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Goodbye, skeltrack. You won't be missed.

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This commit is contained in:
Andrzej Kapolka 2013-06-28 12:27:50 -07:00
parent 5ef400b193
commit f83c16e578
15 changed files with 0 additions and 3638 deletions
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44
cmake/modules/FindSkeltrack.cmake
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# Try to find the Skeltrack library to perform skeleton tracking via depth camera
#
# You must provide a SKELTRACK_ROOT_DIR which contains lib and include directories
#
# Once done this will define
#
# SKELTRACK_FOUND - system found Skeltrack
# SKELTRACK_INCLUDE_DIRS - the Skeltrack include directory
# SKELTRACK_LIBRARIES - Link this to use Skeltrack
#
# Created on 6/25/2013 by Andrzej Kapolka
# Copyright (c) 2013 High Fidelity
#
if (SKELTRACK_LIBRARIES AND SKELTRACK_INCLUDE_DIRS)
# in cache already
set(SKELTRACK_FOUND TRUE)
else (SKELTRACK_LIBRARIES AND SKELTRACK_INCLUDE_DIRS)
find_path(SKELTRACK_INCLUDE_DIRS skeltrack.h ${SKELTRACK_ROOT_DIR}/include)
if (APPLE)
find_library(SKELTRACK_LIBRARIES libskeltrack.a ${SKELTRACK_ROOT_DIR}/lib/MacOS/)
elseif (UNIX)
find_library(SKELTRACK_LIBRARIES libskeltrack.a ${SKELTRACK_ROOT_DIR}/lib/UNIX/)
endif ()
if (SKELTRACK_INCLUDE_DIRS AND SKELTRACK_LIBRARIES)
set(SKELTRACK_FOUND TRUE)
endif (SKELTRACK_INCLUDE_DIRS AND SKELTRACK_LIBRARIES)
if (SKELTRACK_FOUND)
if (NOT SKELTRACK_FIND_QUIETLY)
message(STATUS "Found Skeltrack: ${SKELTRACK_LIBRARIES}")
endif (NOT SKELTRACK_FIND_QUIETLY)
else (SKELTRACK_FOUND)
if (SKELTRACK_FIND_REQUIRED)
message(FATAL_ERROR "Could not find Skeltrack")
endif (SKELTRACK_FIND_REQUIRED)
endif (SKELTRACK_FOUND)
# show the SKELTRACK_INCLUDE_DIRS and SKELTRACK_LIBRARIES variables only in the advanced view
mark_as_advanced(SKELTRACK_INCLUDE_DIRS SKELTRACK_LIBRARIES)
endif (SKELTRACK_LIBRARIES AND SKELTRACK_INCLUDE_DIRS)

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interface/external/skeltrack/AUTHORS vendored
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Joaquim Rocha <jrocha@igalia.com> - Creator

14
interface/external/skeltrack/CMakeLists.txt vendored
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cmake_minimum_required(VERSION 2.8)
include_directories(include)
# grab the implementation and header files from src dirs
file(GLOB SKELTRACK_SRCS src/*.c include/*.h)
find_package(PkgConfig REQUIRED)
pkg_check_modules(GLIB2 glib-2.0)
string(REPLACE ";" " " CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${GLIB2_STATIC_CFLAGS} ${GLIB2_STATIC_LDFLAGS}")
message("${CMAKE_C_FLAGS}")
add_library(skeltrack ${SKELTRACK_SRCS})

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interface/external/skeltrack/COPYING vendored
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GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
Corresponding Source for the Combined Work, excluding any source code
for portions of the Combined Work that, considered in isolation, are
based on the Application, and not on the Linked Version.
The "Corresponding Application Code" for a Combined Work means the
object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
without being bound by section 3 of the GNU GPL.
2. Conveying Modified Versions.
If you modify a copy of the Library, and, in your modifications, a
facility refers to a function or data to be supplied by an Application
that uses the facility (other than as an argument passed when the
facility is invoked), then you may convey a copy of the modified
version:
a) under this License, provided that you make a good faith effort to
ensure that, in the event an Application does not supply the
function or data, the facility still operates, and performs
whatever part of its purpose remains meaningful, or
b) under the GNU GPL, with none of the additional permissions of
this License applicable to that copy.
3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
a header file that is part of the Library. You may convey such object
code under terms of your choice, provided that, if the incorporated
material is not limited to numerical parameters, data structure
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(ten or fewer lines in length), you do both of the following:
a) Give prominent notice with each copy of the object code that the
Library is used in it and that the Library and its use are
covered by this License.
b) Accompany the object code with a copy of the GNU GPL and this license
document.
4. Combined Works.
You may convey a Combined Work under terms of your choice that,
taken together, effectively do not restrict modification of the
portions of the Library contained in the Combined Work and reverse
engineering for debugging such modifications, if you also do each of
the following:
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the Library is used in it and that the Library and its use are
covered by this License.
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document.
c) For a Combined Work that displays copyright notices during
execution, include the copyright notice for the Library among
these notices, as well as a reference directing the user to the
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d) Do one of the following:
0) Convey the Minimal Corresponding Source under the terms of this
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Corresponding Source.
