// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
glDisable(GL_TEXTURE_2D);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, sceneMD);
glutSwapBuffers();
Sleep(5); // todo: adjust
}
bool CvCapture_OpenNI::grabFrame()
{
if( !isOpened() )
return false;
bool isGrabbed = false;
if( !approxSyncGrabber.empty() && approxSyncGrabber->isRun() )
{
isGrabbed = approxSyncGrabber->grab( depthMetaData, imageMetaData );
}
else
{
XnStatus status = context.WaitAndUpdateAll();
if( status != XN_STATUS_OK )
return false;
if( depthGenerator.IsValid() )
depthGenerator.GetMetaData( depthMetaData );
if( imageGenerator.IsValid() )
imageGenerator.GetMetaData( imageMetaData );
isGrabbed = true;
}
return isGrabbed;
}
// this function is called each frame
void glutDisplay (void)
{
// Read next available data
g_Context.WaitAndUpdateAll();
// Process the data
g_pSessionManager->Update(&g_Context);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
#ifdef USE_GLUT
glOrtho(0, GL_WIN_SIZE_X, 0, GL_WIN_SIZE_Y, -1.0, 1.0);
#else
glOrthof(0, GL_WIN_SIZE_X, 0, GL_WIN_SIZE_Y, -1.0, 1.0);
#endif
glDisable(GL_TEXTURE_2D);
// Draw the MyBoxes
g_pBox[0]->Draw();
g_pBox[1]->Draw();
g_pBox[2]->Draw();
// Draw the slider
DrawSlider();
#ifdef USE_GLUT
glutSwapBuffers();
#endif
}
void Loop(int sock)
{
XnStatus nRetVal = XN_STATUS_OK;
struct timespec last,now;
double nowtime, starttime;
clock_gettime(CLOCK_REALTIME, &last);
double lasttime = (double)(last.tv_sec) + ((double)(last.tv_nsec))/1000000000;
int frames=0;
while (g_notDone)
{
if ((nRetVal = g_context.WaitAndUpdateAll()) != XN_STATUS_OK)
{
fprintf(stderr,"Could not update ir: %s\n", xnGetStatusString(nRetVal));
continue;
}
const XnDepthPixel* pDepthMap = g_depth.GetDepthMap();
const XnRGB24Pixel* pImage = NULL;//g_image.GetRGB24ImageMap();
const XnIRPixel* pIR = NULL;//g_ir.GetIRMap();
ProcessDepthFrame(pDepthMap, g_depthWidth, g_depthHeight);
FindFingertip();
frames++;
clock_gettime(CLOCK_REALTIME, &now);
nowtime = (double)(now.tv_sec) + ((double)(now.tv_nsec))/1000000000;
if (g_stabalize) // If we are still stablizing then don't do anything
{
if ((nowtime - starttime) >= STABILIZATION_TIME_SECS)
{
g_stabalize = FALSE;
g_set_background = TRUE;
}
}
else if (g_calibrate) // Do we need to calibrate?
Calibrate(sock);
else
SendFingers(sock); // otherwise just send the touches
/*
if (nowtime - lasttime >= 1.0)
{
printf("%d FPS\n", (int)(frames/(nowtime-lasttime)));
lasttime = nowtime;
frames = 0;
if (sock >= 0 && pDepthMap != 0 )// && pImage != 0 )//&& pIR != 0)
SendImage(sock,pDepthMap, pImage, pIR, g_depthWidth, g_depthHeight);
}
*/
}
}
/*
DWORD WINAPI EEThreadProc(LPVOID lpThreadParameter)
{
{
g_Context.WaitAndUpdateAll();
if (g_bRecord)
{
g_pRecorder->Record();
}
}
return 0;
}
*/
int EEThreadProc(void *lpThreadParameter)
{
{
g_Context.WaitAndUpdateAll();
if (g_bRecord)
{
g_pRecorder->Record();
}
}
return 0;
}
// メインループ
void run()
{
int nAudioNextBuffer = 0;
printf ("Press any key to exit...\n");
// 今のデータを捨てる
audio.WaitAndUpdateData();
while (!xnOSWasKeyboardHit()) {
// データの更新
XnStatus nRetVal = context.WaitAndUpdateAll();
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// バッファの取得
WAVEHDR* pHeader = &AudioBuffers[nAudioNextBuffer];
if ((pHeader->dwFlags & WHDR_DONE) == 0) {
printf("No audio buffer is available!. Audio buffer will be lost!\n");
continue;
}
// WAVEヘッダのクリーンアップ
MMRESULT mmRes = waveOutUnprepareHeader(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
}
// WAVEデータの取得
pHeader->dwBufferLength = audio.GetDataSize();
pHeader->dwFlags = 0;
xnOSMemCopy(pHeader->lpData, audio.GetAudioBuffer(), pHeader->dwBufferLength);
// WAVEヘッダの初期化
mmRes = waveOutPrepareHeader(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
continue;
}
// WAVEデータを出力キューに入れる
mmRes = waveOutWrite(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
continue;
}
// 次のバッファインデックス
nAudioNextBuffer = (nAudioNextBuffer + 1) % NUMBER_OF_AUDIO_BUFFERS;
}
}
void gl_onDisplay()
{
gContext.WaitAndUpdateAll();
glClear(GL_COLOR_BUFFER_BIT);
for(int i = 0; i < 2; i++){
if(gDrawOrder[i] != NULL){
gDrawOrder[i]->draw();
}
}
glutSwapBuffers();
}
// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
XnMapOutputMode mode;
g_DepthGenerator.GetMapOutputMode(mode);
glOrtho(0, mode.nXRes, mode.nYRes, 0, -1.0, 1.0);
glDisable(GL_TEXTURE_2D);
g_Context.WaitAndUpdateAll();
g_pSessionManager->Update(&g_Context);
PrintSessionState(g_SessionState);
glutSwapBuffers();
}
void gl_onDisplay()
{
gContext.WaitAndUpdateAll();
glClear(GL_COLOR_BUFFER_BIT);
gDepthDrawer->draw();
gSkeletonDrawer->draw();
