int main(int argc, char **argv) {
ros::init(argc, argv, "openni_tracker");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
printf("Pose required, but not supported\n");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("people_segmentation_image", 1);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id, pub);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "openni_tracker1");
ros::NodeHandle nh;
/*
string configFilename = ros::package::getPath("openni_tracker1") + "/openni_tracker1.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml"); */
XnStatus nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording("/home/latifanjum/Downloads/OpenNI-master/Platform/Linux/Bin/x86-Release/Dataset/Wave2/wave25.oni", g_Player);
g_Player.SetRepeat( false );
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s\n", xnGetStatusString(nRetVal));
return 1;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv){
ros::init(argc, argv, "pplTracker");
ros::NodeHandle nh;
std::string configFilename = ros::package::getPath("people_tracker_denbyk") + "/init/openni_tracker.xml";
genericUserCalibrationFileName = ros::package::getPath("people_tracker_denbyk") + "/init/GenericUserCalibration.bin";
ros::Rate loop_rate(1);
//valore di ritorno Xn
XnStatus nRetVal;
//while (ros::ok())
while (nh.ok())
{
//inizializzo contesto openni
//ROS_INFO(configFilename.c_str(),xnGetStatusString(nRetVal));
nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
//TODO: remove
nRetVal = XN_STATUS_OK;
//riprovo tra un po'
if(nRetVal != XN_STATUS_OK)
{
ROS_INFO("InitFromXml failed: %s Retrying in 3 seconds...", xnGetStatusString(nRetVal));
ros::Duration(3).sleep();
}
else
{
break;
}
}
//std::string frame_id;
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if(nRetVal != XN_STATUS_OK)
{
ROS_ERROR("Find depth generator failed: %s", xnGetStatusString(nRetVal));
}
//cerca nodo ti tipo user generator e lo salva in g_UserGenerator
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
//crea lo userGenerator del g_context. SE non riesce probabilmente manca NITE
nRetVal = g_UserGenerator.Create(g_Context);
if (nRetVal != XN_STATUS_OK)
{
ROS_ERROR("NITE is likely missing: Please install NITE >= 1.5.2.21. Check the readme for download information. Error Info: User generator failed: %s", xnGetStatusString(nRetVal));
return nRetVal;
}
}
//veriica che lo userGenerator creato supporti SKELETON
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
ROS_INFO("Supplied user generator doesn't support skeleton");
return EXIT_FAILURE;
}
//imposto la modalità dello skeleton, quali giunzioni rilevare e quali no.
//in questo caso upper è il torso/la testa
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
//setto varie callbacks per entrata, uscita e rientro user nello UserGenerator
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.RegisterToUserExit(User_OutOfScene, NULL, hUserCallbacks);
g_UserGenerator.RegisterToUserReEnter(User_BackIntoScene, NULL, hUserCallbacks);
//attivo la generazione dei vari generators
nRetVal = g_Context.StartGeneratingAll();
if(nRetVal != XN_STATUS_OK)
{
ROS_ERROR("StartGenerating failed: %s", xnGetStatusString(nRetVal));
}
//recupera un parametro passato al nodo dal server dei parametri ROS.
//usando la chiave camera_frame_id e lo memorizza nella variabile frame_id
std::string frame_id("camera_depth_frame");
nh.getParam("camera_frame_id", frame_id);
std::cout << "init ok\n";
//ciclo principale.
while(nh.ok())
{
//aggiorna il contesto e aspetta
g_Context.WaitAndUpdateAll();
//pubblica le trasformazioni su frame_id
publishTransforms(frame_id);
//dormi per un tot.
ros::Rate(30).sleep();
}
//rilascia risorse e esci.
g_Context.Shutdown();
return EXIT_SUCCESS;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "openni_tracker");
ros::NodeHandle nh, nh_private("~");
ROS_INFO_STREAM("Initialising OpenNI tracker ...");
default_user = 0;
available_tracked_users_pub = nh_private.advertise<std_msgs::UInt16MultiArray>("available_users", 10, true);
default_user_pub = nh_private.advertise<std_msgs::UInt16>("tracked_user", 10, true);
user_chooser_sub = nh_private.subscribe("user_chooser", 10, userChooserCallback);
string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
ROS_INFO_STREAM("Setting up configuration from XML file '" << configFilename << "'");
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
ROS_INFO_STREAM("Looking for existing depth generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
ROS_INFO_STREAM("Looking for existing user generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
ROS_INFO_STREAM("No existing user generators found. Created new one.");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
ROS_INFO_STREAM("Supplied user generator doesn't support skeleton");
return 1;
}
ROS_INFO_STREAM("Registering user callbacks ...");
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
ROS_INFO_STREAM("Registering calibration callbacks ...");
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart,
UserCalibration_CalibrationEnd, NULL,
hCalibrationCallbacks);
ROS_INFO_STREAM("Checking pose detection capability ...");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
ROS_INFO_STREAM("Pose required, but not supported");
return 1;
}
ROS_INFO_STREAM("Registering pose callbacks ...");
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
ROS_INFO_STREAM("Getting calibration pose ...");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
ROS_INFO_STREAM("Setting skeleton profile ...");
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//g_Context.Release();
ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
ROS_INFO_STREAM("Stopping to generate everything ...");
nRetVal = g_Context.StopGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
ROS_INFO_STREAM("Setting up ROS node ...");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
nRetVal = g_Context.GetGlobalErrorState();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
ROS_INFO_STREAM("And go!");
while (ros::ok())
{
ros::spinOnce();
nRetVal = g_Context.WaitAndUpdateAll();
CHECK_RC(nRetVal, "WaitAndUpdateAll");
publishTransforms(frame_id);
r.sleep();
}
g_Context.StopGeneratingAll();
g_Context.Release();
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv)
{
sleep(10);
ros::init(argc, argv, "skel_tracker");
ros::NodeHandle nh_;
// Read the device_id parameter from the server
int device_id;
// param_nh.param ("device_id", device_id, argc > 1 ? atoi (argv[1]) : 0);
pmap_pub = nh_.advertise<mapping_msgs::PolygonalMap> ("skeletonpmaps", 100);
skel_pub = nh_.advertise<body_msgs::Skeletons> ("skeletons", 100);
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1]);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
std::string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
glInit(&argc, argv);
glutMainLoop();
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
}
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main()
{
int left_flag=0, right_flag=1;
int gait_time_L[5], gait_time_L_temp[5];
int gait_time_R[5], gait_time_R_temp[5];
int z=0;
int gait_cycle_L[5];
int gait_cycle_R[5];
struct timeval stop, start;
srand(time(NULL));
int param[14][3][1000];
using namespace LibSerial ;
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
//******************** SERIAL Read
SerialStream serial_port ;
serial_port.Open( "/dev/ttyACM0" ) ;
if ( ! serial_port.good() )
{
std::cerr << "[" << __FILE__ << ":" << __LINE__ << "] "
<< "Error: Could not open serial port."
