mirror of
https://github.com/HifiExperiments/overte.git
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Remove RealSense & MIDI
This commit is contained in:
Brad Davis
parent
3854523787
commit
2cea593fbd
12 changed files with 1 additions and 600 deletions
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@ -1,33 +0,0 @@
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# Try to find the RSSDK library
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#
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# You must provide a RSSDK_ROOT_DIR which contains lib and include directories
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#
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# Once done this will define
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#
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# RSSDK_FOUND - system found RSSDK
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# RSSDK_INCLUDE_DIRS - the RSSDK include directory
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# RSSDK_LIBRARIES - Link this to use RSSDK
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#
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# Created on 12/7/2014 by Thijs Wenker
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# Copyright (c) 2014 High Fidelity
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#
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include("${MACRO_DIR}/HifiLibrarySearchHints.cmake")
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hifi_library_search_hints("rssdk")
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find_path(RSSDK_INCLUDE_DIRS pxcbase.h PATH_SUFFIXES include HINTS ${RSSDK_SEARCH_DIRS})
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if (WIN32)
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find_library(RSSDK_LIBRARY_DEBUG libpxc_d PATH_SUFFIXES lib/Win32 HINTS ${RSSDK_SEARCH_DIRS})
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find_library(RSSDK_LIBRARY_RELEASE libpxc PATH_SUFFIXES lib/Win32 HINTS ${RSSDK_SEARCH_DIRS})
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endif ()
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include(SelectLibraryConfigurations)
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select_library_configurations(RSSDK)
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set(RSSDK_LIBRARIES "${RSSDK_LIBRARY}")
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(RSSDK DEFAULT_MSG RSSDK_INCLUDE_DIRS RSSDK_LIBRARIES)
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mark_as_advanced(RSSDK_INCLUDE_DIRS RSSDK_LIBRARIES RSSDK_SEARCH_DIRS)
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@ -1,30 +0,0 @@
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#
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# FindRtMidi.cmake
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#
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# Try to find the RtMidi library
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#
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# You can provide a RTMIDI_ROOT_DIR which contains lib and include directories
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#
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# Once done this will define
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#
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# RTMIDI_FOUND - system found RtMidi
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# RTMIDI_INCLUDE_DIRS - the RtMidi include directory
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# RTMIDI_LIBRARIES - link to this to use RtMidi
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#
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# Created on 6/30/2014 by Stephen Birarda
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# Copyright 2014 High Fidelity, Inc.
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#
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# Distributed under the Apache License, Version 2.0.
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# See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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#
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include("${MACRO_DIR}/HifiLibrarySearchHints.cmake")
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hifi_library_search_hints("rtmidi")
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find_path(RTMIDI_INCLUDE_DIRS RtMidi.h PATH_SUFFIXES include HINTS ${RTMIDI_SEARCH_DIRS})
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find_library(RTMIDI_LIBRARIES NAMES rtmidi PATH_SUFFIXES lib HINTS ${RTMIDI_SEARCH_DIRS})
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(RtMidi DEFAULT_MSG RTMIDI_INCLUDE_DIRS RTMIDI_LIBRARIES)
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mark_as_advanced(RTMIDI_INCLUDE_DIRS RTMIDI_LIBRARIES RTMIDI_SEARCH_DIRS)
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@ -2,7 +2,7 @@ set(TARGET_NAME interface)
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project(${TARGET_NAME})
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project(${TARGET_NAME})
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# set a default root dir for each of our optional externals if it was not passed
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# set a default root dir for each of our optional externals if it was not passed
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set(OPTIONAL_EXTERNALS "LeapMotion" "RtMidi" "RSSDK")
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set(OPTIONAL_EXTERNALS "LeapMotion")
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if(WIN32)
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if(WIN32)
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list(APPEND OPTIONAL_EXTERNALS "3DConnexionClient")
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list(APPEND OPTIONAL_EXTERNALS "3DConnexionClient")
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@ -161,13 +161,6 @@ foreach(EXTERNAL ${OPTIONAL_EXTERNALS})
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endif ()
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endif ()
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endforeach()
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endforeach()
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# special OS X modifications for RtMidi library
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if (RTMIDI_FOUND AND NOT DISABLE_RTMIDI AND APPLE)
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find_library(CoreMIDI CoreMIDI)
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add_definitions(-D__MACOSX_CORE__)
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target_link_libraries(${TARGET_NAME} ${CoreMIDI})
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endif ()
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# include headers for interface and InterfaceConfig.