gImageDrawer->draw();
if(capture->isCapturing()){
capture->captureSkeleton(gUserGenerator.GetSkeletonCap());
gl_labelCapturingUser(capture->getCapturingUser());
}
glutSwapBuffers();
}
// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
glDisable(GL_TEXTURE_2D);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
ros::Time tstamp=ros::Time::now();
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, sceneMD);
std::vector<mapping_msgs::PolygonalMap> pmaps;
body_msgs::Skeletons skels;
getSkels(pmaps,skels);
ROS_DEBUG("skels size %d \n",pmaps.size());
if(pmaps.size()){
skels.header.stamp=tstamp;
skels.header.seq = depthMD.FrameID();
skels.header.frame_id="/openni_depth_optical_frame";
skel_pub.publish(skels);
pmaps.front().header.stamp=tstamp;
pmaps.front().header.seq = depthMD.FrameID();
pmaps.front().header.frame_id="/openni_depth_optical_frame";
pmap_pub.publish(pmaps[0]);
}
glutSwapBuffers();
}
// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
#ifdef USE_GLUT
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#else
glOrthof(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#endif
glDisable(GL_TEXTURE_2D);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
// Process the data
//DRAW
g_DepthGenerator.GetMetaData(depthMD);
g_SceneAnalyzer.GetMetaData(sceneMD);
DrawDepthMap(depthMD, sceneMD);
if (g_bPrintFrameID)
{
DrawFrameID(depthMD.FrameID());
}
#ifdef USE_GLUT
glutSwapBuffers();
#endif
}
int main(int argc, char **argv) {
ros::init(argc, argv, "scene_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);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
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.Shutdown();
return 0;
}
bool DataCapture::captureOne()
{
XnStatus rc = context_.WaitAndUpdateAll(); // want this to be WaitOneUpdateAll(RGB image)
if( rc != XN_STATUS_OK )
{
std::cout << "WaitAndUpdateAll: " << xnGetStatusString(rc) << std::endl;
return false;
}
// grab image
imageGen_.GetMetaData(imageMd_);
const XnRGB24Pixel* rgbData = imageMd_.RGB24Data();
for( unsigned int i = 0; i < 640 * 480; ++i )
{
pRgbData_[3*i] = rgbData->nRed;
pRgbData_[3*i + 1] = rgbData->nGreen;
pRgbData_[3*i + 2] = rgbData->nBlue;
++rgbData;
}
// grab depth image
depthGen_.GetMetaData(depthMd_);
const uint16_t* pDepthDataU16 = depthMd_.Data();
for( int i = 0; i < 640 * 480; ++i)
{
uint16_t d = pDepthDataU16[i];
if( d != 0 )
{
pDepthData_[i] = (d * 255)/2048;
}
else
{
pDepthData_[i] = 0; // should be NAN
}
}
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "kinnect");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("kinect") + "/config/openni.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
// init kinect user IDs to 0 to indicate they're invalid.
for (int i = 0; i < NUSERS; i++)
{
kinectUsers[i].id = 0;
}
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);
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);
ros::Publisher user_pub = nh.advertise<kinect::User>("kinect_users", 1000);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id, user_pub);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv){
ros::init(argc, argv, "pplTracker");
ros::NodeHandle nh;
std::string configFilename = ros::package::getPath("people_tracker_denbyk") + "/init/openni_tracker.xml";
genericUserCalibrationFileName = ros::package::getPath("people_tracker_denbyk") + "/init/GenericUserCalibration.bin";
ros::Rate loop_rate(1);
//valore di ritorno Xn
XnStatus nRetVal;
//while (ros::ok())
while (nh.ok())
{
//inizializzo contesto openni
//ROS_INFO(configFilename.c_str(),xnGetStatusString(nRetVal));
nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
//TODO: remove
nRetVal = XN_STATUS_OK;
//riprovo tra un po'
if(nRetVal != XN_STATUS_OK)
{
ROS_INFO("InitFromXml failed: %s Retrying in 3 seconds...", xnGetStatusString(nRetVal));
ros::Duration(3).sleep();
}
else
{
break;
}
}
//std::string frame_id;
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if(nRetVal != XN_STATUS_OK)
{
ROS_ERROR("Find depth generator failed: %s", xnGetStatusString(nRetVal));
}
//cerca nodo ti tipo user generator e lo salva in g_UserGenerator
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
//crea lo userGenerator del g_context. SE non riesce probabilmente manca NITE
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;
}
}
//veriica che lo userGenerator creato supporti SKELETON
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
ROS_INFO("Supplied user generator doesn't support skeleton");
return EXIT_FAILURE;
}
//imposto la modalità dello skeleton, quali giunzioni rilevare e quali no.
