<osg::Vec3Array> kinectVertices;
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bool _cacheDone;
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bool useKColor;
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bool should_quit;
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osg::Program* pgm1;
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osg::Group* kinectgrp;
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osg::MatrixTransform* _root;
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float initialPointScale;
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int minDistHSV, maxDistHSV;
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int minDistHSVDepth, maxDistHSVDepth;
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std::unordered_map<float, osg::Vec4f> distanceColorMap;
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osg::Vec4f getColorRGB(int dist);
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float distanceMIN, distanceMAX;
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float _sphereRadius;
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};
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//#endif

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