Added IMU support and Record Class

addon_config.mk

@@ -71,8 +71,10 @@ linux64:
 	ADDON_INCLUDES += /usr/include/k4a
 	ADDON_LIBS += /usr/lib/libk4abt.so
 	ADDON_LIBS += /usr/lib/x86_64-linux-gnu/libk4a.so
-	ADDON_LIBS += /opt/libjpeg-turbo/lib64/libturbojpeg.a
-
+	# ADDON_LIBS += /opt/libjpeg-turbo/lib64/libturbojpeg.a
+	ADDON_LIBS += /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0
+	ADDON_LDFLAGS += -lk4arecord
+
 linux:
 
 linuxarmv6l:

example-bodies/src/ofApp.cpp

@@ -7,36 +7,37 @@ void ofApp::setup()
 
 	ofLogNotice(__FUNCTION__) << "Found " << ofxAzureKinect::Device::getInstalledCount() << " installed devices.";
 
-	auto deviceSettings = ofxAzureKinect::DeviceSettings();
-	deviceSettings.syncImages = false;
-	deviceSettings.depthMode = K4A_DEPTH_MODE_NFOV_UNBINNED;
-	deviceSettings.updateIr = false;
-	deviceSettings.updateColor = false;
-	//deviceSettings.colorResolution = K4A_COLOR_RESOLUTION_1080P;
-	deviceSettings.updateWorld = true;
-	deviceSettings.updateVbo = false;
+	// Load Body Tracking Settings
 	auto bodyTrackingSettings = ofxAzureKinect::BodyTrackingSettings();
-	//bodyTrackingSettings.processingMode = K4ABT_TRACKER_PROCESSING_MODE_CPU;
 	bodyTrackingSettings.updateBodies = true;
-	if (this->kinectDevice.open(deviceSettings, bodyTrackingSettings))
+
+	// Load a recording with Body Tracking Settings
+	if (!streaming)
 	{
-		this->kinectDevice.startCameras();
+		filename = ofToDataPath("output_2d_movements.mkv");
+		if (!kinectDevice.open(filename, bodyTrackingSettings))
+		{
+			exit();
+		}
 	}
-
-	// Load shader.
-	auto shaderSettings = ofShaderSettings();
-	shaderSettings.shaderFiles[GL_VERTEX_SHADER] = "shaders/render.vert";
-	shaderSettings.shaderFiles[GL_FRAGMENT_SHADER] = "shaders/render.frag";
-	shaderSettings.intDefines["BODY_INDEX_MAP_BACKGROUND"] = K4ABT_BODY_INDEX_MAP_BACKGROUND;
-	shaderSettings.bindDefaults = true;
-	if (this->shader.setup(shaderSettings))
+	else
 	{
-		ofLogNotice(__FUNCTION__) << "Success loading shader!";
+		auto deviceSettings = ofxAzureKinect::DeviceSettings();
+		deviceSettings.syncImages = false;
+		deviceSettings.depthMode = K4A_DEPTH_MODE_NFOV_UNBINNED;
+		deviceSettings.updateIr = false;
+		deviceSettings.updateColor = false;
+		//deviceSettings.colorResolution = K4A_COLOR_RESOLUTION_1080P;
+		deviceSettings.updateWorld = true;
+		deviceSettings.updateVbo = false;
+
+		if (!kinectDevice.open(deviceSettings, bodyTrackingSettings))
+		{
+			exit();
+		}
 	}
-
-	// Setup vbo.
-	std::vector<glm::vec3> verts(1);
-	this->pointsVbo.setVertexData(verts.data(), verts.size(), GL_STATIC_DRAW);
+	// Start Playback or Streaming
+	kinectDevice.startCameras();
 }
 
 //--------------------------------------------------------------
@@ -48,228 +49,126 @@ void ofApp::exit()
 //--------------------------------------------------------------
 void ofApp::update()
 {
-
 }
 
