Merge branch 'master' of https://git.tk.informatik.tu-darmstadt.de/etri-smartspaces

Conflicts:
	bbiwarg/Graphics/Output.cs
	bbiwarg/Main/OutputTest.cs

bbiwarg/DataSource/PalmDetection.cs

@@ -24,11 +24,14 @@ namespace bbiwarg.DataSource
         public Palm getPalm(uint handIndex)
         {
             DenseVector palmMiddle = (DenseVector) input.getPalmPosition3D(handIndex);
-            DenseVector thumbPosition = (DenseVector) input.getFingerTipPositions3D(handIndex)[0];
-            DenseVector tipPosition = (DenseVector)input.getTipPosition3D(handIndex);
+            DenseVector tipPosition = (DenseVector)input.getTipPosition3D(handIndex);
+            DenseVector palmNormal = (DenseVector)input.getPalmNormal3D(handIndex);
+            //DenseVector thumbPosition = (DenseVector) input.getFingerTipPositions3D(handIndex)[0];
 
-            DenseVector palmToThumb_2 = (thumbPosition - palmMiddle) / 2.0f;
-            DenseVector tipToForeFinger = tipPosition - palmMiddle;
+            //DenseVector palmToThumb_2 = (thumbPosition - palmMiddle) / 2.0f;
+            DenseVector tipToForeFinger = tipPosition - palmMiddle;
+            DenseVector palmToThumb_2 = (DenseVector) tipToForeFinger.Cross(palmNormal) / 3.0f;
+           
 
             return new Palm(palmMiddle + palmToThumb_2 + tipToForeFinger,
                             palmMiddle - palmToThumb_2 + tipToForeFinger,

bbiwarg/Graphics/Output.cs

@@ -35,6 +35,9 @@ namespace bbiwarg.Graphics
             GL.BlendEquation(BlendEquationMode.Max);
 
             initBuffers();
+
+            GL.Enable(EnableCap.Blend);
+            GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
         }
 
         protected override void OnRenderFrame(FrameEventArgs e)
@@ -53,9 +56,9 @@ namespace bbiwarg.Graphics
             drawDepthImage();
 
             // palm (iisu)
-            Vector palmPosition = videoHandle.getPalmPosition3D(1);
+            Vector palmPosition = videoHandle.getPalmPosition3D(1);
             Point palmPoint = new Point(palmPosition, Color.Yellow, 0.005f);
-            palmPoint.draw();
+            palmPoint.draw();
 
             // foreFinger
             Vector foreFingerPosition = videoHandle.getForeFingerPosition3D(1);

bbiwarg/bbiwarg.csproj

@@ -31,6 +31,7 @@
     <DefineConstants>TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
   </PropertyGroup>
   <PropertyGroup>
     <StartupObject>bbiwarg.Main.OutputTest</StartupObject>