//in questo caso upper è il torso/la testa
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
//setto varie callbacks per entrata, uscita e rientro user nello UserGenerator
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.RegisterToUserExit(User_OutOfScene, NULL, hUserCallbacks);
g_UserGenerator.RegisterToUserReEnter(User_BackIntoScene, NULL, hUserCallbacks);
//attivo la generazione dei vari generators
nRetVal = g_Context.StartGeneratingAll();
if(nRetVal != XN_STATUS_OK)
{
ROS_ERROR("StartGenerating failed: %s", xnGetStatusString(nRetVal));
}
//recupera un parametro passato al nodo dal server dei parametri ROS.
//usando la chiave camera_frame_id e lo memorizza nella variabile frame_id
std::string frame_id("camera_depth_frame");
nh.getParam("camera_frame_id", frame_id);
std::cout << "init ok\n";
//ciclo principale.
while(nh.ok())
{
//aggiorna il contesto e aspetta
g_Context.WaitAndUpdateAll();
//pubblica le trasformazioni su frame_id
publishTransforms(frame_id);
//dormi per un tot.
ros::Rate(30).sleep();
}
//rilascia risorse e esci.
g_Context.Shutdown();
return EXIT_SUCCESS;
}
void glut_display() {
xn::DepthMetaData pDepthMapMD;
xn::ImageMetaData pImageMapMD;
XnUserID pUser[2];
XnUInt16 nUsers=2;
#ifdef DEBUGOUT
ofstream datei;
#endif
glEnable(GL_TEXTURE_2D);
pUser[0] = 0;
pUser[1] = 0;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
/*glFrustum( -ROOM_X/2+(1500.0/1750.0)*static_cast<int>(headtrans.x),
ROOM_X/2+(1500.0/1750.0)*static_cast<int>(headtrans.x),
-ROOM_Y/2-(1500.0/1750.0)*static_cast<int>(headtrans.y),
ROOM_Y/2-(1500.0/1750.0)*static_cast<int>(headtrans.y),
1525,
2525);*/
float nearplane = 1525;
float screenaspect = ROOM_X/ROOM_Y;
glFrustum( nearplane*(-0.5 * screenaspect + headtrans.x)/headtrans.z,
nearplane*( 0.5 * screenaspect + headtrans.x)/headtrans.z,
nearplane*(-0.5 + headtrans.y)/headtrans.z,
nearplane*( 0.5 + headtrans.y)/headtrans.z,
nearplane,
2525);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
nRetVal = context.WaitAndUpdateAll();
checkError("Fehler beim Aktualisieren der Daten", nRetVal);
/* Anzahl der User auslesen und in Objekten speichern */
user.GetUsers(pUser, nUsers);
if(pUser[0]!=0 && pUserOld!=1) {
cout << "User 1 erkannt" << endl;
pUserOld=1;
}
xn::SkeletonCapability pSkeleton = user.GetSkeletonCap();
XnCallbackHandle hnd;
pSkeleton.RegisterCalibrationCallbacks(skel_cal_start, skel_cal_end, 0,hnd);
if(calibration){
}
pSkeleton.SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
if(pSkeleton.IsCalibrated(pUser[0])) {
XnSkeletonJointTransformation head;
pSkeleton.StartTracking(pUser[0]);
pSkeleton.GetSkeletonJoint(pUser[0], XN_SKEL_HEAD, head);
if(head.position.fConfidence && head.orientation.fConfidence) {
/* headtrans.rotmat[0] = head.orientation.orientation.elements[0];
headtrans.rotmat[1] = head.orientation.orientation.elements[1];
headtrans.rotmat[2] = head.orientation.orientation.elements[2];
headtrans.rotmat[3] = 0;
headtrans.rotmat[4] = head.orientation.orientation.elements[3];
headtrans.rotmat[5] = head.orientation.orientation.elements[4];
headtrans.rotmat[6] = head.orientation.orientation.elements[5];
headtrans.rotmat[7] = 0;
headtrans.rotmat[8] = -head.orientation.orientation.elements[6];
headtrans.rotmat[9] = -head.orientation.orientation.elements[7];
headtrans.rotmat[10] =-head.orientation.orientation.elements[8];
headtrans.rotmat[11] = 0;
headtrans.rotmat[12] = 0;
headtrans.rotmat[13] = 0;
headtrans.rotmat[14] = 0;
headtrans.rotmat[15] = 1;*/
headtrans.x = head.position.position.X;
headtrans.y = head.position.position.Y;
headtrans.z = head.position.position.Z;
#ifdef CONSOLEOUT
clearScreen();
cout << "Confidence Position: " << head.position.fConfidence
<< " X: " << head.position.position.X
<< " Y: " << head.position.position.Y
<< " Z: " << head.position.position.Z << endl
<< "Confidence Rotation: " << head.orientation.fConfidence << endl
<< "\t" << headtrans.rotmat[0]
<< "\t" << headtrans.rotmat[4]
<< "\t" << headtrans.rotmat[8] << endl
<< "\t" << headtrans.rotmat[1]
<< "\t" << headtrans.rotmat[5]
<< "\t" << headtrans.rotmat[9] << endl
<< "\t" << headtrans.rotmat[2]
<< "\t" << headtrans.rotmat[6]
<< "\t" << headtrans.rotmat[10] << endl << endl;
#endif
}
}
//------------------------------------------------------------------------------------------
//BEGIN: Kamera-Test
//------------------------------------------------------------------------------------------
//glTranslatef(0,0,-2000);
glTranslatef(headtrans.x,headtrans.y,1-headtrans.z);
cout << headtrans.x << " " << headtrans.y << " " << headtrans.z << endl;
cout << nearplane*(-0.5 * screenaspect + headtrans.x)/headtrans.z << " "
<< nearplane*( 0.5 * screenaspect + headtrans.x)/headtrans.z << " "
<< nearplane*(-0.5 + headtrans.y)/headtrans.z << " "
<< nearplane*( 0.5 + headtrans.y)/headtrans.z << " " << endl;