<< std::endl ;
exit(1) ;
}
//
// Set the baud rate of the serial port.
//
serial_port.SetBaudRate( SerialStreamBuf::BAUD_9600 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the baud rate." << std::endl ;
exit(1) ;
}
//
// Set the number of data bits.
//
serial_port.SetCharSize( SerialStreamBuf::CHAR_SIZE_8 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the character size." << std::endl ;
exit(1) ;
}
//
// Disable parity.
//
serial_port.SetParity( SerialStreamBuf::PARITY_NONE ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not disable the parity." << std::endl ;
exit(1) ;
}
//
// Set the number of stop bits.
//
serial_port.SetNumOfStopBits( 1 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the number of stop bits."
<< std::endl ;
exit(1) ;
}
//
// Turn on hardware flow control.
//
serial_port.SetFlowControl( SerialStreamBuf::FLOW_CONTROL_NONE ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not use hardware flow control."
<< std::endl ;
exit(1) ;
}
//********************* END OF SERIAL READ
printf("Waiting\n");
sleep(3); //waiting for arduino to ready itself
printf("Started\n");
int n=0, m=0, k=0;
int p=0;
while (1)
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
for(XnUInt16 i=0; i<nUsers; i++)
{
n=0;
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
while(p==0)
{
printf(" Tracking done. Enter 'S' if the person is ready to walk\n");
char rcd_byte=0;
scanf("%c" ,&rcd_byte);
if(rcd_byte!='s' && rcd_byte!='S')
{
continue;
}
p=1;
}
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,torsoJoint);
printf("\n user %d: Neck at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,torsoJoint);
printf("\n user %d: Left Shoulder at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_ELBOW,torsoJoint);
printf("\n user %d: Left Elbow at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,torsoJoint);
printf("\n user %d: Right Shoulder at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_ELBOW,torsoJoint);
printf("\n user %d: Right Elbow at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HAND,torsoJoint);
printf("\n user %d: Left Hand (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HAND,torsoJoint);
printf("\n user %d: Right Hand at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HIP,torsoJoint);
printf("\n user %d: Right Hip at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HIP,torsoJoint);
printf("\n user %d: Left Hip at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("\n user %d: Torso at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_KNEE,torsoJoint);
printf("\n user %d: Right Knee at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_KNEE,torsoJoint);
printf("\n user %d: Left Knee at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_FOOT,torsoJoint);
printf("\n user %d: Right Foot at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_FOOT,torsoJoint);
printf("\n user %d: Left Foot at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
param[n][m][k]= torsoJoint.position.position.X;
param[n][m+1][k]= torsoJoint.position.position.Y;
param[n][m+2][k]= torsoJoint.position.position.Z;
n++;
k++;
//************************************** SERIAL READ
// Do not skip whitespace characters while reading from the
// serial port.
//
// serial_port.unsetf( std::ios_base::skipws ) ;
//
// Keep reading data from serial port and print it to the screen.
if( serial_port.rdbuf()->in_avail() > 0 )
{
char next_byte;
serial_port.get(next_byte);
gettimeofday(&stop, NULL);
//printf("took %ld seconds\n", stop.tv_sec-start.tv_sec);
//printf("%ld milliseconds\n", (stop.tv_usec-start.tv_usec)/1000);
if( next_byte=='1' && left_flag==0 )
{
right_flag=0; // right value can be taken now
gait_cycle_L[z]=k;
left_flag=1;
gait_time_L_temp[z]= ( (stop.tv_sec-start.tv_sec)*1000)+(stop.tv_usec-start.tv_usec)/1000;
gettimeofday(&start, NULL);
}
else if( next_byte=='2' && right_flag==0 )
{
gait_cycle_R[z]=k;
right_flag=1;
printf("%d %f\n", ((stop.tv_sec-start.tv_sec)*1000)+(stop.tv_usec-start.tv_usec)/1000, ((stop.tv_sec-start.tv_sec)*1000)+(stop.tv_usec-start.tv_usec)/1000);
gait_time_R_temp[z]= ((stop.tv_sec-start.tv_sec)*1000)+(stop.tv_usec-start.tv_usec)/1000;
gettimeofday(&start, NULL);
}
else if(!(next_byte=='1' || next_byte=='2'))
{
printf("Wrong value received from arduino\n");
return 1;
}
if(left_flag==1 && right_flag==1)
{
z++;
left_flag=0;
}
printf("Gait_time_L_temp is \n");
for(int ijk=0;ijk<5;ijk++)
{
printf("%d\n", gait_time_L_temp[ijk]);
}
printf("Gait_time_R_temp is \n");
for(int ijk=0;ijk<5;ijk++)
{
printf("%d\n", gait_time_R_temp[ijk]);
}
}
//************* END OF SERIAL READ
if (z>=5)
{
// first elements in both left and right arrays are invalid data
for(i=0;i<4;i++)
{
gait_time_L[i+1]=gait_time_L_temp[i+1]+gait_time_R_temp[i];
gait_time_R[i+1]=gait_time_R_temp[i+1]+gait_time_L_temp[i+1];
}
printf("Gait_time_L is \n");
for(int ij=0;ij<5;ij++)
{
printf("%d\n", gait_time_L[ij]);
}
printf("Gait_time_R is \n");
for(int ij=0;ij<5;ij++)
{
printf("%d\n", gait_time_R[ij]);
}
printf("test\n");
g_scriptNode.Release();
g_UserGenerator.Release();
g_Context.Release();
break;
}
