Created
February 16, 2011 00:59
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controlling a 3d camera via gestures with kinect in Processing
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import processing.opengl.*; | |
import oscP5.*; | |
import netP5.*; | |
import damkjer.ocd.*; | |
import processing.video.*; | |
MovieMaker mm; | |
boolean recording = false; | |
int recordBegin = 0; | |
float thisD = 0; | |
float lastD = 0; | |
Camera cam; | |
OscP5 oscP5; | |
int ballSize = 6; | |
Hashtable<Integer, Skeleton> skels = new Hashtable<Integer, Skeleton>(); | |
void setup() { | |
size(screen.height*4/3/2, screen.height/2, OPENGL); //Keep 4/3 aspect ratio, since it matches the kinect's. | |
oscP5 = new OscP5(this, "127.0.0.1", 7110); | |
hint(ENABLE_OPENGL_4X_SMOOTH); | |
noStroke(); | |
mm = new MovieMaker(this, width, height, "drawing.mov", | |
30, MovieMaker.ANIMATION, MovieMaker.BEST); | |
cam = new Camera(this, 200, -300, 300); | |
} | |
/* incoming osc message are forwarded to the oscEvent method. */ | |
// Here you can easily see the format of the OSC messages sent. For each user, the joints are named with | |
// the joint named followed by user ID (head0, neck0 .... r_foot0; head1, neck1.....) | |
void oscEvent(OscMessage msg) { | |
//msg.print(); | |
if (msg.checkAddrPattern("/joint") && msg.checkTypetag("sifff")) { | |
// We have received joint coordinates, let's find out which skeleton/joint and save the values ;) | |
Integer id = msg.get(1).intValue(); | |
Skeleton s = skels.get(id); | |
if (s == null) { | |
s = new Skeleton(id); | |
skels.put(id, s); | |
} | |
if (msg.get(0).stringValue().equals("head")) { | |
s.headCoords[0] = msg.get(2).floatValue(); | |
s.headCoords[1] = msg.get(3).floatValue(); | |
s.headCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("neck")) { | |
s.neckCoords[0] = msg.get(2).floatValue(); | |
s.neckCoords[1] = msg.get(3).floatValue(); | |
s.neckCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_collar")) { | |
s.rCollarCoords[0] = msg.get(2).floatValue(); | |
s.rCollarCoords[1] = msg.get(3).floatValue(); | |
s.rCollarCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_shoulder")) { | |
s.rShoulderCoords[0] = msg.get(2).floatValue(); | |
s.rShoulderCoords[1] = msg.get(3).floatValue(); | |
s.rShoulderCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_elbow")) { | |
s.rElbowCoords[0] = msg.get(2).floatValue(); | |
s.rElbowCoords[1] = msg.get(3).floatValue(); | |
s.rElbowCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_wrist")) { | |
s.rWristCoords[0] = msg.get(2).floatValue(); | |
s.rWristCoords[1] = msg.get(3).floatValue(); | |
s.rWristCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_hand")) { | |
s.rHandCoords[0] = msg.get(2).floatValue(); | |
s.rHandCoords[1] = msg.get(3).floatValue(); | |
s.rHandCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_finger")) { | |
s.rFingerCoords[0] = msg.get(2).floatValue(); | |
s.rFingerCoords[1] = msg.get(3).floatValue(); | |
s.rFingerCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_collar")) { | |
s.lCollarCoords[0] = msg.get(2).floatValue(); | |
s.lCollarCoords[1] = msg.get(3).floatValue(); | |
s.lCollarCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_shoulder")) { | |
s.lShoulderCoords[0] = msg.get(2).floatValue(); | |
s.lShoulderCoords[1] = msg.get(3).floatValue(); | |
s.lShoulderCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_elbow")) { | |
s.lElbowCoords[0] = msg.get(2).floatValue(); | |
s.lElbowCoords[1] = msg.get(3).floatValue(); | |
s.lElbowCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_wrist")) { | |
s.lWristCoords[0] = msg.get(2).floatValue(); | |
s.lWristCoords[1] = msg.get(3).floatValue(); | |
s.lWristCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_hand")) { | |
s.lHandCoords[0] = msg.get(2).floatValue(); | |
s.lHandCoords[1] = msg.get(3).floatValue(); | |