1) Use a suitable shared library mechanism for linking with the
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you use option 4d0, the Installation Information must accompany
the Minimal Corresponding Source and Corresponding Application
Code. If you use option 4d1, you must provide the Installation
Information in the manner specified by section 6 of the GNU GPL
for conveying Corresponding Source.)
5. Combined Libraries.
You may place library facilities that are a work based on the
Library side by side in a single library together with other library
facilities that are not Applications and are not covered by this
License, and convey such a combined library under terms of your
choice, if you do both of the following:
a) Accompany the combined library with a copy of the same work based
on the Library, uncombined with any other library facilities,
conveyed under the terms of this License.
b) Give prominent notice with the combined library that part of it
is a work based on the Library, and explaining where to find the
accompanying uncombined form of the same work.
6. Revised Versions of the GNU Lesser General Public License.
The Free Software Foundation may publish revised and/or new versions
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versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
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Library.

90
interface/external/skeltrack/include/skeltrack-joint.h vendored
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/*
* skeltrak-joint.h
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* version 3, or (at your option) any later version as published by
* the Free Software Foundation.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#ifndef __SKELTRACK_JOINT_H__
#define __SKELTRACK_JOINT_H__
#include <glib.h>
#include <glib-object.h>
G_BEGIN_DECLS
#define SKELTRACK_TYPE_JOINT (skeltrack_joint_get_type ())
#define SKELTRACK_JOINT_MAX_JOINTS 7
typedef struct _SkeltrackJoint SkeltrackJoint;
typedef SkeltrackJoint **SkeltrackJointList;
/**
* SkeltrackJointId:
* @SKELTRACK_JOINT_ID_HEAD: The head
* @SKELTRACK_JOINT_ID_LEFT_SHOULDER: The left shoulder
* @SKELTRACK_JOINT_ID_RIGHT_SHOULDER: The right shoulder
* @SKELTRACK_JOINT_ID_LEFT_ELBOW: The left elbow
* @SKELTRACK_JOINT_ID_RIGHT_ELBOW: The right elbow
* @SKELTRACK_JOINT_ID_LEFT_HAND: The left hand
* @SKELTRACK_JOINT_ID_RIGHT_HAND: The right hand
*
* Available joint ids.
**/
typedef enum {
SKELTRACK_JOINT_ID_HEAD,
SKELTRACK_JOINT_ID_LEFT_SHOULDER,
SKELTRACK_JOINT_ID_RIGHT_SHOULDER,
SKELTRACK_JOINT_ID_LEFT_ELBOW,
SKELTRACK_JOINT_ID_RIGHT_ELBOW,
SKELTRACK_JOINT_ID_LEFT_HAND,
SKELTRACK_JOINT_ID_RIGHT_HAND
} SkeltrackJointId;
/**
* SkeltrackJoint:
* @id: The id of the joint
* @x: The x coordinate of the joint in the space (in mm)
* @y: The y coordinate of the joint in the space (in mm)
* @z: The z coordinate of the joint in the space (in mm)
* @screen_x: The x coordinate of the joint in the screen (in pixels)
* @screen_y: The y coordinate of the joint in the screen (in pixels)
**/
struct _SkeltrackJoint
{
SkeltrackJointId id;
gint x;
gint y;
gint z;
gint screen_x;
gint screen_y;
};
GType skeltrack_joint_get_type (void);
gpointer skeltrack_joint_copy (SkeltrackJoint *joint);
void skeltrack_joint_free (SkeltrackJoint *joint);
void skeltrack_joint_list_free (SkeltrackJointList list);
SkeltrackJointList skeltrack_joint_list_new (void);
SkeltrackJoint * skeltrack_joint_list_get_joint (SkeltrackJointList list,
SkeltrackJointId id);
G_END_DECLS
#endif /* __SKELTRACK_JOINT_H__ */

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interface/external/skeltrack/include/skeltrack-skeleton.h vendored
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/*
* skeltrack.h
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* version 3, or (at your option) any later version as published by
* the Free Software Foundation.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#ifndef __SKELTRACK_SKELETON_H__
#define __SKELTRACK_SKELETON_H__
#include <skeltrack-joint.h>
#include <glib.h>
#include <glib-object.h>
#include <gio/gio.h>
G_BEGIN_DECLS
#define SKELTRACK_TYPE_SKELETON (skeltrack_skeleton_get_type ())
#define SKELTRACK_SKELETON(obj) (G_TYPE_CHECK_INSTANCE_CAST ((obj), SKELTRACK_TYPE_SKELETON, SkeltrackSkeleton))
#define SKELTRACK_SKELETON_CLASS(klass) (G_TYPE_CHECK_CLASS_CAST ((klass), SKELTRACK_TYPE_SKELETON, SkeltrackSkeletonClass))
