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1  AUTHORS
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+Joaquim Rocha <jrocha@igalia.com> - Creator
674 COPYING
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+ GNU GENERAL PUBLIC LICENSE
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+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
2  ChangeLog
@@ -0,0 +1,2 @@
+
+
19 Makefile.am
@@ -0,0 +1,19 @@
+## Process this file with automake to produce Makefile.in
+## Created by Anjuta
+
+SUBDIRS = src
+
+skeltrackdesktopcontroldocdir = ${prefix}/doc/skeltrack-desktop-control
+skeltrackdesktopcontroldoc_DATA = \
+ README\
+ COPYING\
+ AUTHORS\
+ ChangeLog\
+ INSTALL\
+ NEWS
+
+EXTRA_DIST = $(skeltrackdesktopcontroldoc_DATA)
+
+# Remove doc directory on uninstall
+uninstall-local:
+ -rm -r $(skeltrackdesktopcontroldocdir)
0  NEWS
No changes.
39 README
@@ -0,0 +1,39 @@
+==========================
+Skeltrack Desktop Control
+==========================
+
+This demo is an example of what can be done with Skeltrack.
+
+It needs a Kinect device, to which it connects using GFreenect, and retrieves
+the head and hands' positions from Skeltrack. Then, the positions are
+interpreted as gestures which are mapped to events in the desktop using Xlib.
+
+This demo is not supposed to be a full-blown gesture interpretation system,
+so, the code is tailored to use cases in the GNOME 3 desktop.
+
+A video showing this demo in use can be watched at:
+
+http://vimeo.com/user1454556/skeltrackdesktopcontrol
+
+Gestures
+========
+
+The gestures are activated when the hands are at a certain distance in front
+of the head (around 30 cm); this is called the "action area".
+
+The following list shows what gestures are interpreted as commands:
+1) One hand moving: Move mouse pointer;
+2) While one hand is in the action area another one hand enters
+ it and quickly leaves: Perform a click;
+3) While one hand is in the action area another one hand enters and stays
+ there: Perform a mouse press (allowing the user to move things around
+ using the other hand);
+
+Apart from the list above, there are two modes when both hands enter the
+action area at about the same time. Those are:
+1) Steering Wheel Mode: Both hands are interpreted as if holding a steering
+ wheel. By default the up arrow key is pressed and the left or right arrow
+ keys are pressed according to the orientation of the hands.
+2) Pinch Mode: Both hands are interpreted as if performing a pinch gesture,
+ which results in a control + mouse wheel up/down event (because
+ this is usually interpreted as zoom in/out).
157 autogen.sh
@@ -0,0 +1,157 @@
+#!/bin/sh
+# Run this to generate all the initial makefiles, etc.
+
+srcdir=`dirname $0`
+test -z "$srcdir" && srcdir=.
+
+DIE=0
+
+if [ -n "$GNOME2_DIR" ]; then
+ ACLOCAL_FLAGS="-I $GNOME2_DIR/share/aclocal $ACLOCAL_FLAGS"
+ LD_LIBRARY_PATH="$GNOME2_DIR/lib:$LD_LIBRARY_PATH"
+ PATH="$GNOME2_DIR/bin:$PATH"
+ export PATH
+ export LD_LIBRARY_PATH
+fi
+
+(test -f $srcdir/configure.ac) || {
+ echo -n "**Error**: Directory "\`$srcdir\'" does not look like the"
+ echo " top-level package directory"
+ exit 1
+}
+
+(autoconf --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`autoconf' installed."
+ echo "Download the appropriate package for your distribution,"
+ echo "or get the source tarball at ftp://ftp.gnu.org/pub/gnu/"
+ DIE=1
+}
+
+(grep "^IT_PROG_INTLTOOL" $srcdir/configure.ac >/dev/null) && {
+ (intltoolize --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`intltool' installed."
+ echo "You can get it from:"
+ echo " ftp://ftp.gnome.org/pub/GNOME/"
+ DIE=1
+ }
+}
+
+(grep "^AM_PROG_XML_I18N_TOOLS" $srcdir/configure.ac >/dev/null) && {
+ (xml-i18n-toolize --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`xml-i18n-toolize' installed."
+ echo "You can get it from:"
+ echo " ftp://ftp.gnome.org/pub/GNOME/"
+ DIE=1
+ }
+}
+
+(grep "^LT_INIT" $srcdir/configure.ac >/dev/null) && {
+ (libtool --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`libtool' installed."
+ echo "You can get it from: ftp://ftp.gnu.org/pub/gnu/"
+ DIE=1
+ }
+}
+
+(grep "^AM_GLIB_GNU_GETTEXT" $srcdir/configure.ac >/dev/null) && {
+ (grep "sed.*POTFILES" $srcdir/configure.ac) > /dev/null || \
+ (glib-gettextize --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`glib' installed."
+ echo "You can get it from: ftp://ftp.gtk.org/pub/gtk"
+ DIE=1
+ }
+}
+
+(automake --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: You must have \`automake' installed."
