Our project is (http://www.play4health.com/p4h_eng/) using Ogre 3D
over Ubuntu 11.04. Except for core services all is based in a plugin architecture taking advantage of Ogre 3d plugin facilities.
In our plugin architecture plugins can be:
Videogames
Interaction methods
Users configure their session creating tuples (videogame, interaction
method). The flow is a session is:
* User load his session.
* User click of one of the tuples for the session and play to
videogame with a specific interaction method.
* Repeat it until end all activities of the session.
Plugin are loaded/unloaded dynamically by demand.
One of this interaction methods is hand tracking using openni. What is
the problem?
* Fist time that openni plugin is loading all work perfectly.
* Next time that plugin openni has to be loaded system is able to
detect gestures but not do hand tracking. Note that all plugin are
executed in the same process. Right now only solution is to reboot
platform.
This is the code for init and release OpenNI in our plugin
bool IPKinectPlugin::onInitialise()
{
mHandPointer.mId = "KinectHandPointer";
mHandPointer.mHasAbsolute = true;
mHandPointer.mHasRelative = false;
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = gContext.InitFromXmlFile(String(this->getPluginInfo()-
>getResPath() + "SamplesConfig.xml").c_str());
CHECK_RC(nRetVal, bContext, "InitFromXml");
#if SHOW_DEPTH
nRetVal = gContext.FindExistingNode(XN_NODE_TYPE_DEPTH,gDepthGenerator);
bDepthGenerator = (nRetVal != XN_STATUS_OK);
if (bDepthGenerator)
{
nRetVal = gDepthGenerator.Create(gContext);
CHECK_RC(nRetVal, bDepthGenerator, "Find Depth generator");
}
#endif
nRetVal = gContext.FindExistingNode(XN_NODE_TYPE_USER, gUserGenerator);
bUserGenerator = (nRetVal != XN_STATUS_OK);
if (/*bUserGenerator*/false)
{
nRetVal = gUserGenerator.Create(gContext);
CHECK_RC(nRetVal, bUserGenerator, "Find user generator");
}
nRetVal = gContext.FindExistingNode(XN_NODE_TYPE_GESTURE, gGestureGenerator);
bGestureGenerator = (nRetVal != XN_STATUS_OK);
if (bGestureGenerator)
{
nRetVal = gGestureGenerator.Create(gContext);
CHECK_RC(nRetVal, bGestureGenerator, "Find gesture generator");
XnCallbackHandle hGestureCallbacks;
gGestureGenerator.RegisterGestureCallbacks(gestureRecognized, gestureProcess, 0,
hGestureCallbacks);
}
nRetVal = gContext.FindExistingNode(XN_NODE_TYPE_HANDS,gHandsGenerator);
bHandsGenerator = (nRetVal != XN_STATUS_OK);
if (bHandsGenerator)
{
nRetVal = gHandsGenerator.Create(gContext);
CHECK_RC(nRetVal, bHandsGenerator, "Find hands generator");
XnCallbackHandle hHandsCallbacks;
gHandsGenerator.RegisterHandCallbacks(handsNew, handsMove,handsLost, 0, hHandsCallbacks);
}
nRetVal = gContext.FindExistingNode(XN_NODE_TYPE_DEVICE, gDevice);
bDevice = (nRetVal != XN_STATUS_OK);
gContext.RegisterToErrorStateChange(onErrorStateChanged, NULL, hDummyCallbackHandle);
//Preparo la textura para la webcam
if (bGenerateRGBTexture)
mWebcamTexture = KinectTools::createDepthTexture("KinectWebCamTexture", sPluginName);
return true;
}
//-----------------------------------------------------------------------------
bool IPKinectPlugin::onShutdown()
{
if (bContext)
{
if (bHandsGenerator)
{
gHandsGenerator.StopTrackingAll();
}
if (bGestureGenerator)
{
gGestureGenerator.RemoveGesture(GESTURE_TO_USE);
gGestureGenerator.RemoveGesture(GESTURE_TO_START);
}
gContext.StopGeneratingAll();
gContext.Shutdown();
}
return true;
}
Any idea about this issue? Any wrong with this code?