#define SKELTRACK_IS_SKELETON(obj) (G_TYPE_CHECK_INSTANCE_TYPE ((obj), SKELTRACK_TYPE_SKELETON))
#define SKELTRACK_IS_SKELETON_CLASS(klass) (G_TYPE_CHECK_CLASS_TYPE ((klass), SKELTRACK_TYPE_SKELETON))
#define SKELTRACK_SKELETON_GET_CLASS(obj) (G_TYPE_INSTANCE_GET_CLASS ((obj), SKELTRACK_TYPE_SKELETON, SkeltrackSkeletonClass))
typedef struct _SkeltrackSkeleton SkeltrackSkeleton;
typedef struct _SkeltrackSkeletonClass SkeltrackSkeletonClass;
typedef struct _SkeltrackSkeletonPrivate SkeltrackSkeletonPrivate;
struct _SkeltrackSkeleton
{
GObject parent;
/*< private >*/
SkeltrackSkeletonPrivate *priv;
};
/**
* SkeltrackSkeletonClass:
**/
struct _SkeltrackSkeletonClass
{
GObjectClass parent_class;
};
GType skeltrack_skeleton_get_type (void) G_GNUC_CONST;
SkeltrackSkeleton * skeltrack_skeleton_new (void);
void skeltrack_skeleton_track_joints (SkeltrackSkeleton *self,
guint16 *buffer,
guint width,
guint height,
GCancellable *cancellable,
GAsyncReadyCallback callback,
gpointer user_data);
SkeltrackJointList skeltrack_skeleton_track_joints_finish (SkeltrackSkeleton *self,
GAsyncResult *result,
GError **error);
SkeltrackJointList skeltrack_skeleton_track_joints_sync (SkeltrackSkeleton *self,
guint16 *buffer,
guint width,
guint height,
GCancellable *cancellable,
GError **error);
void skeltrack_skeleton_get_focus_point (SkeltrackSkeleton *self,
gint *x,
gint *y,
gint *z);
void skeltrack_skeleton_set_focus_point (SkeltrackSkeleton *self,
gint x,
gint y,
gint z);
G_END_DECLS
#endif /* __SKELTRACK_SKELETON_H__ */

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interface/external/skeltrack/include/skeltrack-smooth.h vendored
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/*
* skeltrack-smooth.h
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#include "skeltrack-joint.h"
typedef struct {
SkeltrackJointList smoothed_joints;
SkeltrackJointList trend_joints;
guint joints_persistency;
gfloat smoothing_factor;
guint joints_persistency_counter[SKELTRACK_JOINT_MAX_JOINTS];
} SmoothData;
void reset_joints_persistency_counter (SmoothData *smooth_data);
void smooth_joints (SmoothData *data,
SkeltrackJointList new_joints);

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interface/external/skeltrack/include/skeltrack-util.h vendored
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/*
* skeltrack-util.h
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#include <glib.h>
#include "skeltrack-joint.h"
typedef struct _Label Label;
typedef struct _Node Node;
struct _Label {
gint index;
Label *parent;
GList *nodes;
Node *bridge_node;
Node *to_node;
gint lower_screen_y;
gint higher_z;
gint lower_z;
gdouble normalized_num_nodes;
};
struct _Node {
gint i;
gint j;
gint x;
gint y;
gint z;
GList *neighbors;
GList *linked_nodes;
Label *label;
};
Node * get_closest_node_to_joint (GList *extremas,
SkeltrackJoint *joint,
gint *distance);
Node * get_closest_node (GList *node_list, Node *from);
Node * get_closest_torso_node (GList *node_list,
Node *from,
Node *head);
Label * get_main_component (GList *node_list,
Node *from,
gdouble min_normalized_nr_nodes);
Label * label_find (Label *label);
void label_union (Label *a, Label *b);
gint get_distance (Node *a, Node *b);
void free_label (Label *label);
void clean_labels (GList *labels);
void free_node (Node *node,
gboolean unlink_node_first);
void clean_nodes (GList *nodes);
GList * remove_nodes_with_label (GList *nodes,
Node **node_matrix,
gint width,
Label *label);
Label * get_lowest_index_label (Label **neighbor_labels);
Label * new_label (gint index);
void join_components_to_main (GList *nodes,
Label *lowest_component_label,
guint horizontal_max_distance,
guint depth_max_distance,
guint graph_distance_threshold);
void set_joint_from_node (SkeltrackJointList *joints,
Node *node,
SkeltrackJointId id,
gint dimension_reduction);
gint * create_new_dist_matrix (gint matrix_size);
gboolean dijkstra_to (GList *nodes,
Node *source,
Node *target,
gint width,
gint height,
gint *distances,
Node **previous);
void convert_screen_coords_to_mm (guint width,
guint height,
guint dimension_reduction,
guint i,
guint j,
gint z,
gint *x,
gint *y);
void convert_mm_to_screen_coords (guint width,
guint height,
guint dimension_reduction,
gint x,
gint y,
gint z,
guint *i,
guint *j);

28
interface/external/skeltrack/include/skeltrack.h vendored
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/*
* skeltrack.h
*
* skeltrack - A GObject wrapper of the libfreenect library
* Copyright (C) 2011 Igalia S.L.
