Commit 0bab2ad5 authored by Pierre Bürki's avatar Pierre Bürki
Browse files

Merge branch 'add-doc' into 'develop' 

Add javadoc to all new or modified methods

See merge request !14
parents 1631e1b4 60295fbd

src/DetectionMethod.h

+3 −1
Original line number Diff line number Diff line 
// Comment or uncomment this line to change the detection method used



#define BLOB

src/SkeletonFinder.cpp

+53 −31
Original line number Diff line number Diff line 
//

//  SkeletonFinder.cpp

//

//  Created by Pierre B�rki on 19.05.20.

//  Created by Pierre Bürki on 19.05.20.

//  Adapted from BlobFinder.cpp by maybites (14.02.14).

//



#include "SkeletonFinder.h"





void SkeletonFinder::initGUI(ofxGui& gui) {

/**

 * Creates and populates the GUI elements

 */

void SkeletonFinder::initGUI(ofxGui& gui)

{

	panel = gui.addPanel();



	panel->loadTheme("theme/theme_light.json");
@@ -36,16 +39,27 @@ void SkeletonFinder::initGUI(ofxGui& gui) { 
	panel->setVisible(visible);

}



void SkeletonFinder::setTransformMatrix(ofMatrix4x4* mat) {

/**

 * Set the transformation matrix pointer

 */

void SkeletonFinder::setTransformMatrix(ofMatrix4x4* mat)

{

	transformMatrix = mat;

}



void SkeletonFinder::update(nuitrack::SkeletonData::Ptr data) {

/**

 * Called each time a skeleton is detected on a frame

 * Copy the data for later use

 */

void SkeletonFinder::update(nuitrack::SkeletonData::Ptr data)

{

	skeletons.clear();

	// TODO: filter using the capture bounds

	for (nuitrack::Skeleton skel : data->getSkeletons()) {

	for (nuitrack::Skeleton skel : data->getSkeletons())

	{

		vector<Joint> joints;

		for (nuitrack::Joint joint : skel.joints) {

		for (nuitrack::Joint joint : skel.joints)

		{

			glm::vec3 pos = ofxnui::Tracker::fromVector3(joint.real);



			// ofMatrix multiplication works in reverse
@@ -55,24 +69,36 @@ void SkeletonFinder::update(nuitrack::SkeletonData::Ptr data) { 
		}



		Skeleton skeleton(skel.id, joints);

		if (!filtering.get() || isSkeletonInBounds(skeleton)) {

		if (!filtering.get() || isSkeletonInBounds(skeleton))

		{

			skeletons.push_back(skeleton);

		}



	}

}



vector<Skeleton> SkeletonFinder::getSkeletons() const {

/**

 * Getter for the skeletons container

 */

vector<Skeleton> SkeletonFinder::getSkeletons() const

{

	return skeletons;

}



/**

 * Draw the sensor box

 * Note that the sensor box plays a role only if "filtering" is activated

 */

void SkeletonFinder::drawSensorBox()

{

	sensorBox.draw();

}



// adapted from ofxNuitrack example

void SkeletonFinder::drawSkeletons() {

/**

 * Draw all the skeletons in this->skeletons

 * Adapted from ofxNuitrack example

 */

void SkeletonFinder::drawSkeletons()

{

	static vector<Bone> bones = {

		Bone(nuitrack::JOINT_WAIST, nuitrack::JOINT_TORSO, glm::vec3(0, 1, 0)),

		Bone(nuitrack::JOINT_TORSO, nuitrack::JOINT_NECK, glm::vec3(0, 1, 0)),
@@ -98,8 +124,10 @@ void SkeletonFinder::drawSkeletons() { 
	};



	ofSetColor(0, 255, 0);

	for (Skeleton skel : skeletons) {

		for (Bone bone : bones) {

	for (Skeleton skel : skeletons)

	{

		for (Bone bone : bones)

		{

			auto j1 = skel.joints[bone.from];

			auto j2 = skel.joints[bone.to];
@@ -112,23 +140,13 @@ void SkeletonFinder::drawSkeletons() { 
	}

}



string SkeletonFinder::getShortDesc()

/**

 * Called each time the sensor box boundaries are changed

 * 

 * Not modified from BlobFinder.cpp

 */

void SkeletonFinder::updateSensorBox(int& value)

{

	if (skeletons.size() == 0) {

		return "No skeleton found";

	} else {

		ostringstream s;

		Skeleton skel = skeletons[0];

		auto pos = skel.joints[nuitrack::JOINT_HEAD].pos;

		s << "Head position : (" <<

			pos.x << ", " <<

			pos.y << ", " <<

			pos.z << ")";

		return s.str();

	}

}



void SkeletonFinder::updateSensorBox(int& value) {

	sensorBox.clear();

	sensorBox.setMode(OF_PRIMITIVE_LINES);
@@ -161,7 +179,11 @@ void SkeletonFinder::updateSensorBox(int& value) { 
	//captureCam.