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# include headers for interface and InterfaceConfig.
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include_directories("${PROJECT_SOURCE_DIR}/src")
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include_directories("${PROJECT_SOURCE_DIR}/src")
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9
interface/external/rssdk/readme.txt
vendored
9
interface/external/rssdk/readme.txt
vendored
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@ -1,9 +0,0 @@
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Instructions for adding the Intel Realsense (RSSDK) to Interface
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Thijs Wenker, December 19, 2014
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This is Windows only for now.
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1. Download the SDK at https://software.intel.com/en-us/intel-realsense-sdk/download
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2. Copy the `lib` and `include` folder inside this directory
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43
interface/external/rtmidi/readme.txt
vendored
43
interface/external/rtmidi/readme.txt
vendored
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@ -1,43 +0,0 @@
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Instructions for adding the RtMidi library to Interface
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Stephen Birarda, June 30, 2014
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1. Download the RtMidi tarball from High Fidelity S3.
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http://public.highfidelity.io/dependencies/rtmidi-2.1.0.tar.gz
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2. Copy RtMidi.h to externals/rtmidi/include.
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3. Compile the RtMidi library.
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3. Copy either librtmidi.dylib (dynamic) or librtmidi.a (static) to externals/rtmidi/lib
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4. Delete your build directory, run cmake and build, and you should be all set.
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=========================
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RtMidi: realtime MIDI i/o C++ classes<BR>
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Copyright (c) 2003-2014 Gary P. Scavone
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Permission is hereby granted, free of charge, to any person
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obtaining a copy of this software and associated documentation files
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(the "Software"), to deal in the Software without restriction,
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including without limitation the rights to use, copy, modify, merge,
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publish, distribute, sublicense, and/or sell copies of the Software,
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and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be
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included in all copies or substantial portions of the Software.
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Any person wishing to distribute modifications to the Software is
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asked to send the modifications to the original developer so that
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they can be incorporated into the canonical version. This is,
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however, not a binding provision of this license.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR
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ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
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CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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@ -110,8 +110,6 @@
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#include "devices/EyeTracker.h"
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#include "devices/EyeTracker.h"
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#include "devices/Faceshift.h"
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#include "devices/Faceshift.h"
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#include "devices/Leapmotion.h"
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#include "devices/Leapmotion.h"
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#include "devices/MIDIManager.h"
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#include "devices/RealSense.h"
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#include "DiscoverabilityManager.h"
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#include "DiscoverabilityManager.h"
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#include "GLCanvas.h"
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#include "GLCanvas.h"
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#include "InterfaceActionFactory.h"
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#include "InterfaceActionFactory.h"
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@ -719,12 +717,6 @@ Application::Application(int& argc, char** argv, QElapsedTimer& startupTimer) :
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// set the local loopback interface for local sounds from audio scripts
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// set the local loopback interface for local sounds from audio scripts
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AudioScriptingInterface::getInstance().setLocalAudioInterface(audioIO.data());
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AudioScriptingInterface::getInstance().setLocalAudioInterface(audioIO.data());
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#ifdef HAVE_RTMIDI
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// setup the MIDIManager
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MIDIManager& midiManagerInstance = MIDIManager::getInstance();
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midiManagerInstance.openDefaultPort();
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#endif
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this->installEventFilter(this);
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this->installEventFilter(this);
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// initialize our face trackers after loading the menu settings
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// initialize our face trackers after loading the menu settings
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@ -970,7 +962,6 @@ Application::~Application() {
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nodeThread->wait();
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nodeThread->wait();
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Leapmotion::destroy();
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Leapmotion::destroy();
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RealSense::destroy();
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#if 0
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#if 0