s.lHandCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_finger")) { | |
s.lFingerCoords[0] = msg.get(2).floatValue(); | |
s.lFingerCoords[1] = msg.get(3).floatValue(); | |
s.lFingerCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("torso")) { | |
s.torsoCoords[0] = msg.get(2).floatValue(); | |
s.torsoCoords[1] = msg.get(3).floatValue(); | |
s.torsoCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_hip")) { | |
s.rHipCoords[0] = msg.get(2).floatValue(); | |
s.rHipCoords[1] = msg.get(3).floatValue(); | |
s.rHipCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_knee")) { | |
s.rKneeCoords[0] = msg.get(2).floatValue(); | |
s.rKneeCoords[1] = msg.get(3).floatValue(); | |
s.rKneeCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_ankle")) { | |
s.rAnkleCoords[0] = msg.get(2).floatValue(); | |
s.rAnkleCoords[1] = msg.get(3).floatValue(); | |
s.rAnkleCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("r_foot")) { | |
s.rFootCoords[0] = msg.get(2).floatValue(); | |
s.rFootCoords[1] = msg.get(3).floatValue(); | |
s.rFootCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_hip")) { | |
s.lHipCoords[0] = msg.get(2).floatValue(); | |
s.lHipCoords[1] = msg.get(3).floatValue(); | |
s.lHipCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_knee")) { | |
s.lKneeCoords[0] = msg.get(2).floatValue(); | |
s.lKneeCoords[1] = msg.get(3).floatValue(); | |
s.lKneeCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_ankle")) { | |
s.lAnkleCoords[0] = msg.get(2).floatValue(); | |
s.lAnkleCoords[1] = msg.get(3).floatValue(); | |
s.lAnkleCoords[2] = msg.get(4).floatValue(); | |
} | |
else if (msg.get(0).stringValue().equals("l_foot")) { | |
s.lFootCoords[0] = msg.get(2).floatValue(); | |
s.lFootCoords[1] = msg.get(3).floatValue(); | |
s.lFootCoords[2] = msg.get(4).floatValue(); | |
} | |
} | |
else if (msg.checkAddrPattern("/new_user") && msg.checkTypetag("i")) { | |
// A new user is in front of the kinect... Tell him to do the calibration pose! | |
println("New user with ID = " + msg.get(0).intValue()); | |
} | |
else if(msg.checkAddrPattern("/new_skel") && msg.checkTypetag("i")) { | |
//New skeleton calibrated! Lets create it! | |
Integer id = msg.get(0).intValue(); | |
Skeleton s = new Skeleton(id); | |
skels.put(id, s); | |
} | |
else if(msg.checkAddrPattern("/lost_user") && msg.checkTypetag("i")) { | |
//Lost user/skeleton | |
Integer id = msg.get(0).intValue(); | |
println("Lost user " + id); | |
skels.remove(id); | |
} | |
} | |
float[] vertexFromJoint(float[] jointValues){ | |
float[] r = {jointValues[0] * width, jointValues[1] *height, -jointValues[2] * 300}; | |
return r; | |
} | |
float distanceBetweenJoints(float[] j1, float[] j2){ | |
float r = sqrt(sq(j1[0] - j2[0]) + sq(j1[1] - j2[1]) + sq(j1[2] - j2[2])); | |
return r; | |
} | |
void draw() | |
{ | |
background(0); | |
ambientLight(64, 64, 64); | |
lightSpecular(255,255,255); | |
directionalLight(224,224,224, .5, 1, -1); | |
for (Skeleton s: skels.values()) { | |
fill(s.colors[0], s.colors[1], s.colors[2]); | |
for (float[] j: s.allCoords) { | |
pushMatrix(); | |
translate(j[0]*width, j[1]*height, -j[2]*300); | |
sphere(2 * ballSize/j[2]); | |
popMatrix(); | |
} | |
//headCoords, neckCoords, rCollarCoords, rShoulderCoords, rElbowCoords, rWristCoords, | |
// rHandCoords, rFingerCoords, lCollarCoords, lShoulderCoords, lElbowCoords, lWristCoords, | |
// lHandCoords, lFingerCoords, torsoCoords, rHipCoords, rKneeCoords, rAnkleCoords, | |
// rFootCoords, lHipCoords, lKneeCoords, lAnkleCoords, lFootCoords | |
// head | |
// | | |
// neck -- rCollar -- rShoulder -- rElbow -- rWrist -- rHand - rFinger | |
// | | |
// torso | |
// /\ | |
// lHip rHip | |
// | | |
// rKnee | |
// | | |
// rAnkle | |
// | | |
// rFoot | |
float[] headVerts = vertexFromJoint(s.headCoords); | |
float[] neckVerts = vertexFromJoint(s.neckCoords); | |