draw_room();
//glPushAttrib(GL_ALL_ATTRIB_BITS);
//glutSolidCube(5);
//glPopAttrib();
//------------------------------------------------------------------------------------------
glDisable(GL_TEXTURE_2D);
glutSwapBuffers();
#ifdef DEBUGOUT
if(printFile) {
printFile=false;
datei.close();
}
#endif
}
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;
}
// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
// g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
xn::ImageMetaData imageMD;
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
#ifdef USE_GLUT
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#else
glOrthof(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#endif
glDisable(GL_TEXTURE_2D);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
// Process the data
//DRAW
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
// g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, imageMD, sceneMD, g_nPlayer);
if (g_nPlayer != 0)
{
XnPoint3D com;
g_UserGenerator.GetCoM(g_nPlayer, com);
if (com.Z == 0)
{
g_nPlayer = 0;
FindPlayer();
}
}
#ifdef USE_GLUT
glutSwapBuffers();
#endif
}
void glut_display() {
xn::DepthMetaData pDepthMapMD;
xn::ImageMetaData pImageMapMD;
#ifdef DEBUGOUT
ofstream datei;
#endif
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPerspective(45, WINDOW_SIZE_X/WINDOW_SIZE_Y, 1000, 5000);
// glOrtho(0, WINDOW_SIZE_X, WINDOW_SIZE_Y, 0, -128, 128);
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
// glTranslatef(-12.8/640.0, 9.0/480.0, 0);
// glTranslatef(-12.8/630.0, 9.0/480.0,0);
glScalef(scalex, scaley, 1.0);
glTranslatef(transx/630, transy/480, 0.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
rot_angle+=0.7;
// Warten auf neue Daten vom Tiefengenerator
nRetVal = context.WaitAndUpdateAll();
checkError("Fehler beim Aktualisieren der Daten", nRetVal);
// Aktuelle Depth Metadaten auslesen
depth.GetMetaData(pDepthMapMD);
// Aktuelle Depthmap auslesen
const XnDepthPixel* pDepthMap = depth.GetDepthMap();
if(maxdepth==-1)
maxdepth = getMaxDepth(pDepthMap);
// Aktuelle Image Metadaten auslesen
image.GetMetaData(pImageMapMD);
//Aktuelles Bild auslesen
const XnRGB24Pixel* pImageMap = image.GetRGB24ImageMap();
glColor3f(1, 1, 1);
// XnDepthPixel maxdepth = depth.GetDeviceMaxDepth();
const unsigned int xres = pDepthMapMD.XRes();
const unsigned int yres = pDepthMapMD.YRes();
#ifdef DEBUGOUT
datei.open("daniel.txt", ios::out);
#endif
for(unsigned int y=0; y<yres-1; y++) {
for(unsigned int x=0; x<xres; x++) {
aDepthMap[x+y*xres] = static_cast<GLubyte>(static_cast<float>(pDepthMap[x+y*xres])/static_cast<float>(maxdepth)*255);
}
}
/*
glEnable(GL_TEXTURE_2D);
glPushMatrix();
glLoadIdentity();
glTranslatef(-800, 0, -2000);
glBindTexture(GL_TEXTURE_2D, texture_rgb);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, pImageMap);
glBegin(GL_QUADS);
glTexCoord2f(0,1); glVertex3f(0,0,0);
glTexCoord2f(1,1); glVertex3f(640,0,0);
glTexCoord2f(1,0); glVertex3f(640,480,0);
glTexCoord2f(0,0); glVertex3f(0,480,0);
glEnd();
glPopMatrix();
glPushMatrix();
glLoadIdentity();
glTranslatef(-800, 600, -2000);
glBindTexture(GL_TEXTURE_2D, texture_depth);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE8, 640, 480, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, aDepthMap);
glBegin(GL_QUADS);
glTexCoord2f(0,1); glVertex3f(0,0,0);
glTexCoord2f(1,1); glVertex3f(640,0,0);
glTexCoord2f(1,0); glVertex3f(640,480,0);
glTexCoord2f(0,0); glVertex3f(0,480,0);
glEnd();
glPopMatrix();*/
glPushMatrix();
glLoadIdentity();
glTranslatef(-100, -100, -2000);
glRotatef(cx,0,1,0);
glRotatef(cy,1,0,0);
glTranslatef(-320, -240, 1000);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, texture_rgb);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, pImageMap);
glBegin(GL_POINTS);
for(unsigned int y=0; y<yres-1; y++) {
for(unsigned int x=0; x<630; x++) {
if(pDepthMap[x+y*xres]!=0) {
glTexCoord2f(static_cast<float>(x)/static_cast<float>(630), static_cast<float>(y)/static_cast<float>(480));
glVertex3f(x, (yres-y), -pDepthMap[x+y*xres]/2.00);
#ifdef DEBUGOUT
datei << t_gamma[pDepthMap[x+y*xres]] << endl;
#endif
}
}
}
glEnd();
glPopMatrix();
glDisable(GL_TEXTURE_2D);
glutSwapBuffers();
#ifdef DEBUGOUT
datei.close();
exit(-1);
#endif
}
int main() {
const unsigned int nBackgroundTrain = 30;
const unsigned short touchDepthMin = 10;
const unsigned short touchDepthMax = 20;
const unsigned int touchMinArea = 50;
const bool localClientMode = true; // connect to a local client
const double debugFrameMaxDepth = 4000; // maximal distance (in millimeters) for 8 bit debug depth frame quantization
const char* windowName = "Debug";
const char* colorWindowName = "image";
const Scalar debugColor0(0, 0, 128);
const Scalar debugColor1(255, 0, 0);
const Scalar debugColor2(255, 255, 255);