Maybe you already found a solution in the meantime...
I normally work with the Java Wrapper, but what I see as difference to my code is that I call contect.startGeneratingAll() after creating the generators (Depth, Hands and so on). I had also problems when I did this multiple times at start up. Another difference is that I use a context.release at shutdown.
My procedure is normally:
Init config (License, Nodes, settings)
Create generators
Start Generating All
Run your code ...
Stop Generating ALL
Context release
From OpenNI Documentation
XN_C_API void XN_C_DECL xnShutdown ( XnContext * pContext )
Shuts down an OpenNI context, destroying all its nodes. Do not call
any function of this context or any correlated node after calling this
method. NOTE: this function destroys the context and all the nodes it
holds and so should be used very carefully. Normally you should just
call xnContextRelease()
Related
I acknowledge that I have used the sample codes that #Benjamin used in different examples.
I want to have both object detection numbers and accident numbers in my model. I need a code to detect object. But object detection does not necessarily lead to an accident. When an object is detected the agent(transporter) should either stop or change its route. The following code is about this functionality. field of view is a polygonal in front of the transporter.
for (Worker thisPed: main.worker) {
//for each pedestrain in model
double pedX = thisPed.getX() -getX();
double pedY = thisPed.getY() -getY();
if (fieldOfView.contains(pedX, pedY)) {
v_pedInDanger = true;
setSpeed(0);
break;
}
}
How to tell transporter to change route instead of stop? I could not find a code in this regard.
However, I should use another code to calculate distance between transporter and the detected object and if the distance <= 1 METER then we count it as an accident. like the following:
for (Worker ped: main.worker){
double dist = 0;
dist = distanceTo(ped);
if (dist <= 1){
v_pedCollisionNumber += 1;
ped.v_isWorkerCollide = true;
send ("accident", this);
}
}
the second one does not work.
Any Advise please? Any better approach?
I want to inject my dll in to 64 bit application and I have tried the logic explained in the given link using QueueUserAPC. I am getting success message for every API but when I see in ProcessExplorer I am not able to see my dll in the process.
Below is my code :
bool FindProcess(PCWSTR exeName, DWORD& pid, vector<DWORD>& tids) {
auto hSnapshot = ::CreateToolhelp32Snapshot(TH32CS_SNAPPROCESS | TH32CS_SNAPTHREAD, 0);
if (hSnapshot == INVALID_HANDLE_VALUE)
return false;
pid = 0;
PROCESSENTRY32 pe = { sizeof(pe) };
if (::Process32First(hSnapshot, &pe)) {
do {
if (_wcsicmp(pe.szExeFile, exeName) == 0) {
pid = pe.th32ProcessID;
THREADENTRY32 te = { sizeof(te) };
if (::Thread32First(hSnapshot, &te)) {
do {
if (te.th32OwnerProcessID == pid) {
tids.push_back(te.th32ThreadID);
}
} while (::Thread32Next(hSnapshot, &te));
}
break;
}
} while (::Process32Next(hSnapshot, &pe));
}
::CloseHandle(hSnapshot);
return pid > 0 && !tids.empty();}
void main(){
DWORD pid;
vector<DWORD> tids;
if (FindProcess(L"DataGrid.exe", pid, tids))
{
printf("OpenProcess\n");
HANDLE hProcess = ::OpenProcess(PROCESS_VM_WRITE | PROCESS_VM_OPERATION, FALSE, pid);
printf("VirtualAllocEx\n");
auto p = ::VirtualAllocEx(hProcess, nullptr, 1 << 12, MEM_COMMIT | MEM_RESERVE, PAGE_READWRITE);
wchar_t buffer[] = L"C:\\Users\\sbhuma\\Documents\\Visual Studio 2015\\Projects\\GalaxyHook\\Debug\\GalaxyHook.dll";
printf("WriteProcessMemory\n");
::WriteProcessMemory(hProcess, p, buffer, sizeof(buffer), nullptr);
for (const auto& tid : tids)
{
printf("OpenThread\n");
HANDLE hThread = ::OpenThread(THREAD_SET_CONTEXT, FALSE, tid);
if (hThread)
{
printf("GetProcAddress\n");
DWORD word = ::QueueUserAPC((PAPCFUNC)::GetProcAddress(GetModuleHandle(L"kernel32"), "LoadLibraryW"), hThread, (ULONG_PTR)p);
if (word)
{
printf("insdie if\n");
}
printf("End of IF\n");
}
}
printf("VirtualFreeEx\n");
::VirtualFreeEx(hProcess, p, 0, MEM_RELEASE | MEM_DECOMMIT);
}}
Any help related to inject the dll in to 64 bit application is helpful as I am new to this topic.
