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changeset 16:79de93763a94 tip

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Removed termapp, which now has it's own project (mtri-termtrack)
author samer
date Mon, 27 Feb 2012 20:38:12 +0000
parents 0ec64c8a4820
children
files termapp/Makefile termapp/README termapp/run.sh termapp/termapp termapp/termapp.cpp termtrack.sh
diffstat 6 files changed, 0 insertions(+), 426 deletions(-) [+]
line wrap: on
line diff
--- a/termapp/Makefile	Thu Feb 23 20:43:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,13 +0,0 @@
-OPEN_NI_ROOT=/opt/OpenNI
-INCLUDES=-I$(OPEN_NI_ROOT)/usr/include/ni -I/opt/local/include
-LIBS=-L$(OPEN_NI_ROOT)/usr/lib -lOpenNI -L/opt/local/lib -llo -lcurses
-TARGET=termapp
-
-build: $(TARGET)
-
-clean:
-	rm $(TARGET)
-
-$(TARGET): $(TARGET).cpp
-	g++ $(CFLAGS) $(INCLUDES) -o $(TARGET) $(LIBS) $(TARGET).cpp
-
--- a/termapp/README	Thu Feb 23 20:43:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,21 +0,0 @@
-This is a command line version of the group tracker.
-It doesn't use OpenFrameworks.
-You still need OpenNI properly installed:
-	1. OpenNI binaries from OpenNI website or build from source on github
-	2. NITE middleware binaries from OpenNI website.
-	3. avin2's SensorKinect module from github
-
-You also need liblo, eg from MacPorts.
-See Makefile for setup.
-
-NB. If you have OpenNI shared libraries installed in a funny place, you
-will need to set DYLD_FALLBACK_LIBRARY_PATH to point to it to run termapp.
-AND you also need OPEN_NI_INSTALL_PATH set too.
-See run.sh an example - I have my OpenNI
-installed in /opt/OpenNI, so I need
-	OPEN_NI_INSTALL_PATH=/opt/OpenNI
-	DYLD_FALLBACK_LIBRARY_PATH=$OPEN_NI_INSTALL_PATH/usr/lib
-
-Also NB.
-You need libusb-devel +universal from MacPorts.
-Not libusb +universal. That doesn't work (timeout problem).
--- a/termapp/run.sh	Thu Feb 23 20:43:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,3 +0,0 @@
-#!/bin/sh
-export OPEN_NI_INSTALL_PATH=/opt/OpenNI
-DYLD_FALLBACK_LIBRARY_PATH=$OPEN_NI_INSTALL_PATH/usr/lib ./termapp "$@" 
Binary file termapp/termapp has changed
--- a/termapp/termapp.cpp	Thu Feb 23 20:43:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,386 +0,0 @@
-#include <XnCppWrapper.h>
-#include <lo/lo.h>
-#include <math.h>
-#include <stdlib.h>
-#include <signal.h>
-#include <string.h>
-#include <sys/select.h>
-#include <termios.h>
-#include <stdio.h>
-
-
-
-#define IMGWIDTH  640
-#define IMGHEIGHT 480
-#define MAX_USERS 16
-#define HOST "localhost"
-#define PORT "7770"
-#define EXIT_APP(rc) exit(rc)
-
-using namespace xn;
-
-class UserStats;
-class termapp {
-private:
-	Context        context;
-	DepthGenerator depthGenerator;
-	UserGenerator  userGenerator;
-	SceneAnalyzer  sceneAnalyzer;
-	SceneMetaData  sceneMetaData;
-	XnDepthPixel   max_depth;
-	XnUInt64	   timestamp;
-	XnPlane3D      floor_pie;
-	lo_address     target;
-
-	bool  got_floor;
-	XnVector3D floor_offset;
-	
-	class UserData {
-	public:
-		bool present;
-		int  plot_coors[7];
-	};
-	
-	UserData users[MAX_USERS];
