/*
* Function: getPosition
*
* Returns the Position (enum defined in monitor.h) of the specified user.
* Positions are assigned based on joint locations and defined tolerances.
* Sets the location of the hospital bed if it has not yet been set and the patient
* is lying down.
*
* Parameters:
* XnUserID user - The id for the user whose position to get
*
* Return:
* The Position of the user
*/
Position KinectMonitor::getPosition(XnUserID user) {
XnSkeletonJointPosition headPos, torsoPos, leftPos, rightPos;
double head, torso, center, left, right;
Position position = UNKNOWN;
SkeletonCapability skeleton = userGenerator.GetSkeletonCap();
// Get Joint positions for the specified joint locations
// Joints are XN_SKEL_<option> where <option> is:
// HEAD, NECK, TORSO, WAIST, LEFT_COLLAR, LEFT_SHOULDER, LEFT_ELBOW, LEFT_WRIST, LEFT_HAND
// LEFT_FINGERTIP, RIGHT_COLLAR, RIGHT_SHOULDER, RIGHT_ELBOW, RIGHT_WRIST, RIGHT_HAND,
// RIGHT_FINGERTIP, LEFT_HIP, LEFT_KNEE, LEFT_ANKLE, LEFT_FOOT, RIGHT_HIP, RIGHT_KNEE,
// RIGHT_ANKLE, RIGHT_FOOT
skeleton.GetSkeletonJointPosition(user, XN_SKEL_HEAD, headPos);
skeleton.GetSkeletonJointPosition(user, XN_SKEL_TORSO, torsoPos);
skeleton.GetSkeletonJointPosition(user, XN_SKEL_LEFT_SHOULDER, leftPos);
skeleton.GetSkeletonJointPosition(user, XN_SKEL_RIGHT_SHOULDER, rightPos);
// Get the relevant coordinate for each joint (X, Y, or Z)
head = headPos.position.Z;
torso = torsoPos.position.Z;
center = torsoPos.position.X;
left = leftPos.position.Z;
right = rightPos.position.Z;
// Determine defined positions based on tolerances defined in monitor.h
if(head - LAYING_TOLERANCE > torso) {
position = LAYING;
out = false;
} else if( left < right - TURNED_TOLERANCE ||
left > right + TURNED_TOLERANCE ) {
position = TURNED;
} else {
position = FORWARD;
}
// Set/Check the patient vs the bed location
if( (!bedSet) && position == LAYING ) {
// If the bed location is not yet set, then set the bed at the patients torso X coordinate
bed = center;
bedSet = true;
} else if( bedSet ) {
// The patient is out of bed if they are outside the BED_TOLERANCE defined in monitor.h
out = ( center < bed - BED_TOLERANCE || center > bed + BED_TOLERANCE );
}
return position;
}
std::vector<std::vector<XnPoint3D> > KinectControl::getSkeleton()
{
SkeletonCapability skeleton = user_generator.GetSkeletonCap();
XnUserID user_id[15];
XnUInt16 user_count = sizeof(user_id) / sizeof(user_id[0]);
XnStatus nRetVal = user_generator.GetUsers(user_id, user_count);
CHECK_RC(nRetVal, "Get Users");
// 全ユーザ
std::vector<std::vector<XnPoint3D> > skeletons;
for(int i = 0; i < user_count; ++i)
{
// i番目のユーザがトラッキングされていたら
if(skeleton.IsTracking(user_id[i]))
{
// 個別ユーザ
std::vector<XnPoint3D> user_skeleton;
// 関節は全てで24個
XnSkeletonJointPosition joint[24];
// [0]はCenter of Mass
XnPoint3D pt[25];
for(int j = 1; j < 25; ++j)
{
skeleton.GetSkeletonJointPosition(user_id[i], (XnSkeletonJoint)(j), joint[j - 1]);
pt[j] = joint[j - 1].position;
}
user_generator.GetCoM(user_id[i], pt[0]);
depth_generator.ConvertRealWorldToProjective(25, pt, pt);
for(int j = 0; j < 25; ++j)
user_skeleton.push_back(pt[j]);
skeletons.push_back(user_skeleton);
}
}
return skeletons;
}
/**
* Load actual joint positions.
*
* Load the position of the joints in the joint array.
*
* @param player is the player ID who needs to load the joints
* from.
* @param skelCap is the skeletonCapability taken from the User
* Generator.
*/
void NeutralModel :: loadJoints (XnUserID player, SkeletonCapability skelCap)
{
// Skeleton Joint.
XnSkeletonJointPosition jointPos;
if (skelCap.IsTracking(player)) {
// Get skeleton jointPos positions.
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_HEAD,
jointPos
);
joint[HEAD] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_NECK,
jointPos
);
joint[NECK] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_SHOULDER,
jointPos
);
joint[LSHOULDER] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_SHOULDER,
jointPos
);
joint[RSHOULDER] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_TORSO,
jointPos
);
joint[TORSO] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_ELBOW,
jointPos
);
joint[LELBOW] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_ELBOW,
jointPos
);
joint[RELBOW] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_HAND,
jointPos
);
joint[LHAND] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_HAND,
jointPos
);
joint[RHAND] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_HIP,
jointPos
);
joint[LHIP] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_HIP,
jointPos
);
joint[RHIP] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_KNEE,
jointPos
);
joint[LKNEE] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_KNEE,
jointPos
);
joint[RKNEE] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_LEFT_FOOT,
jointPos
);
joint[LFOOT] = jointPos.position;
skelCap.GetSkeletonJointPosition(
player,
XN_SKEL_RIGHT_FOOT,
jointPos
);
joint[RFOOT] = jointPos.position;
nm_DepthGenerator.ConvertRealWorldToProjective(15, joint, joint);
}
}