const Scalar debugColor3(0, 255, 255);
const Scalar debugColor4(255, 0, 255);
int xMin = 50;
int xMax = 550;
int yMin = 50;
int yMax = 300;
Mat1s depth(480, 640); // 16 bit depth (in millimeters)
Mat1b depth8(480, 640); // 8 bit depth
Mat3b rgb(480, 640); // 8 bit depth
Mat3b debug(480, 640); // debug visualization
Mat1s foreground(640, 480);
Mat1b foreground8(640, 480);
Mat1b touch(640, 480); // touch mask
Mat1s background(480, 640);
vector<Mat1s> buffer(nBackgroundTrain);
IplImage * image = cvCreateImage(cvSize(640, 480), 8, 3);
IplImage * convertedImage = cvCreateImage(cvSize(640, 480), 8, 3);
initOpenNI("niConfig.xml");
// TUIO server object
TuioServer* tuio;
if (localClientMode) {
tuio = new TuioServer();
} else {
tuio = new TuioServer("192.168.0.2", 3333, false);
}
TuioTime time;
namedWindow(colorWindowName);
createTrackbar("xMin", colorWindowName, &xMin, 640);
createTrackbar("xMax", colorWindowName, &xMax, 640);
createTrackbar("yMin", colorWindowName, &yMin, 480);
createTrackbar("yMax", colorWindowName, &yMax, 480);
// create some sliders
namedWindow(windowName);
createTrackbar("xMin", windowName, &xMin, 640);
createTrackbar("xMax", windowName, &xMax, 640);
createTrackbar("yMin", windowName, &yMin, 480);
createTrackbar("yMax", windowName, &yMax, 480);
Keyboard * piano = new Keyboard();
(*piano).initKeyMap();
system("qjackctl &");
sleep(4);
JackByTheNotes * notesJack = new JackByTheNotes();
notesJack->connect();
sleep(2);
system("sudo jack_connect Piano:Rubinstein system:playback_1 &");
map<double, timeval> keys;
// create background model (average depth)
for (unsigned int i = 0; i < nBackgroundTrain; i++) {
xnContext.WaitAndUpdateAll();
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
buffer[i] = depth;
}
average(buffer, background);
while (waitKey(1) != 27) {
// read available data
xnContext.WaitAndUpdateAll();
// update 16 bit depth matrix
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
//xnImgeGenertor.GetGrayscale8ImageMap()
XnRGB24Pixel* xnRgb =
const_cast<XnRGB24Pixel*>(xnImgeGenertor.GetRGB24ImageMap());
// IplImage * image = cvCreateImage(cvSize(640, 480), 8, 3);
// IplImage * convertedImage = cvCreateImage(cvSize(640, 480), 8, 3);
cvSetData (image, xnRgb, 640 * 3);
cvConvertImage(image, convertedImage, CV_CVTIMG_SWAP_RB);
bool color = true;
rgb = convertedImage;
// cvtColor(rgb,rgb,CV_RGB2BGR);
// update rgb image
// rgb.data = (uchar*) xnImgeGenertor.GetRGB24ImageMap(); // segmentation fault here
// cvCvtColor(rgb, rgb, CV_BGR2RGB);
// extract foreground by simple subtraction of very basic background model
foreground = background - depth;
// find touch mask by thresholding (points that are close to background = touch points)
touch = (foreground > touchDepthMin) & (foreground < touchDepthMax);
// extract ROI
Rect roi(xMin, yMin, xMax - xMin, yMax - yMin);
Mat touchRoi = touch(roi);
// find touch points
vector<vector<Point2i> > contours;
vector<Point2f> touchPoints;
findContours(touchRoi, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE,
Point2i(xMin, yMin));
for (unsigned int i = 0; i < contours.size(); i++) {
Mat contourMat(contours[i]);
// find touch points by area thresholding
if (contourArea(contourMat) > touchMinArea) {
Scalar center = mean(contourMat);
Point2i touchPoint(center[0], center[1]);
touchPoints.push_back(touchPoint);
}
}
// send TUIO cursors
time = TuioTime::getSessionTime();
tuio->initFrame(time);
for (unsigned int i = 0; i < touchPoints.size(); i++) { // touch points
float cursorX = (touchPoints[i].x - xMin) / (xMax - xMin);
float cursorY = 1 - (touchPoints[i].y - yMin) / (yMax - yMin);
TuioCursor* cursor = tuio->getClosestTuioCursor(cursorX, cursorY);
// TODO improve tracking (don't move cursors away, that might be closer to another touch point)
if (cursor == NULL || cursor->getTuioTime() == time) {
tuio->addTuioCursor(cursorX, cursorY);
} else {
tuio->updateTuioCursor(cursor, cursorX, cursorY);
}
}
tuio->stopUntouchedMovingCursors();
tuio->removeUntouchedStoppedCursors();
tuio->commitFrame();
// draw debug frame
depth.convertTo(depth8, CV_8U, 255 / debugFrameMaxDepth); // render depth to debug frame
cvtColor(depth8, debug, CV_GRAY2BGR);
debug.setTo(debugColor0, touch); // touch mask
rectangle(debug, roi, debugColor1, 2); // surface boundaries
if (color)
rectangle(rgb, roi, debugColor1, 2); // surface boundaries
// draw 10 white keys within the roi
int stride = (xMax - xMin) / 10;
for (int keys = 1; keys < 10; keys++) {
Point lower(xMin + keys * stride, yMax);
if (keys == 3 || keys == 7) {
Point upper(xMin + keys * stride, yMin);
line(debug, upper, lower, debugColor3, 2, 0);
if (color)
line(rgb, upper, lower, debugColor3, 2, 0);
continue;
} else {
Point upper(xMin + keys * stride, (yMin + yMax) / 2);
line(debug, upper, lower, debugColor3, 2, 0);