Regards,
Sowmya.
First of all, ensure you’re building your injector app as 64 bit.
One possible reason is you’re releasing the buffer too early. QueueUserAPC doesn’t wait; it enqueues the call and returns immediately. Can be your injector process ends running that for loop, calls VirtualFreeEx, then your target process receives the APC, tries to load your DLL but the name buffer is already released by then, so LoadLibrary fails. To verify, comment out the call to VirtualFreeEx. If your DLL will load OK, one way to fix the memory leak is use a named event, CreateEvent in injector app before any calls to QueueUserAPC(), OpenEvent, SetEvent and CloseHandle in DllMain(DLL_PROCESS_ATTACH) of the DLL you’re injecting, WaitForSingleObject in injector app before VirtualFreeEx, I recommend using a timeout for the wait, CloseHandle at the end. As a side effect, your injector app will be able to find out, and report somewhere, whether the injection was successful.
Another possible reason is your target app never enters alertable state. Not all apps use APC, there’re multiple alternative methods to implement asynchronous stuff in Windows. So, not all apps ever call these SleepEx / WaitForMultipleObjectsEx functions. Such app will never receive that APC. If that’s the case, you should use another method of DLL injection. DataGrid.exe name hints your target app is probably a GUI app. You can EnumWindows or FindWindow to find its top-level window, GetWindowThreadProcessId to get thread ID who owns that window, SetWindowsHookEx to inject your DLL into the target process.
I'm currently working on a Petrel plug-in in which I need to run a simulation case (through a "For Loop"), I create my case runner, export it and the run it...but after finishing the simulation and closing the console, I check the CaseRunner.IsRunning property and it shows true! This cause that the results have not been loaded to the petrel system.
I tried to load the results manually after finishing the Run of my case (using caserunner and also using a batch file in my code) and I can't see any results in the programming environment.
Does anybody have a solution for this situation?
This is the related part of my code:
Case theCase = arguments.TheCase;
Case Test2 = simroots.CreateCase(theCase, "FinalCase");
CaseRunner cRunners = SimulationSystem.GetCaseRunner(Test2);
cRunners.Export();
cRunners.Run();
bool b = cRunners.IsRunning;
actually I checked when the process finishes; after "cRunners.Run" the code waits for exit the process using:
System.Diagnostics.Process[] parray = System.Diagnostics.Process.GetProcesses();
foreach (System.Diagnostics.Process pr in parray)
{
if (pr.ProcessName == "cmd")
{
pr.WaitForExit();//just wait
}
}
and when the console closes itself, i checked the cRunners.IsRunning term.
However, I'm not so expert... can you show me an example of using CaseRunnerMonitor? both definition of the derived class and its implementation.
All I need is running a simulation case n times via a for loop and
after each Run access to its provided summary results.
I tried some different scenarios to get my desired results, I put here some of them
First I create my CaseRunnerMonitor class:
public class MyMonitor : CaseRunnerMonitor
{
//…
public override void RunCompleted()
{
// define arguments
foreach (Slb.Ocean.Petrel.DomainObject.Simulation.SummaryResult sr in simroot.SummaryResults)
{
IEnumerable ….
List ….