-	
-	void update_user(lo_bundle bundle, int id, UserStats& stats, UserData *user);
-
-	static void append_msg_i(lo_bundle bundle, const char *path, int arg);
-	static void append_track(lo_bundle bundle, int id, float x, float y, int *coors, float area);
-	
-public:
-	termapp(const char *host, const char *port, int fps);
-	~termapp() { 
-		lo_address_free(target);
-		printf("Shutting down OpenNI...\n");
-		context.Shutdown();
-	};
-	
-	void setup();
-	void update();
-	void draw();
-	void keyPressed(int);
-};
-
-static inline void check_rc(XnStatus rc, const char *tag){
-	if (rc != XN_STATUS_OK) {
-		printf("FAILURE: %s - %s\n",tag,xnGetStatusString(rc));
-		EXIT_APP(0);
-	}
-}
-
-static inline int check_nonfatal(XnStatus rc, const char *tag){
-	if (rc != XN_STATUS_OK) {
-		printf("WARNING: %s - %s\n",tag,xnGetStatusString(rc));
-		return 1;
-	} else return 0;
-}
-
-//--------------------------------------------------------------
-
-class int3d { 
-public:
-	int X, Y, Z; 
-	inline void set(int x, int y, int z) { X=x; Y=y; Z=z; }
-	inline void add(int x, int y, int z) { X+=x; Y+=y; Z+=z; }
-	inline void div(float d, XnVector3D *p) { p->X=X/d; p->Y=Y/d; p->Z=Z/d; }
-	inline void cpy(XnVector3D *p) { p->X=X; p->Y=Y; p->Z=Z; }
-};
-
-static void project_into_plane(XnPlane3D& plane, XnVector3D& r, XnVector3D *q) {
-	float l = (r.X-plane.ptPoint.X)*plane.vNormal.X 
-			+ (r.Y-plane.ptPoint.Y)*plane.vNormal.Y
-			+ (r.Z-plane.ptPoint.Z)*plane.vNormal.Z;
-	
-	q->X = r.X - l*plane.vNormal.X;
-	q->Y = r.Y - l*plane.vNormal.Y;
-	q->Z = r.Z - l*plane.vNormal.Z;
-}
-
-class UserStats {
-public:
-	struct int3d left, right, top, bottom, sum;
-	int numPixels;
-	
-	UserStats() { 
-		left.X=IMGWIDTH; 
-		top.Y=IMGHEIGHT; 
-		right.X=bottom.Y=0;
-		sum.X=sum.Y=sum.Z=0;
-		numPixels=0;
-	}
-
-	inline int  area() { return numPixels; }
-	inline void centroid(XnVector3D *p) { sum.div(numPixels,p); }
-	inline void accum(int x, int y, int z) {
-		if (x<left.X)   left.set(x,y,z);
-		if (x>right.X)  right.set(x,y,z);
-		if (y<top.Y)    top.set(x,y,z);
-		if (y>bottom.Y) bottom.set(x,y,z);
-		sum.add(x,y,z);
-		numPixels++;
-	}
-	
-};
-
-
-//--------------------------------------------------------------
-
-termapp::termapp(const char *host, const char *port, int FPS) {
-
-	// initialise OSC sender
-	printf("OSC target is %s:%s.\n",host,port);
-	// printf("Will run at %d frames per second.\n",FPS);
-	target = lo_address_new(host,port);
-}
-
-static XnMapOutputMode fps_map_mode(int fps) {
-	XnMapOutputMode mapMode;
-	
-	mapMode.nXRes = IMGWIDTH;
-	mapMode.nYRes = IMGHEIGHT;
-	mapMode.nFPS  = fps;
-	return mapMode;
-}
-	
-void termapp::setup() {
-	check_rc(context.Init(),"initialise context");
-
-	{
-		XnLicense license;
-		strcpy(license.strVendor,"PrimeSense");
-		strcpy(license.strKey,"0KOIk2JeIBYClPWVnMoRKn5cdY4=");
-		check_rc(context.AddLicense(license),"add license");
-	}
-	
-	check_rc(depthGenerator.Create(context),"create depth generator");
-	check_rc(depthGenerator.SetMapOutputMode(fps_map_mode(30)),"config depth generator");