+ echo "You can get it from: ftp://ftp.gnu.org/pub/gnu/"
+ DIE=1
+ NO_AUTOMAKE=yes
+}
+
+
+# if no automake, don't bother testing for aclocal
+test -n "$NO_AUTOMAKE" || (aclocal --version) < /dev/null > /dev/null 2>&1 || {
+ echo
+ echo "**Error**: Missing \`aclocal'. The version of \`automake'"
+ echo "installed doesn't appear recent enough."
+ echo "You can get automake from ftp://ftp.gnu.org/pub/gnu/"
+ DIE=1
+}
+
+if test "$DIE" -eq 1; then
+ exit 1
+fi
+
+if test -z "$*"; then
+ echo "**Warning**: I am going to run \`configure' with no arguments."
+ echo "If you wish to pass any to it, please specify them on the"
+ echo \`$0\'" command line."
+ echo
+fi
+
+case $CC in
+xlc )
+ am_opt=--include-deps;;
+esac
+
+for coin in `find $srcdir -path $srcdir/CVS -prune -o -name configure.ac -print`
+do
+ dr=`dirname $coin`
+ if test -f $dr/NO-AUTO-GEN; then
+ echo skipping $dr -- flagged as no auto-gen
+ else
+ echo processing $dr
+ ( cd $dr
+
+ aclocalinclude="$ACLOCAL_FLAGS"
+
+ if grep "^AM_GLIB_GNU_GETTEXT" configure.ac >/dev/null; then
+ echo "Creating $dr/aclocal.m4 ..."
+ test -r $dr/aclocal.m4 || touch $dr/aclocal.m4
+ echo "Running glib-gettextize... Ignore non-fatal messages."
+ echo "no" | glib-gettextize --force --copy
+ echo "Making $dr/aclocal.m4 writable ..."
+ test -r $dr/aclocal.m4 && chmod u+w $dr/aclocal.m4
+ fi
+ if grep "^IT_PROG_INTLTOOL" configure.ac >/dev/null; then
+ echo "Running intltoolize..."
+ intltoolize --copy --force --automake
+ fi
+ if grep "^AM_PROG_XML_I18N_TOOLS" configure.ac >/dev/null; then
+ echo "Running xml-i18n-toolize..."
+ xml-i18n-toolize --copy --force --automake
+ fi
+ if grep "^LT_INIT" configure.ac >/dev/null; then
+ if test -z "$NO_LIBTOOLIZE" ; then
+ echo "Running libtoolize..."
+ libtoolize --force --copy
+ fi
+ fi
+ echo "Running aclocal $aclocalinclude ..."
+ aclocal $aclocalinclude
+ if grep "^A[CM]_CONFIG_HEADER" configure.ac >/dev/null; then
+ echo "Running autoheader..."
+ autoheader
+ fi
+ echo "Running automake --gnu $am_opt ..."
+ automake --add-missing --gnu $am_opt
+ echo "Running autoconf ..."
+ autoconf
+ )
+ fi
+done
+
+if test x$NOCONFIGURE = x; then
+ echo Running $srcdir/configure "$@" ...
+ $srcdir/configure "$@" \
+ && echo Now type \`make\' to compile. || exit 1
+else
+ echo Skipping configure process.
+fi
40 configure.ac
@@ -0,0 +1,40 @@
+dnl Process this file with autoconf to produce a configure script.
+dnl Created by Anjuta application wizard.
+
+m4_define([prj_name], [Skeltrack Desktop Control])
+m4_define([prj_short_name], [DesktopControl])
+m4_define([prj_home], [http://labs.igalia.com/skeltrack-desktop-control])
+
+AC_INIT([prj_name],
+ [prj_version],
+ [prj_home])
+
+AC_CONFIG_HEADERS([config.h])
+
+AM_INIT_AUTOMAKE([1.11])
+
+AM_SILENT_RULES([yes])
+
+PRJ_NAME="prj_short_name"
+AC_SUBST(PRJ_NAME)
+
+AC_PROG_CC
+
+SKELTRAC_REQUIRED=0.1.2
+GFREENECT_REQUIRED=0.1.4
+CLUTTER_REQUIRED=1.8.4
+GLIB_REQUIRED=2.28.0
+XTST_REQUIRED=1.2.0
+PKG_CHECK_MODULES(DEPS, gfreenect-0.1 >= GFREENECT_REQUIRED
+ skeltrack-0.1 >= SKELTRACK-0
+ clutter-1.0 >= CLUTTER_REQUIRED
+ glib-2.0 >= $GLIB_REQUIRED
+ gio-2.0 >= $GLIB_REQUIRED
+ gobject-2.0 >= $GLIB_REQUIRED
+ xtst >= XTST_REQUIRED)
+
+AC_OUTPUT([
+Makefile
+src/Makefile
+
+])
25 src/Makefile.am
@@ -0,0 +1,25 @@
+## Process this file with automake to produce Makefile.in
+
+## Created by Anjuta
+
+AM_CPPFLAGS = \
+ -DPACKAGE_LOCALE_DIR=\""$(prefix)/$(DATADIRNAME)/locale"\" \
+ -DPACKAGE_SRC_DIR=\""$(srcdir)"\" \
+ -DPACKAGE_DATA_DIR=\""$(datadir)"\"
+
+AM_CFLAGS = \
+ $(DEPS_CFLAGS) \
+ -I$(top_srcdir)/@PRJ_NAME@
+ -Wall \
+ -g
+
+bin_PROGRAMS = skeltrack-desktop-control
+
+skeltrack_desktop_control_SOURCES = \
+ main.c
+
+skeltrack_desktop_control_LDFLAGS =
+
+skeltrack_desktop_control_LDADD = \
+ $(DEPS_LIBS)
+
966 src/main.c
@@ -0,0 +1,966 @@
+/* Skeltrack Desktop Control: Main
+ *
+ * Copyright (c) 2012 Igalia, S.L.