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ConnexionClient::getInstance().destroy();
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ConnexionClient::getInstance().destroy();
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@ -2519,7 +2510,6 @@ void Application::init() {
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qCDebug(interfaceapp) << "Loaded settings";
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qCDebug(interfaceapp) << "Loaded settings";
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Leapmotion::init();
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Leapmotion::init();
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RealSense::init();
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// fire off an immediate domain-server check in now that settings are loaded
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// fire off an immediate domain-server check in now that settings are loaded
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DependencyManager::get<NodeList>()->sendDomainServerCheckIn();
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DependencyManager::get<NodeList>()->sendDomainServerCheckIn();
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@ -4069,10 +4059,6 @@ void Application::registerScriptEngineWithApplicationServices(ScriptEngine* scri
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scriptEngine->registerGlobalObject("Scene", DependencyManager::get<SceneScriptingInterface>().data());
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scriptEngine->registerGlobalObject("Scene", DependencyManager::get<SceneScriptingInterface>().data());
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scriptEngine->registerGlobalObject("ScriptDiscoveryService", this->getRunningScriptsWidget());
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scriptEngine->registerGlobalObject("ScriptDiscoveryService", this->getRunningScriptsWidget());
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#ifdef HAVE_RTMIDI
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scriptEngine->registerGlobalObject("MIDI", &MIDIManager::getInstance());
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#endif
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}
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}
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bool Application::canAcceptURL(const QString& urlString) {
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bool Application::canAcceptURL(const QString& urlString) {
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#include "avatar/AvatarManager.h"
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#include "avatar/AvatarManager.h"
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#include "devices/DdeFaceTracker.h"
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#include "devices/DdeFaceTracker.h"
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#include "devices/Faceshift.h"
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#include "devices/Faceshift.h"
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#include "devices/RealSense.h"
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#include "input-plugins/SpacemouseManager.h"
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#include "input-plugins/SpacemouseManager.h"
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#include "MainWindow.h"
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#include "MainWindow.h"
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#include "scripting/MenuScriptingInterface.h"
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#include "scripting/MenuScriptingInterface.h"
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@ -462,12 +461,6 @@ Menu::Menu() {
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MenuWrapper* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
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MenuWrapper* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
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addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);
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addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);
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#ifdef HAVE_RSSDK
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MenuWrapper* realSenseOptionsMenu = handOptionsMenu->addMenu("RealSense");
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addActionToQMenuAndActionHash(realSenseOptionsMenu, MenuOption::LoadRSSDKFile, 0,
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RealSense::getInstance(), SLOT(loadRSSDKFile()));
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#endif
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MenuWrapper* networkMenu = developerMenu->addMenu("Network");
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MenuWrapper* networkMenu = developerMenu->addMenu("Network");
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addActionToQMenuAndActionHash(networkMenu, MenuOption::ReloadContent, 0, qApp, SLOT(reloadResourceCaches()));
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addActionToQMenuAndActionHash(networkMenu, MenuOption::ReloadContent, 0, qApp, SLOT(reloadResourceCaches()));
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addCheckableActionToQMenuAndActionHash(networkMenu, MenuOption::DisableNackPackets, 0, false,
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addCheckableActionToQMenuAndActionHash(networkMenu, MenuOption::DisableNackPackets, 0, false,
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@ -211,7 +211,6 @@ namespace MenuOption {
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const QString LeapMotionOnHMD = "Leap Motion on HMD";
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const QString LeapMotionOnHMD = "Leap Motion on HMD";
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const QString LoadScript = "Open and Run Script File...";
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const QString LoadScript = "Open and Run Script File...";
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const QString LoadScriptURL = "Open and Run Script from URL...";
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const QString LoadScriptURL = "Open and Run Script from URL...";
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const QString LoadRSSDKFile = "Load .rssdk file";
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const QString LodTools = "LOD Tools";
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const QString LodTools = "LOD Tools";
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const QString Login = "Login";
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const QString Login = "Login";
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const QString Log = "Log";
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const QString Log = "Log";
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@ -1,73 +0,0 @@
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//
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// MIDIManager.cpp
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//
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//
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// Created by Stephen Birarda on 2014-06-30.