 //--------------------------------------------------------------
 void ofApp::draw()
 {
 	ofBackground(0);
 
-	if (this->kinectDevice.isStreaming())
-	{
-		this->kinectDevice.getBodyIndexTex().draw(0, 0, 360, 360);
-	}
+	ofxAzureKinect::BodyTracker *tracker = kinectDevice.get_body_tracker();
 
-	this->camera.begin();
-	{
-		ofPushMatrix();
-		{
-			ofRotateXDeg(180);
-
-			ofEnableDepthTest();
+	tracker->draw_body_map();
 
-			constexpr int kMaxBodies = 6;
-			int bodyIDs[kMaxBodies];
-			int i = 0;
-			while (i < this->kinectDevice.getNumBodies())
-			{
-				bodyIDs[i] = this->kinectDevice.getBodyIDs()[i];
-				++i;
-			}
-			while (i < kMaxBodies)
-			{
-				bodyIDs[i] = 0;
-				++i;
-			}
+	camera.begin();
 
-			this->shader.begin();
-			{
-				this->shader.setUniformTexture("uDepthTex", this->kinectDevice.getDepthTex(), 1);
-				this->shader.setUniformTexture("uBodyIndexTex", this->kinectDevice.getBodyIndexTex(), 2);
-				this->shader.setUniformTexture("uWorldTex", this->kinectDevice.getDepthToWorldTex(), 3);
-				this->shader.setUniform2i("uFrameSize", this->kinectDevice.getDepthTex().getWidth(), this->kinectDevice.getDepthTex().getHeight());
-				this->shader.setUniform1iv("uBodyIDs", bodyIDs, kMaxBodies);
+	ofPushMatrix();
+	ofRotateXDeg(180);
+	tracker->draw_point_clouds(kinectDevice.getDepthTex(), kinectDevice.getDepthToWorldTex());
+	tracker->draw_skeletons();
+	ofPopMatrix();
 
-				int numPoints = this->kinectDevice.getDepthTex().getWidth() * this->kinectDevice.getDepthTex().getHeight();
-				this->pointsVbo.drawInstanced(GL_POINTS, 0, 1, numPoints);
-			}
-			this->shader.end();
+	camera.end();
 
-			ofDisableDepthTest();
+	stringstream ss;
+	ss << ofToString(ofGetFrameRate(), 2) + " FPS" << std::endl;
+	ss << "Joint Smoothing: " << kinectDevice.get_body_tracker()->get_joint_smoothing();
+	ofDrawBitmapStringHighlight(ss.str(), 10, 20);
+}
 