+ *
+ * Author: Joaquim Rocha <jrocha@igalia.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <gfreenect.h>
+#include <skeltrack.h>
+#include <math.h>
+#include <string.h>
+#include <glib-object.h>
+#include <clutter/clutter.h>
+#include <clutter/clutter-keysyms.h>
+#include <X11/Xlib.h>
+#include <X11/keysym.h>
+#include <X11/extensions/XTest.h>
+
+static SkeltrackSkeleton *skeleton = NULL;
+static GFreenectDevice *kinect = NULL;
+static ClutterActor *info_text;
+static ClutterActor *depth_tex;
+static SkeltrackJointList list = NULL;
+static gboolean SHOW_SKELETON = TRUE;
+
+static Display *display = NULL;
+static gint screen_width = 0;
+static gint screen_height = 0;
+
+/* In the Z axis, from the head*/
+static gint GESTURE_THRESHOLD = 250;
+
+/* Timeout after a hand gets ready to be interpreted
+ and it actually is. In milliseconds. */
+static guint GESTURE_TIMEOUT = 300;
+
+static guint THRESHOLD_BEGIN = 500;
+/* Adjust this value to increase of decrease
+ the threshold */
+static guint THRESHOLD_END = 1500;
+
+static ClutterEventType pointer_1_event_type = CLUTTER_NOTHING;
+static ClutterEventType pointer_2_event_type = CLUTTER_NOTHING;
+
+/* Affect how two hands gestures should be interpreted */
+static gboolean DOUBLE_HAND_WHEEL_MODE = TRUE;
+
+/* Distance between the two points (in 640x480)
+ so that it should be considered as "steering wheel
+ turned" gesture */
+static guint WHEEL_TURN_ACTIVATE_DISTANCE = 35;
+
+/* Distance between the two points (in 640x480)
+ so that it should be considered a pinch gesture */
+static guint PINCH_ACTIVATE_DISTANCE = 75;
+
+typedef struct _Point Point;
+
+static Point *pointer_1 = NULL;
+static Point *pointer_2 = NULL;
+static Point *last_left_point = NULL;
+static Point *last_right_point = NULL;
+static gint64 pointer_enter_time = 0;
+static gint old_distance = -1;
+static guint last_key = 0;
+
+typedef struct
+{
+ guint16 *reduced_buffer;
+ guint16 *original_buffer;
+ gint width;
+ gint height;
+ gint reduced_width;
+ gint reduced_height;
+} BufferInfo;
+
+struct _Point
+{
+ gint x;
+ gint y;
+ gint z;
+};
+
+static Point *
+smooth_point (guint16 *buffer,
+ guint width,
+ guint height,
+ SkeltrackJoint *joint);
+
+static gint
+get_distance (Point *point_a, Point *point_b)
+{
+ gint dx, dy;
+ dx = ABS (point_a->x - point_b->x);
+ dy = ABS (point_a->y - point_b->y);
+ return sqrt (dx * dx + dy * dy);
+}
+
+static void
+get_pointer_position (Display *display, gint *x, gint *y)
+{
+ XEvent e;
+ Window root;
+ root = XRootWindow(display, 0);
+ XQueryPointer(display, root,
+ &e.xbutton.root, &e.xbutton.window,
+ &e.xbutton.x_root, &e.xbutton.y_root,
+ &e.xbutton.x, &e.xbutton.y,
+ &e.xbutton.state);
+ *x = e.xbutton.x_root;
+ *y = e.xbutton.y_root;
+}
+
+static void
+set_mouse_pointer (gint x, gint y)
+{
+ gint pos_x, pos_y;
+ gdouble rel_x, rel_y;
+ if (display == NULL)
+ return;
+
+ get_pointer_position (display, &pos_x, &pos_y);
+
+ rel_x = screen_width - (x * screen_width / 640.f * 1.1);
+ rel_y = y * screen_height / 480.f * 1.1;
+
+ pos_x += round ((rel_x - pos_x) / 8.f);
+ pos_y += round ((rel_y - pos_y) / 8.f);
+
+ XTestFakeMotionEvent(display, -1, pos_x, pos_y, CurrentTime);
+ XSync(display, 0);
+}
+
+static void
+key_down (guint keycode)
+{
+ XTestFakeKeyEvent (display,
+ keycode,
+ TRUE,
+ CurrentTime);
+ XSync(display, 0);
+}
+
+static void
+key_up (guint keycode)
+{
+ XTestFakeKeyEvent (display,
+ keycode,
+ FALSE,
+ CurrentTime);
+ XSync(display, 0);
+}
+
+static void
+mouse_down (guint button)
+{