*
* Authors:
* Joaquim Manuel Pereira Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* version 3, or (at your option) any later version as published by
* the Free Software Foundation.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#ifndef __SKELTRACK_H__
#define __SKELTRACK_H__
#include <skeltrack-skeleton.h>
#endif /* __SKELTRACK_H__ */

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interface/external/skeltrack/lib/MacOS/libskeltrack.a vendored
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interface/external/skeltrack/lib/UNIX/libskeltrack.a vendored
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interface/external/skeltrack/src/skeltrack-joint.c vendored
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/*
* skeltrack-joint.c
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
/**
* SECTION:skeltrack-joint
* @short_description: Data structure that holds information about
* a skeleton joint.
*
* A #SkeltrackJoint is built automatically by #SkeltrackSkeleton when
* it finds a skeleton joint and can be used to get information about it.
* Each #SkeltrackJoint holds an id, given by #SkeltrackJointId that indicates
* which of the human skeleton joints it represents.
*
* Spacial information about a joint is given by the @x, @y and @z coordinates.
* To represent the joint in a 2D, the variables @screen_x and
* @screen_y will indicate the joint's position in the screen and are calculated
* taking into account the #SkeltrackSkeleton:dimension-reduction (it will
* be multiplied by this value).
*
* The tracked list of joints is represented by #SkeltrackJointList and given
* by skeltrack_skeleton_track_joints_finish().
* To get a #SkeltrackJoint from a #SkeltrackJointList object, use the
* skeltrack_joint_list_get_joint() indicating the needed #SkeltrackJointId.
*
* A #SkeltrackJointList can be freed by using skeltrack_joint_list_free().
* A #SkeltrackJoint can be copied by skeltrack_joint_copy() and freed by
* skeltrack_joint_free().
**/
#include <string.h>
#include "skeltrack-joint.h"
/**
* skeltrack_joint_get_type:
*
* Returns: The registered #GType for #SkeltrackJoint boxed type
**/
GType
skeltrack_joint_get_type (void)
{
static GType type = 0;
if (G_UNLIKELY (type == 0))
type = g_boxed_type_register_static ("SkeltrackJoint",
(GBoxedCopyFunc) skeltrack_joint_copy,
(GBoxedFreeFunc) skeltrack_joint_free);
return type;
}
/**
* skeltrack_joint_copy:
* @joint: The #SkeltrackJoint to copy
*
* Makes an exact copy of a #SkeltrackJoint object.
*
* Returns: (transfer full): A newly created #SkeltrackJoint. Use
* skeltrack_joint_free() to free it.
**/
gpointer
skeltrack_joint_copy (SkeltrackJoint *joint)
{
SkeltrackJoint *new_joint;
if (joint == NULL)
return NULL;
new_joint = g_slice_new0 (SkeltrackJoint);
memcpy (new_joint, joint, sizeof (SkeltrackJoint));
return new_joint;
}
/**
* skeltrack_joint_free:
* @joint: The #SkeltrackJoint to free
*
* Frees a #SkeltrackJoint object.
**/
void
skeltrack_joint_free (SkeltrackJoint *joint)
{
g_slice_free (SkeltrackJoint, joint);
}
/**
* skeltrack_joint_list_free:
* @list: The #SkeltrackJointList to free
*
* Frees a #SkeltrackJointList object and each #SkeltrackJoint
* in it.
**/
void
skeltrack_joint_list_free (SkeltrackJointList list)
{
gint i;
if (list == NULL)
return;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
g_slice_free (SkeltrackJoint, list[i]);
}
g_slice_free1 (SKELTRACK_JOINT_MAX_JOINTS * sizeof (SkeltrackJoint *), list);
}
/**
* skeltrack_joint_list_get_joint:
* @list: The #SkeltrackJointList
* @id: The #SkeltrackJointId of the joint to get
*
* Gets a joint from a list of skeleton joints. The joint
* returned needs to be freed by using skeltrack_joint_free() or,
* alternatively, the whole list and its joints can be freed by using
* skeltrack_joint_list_free().
*
* Returns: (transfer full): The #SkeltrackJoint that corresponds to
* the given @id or %NULL if that joint wasn't found.
**/
SkeltrackJoint *
skeltrack_joint_list_get_joint (SkeltrackJointList list, SkeltrackJointId id)
{
return list[id];
}
/**
* skeltrack_joint_list_new:
*
* Created a new list of #SkeltrackJointsList with its joints as #NULL.
* When it is no longer needed, free it with skeltrack_joint_list_free().