-			auto& bodySkeletons = this->kinectDevice.getBodySkeletons();
-			for (auto& skeleton : bodySkeletons)
+//--------------------------------------------------------------
+void ofApp::keyPressed(int key)
+{
+	// handle playback hotkeys
+	if (!streaming)
+	{
+		switch (key)
+		{
+		case ' ':
+		{
+			play = !play;
+			if (play)
 			{
-				// Draw joints.
-				for (int i = 0; i < K4ABT_JOINT_COUNT; ++i)
-				{
-					auto joint = skeleton.joints[i];
-					ofPushMatrix();
-					{
-						glm::mat4 transform = glm::translate(toGlm(joint.position)) * glm::toMat4(toGlm(joint.orientation));
-						ofMultMatrix(transform);
-
-						ofDrawAxis(50.0f);
-					}
-					ofPopMatrix();
-				}
-
-				// Draw connections.
-				this->skeletonMesh.setMode(OF_PRIMITIVE_LINES);
-				auto& vertices = this->skeletonMesh.getVertices();
-				vertices.resize(50);
-				int vdx = 0;
-
-				// Spine.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_NAVEL].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_NAVEL].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_CHEST].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SPINE_CHEST].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HEAD].position);
-
-				// Head.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HEAD].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EAR_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NOSE].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EYE_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_EAR_RIGHT].position);
-
-				// Left Leg.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_FOOT_LEFT].position);
-
-				// Right leg.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_PELVIS].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_HIP_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_KNEE_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ANKLE_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_FOOT_RIGHT].position);
-
-				// Left arm.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_LEFT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_LEFT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_WRIST_LEFT].position);
-
-				// Right arm.
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_NECK].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_CLAVICLE_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_SHOULDER_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_RIGHT].position);
-
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_ELBOW_RIGHT].position);
-				vertices[vdx++] = toGlm(skeleton.joints[K4ABT_JOINT_WRIST_RIGHT].position);
-
-				this->skeletonMesh.draw();
+				kinectDevice.play = true;
 			}
+			else
+			{
+				kinectDevice.pause = false;
+			}
+			break;
+		}
+		case '+':
+			play_head = ofClamp(play_head + .01, 0, 1);
+			kinectDevice.seek = play_head;
+			break;
+		case '-':
+			play_head = ofClamp(play_head - .01, 0, 1);
+			kinectDevice.seek = play_head;
+			break;
 		}
-		ofPopMatrix();
-	}
-	this->camera.end();
-
-	std::ostringstream oss;
-	oss << ofToString(ofGetFrameRate(), 2) + " FPS" << std::endl;
-	oss << "Joint Smoothing: " << this->kinectDevice.jointSmoothing;
-	ofDrawBitmapStringHighlight(oss.str(), 10, 20);
-}
-
-//--------------------------------------------------------------
-void ofApp::keyPressed(int key){
 
+		switch (key)
+		{
+		case 'f':
+		case 'F':
+			ofToggleFullscreen();
+			break;
+		default:
+			break;
+		}
+	}
 }
 
 //--------------------------------------------------------------
-void ofApp::keyReleased(int key){
-
+void ofApp::keyReleased(int key)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::mouseMoved(int x, int y ){
-
+void ofApp::mouseMoved(int x, int y)
+{
 }
 
 //--------------------------------------------------------------
 void ofApp::mouseDragged(int x, int y, int button)
 {
 	if (button == 1)
 	{
-		this->kinectDevice.jointSmoothing = ofMap(x, 0, ofGetWidth(), 0.0f, 1.0f, true);
+		this->kinectDevice.get_body_tracker()->set_joint_smoothing(ofMap(x, 0, ofGetWidth(), 0.0f, 1.0f, true));
 	}
 }
 
 //--------------------------------------------------------------
-void ofApp::mousePressed(int x, int y, int button){
-
+void ofApp::mousePressed(int x, int y, int button)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::mouseReleased(int x, int y, int button){
-
+void ofApp::mouseReleased(int x, int y, int button)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::mouseEntered(int x, int y){
-
+void ofApp::mouseEntered(int x, int y)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::mouseExited(int x, int y){
-
+void ofApp::mouseExited(int x, int y)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::windowResized(int w, int h){
-
+void ofApp::windowResized(int w, int h)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::gotMessage(ofMessage msg){
-
+void ofApp::gotMessage(ofMessage msg)
+{
 }
 
 //--------------------------------------------------------------
-void ofApp::dragEvent(ofDragInfo dragInfo){
-	
+void ofApp::dragEvent(ofDragInfo dragInfo)
+{
 }

example-bodies/src/ofApp.h

@@ -4,8 +4,8 @@
 
 #include "ofxAzureKinect.h"
 
-class ofApp 
-	: public ofBaseApp 
+class ofApp
+	: public ofBaseApp
 {
 public:
 	void setup();
@@ -31,8 +31,11 @@ class ofApp
 
 	ofEasyCam camera;
 
-	ofVbo pointsVbo;
-	ofShader shader;
+	bool streaming = true;
+
+	// Playback Params
+	string filename;
+	bool play = false;
+	float play_head = 0;
 
-	ofVboMesh skeletonMesh;
 };