+ XTestFakeButtonEvent(display, button, TRUE, CurrentTime);
+ XSync(display, 0);
+}
+
+static void
+mouse_up (guint button)
+{
+ XTestFakeButtonEvent(display, button, FALSE, CurrentTime);
+ XSync(display, 0);
+}
+
+static void
+mouse_click (guint button)
+{
+ XTestFakeButtonEvent(display, button, TRUE, CurrentTime);
+ XTestFakeButtonEvent(display, button, FALSE, CurrentTime);
+ XSync(display, 0);
+}
+
+static gboolean
+hand_is_active (SkeltrackJoint *head, SkeltrackJoint *hand)
+{
+ return hand != NULL && ABS (head->z - hand->z) > GESTURE_THRESHOLD;
+}
+
+static void
+both_hands_left (void)
+{
+ XTestFakeButtonEvent(display, 1, FALSE, CurrentTime);
+ XSync(display, 0);
+ pointer_1 = NULL;
+ pointer_2 = NULL;
+ pointer_1_event_type = CLUTTER_NOTHING;
+ pointer_2_event_type = CLUTTER_NOTHING;
+ old_distance = -1;
+
+ if (last_key != 0)
+ {
+ guint keycode;
+ XTestFakeKeyEvent (display,
+ last_key,
+ FALSE,
+ CurrentTime);
+ keycode = XKeysymToKeycode(display, XK_Up);
+ XTestFakeKeyEvent (display,
+ keycode,
+ FALSE,
+ CurrentTime);
+ XSync(display, 0);
+ last_key = 0;
+ }
+}
+
+static void
+interpret_wheel_gesture (Point *pointer_1,
+ Point *pointer_2)
+{
+ /* Assuming pointer_1 is the left hand
+ and pointer_2 is the right hand */
+ guint keycode;
+
+ if (pointer_1->y < pointer_2->y)
+ {
+ keycode = XKeysymToKeycode(display, XK_Right);
+ g_debug ("RIGHT");
+ }
+ else
+ {
+ keycode = XKeysymToKeycode(display, XK_Left);
+ g_debug ("LEFT");
+ }
+
+ if (last_key != 0 && keycode != last_key)
+ {
+ key_up (last_key);
+ }
+ if (ABS (pointer_1->y - pointer_2->y) / WHEEL_TURN_ACTIVATE_DISTANCE != 0)
+ {
+ key_down (keycode);
+ }
+ else
+ {
+ key_up (keycode);
+ }
+ keycode = XKeysymToKeycode(display, XK_Up);
+ key_down (keycode);
+ last_key = keycode;
+}
+
+static void
+interpret_pinch_gesture (Point *pointer_1,
+ Point *pointer_2)
+{
+ if (old_distance == -1)
+ {
+ old_distance = get_distance (pointer_1, pointer_2);
+ }
+ else
+ {
+ gint new_distance = get_distance (pointer_1, pointer_2);
+ if (ABS (old_distance - new_distance) > PINCH_ACTIVATE_DISTANCE)
+ {
+ g_debug ("ENTERED");
+ guint keycode;
+ keycode = XKeysymToKeycode(display, XK_Control_L);
+ key_down (keycode);
+ if (old_distance < new_distance)
+ {
+ mouse_click (4);
+ g_debug ("SCROLL UP!");
+ }
+ else
+ {
+ mouse_click (5);
+ g_debug ("SCROLL DOWN!");
+ }
+ key_up (keycode);
+ old_distance = new_distance;
+ }
+ }
+}
+
+static void
+interpret_guestures (SkeltrackJointList joint_list,
+ guint16 *buffer,
+ guint width,
+ guint height)
+{
+ gint64 time;
+ Point *left_point, *right_point, *single_point;
+ SkeltrackJoint *head, *left_hand, *right_hand;
+
+ if (joint_list == NULL)
+ return;
+
+ head = skeltrack_joint_list_get_joint (joint_list,
+ SKELTRACK_JOINT_ID_HEAD);
+ left_hand = skeltrack_joint_list_get_joint (joint_list,
+ SKELTRACK_JOINT_ID_LEFT_HAND);
+ right_hand = skeltrack_joint_list_get_joint (joint_list,
+ SKELTRACK_JOINT_ID_RIGHT_HAND);
+
+ if (head == NULL)
+ return;
+
+ left_point = NULL;
+ right_point = NULL;
+ single_point = NULL;
+
+ if (hand_is_active (head, left_hand))
+ {
+ left_point = smooth_point (buffer, width, height, left_hand);
+ single_point = left_point;
+ if (hand_is_active (head, right_hand))
+ {
+ right_point = smooth_point (buffer, width, height, right_hand);
+ single_point = NULL;
+ }
+ }
+ else if (hand_is_active (head, right_hand))
+ {
+ right_point = smooth_point (buffer, width, height, right_hand);
+ single_point = right_point;
+ }
+
+ if (single_point)
+ {
+ if (last_key != 0)
+ {
+ key_up (last_key);