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// Copyright 2014 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include <QtCore/QDebug>
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#include "InterfaceLogging.h"
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#include "MIDIManager.h"
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MIDIManager& MIDIManager::getInstance() {
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static MIDIManager sharedInstance;
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return sharedInstance;
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}
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void MIDIManager::midiCallback(double deltaTime, std::vector<unsigned char>* message, void* userData) {
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#ifdef HAVE_RTMIDI
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MIDIEvent callbackEvent;
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callbackEvent.deltaTime = deltaTime;
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callbackEvent.type = message->at(0);
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if (message->size() > 1) {
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callbackEvent.data1 = message->at(1);
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}
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if (message->size() > 2) {
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callbackEvent.data2 = message->at(2);
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}
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emit getInstance().midiEvent(callbackEvent);
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#endif
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}
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MIDIManager::~MIDIManager() {
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#ifdef HAVE_RTMIDI
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delete _midiInput;
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#endif
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}
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#ifdef HAVE_RTMIDI
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const int DEFAULT_MIDI_PORT = 0;
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#endif
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void MIDIManager::openDefaultPort() {
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#ifdef HAVE_RTMIDI
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if (!_midiInput) {
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_midiInput = new RtMidiIn();
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if (_midiInput->getPortCount() > 0) {
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qCDebug(interfaceapp) << "MIDIManager opening port" << DEFAULT_MIDI_PORT;
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_midiInput->openPort(DEFAULT_MIDI_PORT);
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// don't ignore sysex, timing, or active sensing messages
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_midiInput->ignoreTypes(false, false, false);
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_midiInput->setCallback(&MIDIManager::midiCallback);
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} else {
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qCDebug(interfaceapp) << "MIDIManager openDefaultPort called but there are no ports available.";
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delete _midiInput;
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_midiInput = NULL;
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}
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}
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#endif
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}
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@ -1,58 +0,0 @@
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//
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// MIDIManager.h
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// interface/src/devices
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//
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// Created by Stephen Birarda on 2014-06-30.
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// Copyright 2014 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_MIDIManager_h
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#define hifi_MIDIManager_h
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#include <QtCore/QObject>
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#include <QtScript/QScriptEngine>
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#include <MIDIEvent.h>
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#ifdef HAVE_RTMIDI
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#include <RtMidi.h>
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#endif
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class MIDIManager : public QObject {
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Q_OBJECT
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Q_PROPERTY(unsigned int NoteOn READ NoteOn)
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Q_PROPERTY(unsigned int NoteOff READ NoteOff)
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Q_PROPERTY(unsigned int ModWheel READ ModWheel)
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Q_PROPERTY(unsigned int PitchWheel READ PitchWheel)
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public:
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static MIDIManager& getInstance();
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static void midiCallback(double deltaTime, std::vector<unsigned char>* message, void* userData);
|
|
||||||
|
|
||||||
~MIDIManager();
|
|
||||||
|
|
||||||
void openDefaultPort();
|
|
||||||
#ifdef HAVE_RTMIDI
|
|
||||||
bool hasDevice() const { return !!_midiInput; }
|
|
||||||
#endif
|
|
||||||
public slots:
|
|
||||||
unsigned int NoteOn() const { return 144; }
|
|
||||||
unsigned int NoteOff() const { return 128; }
|
|
||||||
unsigned int ModWheel() const { return 176; }
|
|
||||||
unsigned int PitchWheel() const { return 224; }
|
|
||||||
signals:
|
|
||||||
void midiEvent(const MIDIEvent& event);
|
|
||||||
|
|
||||||
private:
|
|
||||||
#ifdef HAVE_RTMIDI
|
|
||||||
RtMidiIn* _midiInput;
|
|
||||||
#endif
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
#endif // hifi_MIDIManager_h
|
|
||||||
|
|
||||||
|
|
@ -1,259 +0,0 @@
|
||||||
//
|
|
||||||
// RealSense.cpp
|
|
||||||
// interface/src/devices
|
|
||||||
//
|
|
||||||
// Created by Thijs Wenker on 12/10/14
|
|
||||||
// Copyright 2014 High Fidelity, Inc.