*
* Returns: (transfer full): A newly allocated #SkeltrackJointList
**/
SkeltrackJointList
skeltrack_joint_list_new (void)
{
return (SkeltrackJointList) g_slice_alloc0 (SKELTRACK_JOINT_MAX_JOINTS *
sizeof (SkeltrackJoint *));
}

2027
interface/external/skeltrack/src/skeltrack-skeleton.c vendored
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File diff suppressed because it is too large Load diff

226
interface/external/skeltrack/src/skeltrack-smooth.c vendored
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@ -1,226 +0,0 @@
/*
* skeltrack-smooth.c
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#include <glib.h>
#include "skeltrack-smooth.h"
static gfloat
holt_double_exp_formula_st (gfloat alpha,
gfloat previous_trend,
gfloat current_value,
gfloat previous_smoothed_value)
{
return alpha * current_value +
(1.0 - alpha) * (previous_smoothed_value + previous_trend);
}
static gfloat
holt_double_exp_formula_bt (gfloat beta,
gfloat previous_trend,
gfloat current_smoothed_value,
gfloat previous_smoothed_value)
{
return beta * (current_smoothed_value - previous_smoothed_value) +
(1.0 - beta) * previous_trend;
}
static void
holt_double_exp_joint (gfloat alpha,
gfloat beta,
SkeltrackJoint *smoothed_joint,
SkeltrackJoint *current_joint,
SkeltrackJoint *trend_joint)
{
gfloat new_x, new_y, new_z, new_screen_x, new_screen_y;
new_x = holt_double_exp_formula_st (alpha,
trend_joint->x,
current_joint->x,
smoothed_joint->x);
new_y = holt_double_exp_formula_st (alpha,
trend_joint->y,
current_joint->y,
smoothed_joint->y);
new_z = holt_double_exp_formula_st (alpha,
trend_joint->z,
current_joint->z,
smoothed_joint->z);
new_screen_x = holt_double_exp_formula_st (alpha,
trend_joint->screen_x,
current_joint->screen_x,
smoothed_joint->screen_x);
new_screen_y = holt_double_exp_formula_st (alpha,
trend_joint->screen_y,
current_joint->screen_y,
smoothed_joint->screen_y);
trend_joint->x = holt_double_exp_formula_bt (beta,
trend_joint->x,
new_x,
smoothed_joint->x);
trend_joint->y = holt_double_exp_formula_bt (beta,
trend_joint->y,
new_y,
smoothed_joint->y);
trend_joint->z = holt_double_exp_formula_bt (beta,
trend_joint->z,
new_z,
smoothed_joint->z);
trend_joint->screen_x = holt_double_exp_formula_bt (beta,
trend_joint->screen_x,
new_screen_x,
smoothed_joint->screen_x);
trend_joint->screen_y = holt_double_exp_formula_bt (beta,
trend_joint->screen_y,
new_screen_y,
smoothed_joint->screen_y);
smoothed_joint->x = new_x;
smoothed_joint->y = new_y;
smoothed_joint->z = new_z;
smoothed_joint->screen_x = new_screen_x;
smoothed_joint->screen_y = new_screen_y;
}
void
reset_joints_persistency_counter (SmoothData *smooth_data)
{
guint i;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
smooth_data->joints_persistency_counter[i] =
smooth_data->joints_persistency;
}
}
static void
decrease_joints_persistency (SmoothData *smooth_data)
{
guint i;
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
SkeltrackJoint *smoothed_joint = NULL;
SkeltrackJoint *trend_joint = NULL;
if (smooth_data->smoothed_joints)
smoothed_joint = smooth_data->smoothed_joints[i];
if (smooth_data->trend_joints)
trend_joint = smooth_data->trend_joints[i];
if (smoothed_joint != NULL || trend_joint != NULL)
{
if (smooth_data->joints_persistency_counter[i] > 0)
smooth_data->joints_persistency_counter[i]--;
else
{
skeltrack_joint_free (smoothed_joint);
skeltrack_joint_free (trend_joint);
if (smoothed_joint)
smooth_data->smoothed_joints[i] = NULL;
if (trend_joint)
smooth_data->trend_joints[i] = NULL;
smooth_data->joints_persistency_counter[i] = smooth_data->joints_persistency;
}
}
}
}
void
smooth_joints (SmoothData *data,
SkeltrackJointList new_joints)
{
guint i;
if (new_joints == NULL)
{
decrease_joints_persistency (data);
return;
}
if (data->smoothed_joints == NULL)
{
data->smoothed_joints = skeltrack_joint_list_new ();
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
data->smoothed_joints[i] = skeltrack_joint_copy (new_joints[i]);
}
return;
}
if (data->trend_joints == NULL)
{
data->trend_joints = skeltrack_joint_list_new ();
}
for (i = 0; i < SKELTRACK_JOINT_MAX_JOINTS; i++)
{
SkeltrackJoint *joint, *smoothed_joint, *trend_joint;
smoothed_joint = data->smoothed_joints[i];
trend_joint = data->trend_joints[i];
joint = new_joints[i];
if (joint == NULL)
{
if (smoothed_joint != NULL)
{
if (data->joints_persistency_counter[i] > 0)
data->joints_persistency_counter[i]--;
else
{
skeltrack_joint_free (smoothed_joint);
skeltrack_joint_free (trend_joint);
data->smoothed_joints[i] = NULL;
data->trend_joints[i] = NULL;
data->joints_persistency_counter[i] = data->joints_persistency;
}
}
continue;
}
data->joints_persistency_counter[i] = data->joints_persistency;
if (smoothed_joint == NULL)
{
data->smoothed_joints[i] = skeltrack_joint_copy (joint);
continue;
}
if (trend_joint == NULL)
{
/* First case (when there are only initial values) */
trend_joint = g_slice_new0 (SkeltrackJoint);
trend_joint->x = joint->x - smoothed_joint->x;
trend_joint->y = joint->y - smoothed_joint->y;
trend_joint->z = joint->z - smoothed_joint->z;
trend_joint->screen_x = joint->screen_x - smoothed_joint->screen_x;
trend_joint->screen_y = joint->screen_y - smoothed_joint->screen_y;
data->trend_joints[i] = trend_joint;
}
else
{
/* @TODO: Check if we should give the control of each factor
independently (data-smoothing-factor and trend-smoothing-factor).
