Backup diff of キネクトによるエージェントの操作(v120330, v1.4.8)(No. 2)

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- 1 (2012-01-20 (Fri) 18:16:09)
- 2 (2012-01-23 (Mon) 10:53:29)
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[[Tutorial]]

test
***ソースコード [#g906fc36]
テスト中

**動作確認バージョン [#w7344684]
-OpenNI Stable Build for Windows x86 (32-bit) v1.5.2.23 Development Edition
→ ダウンロードは[[こちら>http://75.98.78.94/Downloads/OpenNIModules.aspx]]。
-PrimeSene NITE Stable Build for Windows x86 (32-bit) v1.5.2.21 Development
→ 上と同じページのOpenNI Compliant Middleware Binariesを選択してダウンロード。
-ドライバ　PrimeSense Sensor Module for OpenNI Version 5.1.0.25　→　[[こちら>https://github.com/avin2/SensorKinect]]からダウンロード。
**クライアント側 [#g906fc36]

***ソースコード [#v654549b]
#ref(SIGNiUserTracker.zip)

***バイナリ [#sb954688]
#ref(SIGNiUserTracker_bin.zip)


**コントローラソースコード [#y2f178b2]

#highlight(cpp){{
#include <string>  //stringをインクルード
#include "Controller.h"
#include "Logger.h"
#include "ControllerEvent.h"

#define PI 3.141592
#define DEG2RAD(DEG) ( (PI) * (DEG) / 180.0 )

using namespace std;  //利用名前空間の定義

class AgentController : public Controller
{
public:
  double onAction(ActionEvent &evt);

  //音声データを受け取った時に呼出される関数onRecvSoundの利用を宣言します。
  void  onRecvSound(RecvSoundEvent &evt);

  // メッセージを受信したときの関数onRecvMessageの利用を宣言します。
  void onRecvMessage(RecvMessageEvent &evt);

  void onInit(InitEvent &evt);


private:
  double m_posx;
  double m_posy;
  double m_posz;
  double m_range;
  int m_maxsize;
};

void AgentController::onInit(InitEvent &evt)
{
  SimObj *my = getObj(myname());
  m_posx = my->x();
  m_posy = my->y();
  m_posz = my->z();
  m_range = 0.1;
  m_maxsize = 15;
}

double AgentController::onAction(ActionEvent &evt)
{
  return 10.0;
}

void AgentController::onRecvSound(RecvSoundEvent &evt)
{

}

void AgentController::onRecvMessage(RecvMessageEvent &evt)
{
  //自分自身の取得
  SimObj *my = getObj(myname());
  char *all_msg = (char*)evt.getString(0);

  char *msg = strtok(all_msg," ");
  if(strcmp(msg,"KINECT_DATA") == 0)
    {
      int i = 0;
      while(true)
        {
          i++;
          if(i == m_maxsize+1) break;
          char *type = strtok(NULL,":");
          if(strcmp(type,"POSITION") == 0)
            {
              double x = atof(strtok(NULL,","));
              double y = atof(strtok(NULL,","));
              double z = atof(strtok(NULL," "));
              my->setPosition(m_posx+x,m_posy+y,m_posz+z);
              continue;
            }
          else if(strcmp(type,"WAIST") == 0)
            {
              double w = atof(strtok(NULL,","));
              double x = atof(strtok(NULL,","));
              double y = atof(strtok(NULL,","));
              double z = atof(strtok(NULL," "));
              my->setAxisAndAngle(x,y,z,acos(w)*2);
              continue;
            }

          else if(strcmp(type,"END") == 0)  break;
          else
            {
              double w = atof(strtok(NULL,","));
              double x = atof(strtok(NULL,","));
              double y = atof(strtok(NULL,","));
              double z = atof(strtok(NULL," "));
              double angle = acos(w)*2;
              double tmp = sin(angle/2);
              double vx = x/tmp;
              double vy = y/tmp;
              double vz = z/tmp;
              double len = sqrt(vx*vx+vy*vy+vz*vz);
              if(len < (1 - m_range) || (1 + m_range) < len) continue;
              my->setJointQuaternion(type,w,x,y,z);
              continue;
            }
        }
    }
}

extern "C"  Controller * createController ()
{
  return new AgentController;
}
}}

#highlight(end)

Backup diff of キネクトによるエージェントの操作(v120330, v1.4.8) (No. 2)