/
osc_hand_viz.py
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/
osc_hand_viz.py
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#!/usr/bin/env python
from read_data import OSCServer
from OpenGL.GL import *
from OpenGL.GLU import *
import pygame
from pygame.locals import *
import liblo
endpoints = [('localhost', 7111)]
server = OSCServer(7110)
rquad = 0.0
rq_diff = 0.15
class CommandState(object):
def __init__(self):
self.state = {}
def update(self, i, command, state):
if not self.state.has_key(i):
self.state[i] = {}
if not self.state[i].has_key(command):
self.state[i][command] = False
if self.state[i][command] != state:
self.state[i][command] = state
return True
else:
return False
def resize((width, height)):
if height==0:
height=1
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45, 1.0*width/height, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def init():
glShadeModel(GL_SMOOTH)
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LEQUAL)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
def emphasis_point(x,y,z, size=0.02, colour=(0.5,0.5,1.0)):
glColor3f(*colour)
glBegin(GL_QUADS)
glVertex3f(x-size, y+size, z)
glVertex3f(x+size, y+size, z)
glVertex3f(x+size, y-size, z)
glVertex3f(x-size, y-size, z)
glEnd()
def draw(server, c):
global rquad, rq_diff
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslatef(-1.0,-1.0,-3.0)
glRotatef(rquad,0.0,1.0,0.0)
glBegin(GL_LINE_LOOP)
glColor3f(1.0,1.0,1.0)
glVertex3f(0.0,0.0,0.0)
glVertex3f(2.0,0.0,0.0)
glVertex3f(2.0,2.0,0.0)
glVertex3f(0.0,2.0,0.0)
glVertex3f(0.0,0.0,0.0)
glEnd()
glLoadIdentity()
glTranslatef(-1.0,-1.0,-3.0)
glRotatef(rquad,0.0,1.0,0.0)
glBegin(GL_LINE_LOOP)
glColor3f(1.0,1.0,1.0)
glVertex3f(0.0,0.0,-3.0)
glVertex3f(2.0,0.0,-3.0)
glVertex3f(2.0,2.0,-3.0)
glVertex3f(0.0,2.0,-3.0)
glVertex3f(0.0,0.0,-3.0)
glEnd()
glLoadIdentity()
glTranslatef(-1.0,-1.0,-3.0)
glRotatef(rquad,0.0,1.0,0.0)
glBegin(GL_LINES)
glColor3f(1.0,1.0,1.0)
glVertex3f(0.0,0.0,-3.0) # Back bottom left to top left
glVertex3f(0.0,0.0,0.0)
glVertex3f(2.0,0.0,-3.0)
glVertex3f(2.0,0.0,0.0)
glVertex3f(2.0,2.0,-3.0)
glVertex3f(2.0,2.0,0.0)
glVertex3f(0.0,2.0,-3.0)
glVertex3f(0.0,2.0,0.0)
glEnd()
glLoadIdentity()
glTranslatef(0.0,0.0,-3.0)
glTranslatef(-0.5,-0.5,0.0)
for player in server.lh.keys():
glBegin(GL_LINES)
glColor3f(1.0,0.0,1.0)
glVertex3f(*server.rh[player])
glVertex3f(*server.lh[player])
glColor3f(0.8,0.8,0.8)
glVertex3f(*server.lh[player])
glVertex3f(*server.ls[player])
glVertex3f(*server.rh[player])
glVertex3f(*server.rs[player])
glEnd()
if c.state.has_key(player) and True in c.state[player].values():
emphasis_point(*server.rh[player], colour=(1.0,0.0,0.0), size=0.05)
emphasis_point(*server.lh[player], colour=(0.0,0.0,1.0), size=0.05)
else:
emphasis_point(*server.rh[player], colour=(1.0,0.3,0.4))
emphasis_point(*server.lh[player])
# And now, shoulder joints
emphasis_point(*server.ls[player], colour=(0.3, 0.3, 0.7))
emphasis_point(*server.rs[player], colour=(0.7, 0.2, 0.2))
def main():
video_flags = OPENGL|DOUBLEBUF
#target = liblo.Address(7111)
pygame.init()
pygame.display.set_caption("Kinect handtracker demo (#pmrhack)")
# setup targets
targets = []
for ep in endpoints:
targets.append(liblo.Address(ep[0], ep[1]))
pygame.display.set_mode((640,480), video_flags)
resize((640,480))
init()
c = CommandState()
ythreshold = 0.2
zthreshold = 0.4
rotate_threshold = 0.5
side_threshold = 0.5
arms_out_threshold = 0.3
frames = 0
ticks = pygame.time.get_ticks()
while 1:
commands = []
event = pygame.event.poll()
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
break
if event.type == KEYDOWN and event.key == K_t:
commands.append('takeoff')
if event.type == KEYDOWN and event.key == K_l:
commands.append('landing')
for target in targets:
for command in commands:
print commands
liblo.send(target, "/command", command)
draw(server, c)
pygame.display.flip()
server.recv(100)
for player in (x for x in server.lh.keys() if server.lh[x][0] > -10.0):
# Only send real data
rh = server.rh[player]
lh = server.lh[player]
ls = server.ls[player]
rs = server.rs[player]
dx = (rs[0]+ls[0]) - (rh[0]+lh[0])
dy = (rs[1]+ls[1]) - (rh[1]+lh[1])
dz = (rs[2]+ls[2]) - (rh[2]+lh[2]) - 0.1 # fudge
dh = abs(rh[0]-lh[0]) + abs(rh[1]-lh[1]) + abs(rh[2]-lh[2])
dr = rh[2]-lh[2]
dside = rh[1]-lh[1]
if abs(dy) > ythreshold and dh > arms_out_threshold:
if dy<0:
if c.update(player, 'u', True):
commands.append('u')
else:
if c.update(player, 'd', True):
commands.append('d')
else:
if c.update(player, 'u', False):
commands.append('nu')
if c.update(player, 'd', False):
commands.append('nd')
if abs(dr) > rotate_threshold and dh > arms_out_threshold:
if dr<0:
if c.update(player, 'rl', True):
commands.append('rl')
else:
if c.update(player, 'rr', True):
commands.append('rr')
else:
if c.update(player, 'rl', False):
commands.append('nrl')
if c.update(player, 'rr', False):
commands.append('nrr')
if abs(dside) > side_threshold and dh > arms_out_threshold:
if dside<0:
if c.update(player, 'yl', True):
commands.append('yl')
else:
if c.update(player, 'yr', True):
commands.append('yr')
else:
if c.update(player, 'yl', False):
commands.append('nyl')
if c.update(player, 'yr', False):
commands.append('nyr')
if abs(dz) > zthreshold and dh > arms_out_threshold:
if dz<0:
if c.update(player, 'b', True):
commands.append('b')
else:
if c.update(player, 'f', True):
commands.append('f')
else:
if c.update(player, 'f', False):
commands.append('nf')
if c.update(player, 'b', False):
commands.append('nb')
if commands:
print "Commands to be sent: %s" % commands
for target in targets:
liblo.send(target, "/hands", player, *(server.rh[player] + server.lh[player]))
liblo.send(target, "/shoulders", player, *(server.rs[player] + server.ls[player]))
liblo.send(target, "/combined", player, *(server.rh[player] + server.lh[player]+server.rs[player] + server.ls[player]))
liblo.send(target, "/differentials", dy, dz, dh, dr, dside)
for command in commands:
print commands
liblo.send(target, "/command", command)
commands = []
frames = frames+1
print "fps: %d" % ((frames*1000)/(pygame.time.get_ticks()-ticks))
if __name__ == '__main__': main()