*/
holt_double_exp_joint (data->smoothing_factor,
data->smoothing_factor,
smoothed_joint,
joint,
trend_joint);
}
}
}

626
interface/external/skeltrack/src/skeltrack-util.c vendored
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@ -1,626 +0,0 @@
/*
* skeltrack-util.c
*
* Skeltrack - A Free Software skeleton tracking library
* Copyright (C) 2012 Igalia S.L.
*
* Authors:
* Joaquim Rocha <jrocha@igalia.com>
* Eduardo Lima Mitev <elima@igalia.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License at http://www.gnu.org/licenses/lgpl-3.0.txt
* for more details.
*/
#include <math.h>
#include "skeltrack-util.h"
/* @TODO: Expose these to the user */
static const gfloat SCALE_FACTOR = .0021;
static const gint MIN_DISTANCE = -10.0;
static SkeltrackJoint *
node_to_joint (Node *node, SkeltrackJointId id, gint dimension_reduction)
{
SkeltrackJoint *joint;
if (node == NULL)
return NULL;
joint = g_slice_new0 (SkeltrackJoint);
joint->id = id;
joint->x = node->x;
joint->y = node->y;
joint->z = node->z;
joint->screen_x = node->i * dimension_reduction;
joint->screen_y = node->j * dimension_reduction;
return joint;
}
static guint
get_distance_from_joint (Node *node, SkeltrackJoint *joint)
{
guint dx, dy, dz;
dx = ABS (node->x - joint->x);
dy = ABS (node->y - joint->y);
dz = ABS (node->z - joint->z);
return sqrt (dx * dx + dy * dy + dz * dz);
}
static void
unlink_node (Node *node)
{
Node *neighbor;
GList *current_neighbor;
for (current_neighbor = g_list_first (node->neighbors);
current_neighbor != NULL;
current_neighbor = g_list_next (current_neighbor))
{
neighbor = (Node *) current_neighbor->data;
neighbor->neighbors = g_list_remove (neighbor->neighbors, node);
}
for (current_neighbor = g_list_first (node->linked_nodes);
current_neighbor != NULL;
current_neighbor = g_list_next (current_neighbor))
{
neighbor = (Node *) current_neighbor->data;
neighbor->linked_nodes = g_list_remove (neighbor->linked_nodes, node);
}
g_list_free (node->neighbors);
g_list_free (node->linked_nodes);
node->neighbors = NULL;
node->linked_nodes = NULL;
}
static Node *
get_closest_node_with_distances (GList *node_list,
Node *from,
guint x_dist,
guint y_dist,
guint z_dist,
gint *closest_node_dist)
{
Node *closest = NULL;
gint distance = -1;
GList *current_node;
/* @TODO: Replace this and use closest pair of points
algorithm and ensure O(n log n) instead of brute-force */
for (current_node = g_list_first (node_list);
current_node != NULL;
current_node = g_list_next (current_node))
{
guint dx, dy, dz;
Node *node;
gint current_distance;
node = (Node *) current_node->data;
dx = ABS (from->x - node->x);
dy = ABS (from->y - node->y);
dz = ABS (from->z - node->z);
if (dx > x_dist || dy > y_dist || dz > z_dist)
continue;
current_distance = sqrt (dx * dx + dy * dy + dz * dz);
if (closest == NULL || distance > current_distance)
{
closest = node;
distance = current_distance;
}
}
*closest_node_dist = distance;
return closest;
}
Node *
get_closest_node_to_joint (GList *extremas,
SkeltrackJoint *joint,
gint *distance)
{
GList *current_node;
gint dist = -1;
Node *closest_node = NULL;
for (current_node = g_list_first (extremas);
current_node != NULL;
current_node = g_list_next (current_node))
{
guint current_dist;
Node *node = (Node *) current_node->data;
if (node == NULL)
continue;
current_dist = get_distance_from_joint (node, joint);
if (dist == -1 || current_dist < dist)
{
closest_node = node;
dist = current_dist;
}
}
*distance = dist;
return closest_node;
}
gint
get_distance (Node *a, Node *b)
{
guint dx, dy, dz;
dx = ABS (a->x - b->x);
dy = ABS (a->y - b->y);
dz = ABS (a->z - b->z);
return sqrt (dx * dx + dy * dy + dz * dz);
}
Node *
get_closest_torso_node (GList *node_list, Node *from, Node *head)
{
Node *closest = NULL;
gint distance = -1;
GList *current_node;
/* @TODO: Replace this and use closest pair of points
algorithm and ensure O(n log n) instead of brute-force */
for (current_node = g_list_first (node_list);
current_node != NULL;
current_node = g_list_next (current_node))
{
Node *node;
gint current_distance;
node = (Node *) current_node->data;
if (node->z >= head->z &&
node->y >= from->y)
{
current_distance = get_distance (node, from);
if (closest == NULL || current_distance < distance)
{
closest = node;
distance = current_distance;
}
}