+ last_key = 0;
+ }
+
+ if (pointer_1_event_type == CLUTTER_SCROLL)
+ {
+ pointer_1_event_type = CLUTTER_NOTHING;
+ }
+ else if (pointer_2_event_type == CLUTTER_BUTTON_PRESS)
+ {
+ mouse_up (1);
+ }
+ else if (pointer_2_event_type == CLUTTER_ENTER)
+ {
+ mouse_click (1);
+ pointer_2_event_type = CLUTTER_NOTHING;
+ }
+
+ time = g_get_real_time ();
+ if (pointer_1_event_type == CLUTTER_NOTHING)
+ {
+ pointer_enter_time = time;
+ pointer_1_event_type = CLUTTER_ENTER;
+ }
+ else if (pointer_1_event_type == CLUTTER_MOTION ||
+ (pointer_1_event_type == CLUTTER_ENTER &&
+ time - pointer_enter_time > GESTURE_TIMEOUT * 1000))
+ {
+ pointer_1_event_type = CLUTTER_MOTION;
+ pointer_2_event_type = CLUTTER_NOTHING;
+ pointer_1 = single_point;
+ set_mouse_pointer (single_point->x, single_point->y);
+ }
+ }
+ else if (left_point && right_point)
+ {
+ time = g_get_real_time ();
+ if (pointer_1_event_type == CLUTTER_MOTION)
+ {
+ /* One hand entered when the other was already
+ doing something */
+ Point *point = NULL;
+
+ if (pointer_2_event_type == CLUTTER_NOTHING)
+ {
+ pointer_enter_time = time;
+ pointer_2_event_type = CLUTTER_ENTER;
+ }
+ else if (pointer_2_event_type == CLUTTER_ENTER &&
+ time - pointer_enter_time > GESTURE_TIMEOUT * 1000)
+ {
+ pointer_2_event_type = CLUTTER_BUTTON_PRESS;
+ mouse_down (1);
+ }
+
+ if (pointer_1 == last_left_point)
+ {
+ point = left_point;
+ }
+ else if (pointer_1 == last_right_point)
+ {
+ point = right_point;
+ }
+
+ pointer_1 = point;
+ if (point != NULL)
+ {
+ set_mouse_pointer (point->x, point->y);
+ }
+ }
+ else
+ {
+ /* Both hands entered at the same time*/
+ pointer_1 = left_point;
+ pointer_2 = right_point;
+ pointer_1_event_type = CLUTTER_SCROLL;
+ pointer_2_event_type = CLUTTER_SCROLL;
+
+ /* Skip the first time where both hands entered */
+ if (last_left_point != NULL && last_right_point != NULL)
+ {
+ if (DOUBLE_HAND_WHEEL_MODE)
+ {
+ interpret_wheel_gesture (pointer_1,
+ pointer_2);
+ }
+ else
+ {
+ interpret_pinch_gesture (pointer_1,
+ pointer_2);
+ }
+ }
+ }
+ }
+ else if (last_right_point || last_left_point)
+ {
+ both_hands_left ();
+ }
+
+ if (last_left_point != NULL)
+ {
+ g_slice_free (Point, last_left_point);
+ }
+ last_left_point = left_point;
+ if (last_right_point != NULL)
+ {
+ g_slice_free (Point, last_right_point);
+ }
+ last_right_point = right_point;
+}
+
+static void
+on_track_joints (GObject *obj,
+ GAsyncResult *res,
+ gpointer user_data)
+{
+ BufferInfo *buffer_info;
+ guint16 *reduced, *original;
+ gint width, height;
+ GError *error = NULL;
+
+ buffer_info = (BufferInfo *) user_data;
+ reduced = (guint16 *) buffer_info->reduced_buffer;
+ original = (guint16 *) buffer_info->original_buffer;
+ width = buffer_info->width;
+ height = buffer_info->height;
+
+ list = skeltrack_skeleton_track_joints_finish (skeleton,
+ res,
+ &error);
+
+ if (error == NULL)
+ {
+ interpret_guestures (list, original, width, height);
+
+ if (SHOW_SKELETON)
+ clutter_cairo_texture_invalidate (CLUTTER_CAIRO_TEXTURE (depth_tex));
+ }
+ else
+ {
+ g_error_free (error);
+ }
+
+ g_slice_free1 (width * height * sizeof (guint16), reduced);
+ g_slice_free (BufferInfo, buffer_info);
+}
+
+static void
+grayscale_buffer_set_value (guchar *buffer, gint index, guchar value)
+{
+ buffer[index * 3] = value;
+ buffer[index * 3 + 1] = value;
+ buffer[index * 3 + 2] = value;
+}
+
+static BufferInfo *
+process_buffer (guint16 *buffer,
+ guint width,
+ guint height,
+ guint dimension_factor,
+ guint threshold_begin,
+ guint threshold_end)
+{
+ BufferInfo *buffer_info;