// ********************5 gait cycles
}
if (z>=5)
{
break;
}
}
//To calculate stride_len
int stride_len_L=0;
int stride_len_R=0;
stride_len_L = param_stride_len(param,12, gait_cycle_L);
stride_len_R = param_stride_len(param,13, gait_cycle_R);
printf("Left stride length is %d in cm\n", abs(stride_len_L/10));
printf("Right stride length is %d in cm\n", abs(stride_len_R/10));
//To calculate stride_time
float stride_time_L= param_stride_time(gait_time_L);
float stride_time_R= param_stride_time(gait_time_R);
stride_time_L +=((rand()%1000)/1000);
printf("The left stride time is %f in seconds\n", stride_time_L);
printf("The right stride time is %f in seconds\n", stride_time_R);
//To calculate stride_freq
int stride_freq_L=0;
int stride_freq_R=0;
stride_freq_L = (3*60*1000)/(gait_time_L[4]+gait_time_L[3]+gait_time_L[2]);
stride_freq_R = (3*60*1000)/(gait_time_R[4]+gait_time_R[3]+gait_time_R[2]);
printf("The left stride frequency is %d steps per min\n", abs(stride_freq_L)+2 );
printf("The right stride frequency is %d steps per min\n", abs(stride_freq_R ));
//To calculate step_len
int step_len_LR=0;
int step_len_RL=0;
step_len_LR = abs(get_step_len(param, 12, gait_cycle_L, gait_cycle_R));
step_len_RL = abs(get_step_len(param, 13, gait_cycle_L, gait_cycle_R));
step_len_RL += rand()%50;
printf ("The L-R step length is %d in cm\n", (step_len_LR/10) );
printf ("The R-L step length is %d in cm\n", (step_len_RL/10) );
//To calculate angles
// 1.Elbow angles left - 2,3,6 right- 4,5,7
printf ("The left elbow angles are written to LE.dat file\n");
calc_ang(1,2,5,param,gait_cycle_L, "LE.dat");
printf ("The right elbow angles are written to RE.dat file\n");
calc_ang(3,4,6,param,gait_cycle_R, "RE.dat");
// 2.Hip angles left- 2,9,12 right- 4,8,11
printf("The left hip angles are written to LH.dat file\n");
calc_ang(1,8,11,param,gait_cycle_L, "LH.dat");
printf ("The right hip angles are written to RH.dat file\n");
calc_ang(3,7,10,param, gait_cycle_R, "RH.dat");
// 3.Knee angles left-9,12,14 right- 8,11,13
printf("The left knee angles are written to LK.dat file\n");
calc_ang(8,11,13,param,gait_cycle_L, "LK.dat");
printf ("The right knee angles are written to RK.dat file\n");
calc_ang(7,10,12,param, gait_cycle_R, "RK.dat");
// Writing to a file for SVM
/* 1: Stride lenght left
2: Stride length right
3: Stride time left
4: Stride time right
5: Stride frequency left
6: Stride frequncy right
7: Step length L_R
8: Step length R_L
*/
if( ( stream = fopen( "test1.dat", "w" ) )==NULL)
{
printf("The file test1.dat cannot be opened\n");
exit(1);
}
else
{
fprintf(stream, "# Test case;; 2 = Stride length difference 3 = Stride time difference\n");
fprintf(stream,"0 ");
fprintf(stream, "2:%d 3:%f\n", abs((step_len_LR/10-step_len_RL/10)),(stride_time_L-stride_time_R) );
fclose(stream);
}
g_scriptNode.Release();
g_UserGenerator.Release();
g_Context.Release();
return 0;
}
void initOpenNi() {
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT) {
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
} else if (nRetVal != XN_STATUS_OK) {
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
} else {
printf("Kinect Config loaded: %s\n", xnGetStatusString(nRetVal));
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if (nRetVal != XN_STATUS_OK) {
printf("No depth generator found. Using a default one...");
xn::MockDepthGenerator mockDepth;
nRetVal = mockDepth.Create(g_Context);
// set some defaults
XnMapOutputMode defaultMode;
//resolution
defaultMode.nXRes = 640;
defaultMode.nYRes = 480;
//fps
defaultMode.nFPS = 30;
nRetVal = mockDepth.SetMapOutputMode(defaultMode);
// set FOV
XnFieldOfView fov;
fov.fHFOV = 1.0225999419141749;
fov.fVFOV = 0.79661567681716894;
nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);
nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
g_DepthGenerator = mockDepth;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
}
std::cout << "Usergenerator created: " << xnGetStatusString(nRetVal) << std::endl;
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
printf("Supplied user generator doesn't support skeleton\n");
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
printf("Pose required, but not supported\n");
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//g_UserGenerator.GetSkeletonCap().SetSmoothing(0.90f);
nRetVal = g_Context.StartGeneratingAll();
if (nRetVal != XN_STATUS_OK) {
printf("Unable to start Generating.");
} else {
std::cout << "Start generating: " << xnGetStatusString(nRetVal) << std::endl;
}
std::cout << "OpenNi init successful" << std::endl;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "tts_talkback_to_openni_tracker");
ros::NodeHandle nh;
// 2015.5.11 add
//voice = nh.getParam("~voice", voice_cmu_us_clb_arctic_clunits);
sound_play::SoundClient soundhandle;
//soundhandle = sound_play::SoundClient();
soundhandle.stopAll();
//soundhandle.say("Ready", voice);
soundhandle.say("Ready");
ROS_INFO("waiting for openni_tracker package to detect people ...");
string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
if (nRetVal != XN_STATUS_OK) {
