KinectDataPub::~KinectDataPub()
{
scriptNode.Release();
depthGen.Release();
userGen.Release();
context.Release();
}
void CleanupExit() {
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
exit(1);
}
void CleanupExit()
{
g_ScriptNode.Release();
g_DepthGenerator.Release();
g_GestureGenerator.Release();
g_Context.Release();
exit (1);
}
void CleanupExit()
{
g_scriptNode.Release();
g_DepthGenerator.Release();
g_ImageGenerator.Release();
g_UserGenerator.Release();
g_Player.Release();
g_Context.Release();
//exit (1);
exit(0);
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
if( USE_RECORED_DATA ){
g_Context.Init();
g_Context.OpenFileRecording(RECORD_FILE_PATH);
xn::Player player;
// Player nodeの取得
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
CHECK_RC(nRetVal, "Find player");
LOG_D("PlaybackSpeed: %d", player.GetPlaybackSpeed());
xn:NodeInfoList nodeList;
player.EnumerateNodes(nodeList);
for( xn::NodeInfoList::Iterator it = nodeList.Begin();
it != nodeList.End(); ++it){
if( (*it).GetDescription().Type == XN_NODE_TYPE_IMAGE ){
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
CHECK_RC(nRetVal, "Find image node");
LOG_D("%s", "ImageGenerator created.");
}
else if( (*it).GetDescription().Type == XN_NODE_TYPE_DEPTH ){
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth node");
LOG_D("%s", "DepthGenerator created.");
}
else{
LOG_D("%s %s %s", ::xnProductionNodeTypeToString((*it).GetDescription().Type ),
(*it).GetInstanceName(),
(*it).GetDescription().strName);
}
}
}
else{
LOG_I("Reading config from: '%s'", CONFIG_XML_PATH);
nRetVal = g_Context.InitFromXmlFile(CONFIG_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT){
XnChar strError[1024];
errors.ToString(strError, 1024);
LOG_E("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK){
LOG_E("Open failed: %s", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
// ImageGeneratorの作成
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
CHECK_RC(nRetVal, "Find image generator");
}
// UserGeneratorの取得
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if(nRetVal!=XN_STATUS_OK){
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Create user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)){
LOG_E("%s", "Supplied user generator doesn't support skeleton");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
g_SkeletonCap = g_UserGenerator.GetSkeletonCap();
nRetVal = g_SkeletonCap.RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_SkeletonCap.RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_SkeletonCap.NeedPoseForCalibration()){
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)){
LOG_E("%s", "Pose required, but not supported");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_SkeletonCap.GetCalibrationPose(g_strPose);
}
g_SkeletonCap.SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
// 表示用の画像データの作成
XnMapOutputMode mapMode;
g_ImageGenerator.GetMapOutputMode(mapMode);
g_rgbImage = cvCreateImage(cvSize(mapMode.nXRes, mapMode.nYRes), IPL_DEPTH_8U, 3);
LOG_I("%s", "Starting to run");
if(g_bNeedPose){
LOG_I("%s", "Assume calibration pose");
}
xn::Recorder recorder;
if( DO_RECORED && !USE_RECORED_DATA ){
// レコーダーの作成
LOG_I("%s", "Setup Recorder");
nRetVal = recorder.Create(g_Context);
CHECK_RC(nRetVal, "Create recorder");
// 保存設定
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORD_FILE_PATH);
CHECK_RC(nRetVal, "Set recorder destination file");
// 深度、ビデオカメラ入力を保存対象として記録開始
nRetVal = recorder.AddNodeToRecording(g_DepthGenerator, XN_CODEC_NULL);
CHECK_RC(nRetVal, "Add depth node to recording");
nRetVal = recorder.AddNodeToRecording(g_ImageGenerator, XN_CODEC_NULL);
CHECK_RC(nRetVal, "Add image node to recording");
LOG_I("%s", "Recorder setup done.");
}
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
if( DO_RECORED && !USE_RECORED_DATA ){
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
}
// ビデオカメラ画像の生データを取得
xn::ImageMetaData imageMetaData;
g_ImageGenerator.GetMetaData(imageMetaData);
// メモリコピー
xnOSMemCopy(g_rgbImage->imageData, imageMetaData.RGB24Data(), g_rgbImage->imageSize);
// BGRからRGBに変換して表示
cvCvtColor(g_rgbImage, g_rgbImage, CV_RGB2BGR);
// UserGeneratorからユーザー識別ピクセルを取得