-	check_rc(sceneAnalyzer.Create(context),"create scene analyzer");
-	check_rc(sceneAnalyzer.SetMapOutputMode(fps_map_mode(30)),"config scene analyzer");
-	check_rc(userGenerator.Create(context),"create user generator");
-
-	//XnCallbackHandle user_cb_handle;
-	//userGenerator.RegisterUserCallbacks(NewUserDetected,UserLostDetected,this,user_cb_handle);
-	
-	max_depth = depthGenerator.GetDeviceMaxDepth();
-	printf("Depth generator max depth=%d.\n",max_depth);
-	
-	for(int i=0;i<MAX_USERS;i++) users[i].present=false;
-
-	printf("Ready to start generating.\n");
-	check_rc( context.StartGeneratingAll(), "start generating");
-}
-
-
-//--------------------------------------------------------------
-void termapp::update() {
-	lo_timetag         now;
-		
-	if (check_nonfatal(context.WaitOneUpdateAll(depthGenerator),"update")) return;
-
-	lo_timetag_now(&now);
-	userGenerator.GetUserPixels(0, sceneMetaData); // 0 for all users
-	timestamp = sceneMetaData.Timestamp();
-	got_floor = (sceneAnalyzer.GetFloor(floor_pie)==XN_STATUS_OK);
-	if (got_floor) { // project camera onto floor
-		XnVector3D origin = {0,0,0};
-		project_into_plane(floor_pie, origin, &floor_offset);
-	}
-	
-	// get pixels for all users, for each compute centroid and bounding rectangle
-	{	
-		const XnDepthPixel *depthMap = depthGenerator.GetDepthMap();
-		unsigned short     *userRawPixels = (unsigned short*)sceneMetaData.Data();
-		UserStats          stats[MAX_USERS];
-		lo_bundle          bundle=lo_bundle_new(now);
-
-		for (int i=0, y=0; y<IMGHEIGHT; y++) {
-			for (int x=0; x<IMGWIDTH; x++, i++) {
-				int id=userRawPixels[i];
-				if (id>0 && id<=MAX_USERS) {
-					stats[id-1].accum(x,y,depthMap[i]);
-				}
-			}
-		}
-
-		for (int id0=0; id0<MAX_USERS; id0++) {
-			if (stats[id0].area()>0) {
-				if (!users[id0].present) {
-					append_msg_i(bundle,"/birth",id0+1);
-					append_msg_i(bundle,"/randinit",id0+1);
-					append_msg_i(bundle,"/start",id0+1);
-					users[id0].present=true;
-				}
-				update_user(bundle,id0+1,stats[id0],&users[id0]);
-			} else {
-				if (users[id0].present) {
-					append_msg_i(bundle,"/death",id0+1);
-					users[id0].present=false;
-				}
-			}
-		}
-		lo_send_bundle(target,bundle);
-		lo_bundle_free_messages(bundle);
-	}
-}
-
-void termapp::update_user(lo_bundle bundle, int id, UserStats& stats, UserData *user) {
-	XnVector3D    proj[3], real[3];
-	int           *coors=user->plot_coors;
-	
-	stats.centroid(&proj[0]);	// centroid in device coordinate
-	stats.left.cpy(&proj[1]);	// left edge in device coordinates
-	stats.right.cpy(&proj[2]);	// right edge in device coordinates
-	
-	// save values required for drawing later
-	coors[0]=floor(proj[0].X); 
-	coors[1]=floor(proj[0].Y);
-	coors[2]=floor(proj[0].Z);
-	coors[3]=stats.left.X;		
-	coors[4]=stats.right.X;
-	coors[5]=stats.top.Y;		
-	coors[6]=stats.bottom.Y;
-	
-	if (got_floor) {
-		XnVector3D    on_floor;
-		
-		// convert to camera-centric world coordinates
-		depthGenerator.ConvertProjectiveToRealWorld(3,proj,real);
-		
-		// projection of centroid onto floor...