|
|
||||||
//
|
|
||||||
// Distributed under the Apache License, Version 2.0.
|
|
||||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
|
||||||
//
|
|
||||||
|
|
||||||
#include "Application.h"
|
|
||||||
#include "RealSense.h"
|
|
||||||
#include "MainWindow.h"
|
|
||||||
#include "Menu.h"
|
|
||||||
#include "SharedUtil.h"
|
|
||||||
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
const int PALMROOT_NUM_JOINTS = 3;
|
|
||||||
const int FINGER_NUM_JOINTS = 4;
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
|
|
||||||
const DeviceTracker::Name RealSense::NAME = "RealSense";
|
|
||||||
|
|
||||||
// find the index of a joint from
|
|
||||||
// the side: true = right
|
|
||||||
// the finger & the bone:
|
|
||||||
// finger in [0..4] : bone in [0..3] a finger phalange
|
|
||||||
// [-1] up the hand branch : bone in [0..1] <=> [ hand, forearm]
|
|
||||||
MotionTracker::Index evalRealSenseJointIndex(bool isRightSide, int finger, int bone) {
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
MotionTracker::Index offset = 1 // start after root
|
|
||||||
+ (int(isRightSide) * PXCHandData::NUMBER_OF_JOINTS) // then offset for side
|
|
||||||
+ PALMROOT_NUM_JOINTS; // then add the arm/forearm/hand chain
|
|
||||||
if (finger >= 0) {
|
|
||||||
// from there go down in the correct finger and bone
|
|
||||||
return offset + (finger * FINGER_NUM_JOINTS) + bone;
|
|
||||||
} else {
|
|
||||||
// or go back up for the correct root bone
|
|
||||||
return offset - 1 - bone;
|
|
||||||
}
|
|
||||||
#else
|
|
||||||
return -1;
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
}
|
|
||||||
|
|
||||||
// static
|
|
||||||
void RealSense::init() {
|
|
||||||
DeviceTracker* device = DeviceTracker::getDevice(NAME);
|
|
||||||
if (!device) {
|
|
||||||
// create a new RealSense and register it
|
|
||||||
RealSense* realSense = new RealSense();
|
|
||||||
DeviceTracker::registerDevice(NAME, realSense);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// static
|
|
||||||
void RealSense::destroy() {
|
|
||||||
DeviceTracker::destroyDevice(NAME);
|
|
||||||
}
|
|
||||||
|
|
||||||
// static
|
|
||||||
RealSense* RealSense::getInstance() {
|
|
||||||
DeviceTracker* device = DeviceTracker::getDevice(NAME);
|
|
||||||
if (!device) {
|
|
||||||
// create a new RealSense and register it
|
|
||||||
RealSense* realSense = new RealSense();
|
|
||||||
DeviceTracker::registerDevice(NAME, realSense);
|
|
||||||
}
|
|
||||||
return dynamic_cast< RealSense* > (device);
|
|
||||||
}
|
|
||||||
|
|
||||||
RealSense::RealSense() :
|
|
||||||
MotionTracker(),
|
|
||||||
_active(false)
|
|
||||||
{
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
_handData = NULL;
|
|
||||||
_session = PXCSession_Create();
|
|
||||||
initSession(false, NULL);
|
|
||||||
|
|
||||||
// Create the RealSense joint hierarchy
|
|
||||||
std::vector< Semantic > sides;
|
|
||||||
sides.push_back("joint_L_");
|
|
||||||
sides.push_back("joint_R_");
|
|
||||||
|
|
||||||
std::vector< Semantic > rootBones;
|
|
||||||
rootBones.push_back("wrist");
|
|
||||||
rootBones.push_back("hand");
|
|
||||||
|
|
||||||
std::vector< Semantic > fingers;
|
|
||||||
fingers.push_back("thumb");
|
|
||||||
fingers.push_back("index");
|
|
||||||
fingers.push_back("middle");
|
|
||||||
fingers.push_back("ring");
|
|
||||||
fingers.push_back("pinky");
|
|
||||||
|
|
||||||
std::vector< Semantic > fingerBones;
|
|
||||||
fingerBones.push_back("1");