if (color)
line(rgb, upper, lower, debugColor3, 2, 0);
}
Point blkUpper(xMin + keys * stride - stride / 3, yMin);
Point blkLower(xMin + keys * stride + stride / 3,
(yMin + yMax) / 2);
rectangle(debug, blkUpper, blkLower, debugColor4, 2);
if (color)
rectangle(rgb, blkUpper, blkLower, debugColor4, 2);
}
for (unsigned int i = 0; i < touchPoints.size(); i++) { // touch points
circle(debug, touchPoints[i], 5, debugColor2, CV_FILLED);
if (color)
circle(rgb, touchPoints[i], 5, debugColor2, CV_FILLED);
double frequency = piano->keyFrequency(touchPoints[i].y - 50,
touchPoints[i].x - 50);
cout << frequency << " " << touchPoints[i].y - 50 << " "
<< touchPoints[i].x - 50 << endl;
if (keys.find(frequency) == keys.end()) {
Note * note = new Note(frequency, 2, 4000);
notesJack->playNote(*note);
timeval now;
gettimeofday(&now, NULL);
keys[frequency] = now;
} else {
timeval now;
gettimeofday(&now, NULL);
if ((now.tv_sec - keys[frequency].tv_sec) * 1000
+ (now.tv_usec - keys[frequency].tv_usec) / 1000
> 1000) {
Note * note = new Note(frequency, 2, 4000);
notesJack->playNote(*note);
keys[frequency] = now;
}
}
}
// render debug frame (with sliders)
// IplImage grayScale = debug;
// cvFlip(&grayScale, NULL, 1);
// Mat gray(&grayScale);
// imshow(windowName, gray);
//
// IplImage colorful = rgb;
// cvFlip(&colorful, NULL, 1);
// Mat real(&colorful);
// imshow("image", real);
imshow(windowName, debug);
imshow("image", rgb);
// cvShowImage("image", image);
}
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "PersonTracker");
ros::NodeHandle nh;
ros::Rate loop_rate(10);
ROS_INFO("Initalizing Arm Connection....");
ros::Publisher leftArmPublisher = nh.advertise<prlite_kinematics::SphereCoordinate>("/armik/n0/position", 1000);
ros::Publisher rightArmPublisher = nh.advertise<prlite_kinematics::SphereCoordinate>("/armik/n1/position", 1000);
yourmom = nh.advertise<prlite_kinematics::some_status_thing>("kinect_hack_status", 1000);
ros::Duration(2.0).sleep();
prlite_kinematics::SphereCoordinate coord;
prlite_kinematics::some_status_thing status;
coord.radius = 35.0;
coord.phi = 0.0;
coord.theta = 0.0;
status.lulz = 0; //initialized/reset
yourmom.publish(status);
leftArmPublisher.publish(coord);
rightArmPublisher.publish(coord);
ROS_INFO("Initalizing Kinect + NITE....");
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, &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, "Find depth generator");
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, hCalibrationCallbacks, hPoseCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
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))
{
printf("Pose required, but not supported\n");
return 1;
}
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_INFO("Ready To Go!\n");
while (ros::ok()) {
// Update OpenNI
g_Context.WaitAndUpdateAll();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
// Print positions
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i) {
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])) {
// Read joint positions for person (No WRISTs)
XnSkeletonJointPosition torsoPosition, lShoulderPosition, rShoulderPosition, neckPosition, headPosition, lElbowPosition, rElbowPosition;
XnSkeletonJointPosition rWristPosition, lWristPosition, rHipPosition, lHipPosition, lKneePosition, rKneePosition;
XnSkeletonJointPosition lFootPosition, rFootPosition;
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_TORSO, torsoPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_NECK, neckPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_HEAD, headPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_SHOULDER, lShoulderPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_SHOULDER, rShoulderPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_ELBOW, lElbowPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_ELBOW, rElbowPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_HAND, lWristPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_HAND, rWristPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_HIP, lHipPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_HIP, rHipPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_KNEE, lKneePosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_KNEE, rKneePosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_FOOT, lFootPosition);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_RIGHT_FOOT, rFootPosition);
// Read Joint Orientations
XnSkeletonJointOrientation torsoOrientation, lShoulderOrientation, rShoulderOrientation, lHipOrientation, rHipOrientation;
XnSkeletonJointOrientation lWristOrientation, rWristOrientation, lElbowOrientation, rElbowOrientation;
XnSkeletonJointOrientation headOrientation, neckOrientation;
XnSkeletonJointOrientation lKneeOrientation, rKneeOrientation, lFootOrientation, rFootOrientation;
