// Callback: Finished calibration
static void XN_CALLBACK_TYPE UserCalibration_CalibrationComplete (xn::SkeletonCapability& capability, XnUserID nId, XnCalibrationStatus eStatus, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
OpenNITrackerLoopback* self = (OpenNITrackerLoopback*) pCookie;
std::cerr << "got here: " << __FILE__ << " : " << __LINE__ << std::endl;
if (eStatus == XN_CALIBRATION_STATUS_OK)
{
// Calibration succeeded
printf("%d Calibration complete, start tracking user %d\n", epochTime, nId);
self->g_UserGenerator.GetSkeletonCap().StartTracking(nId);
self->publishEvent ("tracking", nId);
}
else
{
// Calibration failed
printf("%d Calibration failed for user %d\n", epochTime, nId);
if (self->g_bNeedPose)
{
self->g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(self->g_strPose, nId);
self->publishEvent ("posedetection", nId);
}
else
{
self->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
self->publishEvent ("calibrating", nId);
}
}
}
void XN_CALLBACK_TYPE UserTracker::User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Lost user %d\n", epochTime, nId);
removeUser(nId);
}
void NiRecorder::print_text(const QString &text_ref)
{
XnUInt32 epoch_time = 0;
xnOSGetEpochTime(&epoch_time);
std::cout << (QString().setNum(epoch_time) + QString(": ") + text_ref).toAscii().data() << "\n";
}
// Callback: An existing user was lost
void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
ROS_INFO("%d Lost user %d\n", epochTime, nId);
publishUserLost(nId);
}
void XN_CALLBACK_TYPE UserCalibration_CalibrationComplete(xn::SkeletonCapability& capability, XnUserID nId, XnCalibrationStatus eStatus, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
if (eStatus == XN_CALIBRATION_STATUS_OK)
{
// Calibration succeeded
printf("%d Calibration complete, start tracking user %d\n", epochTime, nId);
g_UserGenerator.GetSkeletonCap().StartTracking(nId);
}
else
{
// Calibration failed
printf("%d Calibration failed for user %d\n", epochTime, nId);
if(eStatus==XN_CALIBRATION_STATUS_MANUAL_ABORT)
{
printf("Manual abort occured, stop attempting to calibrate!");
return;
}
if (g_bNeedPose)
{
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
}
else
{
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
}
// Callback: New user was detected
void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
g_UserGenerator.GetUsers(aUsers, nUsers);
printf("%d New User %d\n", epochTime, nId);
// New user found
//validate the number of users
XnUInt16 usersTracked=0;
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==TRUE)
usersTracked++;
}
if(usersTracked >= numOfUser)
{
printf("%d users are currently being tracked, no more users allowed\n",numOfUser);
return;
}
if (g_bNeedPose)
{
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
}
else
{
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
void XN_CALLBACK_TYPE UserTracker::UserCalibration_CalibrationStart(xn::SkeletonCapability& capability, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Calibration started for user %d\n", epochTime, nId);
}
// Callback: New user was detected
void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& /*generator*/, XnUserID nId, void* /*pCookie*/)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
//}
}
void testusuario::poseDetected(xn::PoseDetectionCapability &capability, const XnChar *strPose, XnUserID nId, void *pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Pose %s detected for user %d\n", epochTime, strPose, nId);
instance->cam->userG[0].GetPoseDetectionCap().StopPoseDetection(nId);
instance->cam->userG[0].GetSkeletonCap().RequestCalibration(nId, TRUE);
}
// Callback: An existing user was lost
static void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
OpenNITrackerLoopback* self = (OpenNITrackerLoopback*) pCookie;
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Lost user %d\n", epochTime, nId);
self->publishEvent ("lost", nId);
}
// Callback: Detected a pose
void XN_CALLBACK_TYPE UserPose_PoseDetected(xn::PoseDetectionCapability& capability, const XnChar* strPose, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Pose %s detected for user %d\n", epochTime, strPose, nId);
g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
// Callback: An existing user was lost
void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& /*generator*/, XnUserID nId, void* /*pCookie*/){
//TODO : soit suppression de l'utilisateur de la map, soit archivage. Les poses du squelette archivées ne doivent pas être supprimées car on peut les réutiliser.