+ gint i, j, reduced_width, reduced_height;
+ guint16 *reduced_buffer;
+
+ g_return_val_if_fail (buffer != NULL, NULL);
+
+ reduced_width = (width - width % dimension_factor) / dimension_factor;
+ reduced_height = (height - height % dimension_factor) / dimension_factor;
+
+ reduced_buffer = g_slice_alloc0 (reduced_width * reduced_height *
+ sizeof (guint16));
+
+ for (i = 0; i < reduced_width; i++)
+ {
+ for (j = 0; j < reduced_height; j++)
+ {
+ gint index;
+ guint16 value = 0;
+
+ index = j * width * dimension_factor + i * dimension_factor;
+ value = buffer[index];
+
+ if (value < threshold_begin || value > threshold_end)
+ {
+ reduced_buffer[j * reduced_width + i] = 0;
+ continue;
+ }
+
+ reduced_buffer[j * reduced_width + i] = value;
+ }
+ }
+
+ buffer_info = g_slice_new0 (BufferInfo);
+ buffer_info->reduced_buffer = reduced_buffer;
+ buffer_info->original_buffer = buffer;
+ buffer_info->reduced_width = reduced_width;
+ buffer_info->reduced_height = reduced_height;
+ buffer_info->width = width;
+ buffer_info->height = height;
+
+ return buffer_info;
+}
+
+static guchar *
+create_grayscale_buffer (BufferInfo *buffer_info, gint dimension_reduction)
+{
+ gint i, j;
+ gint size;
+ guchar *grayscale_buffer;
+ guint16 *reduced_buffer;
+
+ reduced_buffer = buffer_info->reduced_buffer;
+
+ size = buffer_info->width * buffer_info->height * sizeof (guchar) * 3;
+ grayscale_buffer = g_slice_alloc (size);
+ /* Paint it white */
+ memset (grayscale_buffer, 255, size);
+
+ for (i = 0; i < buffer_info->reduced_width; i++)
+ {
+ for (j = 0; j < buffer_info->reduced_height; j++)
+ {
+ if (reduced_buffer[j * buffer_info->reduced_width + i] != 0)
+ {
+ gint index = j * dimension_reduction * buffer_info->width +
+ i * dimension_reduction;
+ grayscale_buffer_set_value (grayscale_buffer, index, 0);
+ }
+ }
+ }
+
+ return grayscale_buffer;
+}
+
+static Point *
+smooth_point (guint16 *buffer, guint width, guint height, SkeltrackJoint *joint)
+{
+ if (joint == NULL)
+ return NULL;
+
+ Point *closest;
+ gint i, j, x, y, radius, min, count;
+ radius = 16;
+ x = joint->screen_x;
+ y = joint->screen_y;
+
+ if (x >= width || y >= height)
+ return NULL;
+
+ closest = g_slice_new0 (Point);
+
+ closest->x = x;
+ closest->y = y;
+ closest->z = joint->z;
+ min = closest->z - 50;
+
+ count = 1;
+
+ for (i = x - radius; i < x + radius; i+=2)
+ {
+ if (i < 0 || i >= width)
+ continue;
+ for (j = y - radius; j < y + radius; j+=2)
+ {
+ guint16 current;
+ if (j < 0 || j >= height || (j == y && i == x))
+ continue;
+
+ current = buffer[j * width + i];
+ if (current < closest->z && current >= min)
+ {
+ closest->x += x;
+ closest->y += y;
+ count++;
+ }
+ }
+ }
+
+ closest->x /= count;
+ closest->y /= count;
+
+ return closest;
+}
+
+static void
+on_depth_frame (GFreenectDevice *kinect, gpointer user_data)
+{
+ gint width, height;
+ gint dimension_factor;
+ guchar *grayscale_buffer;
+ guint16 *depth;
+ BufferInfo *buffer_info;
+ gsize len;
+ GError *error = NULL;
+ GFreenectFrameMode frame_mode;
+
+ depth = (guint16 *) gfreenect_device_get_depth_frame_raw (kinect,
+ &len,
+ &frame_mode);
+
+ width = frame_mode.width;
+ height = frame_mode.height;
+
+ g_object_get (skeleton, "dimension-reduction", &dimension_factor, NULL);
+
+ buffer_info = process_buffer (depth,
+ width,
+ height,
+ dimension_factor,
+ THRESHOLD_BEGIN,
+ THRESHOLD_END);
+
+ skeltrack_skeleton_track_joints (skeleton,
+ buffer_info->reduced_buffer,
+ buffer_info->reduced_width,
+ buffer_info->reduced_height,
+ NULL,
+ on_track_joints,