}



bool SkeletonFinder::isSkeletonInBounds(const Skeleton& skel) {

/**

 * Returns true if the skeleton's head is in the sensor box

 */

bool SkeletonFinder::isSkeletonInBounds(const Skeleton& skel)

{

	glm::vec3 headPos = skel.joints[nuitrack::JOINT_HEAD].pos;

	return headPos.x < sensorBoxLeft.get() * SCALE

		&& headPos.x > sensorBoxRight.get() * SCALE

src/SkeletonFinder.h

+0 −2
Original line number Diff line number Diff line
@@ -64,8 +64,6 @@ public: 
    void drawSensorBox();

    void drawSkeletons();



    string getShortDesc();



    vector<Skeleton> getSkeletons() const;

    

private:

src/TrackingNetworkManager.cpp

+21 −6
Original line number Diff line number Diff line
@@ -4,7 +4,7 @@ 
//

//  Created by maybites on 14.02.14.

//

//

//	Modified by Pierre Bürki on 23.07.2020



#include "TrackingNetworkManager.h"
@@ -116,9 +116,11 @@ void TrackingNetworkManager::sendTrackingData(const BodyFinder& bodyFinder) { 
	}

#else

	vector<Skeleton> skeletons = bodyFinder.getSkeletons();

	if (skeletons.size() > 0) {

	if (skeletons.size() > 0)

	{

		// Only one skeleton is to be on the scene for the perspective to work

		if (skeletons.size() > 1) {

		if (skeletons.size() > 1)

		{

			sendMultipleBodiesAlert();

			return;

		}
@@ -127,14 +129,23 @@ void TrackingNetworkManager::sendTrackingData(const BodyFinder& bodyFinder) { 
#endif

}



void TrackingNetworkManager::sendMultipleBodiesAlert() {

/**

 * Send a special message via OSC to signal multiple bodies

 */

void TrackingNetworkManager::sendMultipleBodiesAlert()

{

	ofxOscMessage alertMsg;

	alertMsg.setAddress("/ks/server/track/multiple-bodies");

	sendMessageToTrackingClients(alertMsg);

}



#ifdef BLOB

void TrackingNetworkManager::sendBlobData(const BlobTracker& blob) {

/**

 * Send a given blob via OSC

 * Slighty modified from the original so that it only sends the blob's head

 */

void TrackingNetworkManager::sendBlobData(const BlobTracker& blob)

{

	ofxOscMessage blobMsg;

	blobMsg.setAddress("/ks/server/track/headblob");
@@ -147,7 +158,11 @@ void TrackingNetworkManager::sendBlobData(const BlobTracker& blob) { 
	sendMessageToTrackingClients(blobMsg);

}

#else

void TrackingNetworkManager::sendSkeletonData(const Skeleton& skel) {

/**

 * Send a given skeleton via OSC

 */

void TrackingNetworkManager::sendSkeletonData(const Skeleton& skel)

{

	ofxOscMessage skeletonMsg;

	skeletonMsg.setAddress("/ks/server/track/skeleton");

src/ofApp.cpp

+74 −32
Original line number Diff line number Diff line 
//

//  ofApp.cpp

//  kinectTCPServer

//

//  Created by maybites on 14.02.14.

//

//	Edited by Pierre Bürki on 23.07.2020.



#include "ofApp.h"



#define RECONNECT_TIME 400
@@ -7,7 +15,11 @@ 


#ifndef BLOB



ofMatrix4x4 ofApp::makeNuitrackToRealSenseTransform() {

/**

 * Create the constant nuitrack -> realsense transformation matrix

 */

ofMatrix4x4 ofApp::makeNuitrackToRealSenseTransform()

{

	// Thankfully this matrix is symmetric, so we need not worry about the row-major-ness

	// of the matrix object

	float mat[16] = {
@@ -21,9 +33,13 @@ ofMatrix4x4 ofApp::makeNuitrackToRealSenseTransform() { 


const ofMatrix4x4 ofApp::nuitrackViewportToRealSenseViewportTransform = makeNuitrackToRealSenseTransform();



void ofApp::initNuitrack() {

/**

 * Set up Nuitrack's config and callbacks 

 */

void ofApp::initNuitrack()

{

	nuitracker = ofxnui::Tracker::create();

	nuitracker->init("");

	nuitracker->init();



	// depth feed settings

	nuitracker->setConfigValue("Realsense2Module.Depth.FPS", "30");
@@ -51,21 +67,34 @@ void ofApp::initNuitrack() { 
	nuitracker->setConfigValue("Segmentation.MAX_DISTANCE", "7000");

	nuitracker->setConfigValue("Skeletonization.MaxDistance", "7000");



	nuitracker->setIssuesCallback([this](nuitrack::IssuesData::Ptr data) {

	nuitracker->setIssuesCallback(

		[this](nuitrack::IssuesData::Ptr data)