// some codes to change the input arguments according to the current step simulation summary results
}
PetrelLogger.InfoOutputWindow("MyMonitor is completed!");
}
//…
}
And then use it:
private void button1_Click(object sender, EventArgs e)
{
// Some codes that define some arguments…
for (int j = 0; j < 8; j++)
{
// some changes in the arguments
Case MyTest;
MyMonitor monit4 = new MyMonitor();
SimulationRoot simroot = SimulationRoot.Get(PetrelProject.PrimaryProject);
using (ITransaction trans = DataManager.NewTransaction())
{
trans.Lock(simroot);
MyTest = simroot.CreateCase(OriginalCase, MycaseNameFunc());
trans.Commit();
}
CaseRunner cRun = SimulationSystem.GetCaseRunner(MyTest);
cRun.Export();
cRun.Run(monit4);
//Wait(); //waits for current process to close
}
}
But the thing is that MyTest case results part are empty after my run is completed. in this case all the results loaded to the petrel when the 8th (last) simulation completes. If I don’t activate the Wait() function, all 8 runs are almost calling simultaneously…
I changed my scenario, my callback after each run is read the simulation results, change something and call next run so
I create my CaseRunnerMonitor class:
public class MyMonitor2 : CaseRunnerMonitor
{
//…
public override void RunCompleted()
{
// define arguments
index++;
if (index <=8)
{
foreach (Slb.Ocean.Petrel.DomainObject.Simulation.SummaryResult sr in simroot.SummaryResults)
{
IEnumerable ….
List ….
// some codes to change the input arguments according to the current step simulation summary results
}
Case MyTest;
MyMonitor monit4 = new MyMonitor();
SimulationRoot simroot = SimulationRoot.Get(PetrelProject.PrimaryProject);
using (ITransaction trans = DataManager.NewTransaction())
{
trans.Lock(simroot);
MyTest = simroot.CreateCase(OriginalCase, MycaseNameFunc());
trans.Commit();
}
CaseRunner cRun = SimulationSystem.GetCaseRunner(MyTest);
cRun.Export();
cRun.Run(monit4);
}
PetrelLogger.InfoOutputWindow("MyMonitor2 is completed!");
}
//…
}
And then use it:
private void button1_Click(object sender, EventArgs e)
{
Index=0;
// Some codes that define some arguments…
// some changes in the arguments
Case MyTest;
MyMonitor monit5 = new MyMonitor();
SimulationRoot simroot = SimulationRoot.Get(PetrelProject.PrimaryProject);
using (ITransaction trans = DataManager.NewTransaction())
{
trans.Lock(simroot);
MyTest = simroot.CreateCase(OriginalCase, MycaseNameFunc());
trans.Commit();
}
CaseRunner cRun = SimulationSystem.GetCaseRunner(MyTest);
cRun.Export();
cRun.Run(monit5);
}
in this situation no need to wait() function is required. But the problem is that I access to MyTest case results in one level before the current run completes. i.e, I can view the step 5 results via MyTest.Results when the run 6 is completed while step 6 results are empty despite of completion of its run.
I check the CaseRunner.IsRunning property and it shows true
This is because Caserunner.Run() is non-blocking; that is, it starts another thread to launch the run. Control flow then passes immediately to your cRunners.IsRunning check which is true as simulation is in progress.
cRunners.Run(); //non-blocking
bool b = cRunners.IsRunning;
You should look at CaseRunnerMonitor if you want a call-back when the simulation is complete.
Edit:
can you show me an example of using CaseRunnerMonitor? both definition of the derived class and its implementation.
Create your monitor class:
public class CustomCaseRunnerMonitor : CaseRunnerMonitor
{
//...
public override void RunCompleted()
{
//This is probably the callback you want
}
}
Use it:
Case myCase = WellKnownSimulators.ECLIPSE100.CreateSimulationCase(...);
CaseRunner runner = SimulationSystem.GetCaseRunner(myCase);
var myMonitor = new CustomCaseRunnerMonitor(...);
runner.Run(myMonitor);
//Your callbacks defined in your CustomCaseRunnerMonitor will now be called
See also "Running and monitoring a Simulation" in SimulationSystem API documentation.
Ah, OK. I didn't realise you were trying to load results with the CaseMonitor.
I'm afraid the short answer is "No, you can't know when Petrel has loaded results".
The long answer is Petrel will automatically load results if the option is set in the Case arguments. (Define Simulation Case -> Advance -> Automatically load results).
