Added shutdown code

cadet-salzburg · Aug 22, 2012 · 8e8d2e8 · 8e8d2e8
1 parent 041a3b4
commit 8e8d2e8
Show file tree

Hide file tree

Showing 3 changed files with 60 additions and 30 deletions.
diff --git a/proj/vc10/_2RealKinect.sln b/proj/vc10/_2RealKinect.sln
@@ -3,7 +3,7 @@ Microsoft Visual Studio Solution File, Format Version 11.00
 # Visual Studio 2010
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "_2RealKinect", "_2RealKinect.vcxproj", "{67112A04-6E97-4C40-97EA-2A8FB6C14797}"
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "glSingleKinect", "..\..\samples\glSingleKinect\proj\vc10\glSingleKinect.vcxproj", "{9A71947B-E3A5-C4D0-6A52-D22C44A21233}"
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "glSingleKinect", "..\..\samples\glSingleKinect\proj\vc10\glSingleKinect.vcxproj", "{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}"
 	ProjectSection(ProjectDependencies) = postProject
 		{67112A04-6E97-4C40-97EA-2A8FB6C14797} = {67112A04-6E97-4C40-97EA-2A8FB6C14797}
 	EndProjectSection
@@ -54,26 +54,26 @@ Global
 		{67112A04-6E97-4C40-97EA-2A8FB6C14797}.Release MTD (OpenNI)|Win32.Build.0 = Release MTD (OpenNI)|Win32
 		{67112A04-6E97-4C40-97EA-2A8FB6C14797}.Release|Win32.ActiveCfg = Release (OpenNI)|Win32
 		{67112A04-6E97-4C40-97EA-2A8FB6C14797}.Release|Win32.Build.0 = Release (OpenNI)|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug (MS KINECT SDK)|Win32.ActiveCfg = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug (MS KINECT SDK)|Win32.Build.0 = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug (OpenNI)|Win32.ActiveCfg = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug (OpenNI)|Win32.Build.0 = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug MTD (MS KINECT SDK)|Win32.ActiveCfg = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug MTD (MS KINECT SDK)|Win32.Build.0 = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug MTD (OpenNI)|Win32.ActiveCfg = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug MTD (OpenNI)|Win32.Build.0 = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug|Win32.ActiveCfg = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Debug|Win32.Build.0 = Debug|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release (MS KINECT SDK)|Win32.ActiveCfg = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release (MS KINECT SDK)|Win32.Build.0 = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release (OpenNI)|Win32.ActiveCfg = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release (OpenNI)|Win32.Build.0 = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release MTD (MS KINECT SDK)|Win32.ActiveCfg = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release MTD (MS KINECT SDK)|Win32.Build.0 = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release MTD (OpenNI)|Win32.ActiveCfg = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release MTD (OpenNI)|Win32.Build.0 = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release|Win32.ActiveCfg = Release|Win32
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233}.Release|Win32.Build.0 = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug (MS KINECT SDK)|Win32.ActiveCfg = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug (MS KINECT SDK)|Win32.Build.0 = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug (OpenNI)|Win32.ActiveCfg = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug (OpenNI)|Win32.Build.0 = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug MTD (MS KINECT SDK)|Win32.ActiveCfg = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug MTD (MS KINECT SDK)|Win32.Build.0 = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug MTD (OpenNI)|Win32.ActiveCfg = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug MTD (OpenNI)|Win32.Build.0 = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug|Win32.ActiveCfg = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Debug|Win32.Build.0 = Debug|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release (MS KINECT SDK)|Win32.ActiveCfg = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release (MS KINECT SDK)|Win32.Build.0 = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release (OpenNI)|Win32.ActiveCfg = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release (OpenNI)|Win32.Build.0 = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release MTD (MS KINECT SDK)|Win32.ActiveCfg = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release MTD (MS KINECT SDK)|Win32.Build.0 = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release MTD (OpenNI)|Win32.ActiveCfg = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release MTD (OpenNI)|Win32.Build.0 = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release|Win32.ActiveCfg = Release|Win32
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB}.Release|Win32.Build.0 = Release|Win32
 		{7FD42DF7-442E-479A-BA76-D0022F99702A}.Debug (MS KINECT SDK)|Win32.ActiveCfg = Debug|Win32
 		{7FD42DF7-442E-479A-BA76-D0022F99702A}.Debug (MS KINECT SDK)|Win32.Build.0 = Debug|Win32
 		{7FD42DF7-442E-479A-BA76-D0022F99702A}.Debug (OpenNI)|Win32.ActiveCfg = Debug|Win32
@@ -119,7 +119,7 @@ Global
 		HideSolutionNode = FALSE
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
-		{9A71947B-E3A5-C4D0-6A52-D22C44A21233} = {7922FCA8-9F38-47C9-93D3-D591F6CD3419}
+		{1D21AB6E-B6BA-A556-7CDF-71133E3D1BFB} = {7922FCA8-9F38-47C9-93D3-D591F6CD3419}
 		{7FD42DF7-442E-479A-BA76-D0022F99702A} = {7922FCA8-9F38-47C9-93D3-D591F6CD3419}
 		{01B47039-3133-407A-944A-3F554A017C2C} = {7922FCA8-9F38-47C9-93D3-D591F6CD3419}
 	EndGlobalSection

