Floor clip plane return Vec4 instead of Matrix44f

wieden-kennedy · Jun 9, 2014 · f4db50b · f4db50b
1 parent 3922da0
commit f4db50b
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Showing 2 changed files with 15 additions and 12 deletions.
diff --git a/src/Kinect.cpp b/src/Kinect.cpp
@@ -67,6 +67,11 @@ Vec3f toVec3f( const Vector4& v )
 	return Vec3f( v.x, v.y, v.z );
 }
 
+Vec4f toVec4f( const Vector4& v ) 
+{
+	return Vec4f( v.x, v.y, v.z, v.w );
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 
 Face::Face()
@@ -981,14 +986,13 @@ DeviceOptions& DeviceOptions::setSkeletonTransform( SkeletonTransform transform
 //////////////////////////////////////////////////////////////////////////////////////////////
 
 Frame::Frame()
-	: mDeviceId( "" ), mFrameId( 0 ), mNormalToGravity( Vec3f::zero() )
+	: mDeviceId( "" ), mFloorClipPlane( Vec4f::zero() ), mFrameId( 0 ), mNormalToGravity( Vec3f::zero() )
 {
-	mFloorClipPlane.setToNull();
 }
 
 Frame::Frame( long long frameId, const std::string& deviceId, const Surface8u& color, 
 			 const Channel16u& depth, const Channel16u& infrared, const std::vector<Skeleton>& skeletons, 
-			 const Face& face, const Matrix44f& floorClipPlane, const Vec3f& normalToGravity ) 
+			 const Face& face, const Vec4f& floorClipPlane, const Vec3f& normalToGravity ) 
 : mColorSurface( color ), mDepthChannel( depth ), mDeviceId( deviceId ), mFace( face ), 
 mFloorClipPlane( floorClipPlane ), mFrameId( frameId ), mInfraredChannel( infrared ), 
 mNormalToGravity( normalToGravity ), mSkeletons( skeletons )
@@ -1015,7 +1019,7 @@ const Face&	Frame::getFace() const
 	return mFace;
 }
 
-const Matrix44f& Frame::getFloorClipPlane() const 
+const Vec4f& Frame::getFloorClipPlane() const 
 {
 	return mFloorClipPlane;
 }
@@ -1501,9 +1505,8 @@ void Device::update()
 		return;
 	}
 
-	Matrix44f floorClipPlane;
-	Vec3f normalToGravity = Vec3f::zero();
-	floorClipPlane.setToNull();
+	Vec4f floorClipPlane	= Vec4f::zero();
+	Vec3f normalToGravity	= Vec3f::zero();
 
 	if ( mSurfaceColor ) {
 		mSurfaceColor.reset();
@@ -1539,7 +1542,7 @@ void Device::update()
 	NUI_SKELETON_FRAME skeletonFrame;
 	if ( mDeviceOptions.isUserTrackingEnabled() && 
 		SUCCEEDED( KinectGetSkeletonFrame( mDeviceOptions.getDeviceHandle(), &skeletonFrame ) ) ) {
-		floorClipPlane	= Matrix44f( toQuatf( skeletonFrame.vFloorClipPlane ) );
+		floorClipPlane	= toVec4f( skeletonFrame.vFloorClipPlane );
 		normalToGravity	= toVec3f( skeletonFrame.vNormalToGravity );
 		for ( int32_t i = 0; i < NUI_SKELETON_COUNT; ++i ) {
 			mSkeletons.at( i ).clear();

diff --git a/src/Kinect.h b/src/Kinect.h
@@ -443,8 +443,8 @@ class Frame
 	const std::string&					getDeviceId() const;
 	//! Returns face if tracking is enabled.
 	const Face&							getFace() const;
-	//! Returns matrix representing floor clip plane when skeleton is present.
-	const ci::Matrix44f&				getFloorClipPlane() const;
+	//! Returns Vec4f representing floor clip plane when skeleton is present.
+	const ci::Vec4f&					getFloorClipPlane() const;
 	//! Returns unique, sequential frame ID.
 	long long							getFrameId() const;
 	//! Returns infrared channel for this frame.
@@ -457,13 +457,13 @@ class Frame
 	Frame( long long frameId, const std::string& deviceId, const ci::Surface8u& color, 
 		const ci::Channel16u& depth, const ci::Channel16u& infrared, 
 		const std::vector<Skeleton>& skeletons, const Face& face, 
-		const ci::Matrix44f& floorClipPlane, const ci::Vec3f& normalToGravity );
+		const ci::Vec4f& floorClipPlane, const ci::Vec3f& normalToGravity );
 
 	ci::Surface8u						mColorSurface;
 	ci::Channel16u						mDepthChannel;
 	std::string							mDeviceId;
 	MsKinect::Face						mFace;
-	ci::Matrix44f						mFloorClipPlane;
+	ci::Vec4f							mFloorClipPlane;
 	long long							mFrameId;
 	ci::Channel16u						mInfraredChannel;
 	ci::Vec3f							mNormalToGravity;