In API:
EclipseFormatSimulator.Arguments args = EclipseFormatSimulator.GetEclipseFormatSimulatorArguments(myCase);
EclipseFormatSimulator.Arguments.RuntimeArguments runtimeArgs = args.Runtime;
runtimeArgs.AutoLoadResults = true;
runtimeArgs.AutoLoadResultsInterval = 120; //How frequently in seconds Petrel polls sim dir.
You will have to poll SimulationRoot.SummaryResults (using the same API you are already using) after case has finished.
You should use the CaseRunnerMonitor we discussed to determine when to start doing this, rather than the System.Diagnostics.Process[] parray = System.Diagnostics.Process.GetProcesses(); code you currently have.
I'm writing a small program to change desktop background with one or two mouse clicks..
I know that I can right click on any Image file and set it as Desktop Background..
And exactly there is where the problem starts. I cant find the proper entry in any dll which would have the entry Set As Desktop Background or even New Desktop Background.
I know how I can create those in registry, but I don't want to edit registry for this, rather I would like to have it set right in my Tiny Program so with two clicks I would get control over all image files on my Computer to display them as Desktop Background. and this from any folder or even from any connected drive, without to have to return to Personalization menu.
If anyone of you knows where I can find the entry's of above mentioned Context menu Strings, so I would be very thankful.
This is just for personal use, neither to sell or give away..
Thank you Chris
P.S. Please forgive me my bad English, I'm from a non English speaking European country.
If you look at, for example, HKEY_CLASSES_ROOT\SystemFileAssociations.jpg\Shell\setdesktopwallpaper\Command
You'll notice that it has the DelegateExecute member set. This means that windows will attempt to use the IExecuteCommand interface in the specified DLL. Reading up on what that does on MSDN, and attempting to emulate explorer, I came up with this, which works.
I'm not sure why that Sleep() is needed though, I'd love if anyone could elaborate on that.
void SetWallpaper(LPCWSTR path)
{
const GUID CLSID_SetWallpaper = { 0xFF609CC7, 0xD34D, 0x4049, { 0xA1, 0xAA, 0x22, 0x93, 0x51, 0x7F, 0xFC, 0xC6 } };
HRESULT hr;
IExecuteCommand *executeCommand = nullptr;
IObjectWithSelection *objectWithSelection = nullptr;
IShellItemArray *shellItemArray = nullptr;
IShellFolder *rootFolder = nullptr;
LPITEMIDLIST idlist = nullptr;
// Initalize COM, probably shouldn't be done in this function
hr = CoInitialize(nullptr);
if (SUCCEEDED(hr))
{
// Get the IExecuteCommand interface of the DLL
hr = CoCreateInstance(CLSID_SetWallpaper, nullptr, CLSCTX_INPROC_SERVER, IID_IExecuteCommand, reinterpret_cast<LPVOID*>(&executeCommand));
// Get the IObjectWithSelection interface
if (SUCCEEDED(hr))
{
hr = executeCommand->QueryInterface(IID_IObjectWithSelection, reinterpret_cast<LPVOID*>(&objectWithSelection));
}
//
if (SUCCEEDED(hr))
{
hr = SHGetDesktopFolder(&rootFolder);
}
if (SUCCEEDED(hr))
{
hr = rootFolder->ParseDisplayName(nullptr, nullptr, (LPWSTR)path, nullptr, &idlist, NULL);
}
if (SUCCEEDED(hr))
{
hr = SHCreateShellItemArrayFromIDLists(1, (LPCITEMIDLIST*)&idlist, &shellItemArray);
}
if (SUCCEEDED(hr))
{
hr = objectWithSelection->SetSelection(shellItemArray);
}
if (SUCCEEDED(hr))
{
hr = executeCommand->Execute();
}
// There is probably some event, or something to wait for here, but we
// need to wait and relinquish control of the CPU, or the wallpaper won't
// change.