float[] rCollarVerts = vertexFromJoint(s.rCollarCoords); | |
float[] lCollarVerts = vertexFromJoint(s.lCollarCoords); | |
float[] rShoulderVerts = vertexFromJoint(s.rShoulderCoords); | |
float[] lShoulderVerts = vertexFromJoint(s.lShoulderCoords); | |
float[] rElbowVerts = vertexFromJoint(s.rElbowCoords); | |
float[] lElbowVerts = vertexFromJoint(s.lElbowCoords); | |
float[] rWristVerts = vertexFromJoint(s.rWristCoords); | |
float[] rHandVerts = vertexFromJoint(s.rHandCoords); | |
float[] lHandVerts = vertexFromJoint(s.lHandCoords); | |
float[] torsoVerts = vertexFromJoint(s.torsoCoords); | |
float[] rHipVerts = vertexFromJoint(s.rHipCoords); | |
float[] lHipVerts = vertexFromJoint(s.lHipCoords); | |
float[] rKneeVerts = vertexFromJoint(s.rKneeCoords); | |
float[] lKneeVerts = vertexFromJoint(s.lKneeCoords); | |
float[] rFootVerts = vertexFromJoint(s.rFootCoords); | |
float[] lFootVerts = vertexFromJoint(s.lFootCoords); | |
stroke(0,255,0); | |
strokeWeight(3); | |
beginShape(LINES); | |
vertex(headVerts[0], headVerts[1], headVerts[2]); | |
vertex(neckVerts[0], neckVerts[1], neckVerts[2]); | |
vertex(neckVerts[0], neckVerts[1], neckVerts[2]); | |
vertex(rShoulderVerts[0], rShoulderVerts[1], rShoulderVerts[2]); | |
vertex(neckVerts[0], neckVerts[1], neckVerts[2]); | |
vertex(lShoulderVerts[0], lShoulderVerts[1], lShoulderVerts[2]); | |
vertex(rShoulderVerts[0], rShoulderVerts[1], rShoulderVerts[2]); | |
vertex(rElbowVerts[0], rElbowVerts[1], rElbowVerts[2]); | |
vertex(lShoulderVerts[0], lShoulderVerts[1], lShoulderVerts[2]); | |
vertex(lElbowVerts[0], lElbowVerts[1], lElbowVerts[2]); | |
vertex(rElbowVerts[0], rElbowVerts[1], rElbowVerts[2]); | |
vertex(rHandVerts[0], rHandVerts[1], rHandVerts[2]); | |
vertex(lElbowVerts[0], lElbowVerts[1], lElbowVerts[2]); | |
vertex(lHandVerts[0], lHandVerts[1], lHandVerts[2]); | |
vertex(neckVerts[0], neckVerts[1], neckVerts[2]); | |
vertex(torsoVerts[0], torsoVerts[1], torsoVerts[2]); | |
vertex(torsoVerts[0], torsoVerts[1], torsoVerts[2]); | |
vertex(rHipVerts[0], rHipVerts[1], rHipVerts[2]); | |
vertex(torsoVerts[0], torsoVerts[1], torsoVerts[2]); | |
vertex(lHipVerts[0], lHipVerts[1], lHipVerts[2]); | |
vertex(lHipVerts[0], lHipVerts[1], lHipVerts[2]); | |
vertex(lKneeVerts[0], lKneeVerts[1], lKneeVerts[2]); | |
vertex(rHipVerts[0], rHipVerts[1], rHipVerts[2]); | |
vertex(rKneeVerts[0], rKneeVerts[1], rKneeVerts[2]); | |
vertex(rKneeVerts[0], rKneeVerts[1], rKneeVerts[2]); | |
vertex(rFootVerts[0], rFootVerts[1], rFootVerts[2]); | |
vertex(lKneeVerts[0], lKneeVerts[1], lKneeVerts[2]); | |
vertex(lFootVerts[0], lFootVerts[1], lFootVerts[2]); | |
endShape(); | |
noStroke(); | |
float thisD = distanceBetweenJoints(rHandVerts, lHandVerts); | |
float delta = abs(thisD - lastD); | |
// println(delta); | |
if(delta > 1.2){ | |
float speed = map(delta, 0, 10, 0, 0.125); | |
if(thisD > lastD){ | |
cam.zoom(speed); | |
} if(lastD > thisD) { | |
cam.zoom(-speed); | |
} | |
} | |
// println("r: " + rHandVerts[1] + "\tl: " + lHandVerts[1] + "\tt: " + torsoVerts[1]); | |
if(rHandVerts[1] > headVerts[1] && lHandVerts[1] > headVerts[1] ){ | |
cam.circle(0.1); | |
} | |
if(rHandVerts[1] < lHipVerts[1] && lHandVerts[1] < lHipVerts[1] ){ | |
cam.circle(-0.1); | |
} | |
lastD = thisD; | |
//println("this: " + thisD + " last: " + lastD); | |
cam.aim(rHandVerts[0], rHandVerts[1], rHandVerts[2]); | |
} | |
cam.feed(); | |
if(recording){ | |
mm.addFrame(); | |
} | |
} | |
void keyPressed() { | |
if(key == ' ' && !recording){ | |
println("begin recording"); | |
recordBegin = millis(); | |
recording = true; | |
} | |
if (key == ' ' && recording && (millis() - recordBegin) > 1000) { | |
mm.finish(); // Finish the movie if space bar is pressed! | |
println("stop recording"); | |
recording = false; | |
} | |
} |
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