diff --git a/src/OpenNISpecific/OpenNIDevice.cpp b/src/OpenNISpecific/OpenNIDevice.cpp
@@ -842,8 +842,20 @@ _2RealTrackedJointRef OpenNIDevice::getUserJoint( const uint32_t userID, XnSkele
 	getExistingProductionNode( XN_NODE_TYPE_DEPTH, depthGen );	
 	xnConvertRealWorldToProjective( depthGen.GetHandle(), 1, &joint.position.position, &screenPos ); 
 	_2RealMatrix3x3 mat;
-	for( int i=0; i < 9; ++i )
-		mat.elements[i] = joint.orientation.orientation.elements[i];
+
+	//for( int i=0; i < 9; ++i )
+	//	mat.elements[i] = joint.orientation.orientation.elements[i];
+
+	mat.m11 = joint.orientation.orientation.elements[0];
+	mat.m12 = joint.orientation.orientation.elements[1];
+	mat.m13 = joint.orientation.orientation.elements[2];
+	mat.m21 = joint.orientation.orientation.elements[3];
+	mat.m22 = joint.orientation.orientation.elements[4];
+	mat.m23 = joint.orientation.orientation.elements[5];
+	mat.m31 = joint.orientation.orientation.elements[6];
+	mat.m32 = joint.orientation.orientation.elements[7];
+	mat.m33 = joint.orientation.orientation.elements[8];
+
 
 	_2RealJointConfidence confidence((float)joint.position.fConfidence, (float)joint.orientation.fConfidence);
 

diff --git a/src/OpenNISpecific/_2RealImplementationOpenNI.hpp b/src/OpenNISpecific/_2RealImplementationOpenNI.hpp
@@ -54,6 +54,7 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 		bool		 														m_IsInitialized;
 		_2RealTrackedUserVector												m_TrackedUserVector;
 		bool																m_ShouldUpdate;
+		bool																m_StopRequested;
 		boost::thread														m_ProcessingThread;
 		virtual void initialize()
 		{
@@ -132,7 +133,7 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 
 		 void update()
 		 {
-			 while ( true )
+			 while ( !m_StopRequested )
 			 {
 				 if ( m_ShouldUpdate )
 				 {
@@ -147,10 +148,11 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 	public:
 		_2RealImplementationOpenNI()
 			:m_NumDevices( 0 ),
-			 m_IsInitialized( 0 ),
+			 m_IsInitialized( false ),
 			 m_GeneratorConfig( CONFIG_DEFAULT ),
 			 m_ImageConfig( IMAGE_CONFIG_DEFAULT ),
-			 m_ShouldUpdate( false )
+			 m_ShouldUpdate( false ),
+			 m_StopRequested( false )
 		{
 			initialize();
 		}
@@ -316,7 +318,23 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 		}
 		virtual bool shutdown()
 		{
+			m_StopRequested = true;
+			m_ProcessingThread.join();
 			return false;
+
+			if( m_IsInitialized )
+			{
+				_2REAL_LOG( info )  << std::endl << "_2Real: Shutting down system..." << std::endl;
+				m_StopRequested = true;
+				m_ProcessingThread.join();
+				m_IsInitialized = false;
+				_2REAL_LOG( info ) << "OK" << std::endl;
+				return true;
+			}
+			_2REAL_LOG( warn ) << std::endl << "_2Real: System not shutdown correctly..." << std::endl;
+			return false;
+
+
 		}
 		virtual boost::shared_array<unsigned char> getImageData( const uint32_t deviceID, _2RealGenerator type, bool waitAndBlock, const uint8_t userId )
 		{
@@ -444,7 +462,7 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 			return m_TrackedUserVector[userID]->getJointWorldPosition( type );
 		}
 
-		virtual const _2RealPositionsVector3f& getSkeletonWorldPositions( const uint32_t deviceID, const uint8_t userID )
+		virtual const _2RealPositionsVector3f getSkeletonWorldPositions( const uint32_t deviceID, const uint8_t userID )
 		{
 			checkDeviceRunning(deviceID);
 
@@ -470,7 +488,7 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 			return m_TrackedUserVector[userID]->getJointScreenPosition( type );
 		}
 
-		virtual const _2RealPositionsVector3f& getSkeletonScreenPositions( const uint32_t deviceID, const uint8_t userID )
+		virtual const _2RealPositionsVector3f getSkeletonScreenPositions( const uint32_t deviceID, const uint8_t userID )
 		{
 			checkDeviceRunning(deviceID);
 
@@ -485,7 +503,7 @@ class _2RealImplementationOpenNI : public I_2RealImplementation
 			return m_TrackedUserVector[userID]->getSkeletonScreenPositions();
 		}
 
-		virtual const _2RealOrientationsMatrix3x3& getSkeletonWorldOrientations( const uint32_t deviceID, const uint8_t userID )
+		virtual const _2RealOrientationsMatrix3x3 getSkeletonWorldOrientations( const uint32_t deviceID, const uint8_t userID )
 		{
 			checkDeviceRunning(deviceID);