|
|
||||||
fingerBones.push_back("2");
|
|
||||||
fingerBones.push_back("3");
|
|
||||||
fingerBones.push_back("4");
|
|
||||||
|
|
||||||
std::vector< Index > palms;
|
|
||||||
for (unsigned int s = 0; s < sides.size(); s++) {
|
|
||||||
Index rootJoint = 0;
|
|
||||||
for (unsigned int rb = 0; rb < rootBones.size(); rb++) {
|
|
||||||
rootJoint = addJoint(sides[s] + rootBones[rb], rootJoint);
|
|
||||||
}
|
|
||||||
|
|
||||||
// capture the hand index for debug
|
|
||||||
palms.push_back(rootJoint);
|
|
||||||
|
|
||||||
for (unsigned int f = 0; f < fingers.size(); f++) {
|
|
||||||
for (unsigned int b = 0; b < fingerBones.size(); b++) {
|
|
||||||
rootJoint = addJoint(sides[s] + fingers[f] + fingerBones[b], rootJoint);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
}
|
|
||||||
|
|
||||||
RealSense::~RealSense() {
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
_manager->Release();
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
}
|
|
||||||
|
|
||||||
void RealSense::initSession(bool playback, QString filename) {
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
_active = false;
|
|
||||||
_properlyInitialized = false;
|
|
||||||
if (_handData != NULL) {
|
|
||||||
_handData->Release();
|
|
||||||
_handController->Release();
|
|
||||||
_session->Release();
|
|
||||||
_config->Release();
|
|
||||||
}
|
|
||||||
_manager = _session->CreateSenseManager();
|
|
||||||
if (playback) {
|
|
||||||
_manager->QueryCaptureManager()->SetFileName(filename.toStdWString().c_str(), false);
|
|
||||||
}
|
|
||||||
_manager->QueryCaptureManager()->SetRealtime(!playback);
|
|
||||||
_manager->EnableHand(0);
|
|
||||||
_handController = _manager->QueryHand();
|
|
||||||
|
|
||||||
if (_manager->Init() == PXC_STATUS_NO_ERROR) {
|
|
||||||
_handData = _handController->CreateOutput();
|
|
||||||
|
|
||||||
PXCCapture::Device *device = _manager->QueryCaptureManager()->QueryDevice();
|
|
||||||
PXCCapture::DeviceInfo dinfo;
|
|
||||||
_manager->QueryCaptureManager()->QueryDevice()->QueryDeviceInfo(&dinfo);
|
|
||||||
if (dinfo.model == PXCCapture::DEVICE_MODEL_IVCAM)
|
|
||||||
{
|
|
||||||
device->SetDepthConfidenceThreshold(1);
|
|
||||||
device->SetMirrorMode(PXCCapture::Device::MIRROR_MODE_DISABLED);
|
|
||||||
device->SetIVCAMFilterOption(6);
|
|
||||||
}
|
|
||||||
_properlyInitialized = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
_config = _handController->CreateActiveConfiguration();
|
|
||||||
_config->EnableStabilizer(true);
|
|
||||||
_config->SetTrackingMode(PXCHandData::TRACKING_MODE_FULL_HAND);
|
|
||||||
_config->ApplyChanges();
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
}
|
|
||||||
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
glm::quat quatFromPXCPoint4DF32(const PXCPoint4DF32& basis) {
|
|
||||||
return glm::normalize(glm::quat(basis.w, basis.x, basis.y, basis.z) * glm::quat(glm::vec3(0, M_PI, 0)));
|
|
||||||
}
|
|
||||||
|
|
||||||
glm::vec3 vec3FromPXCPoint3DF32(const PXCPoint3DF32& vec) {
|
|
||||||
return glm::vec3(-vec.x, vec.y, -vec.z);
|
|
||||||
}
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
|
|
||||||
void RealSense::update() {
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
bool wasActive = _active;
|
|
||||||
_active = _manager->IsConnected() && _properlyInitialized;
|
|
||||||
if (_active || wasActive) {
|
|
||||||
// Go through all the joints and increment their counter since last update.