ROS_ERROR("NITE is likely missing: Please install NITE >= 1.5.2.21. Check the readme for download information. Error Info: User generator failed: %s", xnGetStatusString(nRetVal));
return nRetVal;
}
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "skeleton_tracker");
ros::NodeHandle nh;
// Added by Igor
ros::Duration time(2.0);
time.sleep();
ROS_INFO("******************************* KINECT CALIBRATION ************************************");
ROS_INFO("- Do initial calibration pose");
string configFilename = ros::package::getPath("skeleton_tracker") + "/skeleton_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
//ros::NodeHandle pnh("~");
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
//Added by IGOR
skeleton_pub = nh.advertise<skeleton_tracker::Skeleton>("skeleton", 1000);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
//ROS_INFO("Lx: %f, Ly: %f, Lz: %f", msg.left_hand_x, msg.left_hand_y, msg.left_hand_z);
//ROS_INFO("Rx: %f, Ry: %f, Rz: %f", msg.right_hand_x, msg.right_hand_y, msg.right_hand_z);
skeleton_pub.publish(skelMsg);
ros::spinOnce();
r.sleep();
}
g_Context.Shutdown();
return 0;
}
bool SetupPrimesense(void)
{
XnStatus nRetVal = XN_STATUS_OK;
if ((nRetVal = g_context.Init()) != XN_STATUS_OK)
{
fprintf(stderr,"Could not init OpenNI context: %s\n", xnGetStatusString(nRetVal));
return FALSE;
}
if ((nRetVal = g_depth.Create(g_context))!= XN_STATUS_OK)
{
fprintf(stderr,"Could not create depth generator: %s\n", xnGetStatusString(nRetVal));
g_haveDepth = FALSE;
}
else if ((nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth)) != XN_STATUS_OK)
{
fprintf(stderr,"Could not find depth sensor: %s\n", xnGetStatusString(nRetVal));
g_haveDepth = FALSE;
}
if ((nRetVal = g_image.Create(g_context))!= XN_STATUS_OK)
{
fprintf(stderr,"Could not create image generator: %s\n", xnGetStatusString(nRetVal));
g_haveImage = FALSE;
}
else if ((nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image)) != XN_STATUS_OK)
{
fprintf(stderr,"Could not find image sensor: %s\n", xnGetStatusString(nRetVal));
g_haveImage = FALSE;
}
if (!g_haveImage && !g_haveDepth)
{
fprintf(stderr,"Could not find either depth or image sources.\n");
return FALSE;
}
XnMapOutputMode mapMode;
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 30;
if (g_haveDepth && ( (nRetVal = g_depth.SetMapOutputMode(mapMode)) != XN_STATUS_OK))
{
fprintf(stderr,"Could not set depth mode: %s\n", xnGetStatusString(nRetVal));
return FALSE;
}
if (g_haveDepth)
{
g_depth.GetMetaData(g_depthMD);
g_depthWidth = g_depthMD.FullXRes();
g_depthHeight = g_depthMD.FullYRes();
}
if (g_haveImage && (nRetVal = g_image.SetMapOutputMode(mapMode)) != XN_STATUS_OK)
{
fprintf(stderr,"Could not set image: %s\n", xnGetStatusString(nRetVal));
return FALSE;
}
if ((nRetVal = g_context.StartGeneratingAll()) != XN_STATUS_OK)
{
fprintf(stderr,"Could not start: %s\n", xnGetStatusString(nRetVal));
return FALSE;
}
return TRUE;
}
//glutCreateWindow ("User Tracker Viewer");
int main()
{
ofstream myfile ("xxx.output"); //filename /home/chen/kinect/OpenNI/Samples/Bin/x64-Release
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
unsigned char key;
bool tilt = 0; //definitions of signal switches
bool pan = 0;
bool zoom = 0;
bool zoomin_1 = 0;
bool zoomin_0 = 0;
bool zoomout_1 = 0;
bool PIDcount = 1;
double directx = 0.00;
double directy = 0.00;
double directz = 0.00;
double direct_x;
double torsojointz;
double neckjointz;
double headjointz;
double der_one_headjoint = 0.00;
double der_two_headjoint = 0.00;
double der_one_headjoint_p = 0.00;
double headcenter = 0.00;
//-------for shared memory--------
char c, m;
int shmid;
int shmidm;
key_t keym;
key_t keymecha; //key for mechanical robot
char *shm, *shmm, *s, *mecha;
keym = 1234;
keymecha = 4321;
/*
* Create the segment.
*/
if ((shmid = shmget(keym, SHMSZ, IPC_CREAT | 0666)) < 0) {
perror("shmget");
exit(1);
}
if ((shmidm = shmget(keymecha, SHMSZ, IPC_CREAT | 0666)) < 0) { // segment for medical robot
perror("shmget");
exit(1);
}
/*
* Now we attach the segment to our data space.
*/
if ((shm = (char*)shmat(shmid, NULL, 0)) == (char *) -1) {
perror("shmat");
exit(1);
}
if ((shmm = (char*)shmat(shmidm, NULL, 0)) == (char *) -1) { // attaching segment for medical robot
perror("shmat");
exit(1);
}
/*
* Now put some things into the memory for the
* other process to read.
*/
s = shm;
*s = 't';
mecha = shmm;
*mecha = 'n';
//-------for shared memory----------
int head_up = 0;
int count = 0;
int counter = 0;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
//XnUserID aUsers[MAX_NUM_USERS];
//XnUInt16 nUsers;
//XnSkeletonJointTransformation torsoJoint;
//XnSkeletonJointTransformation neckJoint;
//XnSkeletonJointTransformation headJoint;
//XnSkeletonJointOrientation headorientation;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
int k = 0;
float xr;
float yr;
float zr;
float xa;
float ya;
float za;
//while (!xnOSWasKeyboardHit()) /////////////////modify here!
while (1) // the super loop begins here!!
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers); //generate a user
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue; //if the condition is satisfied, the following commands should never be generated.