xn::SceneMetaData sceneMetaData;
g_UserGenerator.GetUserPixels(0, sceneMetaData);
XnUserID allUsers[MAX_NUM_USERS];
XnUInt16 nUsers = MAX_NUM_USERS;
g_UserGenerator.GetUsers(allUsers, nUsers);
for (int i = 0; i < nUsers; i++) {
// キャリブレーションに成功しているかどうか
if (g_SkeletonCap.IsTracking(allUsers[i])) {
// スケルトンを描画
DrawSkelton(allUsers[i], i);
}
}
// 表示
cvShowImage("User View", g_rgbImage);
// ESCもしくはqが押されたら終了させる
if (cvWaitKey(10) == 27) {
break;
}
}
if( !USE_RECORED_DATA ){
g_scriptNode.Release();
}
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
if (g_rgbImage != NULL) {
cvReleaseImage(&g_rgbImage);
}
g_Context.Shutdown();
}
int main ( int argc, char ** argv )
{
//
// Initializing Calibration Related
//
// ARTagHelper artagHelper ( colorImgWidth, colorImgHeight, ARTAG_CONFIG_FILE, ARTAG_POS_FILE );
ARTagHelper artagHelper ( colorImgWidth, colorImgHeight, ARTAG_CONFIG_A3_FILE, ARTAG_POS_A3_FILE );
ExtrCalibrator extrCalibrator ( 6, KINECT_INTR_FILE, KINECT_DIST_FILE );
// unsigned char * kinectImgBuf = new unsigned char[colorImgWidth * colorImgHeight * 3];
//
// Initializing OpenNI Settings
//
int ctlWndKey = -1;
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
//
// Initialize Context Object
//
nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, g_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:\n%s\n", xnGetStatusString ( nRetVal ) );
system ( "pause" );
return ( nRetVal );
}
//
// Handle the Depth Generator Node.
//
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
if ( nRetVal != XN_STATUS_OK )
{
printf ( "No Depth Node Exists! Please Check your XML.\n" );
return ( nRetVal );
}
//
// Handle the Image Generator node
//
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
if ( nRetVal != XN_STATUS_OK )
{
printf ( "No Image Node Exists! Please Check your XML.\n" );
return ( nRetVal );
}
// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );
g_DepthGen.GetMetaData ( g_DepthMD );
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
//
// Create OpenCV Showing Window and Related Data Structures
//
cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::Mat depthImgMat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
cv::Mat depthImgShow ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC3 );
cv::Mat colorImgMat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );
#define ARTAG_DEBUG
#ifdef ARTAG_DEBUG
cv::setMouseCallback ( IMAGE_WIN_NAME, ClickOnMouse, 0 );
#endif
bool flipColor = true;
//
// Start to Loop
//
while ( ctlWndKey != ESC_KEY_VALUE )
{
//
// Try to Get New Frame From Kinect
//
nRetVal = g_Context.WaitAnyUpdateAll ();
g_DepthGen.GetMetaData ( g_DepthMD );
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() && g_DepthMD.FullYRes() == g_DepthMD.YRes() );
assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() && g_ImageMD.FullYRes() == g_ImageMD.YRes() );
GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), colorImgMat );
#ifdef SHOW_DEPTH_WINDOW
GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), depthImgMat );
// GlobalUtility::ConvertDepthCvMat16uToYellowCvMat ( depthImgMat, depthImgShow );
GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( depthImgMat, depthImgShow );
cv::imshow ( DEPTH_WIN_NAME, depthImgShow );
#endif
ctlWndKey = cvWaitKey ( 15 );
if ( ctlWndKey == 'f' || ctlWndKey == 'F' )
{
artagHelper.Clear();
artagHelper.FindMarkerCorners ( (unsigned char *)(g_ImageMD.Data()) );
artagHelper.PrintMarkerCornersPos2dInCam ();
extrCalibrator.ExtrCalib ( artagHelper );
std::cout << "\nKinect Extr Matrix:" << std::endl;
extrCalibrator.PrintMatrix ( extrCalibrator.GetMatrix ( ExtrCalibrator::EXTR ) );
std::cout << "Reprojection ERROR = "
<< extrCalibrator.ComputeReprojectionErr ( artagHelper ) << std::endl
// << extrCalibrator.ComputeReprojectionErr ( artagHelper.m_MarkerCornerPosCam2d, artagHelper.m_MarkerCornerPos3d, 24 ) << std::endl
<< "Valid Marker Number = " << artagHelper.GetValidMarkerNumber() << std::endl
<< std::endl;
extrCalibrator.SaveMatrix ( ExtrCalibrator::EXTR, KINECT_EXTR_FILE );
}
if ( ctlWndKey == 's' || ctlWndKey == 'S' )
{
flipColor = !flipColor;
}
if ( flipColor ) {
