Fawkes API  Fawkes Development Version
skel_drawer.cpp
1 
2 /***************************************************************************
3  * skel_drawer.cpp - Skeleton Visualization GUI: skeleton drawer
4  *
5  * Created: Wed Mar 02 11:36:43 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "skel_drawer.h"
24 
25 #include <GL/glut.h>
26 #include <plugins/openni/utils/colors.h>
27 #include <utils/math/angle.h>
28 
29 #include <cstdio>
30 #include <cstring>
31 
32 using namespace fawkes;
33 using namespace fawkes::openni;
34 
35 /** @class SkelGuiSkeletonDrawer "skel_drawer.h"
36  * Draw body skeleton using OpenGL.
37  * This class draws the limbs as read from the user interfaces.
38  * @author Tim Niemueller
39  */
40 
41 /** Constructor.
42  * @param users map of users shared with interface observer
43  * @param hands map of hands shared with interface observer
44  */
45 SkelGuiSkeletonDrawer::SkelGuiSkeletonDrawer(UserMap &users, HandMap &hands)
46 : users_(users), hands_(hands)
47 {
48  print_state_ = PRINT_ID_STATE;
49 }
50 
51 void
52 SkelGuiSkeletonDrawer::print_string(void *font, char *str)
53 {
54  const int l = strlen(str);
55  for (int i = 0; i < l; ++i)
56  glutBitmapCharacter(font, *str++);
57 }
58 
59 void
60 SkelGuiSkeletonDrawer::draw_limb(float *proj1, float conf1, float *proj2, float conf2)
61 {
62  if (conf1 < 0.5 || conf2 < 0.5)
63  return;
64 
65  glVertex3i(proj1[0], proj1[1], 0);
66  glVertex3i(proj2[0], proj2[1], 0);
67 }
68 
69 #define DRAW_LIMB(user, joint1, joint2) \
70  draw_limb(user.proj_if->proj_##joint1(), \
71  user.skel_if->pos_##joint1##_confidence(), \
72  user.proj_if->proj_##joint2(), \
73  user.skel_if->pos_##joint2##_confidence());
74 
75 void
76 SkelGuiSkeletonDrawer::draw_user(UserInfo &user)
77 {
78  if (user.skel_if->state() != HumanSkeletonInterface::STATE_TRACKING)
79  return;
80 
81  DRAW_LIMB(user, head, neck);
82 
83  DRAW_LIMB(user, neck, left_shoulder);
84  DRAW_LIMB(user, left_shoulder, left_elbow);
85  DRAW_LIMB(user, left_elbow, left_hand);
86 
87  DRAW_LIMB(user, neck, right_shoulder);
88  DRAW_LIMB(user, right_shoulder, right_elbow);
89  DRAW_LIMB(user, right_elbow, right_hand);
90 
91  DRAW_LIMB(user, left_shoulder, torso);
92  DRAW_LIMB(user, right_shoulder, torso);
93 
94  DRAW_LIMB(user, torso, left_hip);
95  DRAW_LIMB(user, left_hip, left_knee);
96  DRAW_LIMB(user, left_knee, left_foot);
97 
98  DRAW_LIMB(user, torso, right_hip);
99  DRAW_LIMB(user, right_hip, right_knee);
100  DRAW_LIMB(user, right_knee, right_foot);
101 
102  DRAW_LIMB(user, left_hip, right_hip);
103 }
104 
105 void
106 SkelGuiSkeletonDrawer::draw_circle(unsigned int id, float *proj, float radius)
107 {
108  glBegin(GL_LINE_LOOP);
109  glVertex2f(proj[0], proj[1]);
110  glColor4f(1 - USER_COLORS[id % NUM_USER_COLORS][0],
111  1 - USER_COLORS[id % NUM_USER_COLORS][1],
112  1 - USER_COLORS[id % NUM_USER_COLORS][2],
113  1);
114  for (int i = 0; i < 360; ++i) {
115  float rad = deg2rad(i);
116  ;
117  glVertex2f(proj[0] + cos(rad) * radius, proj[1] + sin(rad) * radius);
118  }
119  glColor4f(1, 1, 1, 1);
120  glEnd();
121 }
122 
123 /** Draw skeletons. */
124 void
126 {
127  char label[50] = "";
128  for (UserMap::iterator i = users_.begin(); i != users_.end(); ++i) {
129  if (i->second.skel_if->state() != HumanSkeletonInterface::STATE_INVALID) {
130  if (print_state_ != PRINT_NONE) {
131  memset(label, 0, sizeof(label));
132  if (print_state_ == PRINT_ID) {
133  sprintf(label, "%s", i->first.c_str());
134  } else if (i->second.skel_if->state() == HumanSkeletonInterface::STATE_TRACKING) {
135  sprintf(label, "%s - Tracking", i->first.c_str());
136  } else if (i->second.skel_if->state() == HumanSkeletonInterface::STATE_CALIBRATING) {
137  sprintf(label, "%s - Calibrating...", i->first.c_str());
138  } else {
139  sprintf(label, "%s - Looking for pose", i->first.c_str());
140  }
141 
142  glColor4f(1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][0],
143  1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][1],
144  1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][2],
145  1);
146 
147  glRasterPos2i(i->second.proj_if->proj_com(0), i->second.proj_if->proj_com(1));
148  print_string(GLUT_BITMAP_HELVETICA_18, label);
149  }
150 
151  glBegin(GL_LINES);
152  glColor4f(1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][0],
153  1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][1],
154  1 - USER_COLORS[i->second.skel_if->user_id() % NUM_USER_COLORS][2],
155  1);
156 
157  draw_user(i->second);
158  glEnd();
159  }
160  }
161 
162  glEnable(GL_LINE_SMOOTH);
163  glLineWidth(4);
164  for (HandMap::iterator i = hands_.begin(); i != hands_.end(); ++i) {
165  if (i->second.hand_if->is_visible()) {
166  float proj[2] = {i->second.hand_if->world_x(), i->second.hand_if->world_y()};
167  draw_circle(i->second.hand_if->world_z(), proj, 10);
168  }
169  }
170  glLineWidth(1.);
171  glDisable(GL_LINE_SMOOTH);
172 }
173 
174 /** Toggle the printing state.
175  * This toggles through the printing state in the order PRINT_NONE,
176  * PRINT_ID_STATE, and PRINT_ID.
177  */
178 void
180 {
181  switch (print_state_) {
182  case PRINT_NONE: print_state_ = PRINT_ID_STATE; break;
183  case PRINT_ID_STATE: print_state_ = PRINT_ID; break;
184  case PRINT_ID: print_state_ = PRINT_NONE; break;
185  }
186 }
187 
188 /** Set print state.
189  * @param state new print state
190  */
191 void
193 {
194  glBegin(GL_LINE_LOOP);
195 
196  print_state_ = state;
197  glEnd();
198 }
void toggle_print_state()
Toggle the printing state.
void draw()
Draw skeletons.
SkelGuiSkeletonDrawer(fawkes::openni::UserMap &users, fawkes::openni::HandMap &hands)
Constructor.
Definition: skel_drawer.cpp:45
Fawkes library namespace.
State state() const
Get state value.
Print neither ID nor state.
Definition: skel_drawer.h:36
fawkes::HumanSkeletonInterface * skel_if
Skeleton interface.
Definition: types.h:39
void set_print_state(PrintState state)
Set print state.
PrintState
Print state enum.
Definition: skel_drawer.h:35
float deg2rad(float deg)
Convert an angle given in degrees to radians.
Definition: angle.h:36
User info to pass to draw_skeletons().
Definition: types.h:37