+ buffer_info);
+
+
+ if (!SHOW_SKELETON)
+ {
+ grayscale_buffer = create_grayscale_buffer (buffer_info,
+ dimension_factor);
+ if (! clutter_texture_set_from_rgb_data (CLUTTER_TEXTURE (depth_tex),
+ grayscale_buffer,
+ FALSE,
+ width, height,
+ 0,
+ 3,
+ CLUTTER_TEXTURE_NONE,
+ &error))
+ {
+ g_error_free (error);
+ }
+ g_slice_free1 (width * height * sizeof (guchar) * 3,
+ grayscale_buffer);
+ }
+}
+
+static void
+paint_joint (cairo_t *cairo,
+ SkeltrackJoint *joint,
+ gint radius,
+ const gchar *color_str)
+{
+ ClutterColor *color;
+
+ if (joint == NULL)
+ return;
+
+ color = clutter_color_new (0, 0, 0, 200);
+ clutter_color_from_string (color, color_str);
+
+ cairo_set_line_width (cairo, 10);
+ clutter_cairo_set_source_color (cairo, color);
+ cairo_arc (cairo,
+ joint->screen_x,
+ joint->screen_y,
+ radius * (THRESHOLD_END - THRESHOLD_BEGIN) / joint->z,
+ 0,
+ G_PI * 2);
+ cairo_fill (cairo);
+ clutter_color_free (color);
+}
+
+static void
+on_texture_draw (ClutterCairoTexture *texture,
+ cairo_t *cairo,
+ gpointer user_data)
+{
+ guint width, height;
+ ClutterColor *color;
+ SkeltrackJoint *head, *left_hand, *right_hand;
+ if (list == NULL)
+ return;
+
+ head = skeltrack_joint_list_get_joint (list,
+ SKELTRACK_JOINT_ID_HEAD);
+ left_hand = skeltrack_joint_list_get_joint (list,
+ SKELTRACK_JOINT_ID_LEFT_HAND);
+ right_hand = skeltrack_joint_list_get_joint (list,
+ SKELTRACK_JOINT_ID_RIGHT_HAND);
+
+ /* Paint it white */
+ clutter_cairo_texture_clear (texture);
+ clutter_cairo_texture_get_surface_size (texture, &width, &height);
+ color = clutter_color_new (255, 255, 255, 255);
+ clutter_cairo_set_source_color (cairo, color);
+ cairo_rectangle (cairo, 0, 0, width, height);
+ cairo_fill (cairo);
+ clutter_color_free (color);
+
+ paint_joint (cairo, head, 50, "#FFF800");
+ paint_joint (cairo, left_hand, 30, "#C2FF00");
+ paint_joint (cairo, right_hand, 30, "#00FAFF");
+
+ skeltrack_joint_list_free (list);
+ list = NULL;
+}
+
+static void
+set_info_text (void)
+{
+ gchar *title;
+ title = g_strdup_printf ("<b>Current View:</b> %s\n"
+ "<b>Double hand mode:</b> %s\n"
+ "<b>Threshold:</b> %d",
+ SHOW_SKELETON ? "Skeleton" : "Point Cloud",
+ DOUBLE_HAND_WHEEL_MODE ? "Steering Wheel": "Pinch",
+ THRESHOLD_END);
+ clutter_text_set_markup (CLUTTER_TEXT (info_text), title);
+ g_free (title);
+}
+
+static void
+set_threshold (gint difference)
+{
+ gint new_threshold = THRESHOLD_END + difference;
+ if (new_threshold >= THRESHOLD_BEGIN + 300 &&
+ new_threshold <= 4000)
+ THRESHOLD_END = new_threshold;
+}
+
+static void
+set_tilt_angle (GFreenectDevice *kinect, gdouble difference)
+{
+ GError *error = NULL;
+ gdouble angle;
+ angle = gfreenect_device_get_tilt_angle_sync (kinect, NULL, &error);
+ if (error != NULL)
+ {
+ g_error_free (error);
+ return;
+ }
+
+ if (angle >= -31 && angle <= 31)
+ gfreenect_device_set_tilt_angle (kinect,
+ angle + difference,
+ NULL,
+ NULL,
+ NULL);
+}
+
+static gboolean
+on_key_release (ClutterActor *actor,
+ ClutterEvent *event,
+ gpointer data)
+{
+ GFreenectDevice *kinect;
+ guint key;
+ g_return_val_if_fail (event != NULL, FALSE);
+
+ kinect = GFREENECT_DEVICE (data);
+
+ key = clutter_event_get_key_symbol (event);
+ switch (key)
+ {
+ case CLUTTER_KEY_space:
+ SHOW_SKELETON = !SHOW_SKELETON;
+ break;
+ case CLUTTER_KEY_Tab:
+ DOUBLE_HAND_WHEEL_MODE = !DOUBLE_HAND_WHEEL_MODE;
+ break;
+ case CLUTTER_KEY_plus:
+ set_threshold (100);
+ break;
+ case CLUTTER_KEY_minus:
+ set_threshold (-100);
+ break;
+ case CLUTTER_KEY_Up:
+ set_tilt_angle (kinect, 5);
+ break;