m_skeleton.erase(nId);
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Lost user %d\n", epochTime, nId);
}
void XN_CALLBACK_TYPE testusuario::lostUser(xn::UserGenerator &generator, XnUserID nId, void *pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
cout << "Lost user, ID = " << nId<< endl;
if(instance->sendTuio && (instance->tds->isCreated[nId] || instance->tds->isCreatedHand[nId])){
instance->removeUserTuio[nId]=true;
//instance->tds->removeUserSkeleton(nId);
//instance->tds->isCreated[nId]=false;
}
}
void XN_CALLBACK_TYPE UserTracker::UserPose_PoseDetected(xn::PoseDetectionCapability& capability, const XnChar* strPose, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
//printf("%d Pose %s detected for user %d\n", epochTime, strPose, nId);
UserGenerator *userGenerator = static_cast<xn::UserGenerator*>(pCookie);
if(userGenerator)
{
userGenerator->GetPoseDetectionCap().StopPoseDetection(nId);
userGenerator->GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
// Callback: New user was detected
void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& /*generator*/, XnUserID nId, void* /*pCookie*/){
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
// New user found
if (g_bNeedPose)
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
else
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
// ICI ajout de l'utilisateur
Skeleton s(nId);
m_skeleton.insert(std::pair<XnUserID, Skeleton>(nId,s));
}
void XN_CALLBACK_TYPE UserTracker::UserCalibration_CalibrationComplete(xn::SkeletonCapability& capability, XnUserID nId, XnCalibrationStatus eStatus, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
XnStatus status;
xn::UserGenerator *userGenerator = static_cast<xn::UserGenerator*>(pCookie);
if (eStatus == XN_CALIBRATION_STATUS_OK)
{
// Calibration succeeded
printf("%d Calibration complete, start tracking user %d\n", epochTime, nId);
if(userGenerator)
status = userGenerator->GetSkeletonCap().StartTracking(nId);
cout << xnGetStatusString(status);
//setUserID(nId);
// if(m_UserGenerator.GetSkeletonCap().IsTracking(nId))
// {
XnSkeletonJointPosition Torso;
if(userGenerator)
userGenerator->GetSkeletonCap().GetSkeletonJointPosition(nId, XN_SKEL_TORSO, Torso);
printf("%d: (%f,%f,%f) [%f]\n", nId,Torso.position.X, Torso.position.Y, Torso.position.Z,Torso.fConfidence);
//printf("this is called");
addUser( nId, ci::Vec3f((Torso.position.X + APP_RES_X/2.0f) * APP_RES_X/640.0f, (-Torso.position.Y + APP_RES_Y/2.0f) * APP_RES_Y/320.0f, Torso.position.Z));
// }
}
else
{
// Calibration failed
//printf("%d Calibration failed for user %d\n", epochTime, nId);
if(eStatus==XN_CALIBRATION_STATUS_MANUAL_ABORT)
{
printf("Manual abort occured, stop attempting to calibrate!");
return;
}
if (g_bNeedPose)
{
if(userGenerator)
userGenerator->GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
}
else
{
if(userGenerator)
userGenerator->GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
}
void XN_CALLBACK_TYPE testusuario::newUser(xn::UserGenerator &generator, XnUserID nId, void *pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
cout << "New user, ID = " << nId<< endl;
// New user found
if (instance->needPose)
{
generator.GetPoseDetectionCap().StartPoseDetection(instance->g_strPose, nId);
}
else
{
generator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
// Callback: Finished calibration
void XN_CALLBACK_TYPE SimKinect::UserCalibration_CalibrationComplete(xn::SkeletonCapability& capability, XnUserID nId, XnCalibrationStatus eStatus, void* pCookie) {
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
if (eStatus == XN_CALIBRATION_STATUS_OK) {
// Calibration succeeded
printf("%d Calibration complete, start tracking user %d\n", epochTime, nId);
user_generator.GetSkeletonCap().StartTracking(nId);
}
else {
// Calibration failed
printf("%d Calibration failed for user %d\n", epochTime, nId);
user_generator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
// Callback: New user was detected
void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& /*generator*/, XnUserID nId, void* /*pCookie*/)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