|
|
||||||
// Increment all counters once after controller first becomes inactive so that each joint reports itself as inactive.
|
|
||||||
// TODO C++11 for (auto jointIt = _jointsArray.begin(); jointIt != _jointsArray.end(); jointIt++) {
|
|
||||||
for (JointTracker::Vector::iterator jointIt = _jointsArray.begin(); jointIt != _jointsArray.end(); jointIt++) {
|
|
||||||
(*jointIt).tickNewFrame();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!_active) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
pxcStatus sts = _manager->AcquireFrame(true);
|
|
||||||
_handData->Update();
|
|
||||||
PXCHandData::JointData nodes[2][PXCHandData::NUMBER_OF_JOINTS] = {};
|
|
||||||
PXCHandData::ExtremityData extremitiesPointsNodes[2][PXCHandData::NUMBER_OF_EXTREMITIES] = {};
|
|
||||||
for (pxcI32 i = 0; i < _handData->QueryNumberOfHands(); i++) {
|
|
||||||
PXCHandData::IHand* handData;
|
|
||||||
if (_handData->QueryHandData(PXCHandData::ACCESS_ORDER_BY_TIME, i, handData) == PXC_STATUS_NO_ERROR) {
|
|
||||||
int rightSide = handData->QueryBodySide() == PXCHandData::BODY_SIDE_RIGHT;
|
|
||||||
PXCHandData::JointData jointData;
|
|
||||||
JointTracker* parentJointTracker = _jointsArray.data();
|
|
||||||
//Iterate Joints
|
|
||||||
int rootBranchIndex = -1;
|
|
||||||
JointTracker* palmJoint = NULL;
|
|
||||||
for (int j = 0; j < PXCHandData::NUMBER_OF_JOINTS; j++) {
|
|
||||||
handData->QueryTrackedJoint((PXCHandData::JointType)j, jointData);
|
|
||||||
nodes[i][j] = jointData;
|
|
||||||
if (j == PXCHandData::JOINT_WRIST) {
|
|
||||||
JointTracker* wrist = editJointTracker(evalRealSenseJointIndex(rightSide, rootBranchIndex, 1)); // 1 is the index of the wrist joint
|
|
||||||
wrist->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
|
||||||
wrist->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
|
||||||
wrist->updateLocFromAbsTransform(parentJointTracker);
|
|
||||||
wrist->activeFrame();
|
|
||||||
parentJointTracker = wrist;
|
|
||||||
continue;
|
|
||||||
} else if (j == PXCHandData::JOINT_CENTER) {
|
|
||||||
palmJoint = editJointTracker(evalRealSenseJointIndex(rightSide, rootBranchIndex, 0)); // 0 is the index of the palm joint
|
|
||||||
palmJoint->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
|
||||||
palmJoint->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
|
||||||
palmJoint->updateLocFromAbsTransform(parentJointTracker);
|
|
||||||
palmJoint->activeFrame();
|
|
||||||
parentJointTracker = palmJoint;
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
int finger_index = j - PALMROOT_NUM_JOINTS;
|
|
||||||
int finger = finger_index / FINGER_NUM_JOINTS;
|
|
||||||
int finger_bone = finger_index % FINGER_NUM_JOINTS;
|
|
||||||
JointTracker* ljointTracker = editJointTracker(evalRealSenseJointIndex(rightSide, finger, finger_bone));
|
|
||||||
if (jointData.confidence > 0) {
|
|
||||||
ljointTracker->editAbsFrame().setTranslation(vec3FromPXCPoint3DF32(jointData.positionWorld));
|
|
||||||