}
return closest;
}
Node *
get_closest_node (GList *node_list, Node *from)
{
Node *closest = NULL;
gint distance = -1;
GList *current_node;
/* @TODO: Replace this and use closest pair of points
algorithm and ensure O(n log n) instead of brute-force */
for (current_node = g_list_first (node_list);
current_node != NULL;
current_node = g_list_next (current_node))
{
Node *node;
gint current_distance;
node = (Node *) current_node->data;
if (closest == NULL)
{
closest = node;
distance = get_distance (node, from);
continue;
}
current_distance = get_distance (node, from);
if (current_distance < distance)
{
closest = node;
distance = current_distance;
}
}
return closest;
}
Label *
get_main_component (GList *node_list, Node *from, gdouble min_normalized_nr_nodes)
{
Label *main_component = NULL;
gint distance = -1;
GList *current_node;
for (current_node = g_list_first (node_list);
current_node != NULL;
current_node = g_list_next (current_node))
{
Node *node;
Label *label;
gint current_distance;
node = (Node *) current_node->data;
label = node->label;
if (main_component == NULL &&
label->normalized_num_nodes > min_normalized_nr_nodes)
{
main_component = label;
distance = get_distance (node, from);
continue;
}
current_distance = get_distance (node, from);
if (current_distance < distance &&
label->normalized_num_nodes > min_normalized_nr_nodes)
{
main_component = label;
distance = current_distance;
}
}
return main_component;
}
Label *
label_find (Label *label)
{
Label *parent;
g_return_val_if_fail (label != NULL, NULL);
parent = label->parent;
if (parent == label)
return parent;
else
return label_find (parent);
}
void
label_union (Label *a, Label *b)
{
Label *root_a, *root_b;
root_a = label_find (a);
root_b = label_find (b);
if (root_a->index < root_b->index)
{
b->parent = root_a;
}
else
{
a->parent = root_b;
}
}
void
free_label (Label *label)
{
g_list_free (label->nodes);
label->nodes = NULL;
g_slice_free (Label, label);
}
void
clean_labels (GList *labels)
{
GList *current = g_list_first (labels);
while (current != NULL)
{
Label *label;
label = (Label *) current->data;
free_label (label);
current = g_list_next (current);
}
}
void
free_node (Node *node, gboolean unlink_node_first)
{
if (unlink_node_first)
{
unlink_node (node);
}
else
{
g_list_free (node->neighbors);
g_list_free (node->linked_nodes);
node->neighbors = NULL;
node->linked_nodes = NULL;
}
g_slice_free (Node, node);
}
void
clean_nodes (GList *nodes)
{
GList *current = g_list_first (nodes);
while (current != NULL)
{
Node *node;
node = (Node *) current->data;
free_node (node, FALSE);
current = g_list_next (current);
}
}
GList *
remove_nodes_with_label (GList *nodes,
Node **node_matrix,
gint width,
Label *label)
{
Node *node;
GList *link_to_delete, *current_node;
current_node = g_list_first (nodes);
while (current_node != NULL)
{
node = (Node *) current_node->data;
if (node->label == label)
{
link_to_delete = current_node;
current_node = g_list_next (current_node);
nodes = g_list_delete_link (nodes, link_to_delete);
node_matrix[width * node->j + node->i] = NULL;
free_node (node, TRUE);
continue;
}
current_node = g_list_next (current_node);
}
return nodes;
}
Label *
get_lowest_index_label (Label **neighbor_labels)
{
guint index;
Label *lowest_index_label = NULL;
lowest_index_label = neighbor_labels[0];
for (index = 1; index < 4; index++)
{
if (neighbor_labels[index] == NULL)
continue;
if (lowest_index_label == NULL ||
lowest_index_label->index < neighbor_labels[index]->index)
{
lowest_index_label = neighbor_labels[index];
}
}
return lowest_index_label;
}
Label *
new_label (gint index)
{
Label *label = g_slice_new (Label);
label->index = index;
label->parent = label;
label->nodes = NULL;
label->bridge_node = NULL;
label->to_node = NULL;
label->lower_screen_y = -1;
label->higher_z = -1;
label->lower_z = -1;
label->normalized_num_nodes = -1;
return label;
}
void
join_components_to_main (GList *labels,
Label *main_component_label,
guint horizontal_max_distance,
guint depth_max_distance,
guint graph_distance_threshold)
{
GList *current_label;
for (current_label = g_list_first (labels);
current_label != NULL;
current_label = g_list_next (current_label))
{
gint closer_distance = -1;
Label *label;
GList *current_node, *nodes;
label = (Label *) current_label->data;