// New user found
if (g_bNeedPose)
{
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
}
else
{
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
void testusuario::calibrationComplete(xn::SkeletonCapability &capability, XnUserID nId, XnCalibrationStatus eStatus, void *pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
if (eStatus == XN_CALIBRATION_STATUS_OK)
{
// Calibration succeeded
cout << "Calibration Succeded for ID = " << nId<< endl;
instance->cam->userG[0].GetSkeletonCap().StartTracking(nId);
}
else
{
// Calibration failed
cout << "Calibration Failed for ID = " << nId<< endl;
instance->cam->userG[0].GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
// Callback: New user was detected
static void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
OpenNITrackerLoopback* self = (OpenNITrackerLoopback*) pCookie;
if(nId > 15)
{
XnStatus res = self->g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
if (res != XN_CALIBRATION_STATUS_OK)
{
std::cout << "Error StopPoseDetection";
}
res = self->g_UserGenerator.GetSkeletonCap().AbortCalibration(nId);
if (res != XN_CALIBRATION_STATUS_OK)
{
std::cout << "Error AbortCalibration";
}
res = self->g_UserGenerator.GetSkeletonCap().StopTracking(nId);
if (res != XN_CALIBRATION_STATUS_OK)
{
std::cout << "Error StopTracking";
}
self->g_UserGenerator.GetPoseDetectionCap().Release();
self->g_UserGenerator.GetSkeletonCap().Release();
return;
}
// New user found
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
self->publishEvent ("new", nId);
if (self->g_bNeedPose)
{
std::cerr << "starting pose deteciton: " << __FILE__ << " : " << __LINE__ << std::endl;
self->g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(self->g_strPose, nId);
self->publishEvent ("posedetection", nId);
}
else
{
std::cerr << "request calibration: " << __FILE__ << " : " << __LINE__ << std::endl;
self->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
self->publishEvent ("calibrating", nId);
}
}
// Callback: Detected a pose
void XN_CALLBACK_TYPE UserPose_PoseDetected(xn::PoseDetectionCapability& /*capability*/, const XnChar* strPose, XnUserID nId, void* /*pCookie*/){
//TODO : archivage du squelette, puis mise à jours du squelette.
// Si la distance est trop éloignée, reprendre le squelette précédent (peut être faire une transition entre les deux ?)
Skeleton new_s(nId);
float distance = m_skeleton.find(nId)->second.distance(new_s);
if(distance < SEUIL_DISTANCE)
m_skeleton.find(nId)->second = new_s;
// else
// possibilité de détecter la pose courante et voir si elle n'a pas déjà été enregistrée (à un delta près), probablement il faut revoir la fonction distance du squelette
// si on perd le personnage mais qu'on en trouve un nouveau dans une pose connue, on peu essayer de faire une transition.
//TODO export du squelette
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d Pose %s detected for user %d\n", epochTime, strPose, nId);
g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
void XN_CALLBACK_TYPE UserTracker::User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
UserGenerator *userGenerator = static_cast<xn::UserGenerator*>(pCookie);
// New user found
if (g_bNeedPose)
{
userGenerator->GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
}
else
{
if(userGenerator)
userGenerator->GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
void testusuario::calibrationStart(xn::SkeletonCapability &capability, XnUserID nId, void *pCookie)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
cout << "Calibration Started for ID = " << nId<< endl;
}
// Callback: New user was detected
void XN_CALLBACK_TYPE SimKinect::User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie) {
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d New User %d\n", epochTime, nId);
user_generator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
void XN_CALLBACK_TYPE User_ReEnter(xn::UserGenerator& /*generator*/, XnUserID user, void* /*pCookie*/)
{
XnUInt32 epochTime = 0;
xnOSGetEpochTime(&epochTime);
printf("%d User %d has re-entered the scene\n", epochTime, user);
}