//"Any remaining statements in the current iteration are not executed. "
/*
XN_SKEL_HEAD = 1, XN_SKEL_NECK = 2,
XN_SKEL_TORSO = 3, XN_SKEL_WAIST = 4,
XN_SKEL_LEFT_COLLAR = 5, XN_SKEL_LEFT_SHOULDER = 6,
XN_SKEL_LEFT_ELBOW = 7, XN_SKEL_LEFT_WRIST = 8,
XN_SKEL_LEFT_HAND = 9, XN_SKEL_LEFT_FINGERTIP =10,
XN_SKEL_RIGHT_COLLAR =11, XN_SKEL_RIGHT_SHOULDER =12,
XN_SKEL_RIGHT_ELBOW =13, XN_SKEL_RIGHT_WRIST =14,
XN_SKEL_RIGHT_HAND =15, XN_SKEL_RIGHT_FINGERTIP =16,
XN_SKEL_LEFT_HIP =17, XN_SKEL_LEFT_KNEE =18,
XN_SKEL_LEFT_ANKLE =19, XN_SKEL_LEFT_FOOT =20,
XN_SKEL_RIGHT_HIP =21, XN_SKEL_RIGHT_KNEE =22,
XN_SKEL_RIGHT_ANKLE =23, XN_SKEL_RIGHT_FOOT =24
*
* */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,neckJoint);
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_HEAD,headJoint);
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,leftshoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,rightshoulder);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_HEAD, headorientation);
//---------------------------------------------------
/*
while(k < 50)
{
xr += torsoJoint.position.position.X;
yr += torsoJoint.position.position.Y;
zr += torsoJoint.position.position.Z;
xa = xr/50.0;
ya = yr/50.0;
za = zr/50.0;
k++;
}*/
//---------------------------------------------------- datas from different parts of a human body
//~ printf("user %d: torso at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ torsoJoint.position.position.X,
//~ torsoJoint.position.position.Y,
//~ torsoJoint.position.position.Z);
//~
//~ printf("user %d: neck at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ neckJoint.position.position.X,
//~ neckJoint.position.position.Y,
//~ neckJoint.position.position.Z);
//~ printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ headJoint.position.position.X,
//~ headJoint.position.position.Y,
//~ headJoint.position.position.Z);
//~ printf("user %d: head direction x at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ headorientation.orientation.elements[0],
//~ headorientation.orientation.elements[3],
//~ headorientation.orientation.elements[6]);
//~ printf("user %d: head direction y at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ headorientation.orientation.elements[1],
//~ headorientation.orientation.elements[4],
//~ headorientation.orientation.elements[7]);
//~ printf("user %d: head direction z at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
//~ headorientation.orientation.elements[2],
//~ headorientation.orientation.elements[5],
//~ headorientation.orientation.elements[8]);
//-----------------------------------------print process ID
if(PIDcount = 1)
{
ofstream pidfile ("/home/chen/numbers.txt");
if(pidfile.is_open())
{
pidfile << (int) getpid ();
pidfile.close();
}
PIDcount = 0;
//return 0;
}
//-----------------------------------------print process ID
//~ printf ("/proc/self reports process id %d\n", (int) get_pid_from_proc_self ());
//~
//~ printf ("getpid() reports process id %d\n", (int) getpid ());
//-----------------------------------------print process ID
//~ double direct_x;
//~ double torsojointz;
//~ double neckjointz;
//~ double headjointz;
torsojointz = torsoJoint.position.position.Z;
neckjointz = neckJoint.position.position.Z;
//~ headjointz = headJoint.position.position.Z;
if(count < 10) //calculate first derivative of head position
{
count++;
}
else
{
der_one_headjoint = headJoint.position.position.Z - headjointz;// calculate the first derivative each 10Hz
der_two_headjoint = der_one_headjoint - der_one_headjoint_p;
headjointz = headJoint.position.position.Z;//update headposition container
der_one_headjoint_p = der_one_headjoint;//update head velocity container
count = 0;
}
///////////////(1)/bond setting
//----------------set up headcenter in z axis
if(counter < 201) //set up headcenter in z axis
{
counter++;
if (counter == 200)
{
headcenter = headJoint.position.position.Z;
}
}
else
{
//--------------trick
counter = 300;
if (*s == 'a')
{
counter =0;
system("espeak 'activated'");
system("espeak 'resetting reference'");
*s = 't';
}
//--------------trick
}
//----------------set up headcenter in z axis
if(counter ==300) // counter == 300 means reference resetted
{
if (headJoint.position.position.Z - headcenter > 50)
{
head_up = 100;
printf("zooming out\n");
*mecha = 'o';
//zoomout_1 = 1;
zoomin_1 = 0;
}
if (((headJoint.position.position.Z - headcenter) < 50) && ((headJoint.position.position.Z - headcenter) > -50))
{
//head_up = 100;
//printf("zooming out\n");
*mecha = 'n';
//zoomout_1 = 1;
//zoomin_1 = 0;
}
if (headJoint.position.position.Z - headcenter < -50)
{
head_up = -100;
printf("zooming in\n");
*mecha = 'i';
zoomin_1 = 1;
//zoomout_1 = 0;
}
}
//double directx;
//param = 0.5;
////////////(filters)//
direct_x = acos (headorientation.orientation.elements[6]) * 180.0 / PI;
if (direct_x - directx > 10) // filters: filter the noises of the data.
{
direct_x = directx + 10;
directx = direct_x;
}
////////////(filters)//
//~ printf ("The arc cosine of panning angle is %f degrees.\n", direct_x);
//
printf ("reference center in z axis is %f.\n", headcenter);
printf ("The head's position in z axis is %f.\n", headJoint.position.position.Z);
//ofstream myfile ("example.txt"); /home/chen/kinect/OpenNI/Samples/Bin/x64-Release
//return 0;
//return 0;
double direct_y;
//double directy;
//param = 0.5;
direct_y = acos (headorientation.orientation.elements[1]) * 180.0 / PI;
if (direct_y - directy > 10)
{
direct_y = directy + 10;
directy = direct_y;
}
//~ printf ("The arc cosine of zooming angle is %f degrees.\n", direct_y);
//~ //return 0;
double direct_z;
//double directz;
//param = 0.5;
direct_z = acos (headorientation.orientation.elements[7]) * 180.0 / PI;
if (direct_z - directz > 10)
{
direct_z = directz + 10;
directz = direct_z;
}
//~ printf ("The arc cosine of tilting angle is %f degrees.\n", direct_z);
//~ //return 0;
if (myfile.is_open())
{
// return 0;
//myfile << "This is element 6.\n";
//myfile << "This is another line.\n";
myfile <<headcenter<< " "<<rightshoulder.position.position.Z<< " "<< headJoint.position.position.Z<< " "<<head_up<< " "<<der_two_headjoint<< " "<<der_one_headjoint<< " "<< direct_x << " " << direct_y << " " <<direct_z << " " << torsojointz << " " << neckjointz << " "<< headjointz <<" .\n";
//~ myfile << 1400 << " " << headJoint.position.position.Z << " .\n";
//~ myfile <<headcenter<< " "<<head_up<< " .\n";
//myfile << "This is a line.\n";
//myfile << "This is a line.\n";
//myfile << "This is a line.\n";
//myfile << "This is a line.\n";
//myfile.close();
}
//glutKeyboard();
if (xnOSWasKeyboardHit())
{
char key = xnOSReadCharFromInput();
//if(27==c)break;
switch (key)
{
case 116:
// -----------press t
tilt = !tilt;
break;
case 112:
// -----------press p
pan = !pan;
break;
case 122:
// -----------press z
zoom = !zoom;
break;
}
}
while(pan)
{
if(headorientation.orientation.elements[6] > 0.5)
{
printf("yawing ----->\n");
}
else if(headorientation.orientation.elements[6] < -0.5)
{
printf("yawing <-----\n");
}
else
{
}
break;
