two-hand touchless no finger tracking

3dtof · May 14, 2016 · 9477164 · 9477164
1 parent f0dd824
commit 9477164
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Showing 7 changed files with 427 additions and 413 deletions.
diff --git a/TinTin/touchless_tracking/CMakeLists.txt b/TinTin/touchless_tracking/CMakeLists.txt
@@ -8,7 +8,7 @@ add_definitions(-msse2 -pthread -std=c++11 -fPIC -ffast-math)
 set(VOXEL_INCLUDE_DIRS . /usr/include/voxel /usr/include/voxel/pcl /usr/include/voxel/ti3dtof /usr/include/voxel/Filter )
 set(VOXEL_LIBRARIES /usr/lib/libti3dtof.so /usr/lib/libvoxel.so /usr/lib/libvoxelpcl.so)
 
-add_executable(touchless touchless.cpp Jive.cpp TOFApp.cpp)
+add_executable(touchless touchless.cpp Jive.cpp TOFApp.cpp FakeMouse.cpp)
 target_include_directories(touchless PUBLIC ${VOXEL_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
 target_link_libraries(touchless voxelpcl X11 ${OpenCV_LIBS} ${VOXEL_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_VISUALIZATION_LIBRARIES})
 

diff --git a/TinTin/touchless_tracking/FakeMouse.cpp b/TinTin/touchless_tracking/FakeMouse.cpp
@@ -0,0 +1,236 @@
+/*! 
+ * ==========================================================================================
+ *
+ * @addtogroup		FakeMouse	
+ * @{
+ *
+ * @file		      FakeMouse.cpp
+ * @version		   1.0
+ * @date		      1/7/2016
+ *
+ * @note		      FakeMouse class
+ * 
+ * Copyright(c) 20015-2016 Texas Instruments Corporation, All Rights Reserved.q
+ * TI makes NO WARRANTY as to software products, which are supplied "AS-IS"
+ *
+ * ==========================================================================================
+ */
+#define __FAKEMOUSE_CPP__
+#include "FakeMouse.h"
+
+
+/*!
+ *===========================================================================================
+ * @brief   Constructors
+ *===========================================================================================
+ */
+FakeMouse::FakeMouse()
+{
+   setDisplay(XOpenDisplay(0));
+}
+
+FakeMouse::FakeMouse(Display *disp) 
+{
+   setDisplay(disp);
+}
+
+/*!
+ *===========================================================================================
+ * @brief   Initialize X display info
+ *===========================================================================================
+ */
+void FakeMouse::setDisplay(Display *disp)
+{
+   display = disp;
+   root = DefaultRootWindow(display);
+   screen = DefaultScreenOfDisplay(display);
+   width = screen->width;
+   height = screen->height;
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Destructor
+ *===========================================================================================
+ */
+FakeMouse::~FakeMouse()
+{
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Generate a button event
+ *===========================================================================================
+ */
+bool FakeMouse::buttonEvent(int button, int event_type)
+{
+   XEvent event;
+
+   memset(&event, 0, sizeof(event));
+   event.type = event_type;
+   event.xbutton.button = button;
+   event.xbutton.same_screen = True;
+   XQueryPointer(display, RootWindow(display, DefaultScreen(display)), 
+                 &event.xbutton.root, &event.xbutton.window, 
+                 &event.xbutton.x_root, &event.xbutton.y_root, 
+                 &event.xbutton.x, &event.xbutton.y, 
+                 &event.xbutton.state);
+   event.xbutton.subwindow = event.xbutton.window;
+   while (event.xbutton.subwindow) {
+      event.xbutton.window = event.xbutton.subwindow;
+
+      XQueryPointer(display, event.xbutton.window, 
+                 &event.xbutton.root, &event.xbutton.subwindow, 
+                 &event.xbutton.x_root, &event.xbutton.y_root, 
+                 &event.xbutton.x, &event.xbutton.y, 
+                 &event.xbutton.state);
+   }
+   if (event_type == ButtonRelease)
+      event.xbutton.state = 1 << (button+7);
+
+   if (XSendEvent(display, PointerWindow, True, 0xfff, &event) == 0) 
+      return false;
+   XFlush(display);
+   return true;
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Generate a button down event
