const bool HandsGenerator::create( kvs::ni::Context& context )
{
if ( m_is_created )
{
kvsMessageError( "HandsGenerator is already created." );
return( false );
}
{
XnStatus status = m_generator.Create( context.context() );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
}
{
XnStatus status = m_generator.RegisterHandCallbacks(
HandCreateEvent, HandUpdateEvent, HandDestroyEvent, NULL, m_handler );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
}
m_is_created = true;
return( true );
}
const kvs::Vector3f DepthGenerator::realPosition( const kvs::Vector3f& pos )
{
if ( !m_is_created )
{
kvsMessageError( "DepthGenerator is not created yet." );
return( pos );
}
XnPoint3D proj;
XnPoint3D real;
proj.X = pos.x();
proj.Y = pos.y();
proj.Z = pos.z();
XnStatus status = m_generator.ConvertProjectiveToRealWorld( 1, &proj, &real );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( pos );
}
return( kvs::Vector3f( real.X, real.Y, real.Z ) );
}
void xn_call_and_check(XnStatus status, const char *message)
{
if(status != XN_STATUS_OK){
fprintf(stderr, "fail to %s: %s\n", message, xnGetStatusName(status));
exit(status);
}
}
const bool DepthGenerator::create( kvs::ni::Context& context )
{
if ( m_is_created )
{
kvsMessageError( "DepthGenerator is already created." );
return( false );
}
{
XnStatus status = m_generator.Create( context.context() );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
}
{
XnUInt64 zpd;
XnStatus status = m_generator.GetIntProperty( "ZPD", zpd );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
m_zpd = static_cast<unsigned long>( zpd );
}
{
XnDouble zpps;
XnStatus status = m_generator.GetRealProperty( "ZPPS", zpps );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
m_zpps = static_cast<double>( zpps );
}
m_is_created = true;
return( true );
}
const bool DepthGenerator::adjustDepthScale( kvs::ni::ImageGenerator& image )
{
if ( !m_is_created )
{
kvsMessageError( "DepthGenerator is not created yet." );
return( false );
}
XnStatus status = m_generator.GetAlternativeViewPointCap().SetViewPoint( image.generator() );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
return( true );
}
const bool HandsGenerator::stopTrackingAll( void )
{
if ( !m_is_created )
{
kvsMessageError( "HandsGenerator is not created yet." );
return( false );
}
XnStatus status = m_generator.StopTrackingAll();
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
return( true );
}
void Context_Init_wrapped(xn::Context& self) {
#ifdef _DEBUG
PyCout << "Initializing OpenNI.." << std::endl;
#endif
XnStatus returnCode;
returnCode = self.Init();
#ifdef _DEBUG
if (returnCode == XN_STATUS_OK)
PyCout << "OpenNI was initialized successfully" << std::endl;
else {
PyCout << "OpenNI failed to initialize: " <<
xnGetStatusName(returnCode) << std::endl;
}
#endif
check(returnCode);
}
void Context_InitFromXmlFile_wrapped(xn::Context& self, const std::string& initializationFilename) {
#ifdef _DEBUG
PyCout << "Initializing OpenNI.." << std::endl;
#endif
XnStatus returnCode;
returnCode = self.InitFromXmlFile(initializationFilename.c_str());
#ifdef _DEBUG
if (returnCode == XN_STATUS_OK)
PyCout << "OpenNI was initialized successfully" << std::endl;
else {
PyCout << "OpenNI failed to initialize: " <<
xnGetStatusName(returnCode) << std::endl;
}
#endif
return check(returnCode);
}
const bool HandsGenerator::stopTracking( const unsigned int user )
{
if ( !m_is_created )
{
kvsMessageError( "HandsGenerator is not created yet." );
return( false );
}
XnUserID user_id = static_cast<XnUserID>( user );
XnStatus status = m_generator.StopTracking( user_id );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
return( true );
}
BP::object Context_OpenFileRecording_wrapped(xn::Context& self, const std::string& recordedFile) {
#ifdef _DEBUG
PyCout << "Loading recorded file.." << std::endl;
#endif
XnStatus returnCode;
// xn::Player * node = new xn::Player;
returnCode = self.OpenFileRecording(recordedFile.c_str());
#ifdef _DEBUG
if (returnCode == XN_STATUS_OK)
PyCout << "Recording loaded successfully" << std::endl;
else {
PyCout << "Recording failed to load: " <<
xnGetStatusName(returnCode) << std::endl;
}
#endif
check( returnCode );
return Context_FindExistingNode_wrapped(self, XN_NODE_TYPE_PLAYER);
}
const bool HandsGenerator::startTracking( const kvs::Vector3f& position )
{
if ( !m_is_created )
{
kvsMessageError( "HandsGenerator is not created yet." );
return( false );
}
XnPoint3D pos;
pos.X = position.x();
pos.Y = position.y();
pos.Z = position.z();
XnStatus status = m_generator.StartTracking( pos );
if ( status != XN_STATUS_OK )
{
kvsMessageError( "%s error: <%s>.",
xnGetStatusName( status ),
xnGetStatusString( status ) );
return( false );
}
return( true );
}
XnStatus OpenNIContextWrapper::InitFromXmlFile(
const std::string& initializationFilename )
{
#ifdef _DEBUG
PyCout << "Initializing OpenNI.." << std::endl;
#endif
XnStatus returnCode;
returnCode = xn::Context::InitFromXmlFile( initializationFilename.c_str() );
#ifdef _DEBUG
if( returnCode == XN_STATUS_OK )
PyCout << "OpenNI was initialized successfully" << std::endl;
else
{
PyCout << "OpenNI failed to initialize: " <<
xnGetStatusName( returnCode ) << std::endl;
}
#endif
return returnCode;
} // OpenNIContextWrapper::InitFromXmlFile