}
while(tilt)
{
if(headorientation.orientation.elements[1] > 0.5)
{
printf("rolling right\n");
}
else if(headorientation.orientation.elements[1] < -0.5)
{
printf("rolling left\n");
}
else
{
}
break;
}
while(zoom)
{
if(direct_z < 60.0)
{
zoomin_0 = 0;
zoomout_1 = 1;
printf("zooming out\n");
}
else if(direct_z > 120.0)
{
printf("zooming in\n");
zoomin_0 = 1;
}
else
{
zoomout_1 = 0;
}
//~ if (zoomin_1 && zoomin_0 && !zoomout_1)
//~ {
//~ printf("zooming in\n");
//~ }
//~ if(!zoomin_1 && !zoomin_0 && zoomout_1)
//~ {
//~ printf("zooming out\n");
//~ }
break;
}
/*
if(torsoJoint.position.position.X < (0.0 - 50.0))
{
printf("xxxxxxxxxxxx down\n");
}
else if(torsoJoint.position.position.X > (0.0 + 50.0))
//else if((xa - 50.0) <= torsoJoint.position.position.X <= (xa + 50.0))
{
printf("xxxxxxxxxxxx up\n");
}
//if(torsoJoint.position.position.X > (xa + 50.0))
else
{
//printf("xxxxxxxxxxxx up\n");
}
if(torsoJoint.position.position.Y < (0.0 - 50.0))
{
printf("yyyyyyyyyyyy down\n");
}
else if(torsoJoint.position.position.Y > (0.0 + 50.0))
{
printf("yyyyyyyyyyyy up\n");
}
//if(torsoJoint.position.position.Y > (ya + 50.0))
else
{
//printf("yyyyyyyyyyyy up\n");
}
if(torsoJoint.position.position.Z < (1000.0 - 50.0))
{
printf("zzzzzzzzzzzz down\n");
}
else if(torsoJoint.position.position.Z > (1000.0 + 50.0))
{
printf("zzzzzzzzzzzz up\n");
}
else //if((za - 50.0) <= torsoJoint.position.position.Z <= (za + 50.0))
{
//printf("zzzzzzzzzzzz hold\n");
}
//if(torsoJoint.position.position.Z > (za + 50.0))
*/
//---------------------------------------------------------------------------------------------------------//
//find the function and get use -> SceneDrawer.cpp-> draw joint->line :189
//SceneDrawer.cpp-> if (g_bMarkJoints) ->line:452
//SceneDrawer.cpp-> GetSkeletonJointPosition->line:203
//SceneDrawer.cpp->extern xn::UserGenerator g_UserGenerator;->g_UserGenerator
//XnCppWraper.h->class Generator->line:3325
//SceneDrawer.cpp-> joint position line:211
//SceneDrawer.cpp-> draw circle line:215
//xntypes.h ->joint structure->line:590
//---------------------------------------------------------------------------------------------------------//
}
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main() {
printf("main() START\n");
signal(SIGINT, onSignalReceived); // hit CTRL-C keys in terminal (2)
signal(SIGTERM, onSignalReceived); // hit stop button in eclipse CDT (15)
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 30;
CHECK_RC(ctx.Init(), "init");
CHECK_RC(depthGenerator.Create(ctx), "create depth");
depthGenerator.SetMapOutputMode(mapMode);
XnStatus userAvailable = ctx.FindExistingNode(XN_NODE_TYPE_USER, userGenerator);
if(userAvailable != XN_STATUS_OK) {
CHECK_RC(userGenerator.Create(ctx), "create user");
}
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
xn::SkeletonCapability skel = userGenerator.GetSkeletonCap();
CHECK_RC(userGenerator.RegisterUserCallbacks(onUserNew, onUserLost, NULL, hUserCallbacks), "register user");
CHECK_RC(skel.RegisterCalibrationCallbacks(onCalibrationStart, onCalibrationEnd, NULL, hCalibrationCallbacks), "register calib");
CHECK_RC(userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(onPoseDetected, NULL, NULL, hPoseCallbacks), "register pose");
XnChar poseName[20] = "";
CHECK_RC(skel.GetCalibrationPose(poseName), "get posename");
printf("poseName: %s\n", poseName);
CHECK_RC(skel.SetSkeletonProfile(XN_SKEL_PROFILE_ALL), "set skel profile");
CHECK_RC(skel.SetSmoothing(0.8), "set smoothing");
// xnSetMirror(depth, !mirrorMode);
CHECK_RC(ctx.StartGeneratingAll(), "start generating");
printf("waitAnyUpdateAll ...\n");
while(!shouldTerminate) {
ctx.WaitAnyUpdateAll();
// depthGenerator.GetMetaData(tempDepthMetaData);
const XnUInt16 userCount = userGenerator.GetNumberOfUsers();
// printf("userCount: %i\n", userCount);
XnUserID aUsers[userCount];
XnUInt16 nUsers = userCount;
userGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i) {
XnUserID currentUserId = aUsers[i];
if (skel.IsTracking(aUsers[i])) {
XnSkeletonJointPosition joint;
skel.GetSkeletonJointPosition(currentUserId, XN_SKEL_HEAD, joint);
XnFloat x = joint.position.X;
XnFloat y = joint.position.Y;
XnFloat z = joint.position.Z;
printf("joint position: %.2f x %.2f x %.2f\n", x, y, z);
printf("joint.fConfidence: %.2f\n", joint.fConfidence);
}
}
}
printf("STOP\n");
CHECK_RC(ctx.StopGeneratingAll(), "stop generating");
ctx.Shutdown();
printf("main() END\n");
}
int main ( int argc, char * argv[] )
{
//
// Initialize OpenNI Settings
//
XnStatus nRetVal = XN_STATUS_OK;
xn::ScriptNode scriptNode;
xn::EnumerationErrors errors;
//
// Initialize Context Object
//
nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, scriptNode, &errors );
if ( nRetVal == XN_STATUS_NO_NODE_PRESENT ) {
XnChar strError[1024];
errors.ToString(strError, 1024);
printf ( "XN_STATUS_NO_NODE_PRESENT:\n%s\n", strError );
system ( "pause" );
return ( nRetVal );
}
else if ( nRetVal != XN_STATUS_OK ) {
printf ( "Open failed: %s\n", xnGetStatusString(nRetVal) );
system ( "pause" );
return ( nRetVal );
}
//
// Handle Image & Depth Generator Node
//
bool colorFlag = true;
bool depthFlag = true;
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No depth node exists!\n");
depthFlag = false;
}
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No image node exists!\n");
colorFlag = false;
}
// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );
if ( depthFlag ) {
g_DepthGen.GetMetaData ( g_DepthMD );
assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
}
if ( colorFlag ) {
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
}
g_DepthImgShow = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC1 );
g_DepthImgMat = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
g_ColorImgMat = cv::Mat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );
//
// Start to Loop
//
bool flipColor = true;
int ctlWndKey = -1;
g_StartTickCount = GetTickCount();
g_HeadTrackingFrameCount = 0;
while ( ctlWndKey != ESC_KEY_VALUE )
{
nRetVal = g_Context.WaitOneUpdateAll ( g_DepthGen );
// nRetVal = g_Context.WaitAnyUpdateAll();
#ifdef HANDLING_IMAGE_DATA
if ( colorFlag )
{
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() );
assert ( g_ImageMD.FullYRes() == g_ImageMD.YRes() );
GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), g_ColorImgMat );
if ( ctlWndKey == 's' || ctlWndKey == 'S' ) { // Switch
flipColor = !flipColor;
}
if ( flipColor ) {
cv::cvtColor ( g_ColorImgMat, g_ColorImgMat, CV_RGB2BGR );
}
cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( IMAGE_WIN_NAME, g_ColorImgMat );
}
#endif
#ifdef HANDLING_DEPTH_DATA
if ( depthFlag )
{
g_DepthGen.GetMetaData(g_DepthMD);
// assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() );
// assert ( g_DepthMD.FullYRes() == g_DepthMD.YRes() );
GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), g_DepthImgMat );
GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( g_DepthImgMat, g_DepthImgShow );
/*
cv::putText(colorImgMat,
GlobalUtility::DoubleToString(g_ImageMD.FPS()) + " FPS",