-		project_into_plane(floor_pie,real[0],&on_floor);
-		
-		// ...relative to projection of camera on floor
-		on_floor.X -= floor_offset.X;
-		on_floor.Y -= floor_offset.Y;
-		on_floor.Z -= floor_offset.Z;
-		
-		append_track(bundle,id, on_floor.X, on_floor.Y, coors, stats.area());
-	}
-}
-
-void termapp::draw(){
-	printf("  % 6.2lf s  floor[%s]  users[",((double)timestamp)/1000000, got_floor ? "*" : ".");
-	for (int id0=0; id0<MAX_USERS; id0++) putchar( users[id0].present ? '*' : '.');
-	printf("]   \r");
-	fflush(stdout);
-}
-
-void termapp::keyPressed(int key){
-	switch (key) {
-		case 'f':
-			printf("\n   floor plane: (%f,%f,%f), <%f,%f,%f>\n",
-				floor_pie.ptPoint.X, floor_pie.ptPoint.Y, floor_pie.ptPoint.Z,
-				floor_pie.vNormal.X, floor_pie.vNormal.Y, floor_pie.vNormal.Z);
-			fflush(stdout);
-			break;
-	}
-}
-
-void termapp::append_msg_i(lo_bundle bundle, const char *path, int arg) {
-	lo_message msg=lo_message_new();
-	lo_message_add_int32(msg,arg);
-	lo_bundle_add_message(bundle,path,msg);
-}
-
-
-void termapp::append_track(lo_bundle bundle, int id, float x, float y, int *coors, float area) 
-{
-	lo_message m=lo_message_new();
-	float z=coors[2]; // depth
-
-	lo_message_add_int32(m,id);
-	lo_message_add_float(m,x);
-	lo_message_add_float(m,z);
-
-	// distances to edges of bounding box
-	// corrected for perspective
-	lo_message_add_int32(m,z*(coors[0]-coors[3]));
-	lo_message_add_int32(m,z*(coors[4]-coors[0]));
-	lo_message_add_int32(m,z*(coors[1]-coors[5]));
-	lo_message_add_int32(m,z*(coors[6]-coors[1]));
-
-	// area, corrected for perspective
-	lo_message_add_int32(m,z*sqrt(area));
-
-	lo_bundle_add_message(bundle,"/track",m);
-}
-
-static bool Continue=true;
-
-
-//========================================================================
-struct termios orig_termios;
-
-void reset_terminal_mode()
-{
-	printf("Resetting terminal...\n");
-	tcsetattr(0, TCSANOW, &orig_termios);
-}
-
-void set_conio_terminal_mode()
-{
-	struct termios new_termios;
-
-	/* take two copies - one for now, one for later */
-	tcgetattr(0, &orig_termios);
-	memcpy(&new_termios, &orig_termios, sizeof(new_termios));
-	new_termios.c_lflag &= ~ECHO; 
-	new_termios.c_lflag &= ~ICANON; 
-	tcsetattr(0, TCSANOW, &new_termios);
-}
-
-int kbhit()
-{
-	struct timeval tv = { 0L, 0L };
-	fd_set fds;
-	FD_ZERO(&fds);
-	FD_SET(0, &fds);
-	return select(1, &fds, NULL, NULL, &tv);
-}
-
-int getch()
-{
-	unsigned char c;
-	int r=read(0, &c, sizeof(c));
-	return (r<0) ? r : c;
-}
-
-static bool InHandler=false;
-static void signal_handler(int sig) {
-	if (InHandler) { reset_terminal_mode(); exit(0); }
-	else InHandler=true;
-	printf("\nCaught signal %d - will exit cleanly.\n", sig);
-	Continue=false;
-}
-
-int main(int argc, const char **argv)
-{
-	int i,ch;
-	termapp app(
-			argc>1 ? argv[1] : HOST, 
-			argc>2 ? argv[2] : PORT,
-			argc>3 ? atoi(argv[3]) : 15);
-
-	signal(SIGINT, signal_handler);
-	signal(SIGTERM, signal_handler);
-	signal(SIGKILL, signal_handler);
-
-	printf("Setting up...\n");
-	app.setup();
-	printf("Running...\n");
-	set_conio_terminal_mode();
-	while (Continue) {
-		app.update();
-		app.draw();
-		while (kbhit()) {
-			ch = getch();
-			if (ch=='q') Continue=false;
-			else if (ch>0) app.keyPressed(ch);
-		}
-	}
-	printf("\n");
-	reset_terminal_mode();
-}
-
-
--- a/termtrack.sh	Thu Feb 23 20:43:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,3 +0,0 @@
-#!/bin/sh
-export OPEN_NI_INSTALL_PATH=/opt/OpenNI
-DYLD_FALLBACK_LIBRARY_PATH=$OPEN_NI_INSTALL_PATH/usr/lib termapp/termapp "$@"