Sleep(2000);
// Release interfaces and memory
if (idlist)
{
CoTaskMemFree(idlist);
}
if (executeCommand)
{
executeCommand->Release();
}
if (objectWithSelection)
{
objectWithSelection->Release();
}
if (shellItemArray)
{
shellItemArray->Release();
}
if (rootFolder)
{
rootFolder->Release();
}
CoUninitialize();
}
}
Edit: After doing some more research on this, for my own sake, I realized that stobject.dll actually just uses the IDesktopWallpaper interface; which is part of CLSID_DesktopWallpaper
http://msdn.microsoft.com/en-us/library/windows/desktop/hh706946(v=vs.85).aspx
In Processing, I can successfully draw depth maps from 2 Kinects using SimpleOpenNI, but I'm now trying to draw 2 "scenes" (from enableScene() vs enableDepth()). Both Kinects are detected but when I draw the output, I see the same scene is drawn twice (whereas using enableDepth() always gave me 2 different depth images). Any ideas what I'm doing wrong? Thanks in advance.
/* --------------------------------------------------------------------------
* SimpleOpenNI Multi Camera Test
* --------------------------------------------------------------------------
*/
import SimpleOpenNI.*;
SimpleOpenNI cam1;
SimpleOpenNI cam2;
void setup()
{
size(640 * 2 + 10,480);
// start OpenNI, loads the library
SimpleOpenNI.start();
// init the cameras
cam1 = new SimpleOpenNI(0,this);
cam2 = new SimpleOpenNI(1,this);
// set the camera generators ** HAD TO REVERSE ORDER FOR BOTH KINECTS TO WORK
// enable Scene
if(cam2.enableScene() == false)
{
println("Can't open the scene for Camera 2");
exit();
return;
}
// enable depthMap generation
if(cam1.enableScene() == false)
{
println("Can't open the scene for Camera 1");
exit();
return;
}
background(10,200,20);
}
void draw()
{
// update the cams
SimpleOpenNI.updateAll();
image(cam1.sceneImage(),0,0);
image(cam2.sceneImage(),640 + 10,0);
}
I've done another text using the sceneMap() functionality but it looks like there is indeed an issue with SimpleOpenNI not updating properly internally:
/* --------------------------------------------------------------------------
* SimpleOpenNI Multi Camera Test
* --------------------------------------------------------------------------
*/
import SimpleOpenNI.*;
SimpleOpenNI cam1;
SimpleOpenNI cam2;
int numPixels = 640*480;
int[] sceneM1 = new int[numPixels];
int[] sceneM2 = new int[numPixels];
PImage scene1,scene2;
void setup()
{
size(640 * 2 + 10,480 * 2 + 10);
// start OpenNI, loads the library
SimpleOpenNI.start();
// init the cameras
cam1 = new SimpleOpenNI(0,this);
cam2 = new SimpleOpenNI(1,this);
// set the camera generators ** HAD TO REVERSE ORDER FOR BOTH KINECTS TO WORK
// enable Scene
if(cam2.enableScene() == false)
{
println("Can't open the scene for Camera 2");
exit();
return;
}
// cam2.enableDepth();//this fails when using only 1 bus
// enable depthMap generation
if(cam1.enableScene() == false)
{
println("Can't open the scene for Camera 1");
exit();
return;
}
cam1.enableDepth();
scene1 = createImage(640,480,RGB);
scene2 = createImage(640,480,RGB);
background(10,200,20);
}
void draw()
{
// update the cams
SimpleOpenNI.updateAll();
image(cam1.depthImage(),0,0);
image(cam1.sceneImage(),0,0);
cam1.sceneMap(sceneM1);
cam2.sceneMap(sceneM2);
updateSceneImage(sceneM1,scene1);
updateSceneImage(sceneM2,scene2);
image(scene1,0,490);
image(scene2,650,490);
}
void updateSceneImage(int[] sceneMap,PImage sceneImage){
for(int i = 0; i < numPixels; i++) sceneImage.pixels[i] = sceneMap[i] * 255;
sceneImage.updatePixels();
}
Using something like
cam1.update();
cam2.update();
rather than
SimpleOpenNI.updateAll();
doesn't change anything.
An issue was filed, hopefully it will be resolved.
In the meantime, try using OpenNI in a different language/framework.
OpenFrameworks has many similarities to Processing (and many differences
as well to be honest, but it's not rocket science).
Try the experimental ofxOpenNI addon to test multiple cameras, hopefully it will resolve your issue.