Ejemplo n.º 1
0
void CleanupExit()
{
    g_scriptNode.Release();
    g_DepthGenerator.Release();
    g_UserGenerator.Release();
    g_Player.Release();
    g_Context.Release();
    g_ImageGenerator.Release();
    exit (1);
}
Ejemplo n.º 2
0
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();
}