		{

			auto issue = data->getIssue<nuitrack::Issue>();

		if (issue) {

			if (issue)

			{

				ofLogNotice() << "Issue detected! " << issue->getName() << " [" << issue->getId() << "]";

			}

		});

	nuitracker->setRGBCallback([this](nuitrack::RGBFrame::Ptr data) {

		}

	);

	nuitracker->setRGBCallback(

		[this](nuitrack::RGBFrame::Ptr data)

		{

			pointCloudManager.updateRGB(data);

		});

	nuitracker->setDepthCallback([this](nuitrack::DepthFrame::Ptr data) {

		}

	);

	nuitracker->setDepthCallback(

		[this](nuitrack::DepthFrame::Ptr data)

		{

			pointCloudManager.updateDepth(data);

		});

	nuitracker->setSkeletonCallback([this](nuitrack::SkeletonData::Ptr data) {

		}

	);

	nuitracker->setSkeletonCallback(

		[this](nuitrack::SkeletonData::Ptr data)

		{

			tracker.update(data);

		});

		}

	);



	pointCloudManager.setDepthSensor(nuitracker->depthTracker);

}
@@ -105,15 +134,19 @@ void ofApp::setupTransformGui() { 
	transformationGuiGroup.add(transformation.set("Transform", ofMatrix4x4()));

	guitransform->addGroup(transformationGuiGroup);



	// The GUI apparently cannot display matrices

	// Also this method apparently requires a reference for some reason

	// This method apparently requires a reference for some reason

	bool visible = false;

	guitransform->setVisible(visible);



	reloadTransformMatrix();

}



void ofApp::reloadTransformMatrix() {

/**

 * Load the transformation matrix from the xml file

 * Also applies the nuitrack->realsense transformation if needed

 */

void ofApp::reloadTransformMatrix()

{

	guitransform->loadFromFile("transformation.xml");



#ifdef BLOB
@@ -124,7 +157,8 @@ void ofApp::reloadTransformMatrix() { 
#endif

}



void ofApp::setup(){

void ofApp::setup()

{



#ifdef BLOB

	if (ofIsGLProgrammableRenderer()) {
@@ -136,12 +170,8 @@ void ofApp::setup(){ 


	ofLog(OF_LOG_NOTICE) << "MainAPP: looking for RealSense Device...";



	// ofSetLogLevel(OF_LOG_VERBOSE);



	realSense = RSDevice::createUniquePtr();



	realSense->checkConnectedDialog();



	realSense->setVideoSize(REALSENSE_VIDEO_WIDTH, REALSENSE_VIDEO_HEIGHT);



	ofLog(OF_LOG_NOTICE) << "... RealSense Device found.";
@@ -161,7 +191,8 @@ void ofApp::setup(){ 
	ofLog(OF_LOG_NOTICE) << "MainAPP: starting attached Device...";



#ifdef BLOB

	if (realSense->capture()) {

	if (realSense->capture())

	{

		createGUIDeviceParams();

		createGUIPostProcessingParams();

	}
@@ -238,15 +269,18 @@ void ofApp::createGUIPostProcessingParams() { 
#endif



//--------------------------------------------------------------

void ofApp::update(){

void ofApp::update()

{



	ofBackground(100, 100, 100);



#ifdef BLOB

	if(realSense->update(ofxRealSenseTwo::PointCloud::VIDEO)) {



		if (maskUpdatesCounter < MASK_UPDATE_CYCLES) {

			if (maskUpdatesCounter == 0) {

	if(realSense->update(ofxRealSenseTwo::PointCloud::VIDEO))

	{

		if (maskUpdatesCounter < MASK_UPDATE_CYCLES)

		{

			if (maskUpdatesCounter == 0)

			{

				tracker.clearMask();

			}

			tracker.captureMaskBegin();
@@ -254,7 +288,9 @@ void ofApp::update(){ 
			tracker.captureMaskEnd();



			maskUpdatesCounter++;

		} else {

		} 

		else

		{

			// Cature captureCloud to FBO

			tracker.captureBegin();

			drawCapturePointCloud(false);
@@ -271,6 +307,9 @@ void ofApp::update(){ 
	networkMng.update(tracker);

}



/**

 * Save current settings to the various xml files

 */

void ofApp::saveSettings()

{

	tracker.panel->saveToFile("tracking.xml");
@@ -284,6 +323,9 @@ void ofApp::saveSettings() 
#endif

}



/**

 * Load the settings from the various xml files

 */

void ofApp::loadSettings()

{

	tracker.panel->loadFromFile("tracking.xml");