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LECTURE 5:
OPENFRAMEWORKS AND SOLI
COMP 4026 – Advanced HCI
Semester 5 - 2016
Mark Billinghurst
University of South Australia
August 25th 2016
RECAP
Advanced Interface Technology
• Wearable Computers
• Augmented Reality
• Virtual Reality
• Invisible Interfaces
• Environment Sensing
• Physiological Sensing
Class Project
1.  Pick Advanced Technology
2.  Brainstorm use case
3.  Develop conceptual design
4.  Prototype interface/experience design
5.  Conduct user evaluation
6.  Repeat steps 3-5
7.  Write report
Wearable Computing
▪  Computer on the body that is:
▪  Always on
▪  Always accessible
▪  Always connected
▪  Other attributes
▪  Augmenting user actions
▪  Aware of user and surroundings
Wearable Attributes
▪  fafds
Google Glass
ViewThrough Google Glass
1977 – StarWars
Augmented Reality Definition
• Defining Characteristics [Azuma 97]
• Combines Real andVirtual Images
• Both can be seen at the same time
• Interactive in real-time
• The virtual content can be interacted with
• Registered in 3D
• Virtual objects appear fixed in space
Azuma, R. T. (1997). A survey of augmented reality. Presence, 6(4), 355-385.
Virtual Reality
• ImmersiveVR
•  Head mounted display, gloves
•  Separation from the real world
AR vsVR
Early Examples
•  Interaction without devices:
•  BodySpace [Strachan 2007]: Functions to body position
•  Abracadabra [Harrison 2007]: Magnets on finger tips
•  GesturePad [Rekimoto 2001]: Capacitive sensing in clothing
•  Palm-based Interaction
•  Haptic Hand [Kohli 2005]: Using non-dominant hand in VR
•  Sixth Sense [Mistry 2009]: Projection on hand
•  Brainy Hand [Tamaki 2009]: Head worn projector/camera
ImaginaryPhone
•  Gustafson, S., Holz, C., & Baudisch, P. [2011]
Transfer Learning
Invisible Interfaces – Gestures in Space
•  Gustafson, S., Bierwirth, D., & Baudisch, P. [2010]
•  Using a non-dominant hand stabilized interface.
Project Soli
•  Using Radar to support free-hand spatial input
Google Tango
• Tablet based system
• Android OS
• Multiple sensors
• RGBD Sensor
• IR Structured light
• Inertial sensors
• High end graphics
• Nvidia tegra chip
Physiological Sensors
• Sensing user state
•  Body worn devices
• Multiple possible sensors
•  Physical activity
•  Eye tracking, gaze
•  Heart rate
•  GSR
•  Breathing
•  Etc
Tobii Eye Tracker
• Wearable eye tracking system
•  Natural data capture
•  Scene camera capture
•  Recording/streaming eye gaze, 60 Hz sampling
OPENFRAMEWORKS
OpenFrameworks (www.openframeworks.cc)
• Open source toolkit designed for creative coding
•  Developed by Z. Lieberman,T.Watson and A. Castro
• Framework – collection of libraries
• Written in C++
•  More powerful than Processing, but more complicated
• Must use IDE for development
•  Xcode,Visual Studio, Code::Blocks
• Runs on Mac,Windows, Linux platforms
Why use oF instead of Processing
• Speed
• Accessibility of low level information
• Debugger
• C++
• Version control
• Cross Platform
OpenFrameworks vs.Processing
•  Making project visible on Internet - Processing
•  Make a project with lots of 3D graphics - OpenFrameworks
•  Make a project for lots of different computers/OS – Processing
•  Make a project using an external library like the OpenCV
computer vision library – OpenFrameworks
•  Make a project that interfaces with the Arduino board - Either
OpenFrameworks Installation
•  addons: added libraries from user community. Must be explicitly
included in programs using them
•  apps: store your programs here.Also contains example code.
•  libs: where the core libraries of OpenFrameworks are stored.