cv::cvtColor ( colorImgMat, colorImgMat, CV_RGB2BGR );
}
artagHelper.DrawMarkersInCameraImage ( colorImgMat );
cv::imshow ( IMAGE_WIN_NAME, colorImgMat );
}
g_Context.Release ();
system ( "pause" );
exit ( EXIT_SUCCESS );
}
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_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_UserGenerator.Release();
g_Context.Release();
}
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();
}
void TeardownPrimesense(void)
{
g_context.Release();
}
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)
{
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;
}
kinect_reader2::~kinect_reader2() {
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;
}
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);
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.Release();
return 0;
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
TotalFrames = 0;
static struct rusage ru;
long double t;
double w;
struct timeval timStart;
struct timeval timEnd;
struct timeval Wall;
bool Sample = true;
XnFPSData xnFPS;
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
if (argc > 1)
{
//parse the cmd line
if (strcasecmp(argv[1],"--help") == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
numOfUser = atoi(argv[1]);
if(numOfUser == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
else if(numOfUser > 2)
{
printf("Maximal Users allowed is 2\n");
return 1;
}
}
else
{
numOfUser = 4;
}
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");
#if (XN_PLATFORM != XN_PLATFORM_MACOSX)
//we want out benchmark application will be running only on one CPU core
cpu_set_t mask;
CPU_ZERO(&mask);
CPU_SET(1,&mask);
sched_setaffinity(0,sizeof(mask),&mask);
#endif
//initialize the FPS calculator
nRetVal = xnFPSInit(&xnFPS, 90);
CHECK_RC(nRetVal, "FPS Init");
//ensure the User generator exists
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");
}
//register to generators callbacks
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");
//ensure calibration
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);
}
//set skeleton profile (all joints)
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//start to generate
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
printf("%c[%d;%d;%dmPrimeSense Skeleton Benchmark Application\n ", 0x1B, BRIGHT,BLUE,BG_BLACK);
printf("%c[%d;%d;%dmSet Maximal users to %d ", 0x1B, BRIGHT,BLUE,BG_BLACK,numOfUser);
printf("%c[%dm\n", 0x1B, 0);
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
//each 30 frames (1 second) we start the CPU resources usages
while (!xnOSWasKeyboardHit())
{
if (Sample)
{ //get the beginning sample of CPU resources
getrusage(RUSAGE_SELF, &ru);
timStart=ru.ru_utime;
t=(double)timStart.tv_sec * 1000000.0 + (double)timStart.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec;
//get the wall clock time
gettimeofday(&Wall,NULL);
w=(double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec;
Sample = false;
}
g_Context.WaitOneUpdateAll(g_UserGenerator);
xnFPSMarkFrame(&xnFPS);
// print the torso information for the first user already tracking every 1 second to prevent CPU of printf
if(TotalFrames % 30 == 0)
{
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;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("User %d Located At distance of %6.2f mm from the sensor\n",aUsers[i],torsoJoint.position.position.Z);
}
//get the finish sample of the CPU resources
getrusage(RUSAGE_SELF, &ru);
timEnd=ru.ru_utime;
t = (double)timEnd.tv_sec * 1000000.0 + (double)timEnd.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec - t;
//get the wall clock
gettimeofday(&Wall,NULL);
w = (double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec - w;
XnDouble fps=xnFPSCalc(&xnFPS);
//print stuff.
printf("%c[%d;%d;%dmCPU Utilization=%3.2f%%\t", 0x1B, BRIGHT,RED,BG_BLACK,(double)100*t/w);
printf("%c[%d;%d;%dmFPS=%3.2f ", 0x1B, BRIGHT,RED,BG_BLACK,(double)fps);
printf("%c[%dm\n", 0x1B, 0);
Sample= true;
}
TotalFrames++;
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
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();
}
//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();
}