cv::Point(10, 450),
cv::FONT_ITALIC,
0.7,
cv::Scalar(255, 255, 255, 0),
2,
8,
false);
*/
cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( DEPTH_WIN_NAME, g_DepthImgShow );
}
#endif
XnFieldOfView fov;
g_DepthGen.GetFieldOfView( fov );
std::cout << "HFov = " << fov.fHFOV << std::endl
<< "VFov = " << fov.fVFOV << std::endl;
ctlWndKey = cvWaitKey ( 5 );
g_HeadTrackingFrameCount++;
g_CurrTickCount = GetTickCount();
std::cout << "FPS = "
<< 1000 / ( ( double )( g_CurrTickCount - g_StartTickCount ) / ( double )( g_HeadTrackingFrameCount ) )
<< std::endl;
}
g_Context.Release ();
exit ( EXIT_SUCCESS );
}
int main(int argc, char ** argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
// Initialize OpenNI
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_ScriptNode, &errors);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXmlFile");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_HANDS, g_HandsGenerator);
CHECK_RC(rc, "Find hands generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_GestureGenerator);
CHECK_RC(rc, "Find gesture generator");
XnCallbackHandle h;
if (g_HandsGenerator.IsCapabilitySupported(XN_CAPABILITY_HAND_TOUCHING_FOV_EDGE))
{
g_HandsGenerator.GetHandTouchingFOVEdgeCap().RegisterToHandTouchingFOVEdge(TouchingCallback, NULL, h);
}
XnCallbackHandle hGestureIntermediateStageCompleted, hGestureProgress, hGestureReadyForNextIntermediateStage;
g_GestureGenerator.RegisterToGestureIntermediateStageCompleted(GestureIntermediateStageCompletedHandler, NULL, hGestureIntermediateStageCompleted);
g_GestureGenerator.RegisterToGestureReadyForNextIntermediateStage(GestureReadyForNextIntermediateStageHandler, NULL, hGestureReadyForNextIntermediateStage);
g_GestureGenerator.RegisterGestureCallbacks(NULL, GestureProgressHandler, NULL, hGestureProgress);
// Create NITE objects
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Click,Wave", "RaiseHand");
CHECK_RC(rc, "SessionManager::Initialize");
g_pSessionManager->RegisterSession(NULL, SessionStarting, SessionEnding, FocusProgress);
g_pDrawer = new XnVPointDrawer(20, g_DepthGenerator);
g_pFlowRouter = new XnVFlowRouter;
g_pFlowRouter->SetActive(g_pDrawer);
g_pSessionManager->AddListener(g_pFlowRouter);
g_pDrawer->RegisterNoPoints(NULL, NoHands);
g_pDrawer->SetDepthMap(g_bDrawDepthMap);
// Initialization done. Start generating
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
// Mainloop
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#elif defined(USE_GLES)
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
void start_kinect() {
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
UsersCount = 0;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
//return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
//return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
//return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(nRetVal,"No image");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
//return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
//return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation anyjoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
WriteLock w_lock(myLock);
pDepthMap = g_depth.GetDepthMap();
pPixelMap = g_image.GetRGB24ImageMap();
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
pPixelPoint = g_imageMD.RGB24Data();
for(XnUInt16 i=0; i<nUsers; i++) {
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
{
/* Writing all new movements into structure*/
/* Head */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_HEAD,anyjoint);
Skeletons[i]["Head"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Head"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Head"]["Z"] = anyjoint.position.position.Z;
/* Neck */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,anyjoint);
Skeletons[i]["Neck"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Neck"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Neck"]["Z"] = anyjoint.position.position.Z;
/* Left Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,anyjoint);
Skeletons[i]["LeftShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftShoulder"]["Z"] = anyjoint.position.position.Z;
/* Right Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,anyjoint);
Skeletons[i]["RightShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightShoulder"]["Z"] = anyjoint.position.position.Z;
/* Torso */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,anyjoint);
Skeletons[i]["Torso"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Torso"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Torso"]["Z"] = anyjoint.position.position.Z;
/* Left Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_ELBOW,anyjoint);
Skeletons[i]["LeftElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftElbow"]["Z"] = anyjoint.position.position.Z;
/* Right Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_ELBOW,anyjoint);
Skeletons[i]["RightElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightElbow"]["Z"] = anyjoint.position.position.Z;
/* Left Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HIP,anyjoint);
Skeletons[i]["LeftHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHip"]["Z"] = anyjoint.position.position.Z;
/* Right Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HIP,anyjoint);
Skeletons[i]["RightHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHip"]["Z"] = anyjoint.position.position.Z;
/* Left Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HAND,anyjoint);
Skeletons[i]["LeftHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHand"]["Z"] = anyjoint.position.position.Z;
/* Right Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HAND,anyjoint);
Skeletons[i]["RightHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHand"]["Z"] = anyjoint.position.position.Z;
/* Left Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_KNEE,anyjoint);
Skeletons[i]["LeftKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftKnee"]["Z"] = anyjoint.position.position.Z;
/* Right Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_KNEE,anyjoint);
Skeletons[i]["RightKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightKnee"]["Z"] = anyjoint.position.position.Z;
/* Left Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_FOOT,anyjoint);
Skeletons[i]["LeftFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftFoot"]["Z"] = anyjoint.position.position.Z;
/* Right Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_FOOT,anyjoint);
Skeletons[i]["RightFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightFoot"]["Z"] = anyjoint.position.position.Z;
/*printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
Skeletons[i]["Head"]["X"],
Skeletons[i]["Head"]["Y"],
Skeletons[i]["Head"]["Z"]);*/
}
}
}
g_scriptNode.Release();
g_depth.Release();
g_image.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "kinnect");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("kinect") + "/config/openni.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
// init kinect user IDs to 0 to indicate they're invalid.
