write preview code, calibration code is flawed for now

depthrushConfig/calibration.cpp

@@ -1,6 +1,7 @@
 #include "includes.h"
 Vector4 leftLegPos = { 1.5F, 1.5F, 1.5F, 1.5F };
 Vector4 rightLegPos = { 1.5F, 1.5F, 1.5F, 1.5F };
+bool kinectScanning = true;
 
 int calibration() {
 	
@@ -55,6 +56,18 @@ int calibration() {
 		//Y calibration
 		float yGrad = (yMax - yMin) / (zMax - zMin);
 		float yOffset = (yMin - yGrad * zMin);
+
+
+		// Clean up and proceed to kinect test
+		kinectScanning = false;
+		std::cout << std::to_string(xGrad) << " ";
+		std::cout << std::to_string(xOffset) << " ";
+		std::cout << std::to_string(yGrad) << " ";
+		std::cout << std::to_string(yOffset) << " ";
+		std::cout << std::to_string(zGrad) << " ";
+		std::cout << std::to_string(zOffset) << "\n";
+		std::cout << "Proceeding to Kinect Preview..\n";
+		kinectTest(xGrad, xOffset, yGrad, yOffset, zGrad, zOffset);
 		});
 
 
@@ -62,7 +75,7 @@ int calibration() {
 
 	// main loop to read and process skeleton data
 	NUI_SKELETON_FRAME skeletonFrame = { 0 };
-	while (true) {
+	while (kinectScanning) {
 		// get the latest skeleton frame
 		hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);
 		if (FAILED(hr)) {
@@ -82,5 +95,6 @@ int calibration() {
 	// Clean up and exit
 	NuiSkeletonTrackingDisable();
 	NuiShutdown();
+	std::this_thread::sleep_for(std::chrono::hours(1000));
 	return 0;
 }

depthrushConfig/depthrushConfig.cpp

@@ -13,7 +13,7 @@ int main()
         return 0;
     }
     else if (choice == 2) {
-        std::cout << "okay 2";
+        kinectTest(1, 1, 1, 1, 1, 1);
         return 0;
     }
     else {

depthrushConfig/depthrushConfig.vcxproj

@@ -134,10 +134,12 @@
   <ItemGroup>
     <ClCompile Include="calibration.cpp" />
     <ClCompile Include="depthrushConfig.cpp" />
+    <ClCompile Include="kinectTest.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="calibration.h" />
     <ClInclude Include="includes.h" />
+    <ClInclude Include="kinectTest.h" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

depthrushConfig/depthrushConfig.vcxproj.filters

@@ -21,6 +21,9 @@
     <ClCompile Include="calibration.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="kinectTest.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="includes.h">
@@ -29,5 +32,8 @@
     <ClInclude Include="calibration.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="kinectTest.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

depthrushConfig/depthrushConfig.vcxproj.user

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>

depthrushConfig/includes.h

@@ -4,4 +4,7 @@
 #include <iostream>
 #include <thread>
 #include <string>
-#include "calibration.h"
+#include "calibration.h"
+#include "kinectTest.h"
+
+

depthrushConfig/kinectTest.cpp

@@ -0,0 +1,111 @@
+#include "includes.h"
+Vector4 leftLegPosPreview = { 1.5F, 1.5F, 1.5F, 1.5F };
+Vector4 rightLegPosPreview = { 1.5F, 1.5F, 1.5F, 1.5F };
+
+int kinectTest(float xGrad, float xOffset, float yGrad, float yOffset, float zGrad, float zOffset) {
+	//std::cout << "Kinect Preview\n";
+	//std::cin >> xGrad;
+	//std::cin >> xOffset;
+	// Wait 10 secs for kinect shutdown
+	// Sleep(10000);
+	// initialize Kinect
+	HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);
+	if (FAILED(hr)) {
+		std::cout << "Failed to initialize Kinect." << std::endl;
+		return 1;
+	}
+
+	// open the skeleton stream
+	HANDLE skeletonStream = nullptr;
+	hr = NuiSkeletonTrackingEnable(nullptr, 0);
+	if (FAILED(hr)) {
+		std::cout << "Failed to open the skeleton stream." << std::endl;
+		NuiShutdown();
+		return 1;
+	}
+
+	// main loop to read and process skeleton data
+	NUI_SKELETON_FRAME skeletonFrame = { 0 };
+	CONSOLE_SCREEN_BUFFER_INFO csbi;
+	int width = 0;
+	float drsLeft = 0;
+	float drsRight = 0;
+	int toolLeft = 0;
+	int toolRight = 0;
+	int toolWidth = 0;
+	bool leftTouch = false;
+	bool rightTouch = false;
+
+	while (true) {
+		// get the latest skeleton frame
+		hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);
+		if (FAILED(hr)) {
+			continue;
+		}
+
+		// Process each tracked skeleton
+		for (int i = 0; i < NUI_SKELETON_COUNT; ++i) {
+			if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED) {
+				// get the position of both legs
+				leftLegPosPreview = skeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_ANKLE_LEFT];
+				rightLegPosPreview = skeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_ANKLE_RIGHT];
+			}
+		}
+
+		// keep updating screen width for fancy
+		GetConsoleScreenBufferInfo(GetStdHandle(STD_OUTPUT_HANDLE), &csbi);
+		width = (int)(csbi.srWindow.Right - csbi.srWindow.Left + 1);
+		
+		// fetch calibrated feet
+		drsLeft = xGrad * leftLegPosPreview.x + xOffset;
+		drsRight = xGrad * rightLegPosPreview.x + xOffset;
+
+		// translate to console window width
+		toolLeft = width * drsLeft;
+		toolRight = width * drsRight;
+		toolWidth = width * 0.05;
+
+		// foot lifting detection
+		// see how far foot currently is from known ground value
+		float fixedLeft = leftLegPosPreview.y - (yGrad * leftLegPosPreview.z + yOffset);
+		float fixedRight = rightLegPosPreview.y - (yGrad * rightLegPosPreview.z + yOffset);
+
+		// check for stepping
+		float errorMargin = 0.05;
+		if (fixedLeft > (fixedRight + errorMargin)) {
+			rightTouch = true;
+			leftTouch = false;
+			// std::cout << "right step\n";
+		}
+		else if (fixedLeft > (fixedRight + errorMargin)) {
+			leftTouch = true;
+			rightTouch = false;
+			// std::cout << "left step \n";
+		}
+		else {
+			leftTouch = true;
+			rightTouch = true;
+			// std::cout << "both step\n";
+		}
+		/*
+		// print feet
+		for (int i = 0; i < width; i++) {
+			if ((i <= (toolLeft + toolWidth)) && (i >= (toolLeft - toolWidth)) && leftTouch) {
+				std::cout << "L";
+			}
+			else if ((i <= (toolRight + toolWidth)) && (i >= (toolRight - toolWidth)) && rightTouch) {
+				std::cout << "R";
+			}
+			else {
+				std::cout << " ";
+			}
+		}
+		*/
+		std::cout << std::to_string(fixedLeft) << " " << std::to_string(fixedRight) << std::endl;
+	}
+
+	// Clean up and exit
+	NuiSkeletonTrackingDisable();
+	NuiShutdown();
+	return 0;
+}

depthrushConfig/kinectTest.h

@@ -0,0 +1,2 @@
+#pragma once
+int kinectTest(float xGrad, float xOffset, float yGrad, float yOffset, float zGrad, float zOffset);