Also contains core openFrameworks folder
Building anApplication
testApp.cpp
Application Structure
Typical FunctionTypes
• setup( )
• load assets
• Initialize values
• Initialize addons or components
• update( )
• calculations
• increment video frames
• draw( )
• draw shapes/images/videos
• use GLSL Shaders
Classes in C++
•  C++ classes comprise of two files. It helps to think of these two
files as a recipe.
•  The header file (.h) is like the list of ingredients, and contains:
•  Any preprocessor statements there to prevent multiple header definitions
•  Any include statements to other classes
•  Any class extension statements
•  Any variables local to the class
•  Prototypes of any functions to be contained in the class
•  Security settings of these functions and variables (e.g. public, private,
protected, etc).
•  and a body file (.cpp) which is like the instructions on what to do
with the ingredients and contains:
•  An include statement that references the .h file
•  All of the code to fill in the function prototypes.
Class Extending
•  Take one class and add functionality to it with a new class
•  Eg enemy class for video game
!class Enemy {!
! !int x, y; //position!
! !.. .. !
! !public void draw() {!
! !//draw my picture to the screen at the proper location }!
!}!
•  Want to draw enemy twice – create new class
!//on a "DoubleEnemy.h" file!
!class DoubleEnemy: public Enemy // class[className]:[privacy][extended Class]{}!
!{!
! !public void draw();//the actual code inthe "DoubleEnemy.cpp" file!
!}; // note the ";" at the end of the class statement!
Pass byValue vs.by Reference
•  void functn(int num) – pass by value
•  void functn(<class> test) – pass by reference
•  sends address of where class stored
•  use pointers to pass arrays back and forth through functions
int num = 5; value
stores address of variable value
void setup()
{
int num = 1;
addOne(num);
print(num);
}
void addOne(int num)
{
num++;
}
class Test
{
int num=0;
}
void setup()
{
Test test = new Test();
test.num=1;
addOne(test);
print(test.num);
}
void addOne(Test test)
{
test.num++;
}
Pass by Value Pass by Reference
& and *
•  In C++ you need to explicitly state whether you are passing
something by value or by reference.
•  Use & (referencing) and * (dereferencing) symbols
•  the & symbol is used to acquire the memory address of a
variable or function
b=1;!
a = &b; // a now equal to memory address of b!
a++; // memory address of b + 1!
*a++; // value a +1 (increments b as well)!
Example
•  What does this code do?
! ! !int x;!
! ! !int *ptr;!
!
! ! !x=5;!
! ! !ptr = &x;!
! ! !*ptr = 10;!
2D Image Functions
• Colors
•  ofFill();
•  ofCircle(100,400,80);
•  ofSetHexColor(0x000000); ofSetColor(255,0,0,127);
• Primitives
•  ofCircle(100,400,80);
•  ofRect(400,350,100,100);
•  ofLine(600,300,800, 250);
•  ofDrawBitmapString("rectangles", 275,500);
OpenFrameworks vs.Processing
OpenFrameworks Processing
Circle Grid
• Setting the size of the window.
• Processing:
• size(800, 600, OPENGL);
• openFrameworks:
• ofSetupOpenGL(&window, 800, 600, OF_WINDOW);
• function is called in main() in the file main.cpp.
Circle Grid
• DeclaringVariables
• Processing:
• Declare the variables you need right after you
import the libraries you need.
• openFrameworks:
• Declare variables in the file testApp.h, after the line
void windowResized(int w, int h);.
Circle Grid
• Background Color
• Processing:
•  background(0); will set the background of your sketch to black.
You need to call the function inside draw() to draw the
background each frame.
• openFrameworks:
•  Call ofBackground(0, 0, 0); once inside the setup() method.
openFrameworks will draw the background automatically each
frame.You can disable this by calling ofSetBackgroundAuto(false)
within setup() in the file testApp.cpp.
Circle Grid
•  Drawing Circles
•  Processing:
•  after you have set the stroke and fill, use ellipse(50, 50, 20, 20); to draw a circle
with a diameter of 20 at (50, 50).
