XnStatus hiKinect::init(const FB::JSObjectPtr &cb){
XnStatus nRetVal = XN_STATUS_OK;
callbackPtr = &cb;
nRetVal = context.Init();
(*callbackPtr)->InvokeAsync("", FB::variant_list_of("CONTEXT_INIT")
(nRetVal)(xnGetStatusString(nRetVal)));
if (nRetVal != XN_STATUS_OK) return nRetVal;
// Create the user generator
nRetVal = g_UserGenerator.Create(context);
(*callbackPtr)->InvokeAsync("", FB::variant_list_of("USERGENERATOR_CREATE")
(nRetVal)(xnGetStatusString(nRetVal)));
if (nRetVal != XN_STATUS_OK) return nRetVal;
XnCallbackHandle h1, h2, h3;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, this, h1);
g_UserGenerator.GetPoseDetectionCap()
.RegisterToPoseCallbacks(Pose_Detected, NULL, this, h2);
g_UserGenerator.GetSkeletonCap()
.RegisterCalibrationCallbacks(Calibration_Start, Calibration_End,
this, h3);
// Set the profile
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
FBLOG_INFO("contextInit", "Init finish");
// Start generating
nRetVal = context.StartGeneratingAll();
(*callbackPtr)->InvokeAsync("", FB::variant_list_of("START_GENERATING")
(nRetVal)(xnGetStatusString(nRetVal)));
if (nRetVal != XN_STATUS_OK) return nRetVal;
while (getTrackedUserID() == 0){
contextWaitAndUpdateAll();
}
return nRetVal;
}
void hiKinect::getPosition(XnSkeletonJoint joint, XnSkeletonJointPosition &pos){
XnUserID id = getTrackedUserID();
if (id != 0) {
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(id, joint, pos);
}else{
return;
}
}
void UserDetector::getSkeletonJointInfo(XuSkeletonJointIndex jointIndex, XuSkeletonJointInfo* pJointInfo)
{
XuUserID userID = getTrackedUserID();
if (userID) {
m_userProvider->getSkeletonJointInfo(userID, jointIndex, pJointInfo);
} else {
pJointInfo->fConfidence = 0;
pJointInfo->position.assign(0, 0, 0);
}
}
XV3 UserDetector::getUpVector()
{
XuUserID userID = getTrackedUserID();
if (userID) {
XV3 v0(getSkeletonJointPosition(XU_SKEL_TORSO));
XV3 v1(getSkeletonJointPosition(XU_SKEL_NECK));
return (v1 - v0).normalize();
} else {
return XV3();
}
}
XV3 UserDetector::getForwardVector()
{
XuUserID userID = getTrackedUserID();
if (userID) {
XV3 v0(getSkeletonJointPosition(XU_SKEL_RIGHT_SHOULDER));
XV3 v1(getSkeletonJointPosition(XU_SKEL_TORSO));
XV3 v2(getSkeletonJointPosition(XU_SKEL_LEFT_SHOULDER));
return ((v1 - v0).cross(v2 - v1)).normalize();
} else {
return XV3();
}
}