ljointTracker->editAbsFrame().setRotation(quatFromPXCPoint4DF32(jointData.globalOrientation));
|
|
||||||
ljointTracker->updateLocFromAbsTransform(parentJointTracker);
|
|
||||||
ljointTracker->activeFrame();
|
|
||||||
}
|
|
||||||
if (finger_bone == (FINGER_NUM_JOINTS - 1)) {
|
|
||||||
parentJointTracker = palmJoint;
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
parentJointTracker = ljointTracker;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
_manager->ReleaseFrame();
|
|
||||||
#endif // HAVE_RSSDK
|
|
||||||
}
|
|
||||||
|
|
||||||
void RealSense::loadRSSDKFile() {
|
|
||||||
QString locationDir(QStandardPaths::displayName(QStandardPaths::DesktopLocation));
|
|
||||||
QString fileNameString = QFileDialog::getOpenFileName(qApp->getWindow(), tr("Open RSSDK clip"),
|
|
||||||
locationDir,
|
|
||||||
tr("RSSDK Recordings (*.rssdk)"));
|
|
||||||
if (!fileNameString.isEmpty()) {
|
|
||||||
initSession(true, fileNameString);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,65 +0,0 @@
|
||||||
//
|
|
||||||
// RealSense.h
|
|
||||||
// interface/src/devices
|
|
||||||
//
|
|
||||||
// Created by Thijs Wenker on 12/10/14
|
|
||||||
// Copyright 2014 High Fidelity, Inc.
|
|
||||||
//
|
|
||||||
// Distributed under the Apache License, Version 2.0.
|
|
||||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
|
||||||
//
|
|
||||||
|
|
||||||
#ifndef hifi_RealSense_h
|
|
||||||
#define hifi_RealSense_h
|
|
||||||
|
|
||||||
#include <QFileDialog>
|
|
||||||
|
|
||||||
#include "MotionTracker.h"
|
|
||||||
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
#include <pxcsession.h>
|
|
||||||
#include <pxchandmodule.h>
|
|
||||||
#include <pxchandconfiguration.h>
|
|
||||||
#include <pxcsensemanager.h>
|
|
||||||
#include <pxchanddata.h>
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/// Handles interaction with the RealSense skeleton tracking suit.
|
|
||||||
class RealSense : public QObject, public MotionTracker {
|
|
||||||
Q_OBJECT
|
|
||||||
|
|
||||||
public:
|
|
||||||
static const Name NAME;
|
|
||||||
|
|
||||||
static void init();
|
|
||||||
static void destroy();
|
|
||||||
|
|
||||||
/// RealSense MotionTracker factory
|
|
||||||
static RealSense* getInstance();
|
|
||||||
|
|
||||||
bool isActive() const { return _active; }
|
|
||||||
|
|
||||||
virtual void update();
|
|
||||||
|
|
||||||
public slots:
|
|
||||||
void loadRSSDKFile();
|
|
||||||
|
|
||||||
protected:
|
|
||||||
RealSense();
|
|
||||||
virtual ~RealSense();
|
|
||||||
|
|
||||||
void initSession(bool playback, QString filename);
|
|
||||||
|
|
||||||
private:
|
|
||||||
#ifdef HAVE_RSSDK
|
|
||||||
PXCSession* _session;
|
|
||||||
PXCSenseManager* _manager;
|
|
||||||
PXCHandModule* _handController;
|
|
||||||
PXCHandData* _handData;
|
|
||||||
PXCHandConfiguration* _config;
|
|
||||||
#endif
|
|
||||||
bool _properlyInitialized;
|
|
||||||
bool _active;
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif // hifi_RealSense_h
|
|
||||||
Loading…
Reference in a new issue