•  openFrameworks:
•  you can use ofCircle(50, 50, 10); to draw the same circle.You could also use
ofEllipse(50, 50, 20, 20);. If you want to draw a circle with a stroke you will
need to call the function to draw the circle two times. Once for the fill and
once for the stroke.
ofSetColor(255, 255, 255);!
! !ofFill();!
! !ofCircle(50, 50, 20);!
Graphics Demo - graphicsExample
•  setup( ) method
•  draw( ) method
Drawing Polygons
•  Must begin and end a shape
•  ofVertex, ofCurveVertex, ofBezierVertex
!ofBeginShape();!
! ! !ofVertex(200,135);!
! ! !ofVertex(15,135);!
! ! !ofVertex(165,25);!
! ! !ofVertex(105,200);!
! ! !ofVertex(50,25);!
!ofEndShape();!
• 
polygonExample
ofBoxDemo
Importing Libraries
•  Large set of oF addon libraries (> 450)
•  http://ofxaddons.com/
•  Just download library to addons directory, then include library
#include “myLibrary.h”!
•  Sample libraries
•  ofxOpenCv
•  ofxVectorGraphics
•  ofxVectorMath
•  ofxNetwork
•  ofvOsc
Examples
• VectorGraphicsExample
• 3DModelLoaderExample
• Loading 3D models
• assimpleExample
• 3D animation
• openCVExample
• Hand segmentation
Projects
OpenFrameworks Showcase
https://www.youtube.com/watch?v=6u6IDorMKAs
Piano Stairs
+openFrameworks
Nike + Paint With Your Feet
+openFrameworks
+GPS
Resources
• Main website
• http://www.openframeworks.cc/
• Forum
• http://forum.openframeworks.cc/
• Addons
• http://ofxaddons.com/
• Roxlu s website
• http://www.roxlu.com/
PROJECT SOLI
Overview
•  Soli uses radar to detect fine scale finger motion
Project Soli Overview
https://www.youtube.com/watch?v=0QNiZfSsPc0
Sensing Modalities
•  asdfas
Radar Fundamentals
•  Radar tracks moving objects
•  Measures response to Radar waves sent from transmitter
Radar Reflections from Hand
•  Multiple reflection points
Signal Processing
•  Signal received combination of slow and fast time
Signal Processing
Processing Pipeline
•  From raw hand motion to recognized gestures
Soli Hardware
•  Miniaturized Radar
Signs vs. Actions
•  Soli recognizes hand actions
Virtual Tools
•  Use virtual tool metaphor
•  Change with distance
Types of Virtual Tools
•  asdasf
Basic Gesture Movement
•  Easily recognize distinctive gesture motions
•  > 90% accuracy on filtered results (Bayesian Filter)
Recognition Results
Applications
•  Gesture interaction with objects
•  Smart watch, car console
•  Gesture interaction with environment
•  Furniture, walls
•  Other applications
•  Material recognition, Gaming, Object scanning
Developers Showcase
https://www.youtube.com/watch?v=H41A_IWZwZI
Soli Enabled Watch
https://www.youtube.com/watch?v=pagDaQw-Tcw
Soli Enhanced Environment
https://www.youtube.com/watch?v=jNxvugxAoaY
Future Research
• Radar Sensing
•  Radar clutter, multi-path reflections, occlusion, etc
• Machine Learning
•  New gesture recognition approaches
• Human Factors
•  Measuring human performance abilities, requirements
• Interaction Design
•  New interaction modalities, metaphors
Background Reading
Lien, Jaime, Nicholas Gillian, M. Emre Karagozler, Patrick Amihood, Carsten
Schwesig, Erik Olson, Hakim Raja, and Ivan Poupyrev. "Soli: ubiquitous
gesture sensing with millimeter wave radar." ACM Transactions on Graphics
(TOG) 35, no. 4 (2016): 142.
www.empathiccomputing.org
@marknb00
mark.billinghurst@unisa.edu.au

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