if (label == main_component_label)
continue;
/* Skip nodes behind main component */
if (label->higher_z > main_component_label->higher_z +
graph_distance_threshold)
continue;
nodes = label->nodes;
for (current_node = g_list_first (nodes);
current_node != NULL;
current_node = g_list_next (current_node))
{
Node *node;
gint current_distance;
node = (Node *) current_node->data;
/* Skip nodes that belong to the same component or
that a not in the edge of their component */
if (g_list_length (node->neighbors) == 8)
continue;
Node *closest_node =
get_closest_node_with_distances (main_component_label->nodes,
node,
horizontal_max_distance,
horizontal_max_distance,
depth_max_distance,
&current_distance);
if (closest_node &&
(current_distance < closer_distance ||
closer_distance == -1))
{
node->label->bridge_node = node;
node->label->to_node = closest_node;
closer_distance = current_distance;
}
}
}
}
void
set_joint_from_node (SkeltrackJointList *joints,
Node *node,
SkeltrackJointId id,
gint dimension_reduction)
{
(*joints)[id] = node_to_joint (node, id, dimension_reduction);
}
gint *
create_new_dist_matrix (gint matrix_size)
{
guint i;
gint *distances;
distances = g_slice_alloc0 (matrix_size * sizeof (gint));
for (i = 0; i < matrix_size; i++)
{
distances[i] = -1;
}
return distances;
}
gboolean
dijkstra_to (GList *nodes, Node *source, Node *target,
gint width, gint height,
gint *distances, Node **previous)
{
gint nr;
GList *unvisited_nodes, *current;
for (current = g_list_first (nodes);
previous != NULL && current != NULL;
current = g_list_next (current))
{
Node *node;
node = (Node *) current->data;
previous[node->j * width + node->i] = NULL;
}
distances[source->j * width + source->i] = 0;
unvisited_nodes = g_list_copy (nodes);
nr = 0;
while (unvisited_nodes != NULL)
{
Node *node;
GList *current_neighbor, *shorter_dist_node, *cur_node;
shorter_dist_node = g_list_first (unvisited_nodes);
cur_node = g_list_next (shorter_dist_node);
while (cur_node != NULL)
{
Node *value, *shorter_dist;
value = (Node *) cur_node->data;
shorter_dist = (Node *) shorter_dist_node->data;
if (distances[shorter_dist->j * width + shorter_dist->i] == -1 ||
(distances[value->j * width + value->i] != -1 &&
distances[value->j * width +
value->i] < distances[shorter_dist->j * width +
shorter_dist->i]))
{
shorter_dist_node = cur_node;
}
cur_node = g_list_next (cur_node);
}
node = (Node *) shorter_dist_node->data;
if (distances[node->j * width + node->i] == -1)
{
break;
}
current_neighbor = g_list_first (node->neighbors);
while (current_neighbor)
{
gint dist;
Node *neighbor;
neighbor = (Node *) current_neighbor->data;
dist = get_distance (node, neighbor) +
distances[node->j * width + node->i];
if (distances[neighbor->j * width + neighbor->i] == -1 ||
dist < distances[neighbor->j * width + neighbor->i])
{
distances[neighbor->j * width + neighbor->i] = dist;
if (previous != NULL)
{
previous[neighbor->j * width + neighbor->i] = node;
}
nr++;
}
if (target != NULL && neighbor == target)
{
g_list_free (unvisited_nodes);
return TRUE;
}
current_neighbor = g_list_next (current_neighbor);
}
unvisited_nodes = g_list_delete_link (unvisited_nodes, shorter_dist_node);
}
g_list_free (unvisited_nodes);
return FALSE;
}
void
convert_screen_coords_to_mm (guint width,
guint height,
guint dimension_reduction,
guint i,
guint j,
gint z,
gint *x,
gint *y)
{
gfloat width_height_relation =
width > height ? (gfloat) width / height : (gfloat) height / width;
/* Formula from http://openkinect.org/wiki/Imaging_Information */
*x = round((i * dimension_reduction - width * dimension_reduction / 2.0) *
(z + MIN_DISTANCE) * SCALE_FACTOR * width_height_relation);
*y = round((j * dimension_reduction - height * dimension_reduction / 2.0) *
(z + MIN_DISTANCE) * SCALE_FACTOR);
}
void
convert_mm_to_screen_coords (guint width,
guint height,
guint dimension_reduction,
gint x,
gint y,
gint z,
guint *i,
guint *j)
{
gfloat width_height_relation =
width > height ? (gfloat) width / height : (gfloat) height / width;
if (z + MIN_DISTANCE == 0)
{
*i = 0;
*j = 0;
return;
}
*i = round (width / 2.0 + x / ((gfloat) (z + MIN_DISTANCE) * SCALE_FACTOR *
dimension_reduction * width_height_relation));
*j = round (height / 2.0 + y / ((gfloat) (z + MIN_DISTANCE) * SCALE_FACTOR *
dimension_reduction));
}