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_TORSO, torsoOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_HEAD, headOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_NECK, neckOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_SHOULDER, lShoulderOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_SHOULDER, rShoulderOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_HIP, lHipOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_HIP, rHipOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_ELBOW, lElbowOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_ELBOW, rElbowOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_HAND, lWristOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_HAND, rWristOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_KNEE, lKneeOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_KNEE, rKneeOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_LEFT_FOOT, lFootOrientation);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(aUsers[i], XN_SKEL_RIGHT_FOOT, rFootOrientation);
XnFloat* m = torsoOrientation.orientation.elements;
KDL::Rotation torsoO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lShoulderOrientation.orientation.elements;
KDL::Rotation lShouldO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rShoulderOrientation.orientation.elements;
KDL::Rotation rShouldO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lHipOrientation.orientation.elements;
KDL::Rotation lHipO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rHipOrientation.orientation.elements;
KDL::Rotation rHipO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = headOrientation.orientation.elements;
KDL::Rotation headO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = neckOrientation.orientation.elements;
KDL::Rotation neckO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lElbowOrientation.orientation.elements;
KDL::Rotation lElbowO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rElbowOrientation.orientation.elements;
KDL::Rotation rElbowO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lWristOrientation.orientation.elements;
KDL::Rotation lWristO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rWristOrientation.orientation.elements;
KDL::Rotation rWristO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lKneeOrientation.orientation.elements;
KDL::Rotation lKneeO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rKneeOrientation.orientation.elements;
KDL::Rotation rKneeO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = lFootOrientation.orientation.elements;
KDL::Rotation lFootO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
m = rFootOrientation.orientation.elements;
KDL::Rotation rFootO(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
double qx = 0.0, qy = 0.0, qz = 0.0, qw = 0.0;
// Get Points in 3D space
XnPoint3D torso = torsoPosition.position;
XnPoint3D lShould = lShoulderPosition.position;
XnPoint3D rShould = rShoulderPosition.position;
XnPoint3D lElbow = lElbowPosition.position;
XnPoint3D rElbow = rElbowPosition.position;
XnPoint3D lWrist = lWristPosition.position;
XnPoint3D rWrist = rWristPosition.position;
XnPoint3D neck = neckPosition.position;
XnPoint3D head = headPosition.position;
XnPoint3D lHip = lHipPosition.position;
XnPoint3D rHip = rHipPosition.position;
XnPoint3D lKnee = lKneePosition.position;
XnPoint3D rKnee = rKneePosition.position;
XnPoint3D lFoot = lFootPosition.position;
XnPoint3D rFoot = rFootPosition.position;
// ---------- ARM CONTROLLER HACK ------------------
// Calculate arm length of user
double lenL = calc3DDist( lShould, lElbow ) + calc3DDist( lElbow, lWrist );
double lenR = calc3DDist( rShould, rElbow ) + calc3DDist( rElbow, rWrist );
double distL = calc3DDist(lShould, lWrist);
double distR = calc3DDist(rShould, rWrist);
// Calculate positions
prlite_kinematics::SphereCoordinate lCoord;
prlite_kinematics::SphereCoordinate rCoord;
lCoord.radius = 35 * (distL / lenL);
rCoord.radius = 35 * (distR / lenR);
lCoord.theta = -atan2(lShould.X - lWrist.X, lShould.Z - lWrist.Z);
rCoord.theta = -atan2(rShould.X - rWrist.X, rShould.Z - rWrist.Z);
if(lCoord.theta > 1.0) lCoord.theta = 1.0;
if(lCoord.theta < -1.0) lCoord.theta = -1.0;
if(rCoord.theta > 1.0) rCoord.theta = 1.0;
if(rCoord.theta < -1.0) rCoord.theta = -1.0;
lCoord.phi = -atan2(lShould.Y - lWrist.Y, lShould.X - lWrist.X);
rCoord.phi = -atan2(rShould.Y - rWrist.Y, rShould.X - rWrist.X);
if(lCoord.phi > 1.25) lCoord.phi = 1.25;
if(lCoord.phi < -0.33) lCoord.phi = -0.33;
if(rCoord.phi > 1.2) rCoord.phi = 1.25;
if(rCoord.phi < -0.33) rCoord.phi = -0.33;
ROS_INFO("User %d: Left (%lf,%lf,%lf), Right (%lf,%lf,%lf)", i, lCoord.radius, lCoord.theta, lCoord.phi, rCoord.radius, rCoord.theta, rCoord.phi);
// Publish to arms