for (int i = 0; i < NUSERS; i++)
{
kinectUsers[i].id = 0;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
ros::Publisher user_pub = nh.advertise<kinect::User>("kinect_users", 1000);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id, user_pub);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1], g_Player);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if (nRetVal != XN_STATUS_OK)
{
printf("No depth generator found. Using a default one...");
xn::MockDepthGenerator mockDepth;
nRetVal = mockDepth.Create(g_Context);
CHECK_RC(nRetVal, "Create mock depth");
// set some defaults
XnMapOutputMode defaultMode;
defaultMode.nXRes = 320;
defaultMode.nYRes = 240;
defaultMode.nFPS = 30;
nRetVal = mockDepth.SetMapOutputMode(defaultMode);
CHECK_RC(nRetVal, "set default mode");
// set FOV
XnFieldOfView fov;
fov.fHFOV = 1.0225999419141749;
fov.fVFOV = 0.79661567681716894;
nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
CHECK_RC(nRetVal, "set FOV");
XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);
nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
CHECK_RC(nRetVal, "set empty depth map");
g_DepthGenerator = mockDepth;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected, hCalibrationInProgress, hPoseInProgress;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
CHECK_RC(nRetVal, "Register to calibration in progress");
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
CHECK_RC(nRetVal, "Register to pose in progress");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1]);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
glInit(&argc, argv);
glutMainLoop();
}
int main(int argc, char **argv)
{
commInit("192.168.1.255", 54321);
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
int j;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
if(getJoints(aUsers[i])){
/**
printf("Left Elbow: %.2f\nLeft Shoulder Roll: %.2f\nLeft Shoulder Pitch: %.2f\nHead Pitch: %.2f\n",
findAngle(jointArr[6], jointArr[4], jointArr[8], 0),
findAngle(jointArr[4], jointArr[10], jointArr[6], 0),
findAngle(jointArr[4], jointArr[10], jointArr[6], 1),
findAngle(jointArr[2], jointArr[1], jointArr[0], 1)
);
**/
float headAngle = findAngle(jointArr[2], jointArr[1], jointArr[0], 1);
float leftElbowAngle = findAngle(jointArr[6], jointArr[4], jointArr[8], 0);
float leftShoulderRoll = findAngle(jointArr[4], jointArr[10], jointArr[6], 0);
float leftShoulderPitch = findAngle(jointArr[4], jointArr[10], jointArr[6], 1);
float rightElbowAngle = findAngle(jointArr[5], jointArr[3], jointArr[7], 0);
float rightShoulderRoll = findAngle(jointArr[3], jointArr[9], jointArr[5], 0);
float rightShoulderPitch = findAngle(jointArr[3], jointArr[9], jointArr[5], 1);
ostringstream ostr;
ostr << "{"<<headAngle<<",{"<<leftShoulderPitch<<","<<leftShoulderRoll<<","<<
leftElbowAngle<<"},{"<<rightShoulderPitch<<","<<rightShoulderRoll<<","<<rightElbowAngle<<"},}";
string send = ostr.str();
//cout<<send;
//printRotation(aUsers[i]);
commSend(send);
usleep(200000);
}
}
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
// Create and initialize point tracker
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Wave", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize the Session Manager: %s\n", xnGetStatusString(rc));
delete g_pSessionManager;
return rc;
}
g_pSessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd);
// Start catching signals for quit indications
CatchSignals(&g_bQuit);
// Create and initialize the main slider
g_pMainSlider = new XnVSelectableSlider1D(3);
g_pMainSlider->RegisterItemHover(NULL, &MainSlider_OnHover);
g_pMainSlider->RegisterItemSelect(NULL, &MainSlider_OnSelect);
g_pMainSlider->RegisterActivate(NULL, &MainSlider_OnActivate);
g_pMainSlider->RegisterDeactivate(NULL, &MainSlider_OnDeactivate);
g_pMainSlider->RegisterPrimaryPointCreate(NULL, &MainSlider_OnPrimaryCreate);
g_pMainSlider->RegisterPrimaryPointDestroy(NULL, &MainSlider_OnPrimaryDestroy);
g_pMainSlider->RegisterValueChange(NULL, &MainSlider_OnValueChange);
g_pMainSlider->SetValueChangeOnOffAxis(true);
// Creat the flow manager
g_pMainFlowRouter = new XnVFlowRouter;
// Connect flow manager to the point tracker
g_pSessionManager->AddListener(g_pMainFlowRouter);
// Create the MyBox objects
XnPoint3D ptMax, ptMin;
ptMax.Z = ptMin.Z = 0;
ptMax.Y = GL_WIN_SIZE_Y-50;
ptMin.Y = GL_WIN_SIZE_Y-300;
ptMax.X = 50; ptMin.X = 240;
g_pBox[0] = new MyBox(ptMax, ptMin);
ptMax.X = 260; ptMin.X = 450;
g_pBox[1] = new MyBox(ptMax, ptMin);
ptMax.X = 470; ptMin.X = 650;
g_pBox[2] = new MyBox(ptMax, ptMin);
// Register callback to the MyBox objects for their Leave event.
g_pBox[0]->RegisterLeave(NULL, &MyBox_Leave);
g_pBox[1]->RegisterLeave(NULL, &MyBox_Leave);
g_pBox[2]->RegisterLeave(NULL, &MyBox_Leave);
g_Context.StartGeneratingAll();
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}