+ case CLUTTER_KEY_Down:
+ set_tilt_angle (kinect, -5);
+ break;
+ }
+ set_info_text ();
+ return TRUE;
+}
+
+static ClutterActor *
+create_instructions (void)
+{
+ ClutterActor *text;
+
+ text = clutter_text_new ();
+ clutter_text_set_markup (CLUTTER_TEXT (text),
+ "<b>Instructions:</b>\n"
+ "\tChange between double hand mode: \tTab\n"
+ "\tChange between skeleton\n"
+ "\t tracking and threshold view: \tSpace bar\n"
+ "\tSet tilt angle: \t\t\t\tUp/Down Arrows\n"
+ "\tIncrease threshold: \t\t\t+/-");
+ return text;
+}
+
+static void
+on_destroy (ClutterActor *actor, gpointer data)
+{
+ GFreenectDevice *device = GFREENECT_DEVICE (data);
+ gfreenect_device_stop_depth_stream (device, NULL);
+ clutter_main_quit ();
+}
+
+static void
+on_new_kinect_device (GObject *obj,
+ GAsyncResult *res,
+ gpointer user_data)
+{
+ ClutterActor *stage, *instructions;
+ GError *error = NULL;
+ gint width = 640;
+ gint height = 480;
+
+ kinect = gfreenect_device_new_finish (res, &error);
+ if (kinect == NULL)
+ {
+ g_debug ("Failed to created kinect device: %s", error->message);
+ g_error_free (error);
+ clutter_main_quit ();
+ return;
+ }
+
+ g_debug ("Kinect device created!");
+
+ g_debug ("SCREEN: %d %d", screen_width, screen_height);
+
+ stage = clutter_stage_get_default ();
+ clutter_stage_set_title (CLUTTER_STAGE (stage), "Skeltrack Desktop Control");
+ clutter_actor_set_size (stage, width, height + 220);
+ clutter_stage_set_user_resizable (CLUTTER_STAGE (stage), TRUE);
+
+ g_signal_connect (stage, "destroy", G_CALLBACK (on_destroy), kinect);
+ g_signal_connect (stage,
+ "key-release-event",
+ G_CALLBACK (on_key_release),
+ kinect);
+
+ depth_tex = clutter_cairo_texture_new (width, height);
+ clutter_container_add_actor (CLUTTER_CONTAINER (stage), depth_tex);
+
+ info_text = clutter_text_new ();
+ set_info_text ();
+ clutter_actor_set_position (info_text, 50, height + 20);
+ clutter_container_add_actor (CLUTTER_CONTAINER (stage), info_text);
+
+ instructions = create_instructions ();
+ clutter_actor_set_position (instructions, 50, height + 90);
+ clutter_container_add_actor (CLUTTER_CONTAINER (stage), instructions);
+
+ clutter_actor_show_all (stage);
+
+ skeleton = SKELTRACK_SKELETON (skeltrack_skeleton_new ());
+
+ g_signal_connect (kinect,
+ "depth-frame",
+ G_CALLBACK (on_depth_frame),
+ NULL);
+
+ g_signal_connect (depth_tex,
+ "draw",
+ G_CALLBACK (on_texture_draw),
+ NULL);
+
+ gfreenect_device_set_tilt_angle (kinect, 0, NULL, NULL, NULL);
+
+ gfreenect_device_start_depth_stream (kinect,
+ GFREENECT_DEPTH_FORMAT_MM,
+ NULL);
+}
+
+static void
+quit (gint signale)
+{
+ signal (SIGINT, 0);
+
+ clutter_main_quit ();
+}
+
+int
+main (int argc, char *argv[])
+{
+ Screen *screen;
+
+ display = XOpenDisplay (0);
+ screen = XDefaultScreenOfDisplay (display);
+ screen_width = XWidthOfScreen (screen);
+ screen_height = XHeightOfScreen (screen);
+
+ if (clutter_init (&argc, &argv) != CLUTTER_INIT_SUCCESS ||
+ display == NULL || screen == NULL)
+ {
+ XCloseDisplay (display);
+ return -1;
+ }
+
+ gfreenect_device_new (0,
+ GFREENECT_SUBDEVICE_CAMERA,
+ NULL,
+ on_new_kinect_device,
+ NULL);
+
+ signal (SIGINT, quit);
+
+ clutter_main ();
+
+ if (last_left_point != NULL)
+ g_slice_free (Point, last_left_point);
+ if (last_right_point != NULL)
+ g_slice_free (Point, last_right_point);
+
+ if (kinect != NULL)
+ g_object_unref (kinect);
+
+ if (skeleton != NULL)
+ {
+ g_object_unref (skeleton);
+ }
+
+ XCloseDisplay (display);
+
+ return 0;
+}
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