int main(int argc, char **argv) {
ros::init(argc, argv, "openni_hand_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");
// Create generators
nRetVal = g_GestureGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Unable to create GestureGenerator.");
nRetVal = g_HandsGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Unable to create HandsGenerator.");
ROS_INFO("Create Generator Success");
/*
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();
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char* argv[])
{
// Start
VideoCapture capture (CV_CAP_OPENNI);
if(!capture.isOpened())
{
int error = -1;
return 1;
}
namedWindow( "Color Image", 1 );
//namedWindow( "Depth Map", 1);
Mat view;
bool blink = false;
// NITE + openni
XnStatus rc = XN_STATUS_OK;
Context context;
rc = context.Init();
rc = g_GestureGenerator.Create(context);
rc = g_HandsGenerator.Create(context);
XnCallbackHandle hcb1,hcb2;
g_GestureGenerator.RegisterGestureCallbacks(Gesture_Recognized, Gesture_Process, NULL, hcb1);
g_HandsGenerator.RegisterHandCallbacks(handCreate, handUpdate, handDestroy, NULL, hcb2);
rc = context.StartGeneratingAll();
rc = g_GestureGenerator.AddGesture(GESTURE_TO_USE, NULL);
double d = 1.0;
double angle = 0.0;
double angleZ = 0.0;
Mat result;
Mat orig = imread("crocus.jpg");
result.create(750, 750, CV_8UC3);
double centerX = orig.cols/2;
double centerY = orig.rows/2;
warpPerspective(orig, orig, getScaleMatrix(1.0), orig.size(), INTER_CUBIC, BORDER_TRANSPARENT);
while( capture.isOpened() )
{
rc = context.WaitAndUpdateAll();
d = getZoom();
angle = getAngle();
angleZ = getAngle3D();
if (abs(d - oldZoom) > 0.009) {
//printf("angle = %f \n",angle);
oldAngle += angle;
//create the transformation to be passed to warp
Mat openCVTransform = getRotationMatrix2D(Point2f(centerX, centerY), oldAngle, d);
//warp image to apply transformation
result.setTo(Scalar(0));
warpAffine(orig, result, openCVTransform, result.size(), INTER_CUBIC, BORDER_TRANSPARENT);
oldZoom = d;
}
imshow("Result", result);
Mat bgrImage;
capture.grab();
capture.retrieve( bgrImage, CV_CAP_OPENNI_BGR_IMAGE );
if (hand1ID != -1) {
circle(bgrImage,Point(hand1.back().X + bgrImage.rows/2, bgrImage.cols/2 - hand1.back().Y),2,CV_RGB(0,255,0),3);
}
if (hand2ID != -1) {
circle(bgrImage,Point(hand2.back().X + bgrImage.rows/2, bgrImage.cols/2 - hand2.back().Y),2,CV_RGB(0,255,0),3);
}
flip(bgrImage,bgrImage,1);
imshow("Color Image", bgrImage);
result.create(750, 750, CV_8UC3);
if(waitKey(33) == 'q')
{
break;
}
}
context.Shutdown();
return 0;
}
int main(int argc, char* argv[]) {
glue.Init(argc, argv, 640, 240, "TrackHand");
xn::Context context;
XnStatus status = context.Init();
bmg::OnError(status, []{
std::cout << "Couldn't init OpenNi!" << std::endl;
exit(1);
});
xn::ImageGenerator image_generator;
status = image_generator.Create(context);
bmg::OnError(status, []{
std::cout << "Couldn't create image generator!" << std::endl;
});
status = depth_generator.Create(context);
bmg::OnError(status, []{
std::cout << "Couldn't create depth generator!" << std::endl;
});
xn::ImageMetaData image_metadata;
xn::DepthMetaData depth_metadata;
// Create gesture & hands generators
status = gesture_generator.Create(context);
bmg::OnError(status, []{
std::cout << "Couldn't create gesture generator!" << std::endl;
});
status = hands_generator.Create(context);
bmg::OnError(status, []{
std::cout << "Couldn't create hands generator!" << std::endl;
});
// Register to callbacks
XnCallbackHandle h1, h2;
gesture_generator
.RegisterGestureCallbacks(Gesture_Recognized, Gesture_Process, NULL, h1);
hands_generator
.RegisterHandCallbacks(Hand_Create, Hand_Update, Hand_Destroy, NULL, h2);
status = context.StartGeneratingAll();
bmg::OnError(status, []{
std::cout << "Couldn't generate all data!" << std::endl;
});
status = gesture_generator.AddGesture(GESTURE, NULL);
bmg::OnError(status, []{
std::cout << "Couldn't add gesture!" << std::endl;
});
glue.BindDisplayFunc([&]{
glue.BeginDraw();
// here goes code for app main loop
XnStatus status = context.WaitAndUpdateAll();
bmg::OnError(status, []{
std::cout << "Couldn't update and wait for new data!" << std::endl;
});
image_generator.GetMetaData(image_metadata);
unsigned imageX = image_metadata.XRes();
unsigned imageY = image_metadata.YRes();
glue.DrawOnTexture(
(void*)image_metadata.RGB24Data(),
imageX, imageY,
imageX, imageY,
320, 0, 640, 240);
depth_generator.GetMetaData(depth_metadata);
unsigned depthX = depth_metadata.XRes();
unsigned depthY = depth_metadata.YRes();
XnRGB24Pixel* transformed_depth_map = new XnRGB24Pixel[depthX * depthY];
bmg::CalculateDepth(
depth_generator.GetDepthMap(), depthX, depthY, MAX_DEPTH, transformed_depth_map);
glue.DrawOnTexture(
(void*)transformed_depth_map,
depthX, depthY,
depthX, depthY,
0, 0,
320, 240);
delete [] transformed_depth_map;
if (hand_recognized) {
// Draw point over tracked hand
glue.DrawPointOverRegion(static_cast<unsigned>(projective_point.X), static_cast<unsigned>(projective_point.Y), 0, 0);
glue.DrawPointOverRegion(static_cast<unsigned>(projective_point.X), static_cast<unsigned>(projective_point.Y), 320, 0);
}
glue.EndDraw();
});
glue.BindKeyboardFunc([](unsigned char key, int x, int y){
switch(key) {
case 27:
exit(1);
}
});
glue.Run();
context.Release();
}
void HandsGenerator_Create_wrapped(xn::HandsGenerator& self, xn::Context& ctx) {
check( self.Create(ctx, NULL, NULL) );
}