+ *===========================================================================================
+ */
+void FakeMouse::buttonDown(int button)
+{
+   buttonEvent(button, ButtonPress);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Generate a button up event
+ *===========================================================================================
+ */
+void FakeMouse::buttonUp(int button)
+{
+   buttonEvent(button, ButtonRelease);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Generate a click event
+ *===========================================================================================
+ */
+void FakeMouse::click(int button) 
+{
+   buttonDown(button);
+   usleep(100000);
+   buttonUp(button);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Generate a double click event
+ *===========================================================================================
+ */
+void FakeMouse::doubleClick(int button)
+{
+   click(button);
+   usleep(100000);
+   click(button);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Move mouse to absolute position (x, y)
+ *===========================================================================================
+ */
+void FakeMouse::moveTo(int x, int y)
+{
+   XWarpPointer(display, None, root, 0, 0, 0, 0, x, y);
+   XFlush(display);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Move mouse position incrementally by (dx, dy)
+ *===========================================================================================
+ */
+void FakeMouse::moveBy(int dx, int dy)
+{
+   int x, y;
+
+   getPos(x, y);
+   XWarpPointer(display, None, root, 0, 0, 0, 0, x+dx, y+dy);
+   XFlush(display);
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Get current mouse absolute position
+ *===========================================================================================
+ */
+void FakeMouse::getPos(int &x, int &y)
+{
+   XEvent event;
+   XQueryPointer(display, RootWindow(display, DefaultScreen(display)), 
+                 &event.xbutton.root, &event.xbutton.window, 
+                 &event.xbutton.x_root, &event.xbutton.y_root, 
+                 &event.xbutton.x, &event.xbutton.y, 
+                 &event.xbutton.state);
+   x = event.xbutton.x;
+   y = event.xbutton.y;
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Get display dimension
+ *===========================================================================================
+ */
+void FakeMouse::getDim(int &x, int &y)
+{
+   x = width;
+   y = height;
+}
+
+
+/*!
+ *===========================================================================================
+ * @brief   Unit Test
+ *===========================================================================================
+ */
+#ifdef __UNIT_TEST__
+int main(int argc,char * argv[]) 
+{
+   int i=0;
+   int x , y;
+   x=atoi(argv[1]);
+   y=atoi(argv[2]);
+   Display *display = XOpenDisplay(0);
+   FakeMouse mouse(display);
+   Screen *screen = DefaultScreenOfDisplay(display);
+   mouse.moveTo(x, y);
+   mouse.click(Button1);
+
+   mouse.moveTo(0,0);
+   for (int i=0; i < 200; i++) {
+      mouse.moveBy(screen->width/200, screen->height/200);
+      usleep(10000);
+   }
+
+   XCloseDisplay(display);
+   return 0;
+}
+#undef __UNIT_TEST__
+#endif // UNIT_TEST
+
+#undef __FAKEMOUSE_CPP__
+
diff --git a/TinTin/touchless_tracking/FakeMouse.h b/TinTin/touchless_tracking/FakeMouse.h
@@ -0,0 +1,38 @@
+/*
+ * FakeMouse - simulated X windows mouse actions
+ *
+ * Copyright (c) 2015-2016 Texas Instruments Inc.
+ */
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <X11/Xlib.h>
+#include <X11/Xutil.h>
+
+#ifndef __FAKEMOUSE_H__
+#define __FAKEMOUSE_H__
+
+class FakeMouse {
+public:
+   FakeMouse();
+   FakeMouse(Display *disp);
+   ~FakeMouse();
+   void setDisplay(Display *disp);
+   void buttonDown(int button); 
+   void buttonUp(int button);
+   void click(int button);
+   void doubleClick(int button);
+   void moveTo(int x, int y);
+   void moveBy(int dx, int dy);
+   void getPos(int &x, int &y);
+   void getDim(int &xmax, int &ymax);
+
+private:
+   bool buttonEvent(int btn, int e);
+   Display *display;
+   Window root;
+   Screen *screen;
+   int width, height;
+};
+#endif