adding pitch node support.

Project2/NULL

@@ -1 +1 @@
-SUCCESS: The process "Cortana.exe" with PID 15632 has been terminated.
+SUCCESS: The process "Cortana.exe" with PID 23088 has been terminated.

Project2/gesturetree.cpp

@@ -86,4 +86,21 @@ bool gestureTree::set_state(gestureNode * Node)
     return true;
 }
 
+pitchNode::pitchNode(unsigned id, bool leaf, k4abt_joint_id_t joint, double pitch, float threshold): gestureNode(id, leaf, joint), _pitch(pitch), _threshold(threshold)
+{
+}
 
+bool pitchNode::activate(k4abt_joint_t read)
+{
+    auto q = read.orientation.wxyz;
+    double pitch = atan2(2.0 * q.w * q.x + 2.0 * q.y * q.z, 1 - 2.0 * q.x * q.x - 2.0 * q.y * q.y) * (180.0 / 3.14);
+    printf("pitch = %f\n", pitch);
+    if (std::abs(std::abs(_pitch) - std::abs(pitch)) < _threshold)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}

Project2/gesturetree.h

@@ -35,9 +35,14 @@ class positionNode : public gestureNode
     virtual bool activate(k4abt_joint_t read) override;
 };
 
-class orientationNode : public gestureNode
+class pitchNode : public gestureNode
 {
-    // depreciated
+private:
+    double _pitch;
+    float _threshold;
+public:
+    pitchNode(unsigned id, bool leaf, k4abt_joint_id_t joint, double pitch, float threshold);
+    virtual bool activate(k4abt_joint_t read) override;
 };
 
 class gestureTree

Project2/main.cpp

@@ -266,7 +266,8 @@ int main()
     positionNode* left2 = new positionNode(5, true, K4ABT_JOINT_HAND_RIGHT, k4a_float3_t{ 250,-25,500 }, 200);
     positionNode* volume = new positionNode(6, true, K4ABT_JOINT_HAND_LEFT, k4a_float3_t{ 250,-60,250 }, 200);
     positionNode* volume_start = new positionNode(7, false, K4ABT_JOINT_HAND_LEFT, k4a_float3_t{ 490,-80,300 }, 200);
-    positionNode* cortana = new positionNode(8, true, K4ABT_JOINT_HAND_LEFT, k4a_float3_t{ 250,-100,275 }, 200);
+    positionNode* cortana = new positionNode(8, false, K4ABT_JOINT_HAND_LEFT, k4a_float3_t{ 250,-100,275 }, 200);
+    pitchNode* cortana_look = new pitchNode(9, true, K4ABT_JOINT_HEAD, -70, 8);
 
     gesture mygesture1(1, "Display Desktop", gesture_display_desktop);
     gesture mygesture2(2, "Multi task", gesture_multi_task);
@@ -278,12 +279,13 @@ int main()
     left2->set_gesture(mygesture2, gesture_map);
     //test->set_gesture(3);
     volume->set_gesture(mygesture3, gesture_map);
-    cortana->set_gesture(mygesture4, gesture_map);
+    cortana_look->set_gesture(mygesture4, gesture_map);
 
     front->add_child(back);
     front->add_child(left2);
     left->add_child(right);
     volume_start->add_child(volume);
+    cortana->add_child(cortana_look);
     //left_left_land->add_child(test);
 
     root->add_child(front);
@@ -320,8 +322,18 @@ int main()
                 joint_map[K4ABT_JOINT_HAND_RIGHT] = device._skeleton.joints[K4ABT_JOINT_HAND_RIGHT];
                 joint_map[K4ABT_JOINT_HAND_LEFT] = device._skeleton.joints[K4ABT_JOINT_HAND_LEFT];
                 joint_map[K4ABT_JOINT_WRIST_RIGHT] = device._skeleton.joints[K4ABT_JOINT_WRIST_RIGHT];
+                joint_map[K4ABT_JOINT_HEAD] = device._skeleton.joints[K4ABT_JOINT_HEAD];
 
                 //printf("X = %f, Y= %f, Z = %f\n", device._skeleton.joints[K4ABT_JOINT_HAND_LEFT].position.xyz.x, device._skeleton.joints[K4ABT_JOINT_HAND_LEFT].position.xyz.y, device._skeleton.joints[K4ABT_JOINT_HAND_LEFT].position.xyz.z);
+                //printf("W = %f, X = %f, Y= %f, Z = %f\n", device._skeleton.joints[K4ABT_JOINT_WRIST_LEFT].orientation.wxyz.w, device._skeleton.joints[K4ABT_JOINT_WRIST_LEFT].orientation.wxyz.x, device._skeleton.joints[K4ABT_JOINT_WRIST_LEFT].orientation.wxyz.y, device._skeleton.joints[K4ABT_JOINT_WRIST_LEFT].orientation.wxyz.z);
+                //auto q = device._skeleton.joints[K4ABT_JOINT_HEAD].orientation.wxyz;
+                //double pitch = atan2(2.0 * q.w * q.x + 2.0 * q.y * q.z, 1 - 2.0 * q.x * q.x - 2.0 * q.y * q.y);
+                //double yaw = 2.0 * q.w * q.y - 2.0 * q.z * q.x;
+                //yaw = yaw > 1.0 ? 1.0 : yaw;
+                //yaw = yaw < -1.0 ? -1.0 : yaw;
+                //yaw = asin(yaw);
+                //double roll = atan2(2.0 * q.w * q.z + 2.0 * q.y * q.x, 1 - 2.0 * q.y * q.y - 2.0 * q.z * q.z);
+                //printf("pitch = %f, yaw = %f, rolll = %f\n", pitch * (180.0 / 3.14), yaw * (180.0 / 3.14), roll * (180.0 / 3.14));
                 int gesture = mytree.traverse_map();
                 if (gesture == -1)// timeout
                 {
@@ -331,6 +343,7 @@ int main()
                     process_gesture(gesture, device, gesture_map);
                     Sleep(1000);
                 }
+
             //}
         }
         else

README.md

@@ -49,7 +49,7 @@ Plesae refer to [Usage section](#Usage) for how to navigate in 3D with gestures
 # 3.  Usage
 After Launching `HoloGesture.exe` you can start to play around with gestures. Currently all the gesture presets are refer to absolute coordinate frame of Azure Kinect. Relative coordinate frame feature would be added in future releases.
 
-**Supported Gestures**
+**Supported Gestures**  
 1.  Display Desktop  
 Right hand forward then backword will trigger a display desktop. Do it again will bring your desktop back.  
 ![Display Desktop](https://github.com/yifeifang/HoloGesture/blob/gesture_object/gifs/desktop.gif)