leftArmPublisher.publish(rCoord);
rightArmPublisher.publish(lCoord);
// ---------- END HACK -----------------
// Publish Transform
static tf::TransformBroadcaster br;
tf::Transform transform;
std::stringstream body_name, neck_name, lshould_name, rshould_name, head_name, relbow_name, lelbow_name, lwrist_name, rwrist_name;
std::stringstream lhip_name, rhip_name, lknee_name, rknee_name, lfoot_name, rfoot_name;
body_name << "Torso (" << i << ")" << std::ends;
neck_name << "Neck (" << i << ")" << std::ends;
head_name << "Head (" << i << ")" << std::ends;
lshould_name << "Shoulder L (" << i << ")" << std::ends;
rshould_name << "Shoulder R (" << i << ")" << std::ends;
lelbow_name << "Elbow L (" << i << ")" << std::ends;
relbow_name << "Elbow R (" << i << ")" << std::ends;
lwrist_name << "Wrist L (" << i << ")" << std::ends;
rwrist_name << "Wrist R (" << i << ")" << std::ends;
lhip_name << "Hip L (" << i << ")" << std::ends;
rhip_name << "Hip R (" << i << ")" << std::ends;
lknee_name << "Knee L (" << i << ")" << std::ends;
rknee_name << "Knee R (" << i << ")" << std::ends;
lfoot_name << "Foot L (" << i << ")" << std::ends;
rfoot_name << "Foot R (" << i << ")" << std::ends;
// Publish Torso
torsoO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(torso.X / ADJUST_VALUE, torso.Y / ADJUST_VALUE, torso.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", body_name.str().c_str()));
// Publish Left Shoulder
lShouldO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lShould.X / ADJUST_VALUE, lShould.Y / ADJUST_VALUE, lShould.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lshould_name.str().c_str()));
// Publish Right Shoulder
rShouldO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rShould.X / ADJUST_VALUE, rShould.Y / ADJUST_VALUE, rShould.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", rshould_name.str().c_str()));
// Publish Left Elbow
lElbowO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lElbow.X / ADJUST_VALUE, lElbow.Y / ADJUST_VALUE, lElbow.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lelbow_name.str().c_str()));
// Publish Right Elbow
rElbowO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rElbow.X / ADJUST_VALUE, rElbow.Y / ADJUST_VALUE, rElbow.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", relbow_name.str().c_str()));
// Publish Left Wrist
lWristO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lWrist.X / ADJUST_VALUE, lWrist.Y / ADJUST_VALUE, lWrist.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lwrist_name.str().c_str()));
// Publish Right Wrist
rWristO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rWrist.X / ADJUST_VALUE, rWrist.Y / ADJUST_VALUE, rWrist.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", rwrist_name.str().c_str()));
// Publish Neck
neckO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(neck.X / ADJUST_VALUE, neck.Y / ADJUST_VALUE, neck.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", neck_name.str().c_str()));
// Publish Head
headO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(head.X / ADJUST_VALUE, head.Y / ADJUST_VALUE, head.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", head_name.str().c_str()));
// Publish Left Hip
lHipO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lHip.X / ADJUST_VALUE, lHip.Y / ADJUST_VALUE, lHip.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lhip_name.str().c_str()));
// Publish Right Hip
rHipO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rHip.X / ADJUST_VALUE, rHip.Y / ADJUST_VALUE, rHip.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", rhip_name.str().c_str()));
// Publish Left Knee
lKneeO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lKnee.X / ADJUST_VALUE, lKnee.Y / ADJUST_VALUE, lKnee.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lknee_name.str().c_str()));
// Publish Right Knee
rKneeO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rKnee.X / ADJUST_VALUE, rKnee.Y / ADJUST_VALUE, rKnee.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", rknee_name.str().c_str()));
// Publish Left Foot
lFootO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(lFoot.X / ADJUST_VALUE, lFoot.Y / ADJUST_VALUE, lFoot.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", lfoot_name.str().c_str()));
// Publish Right Foot
rFootO.GetQuaternion(qx, qy, qz, qw);
transform.setOrigin(tf::Vector3(rFoot.X / ADJUST_VALUE, rFoot.Y / ADJUST_VALUE, rFoot.Z / ADJUST_VALUE));
transform.setRotation(tf::Quaternion(qx, qy, qz, qw));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", rfoot_name.str().c_str()));
}
}
ros::spinOnce();
//loop_rate.sleep();
}
g_Context.Shutdown();
return 0;
}
bool OpenNIVideo::update(osg::NodeVisitor* nv) {
//this is the main function of your video plugin
//you can either retrieve images from your video stream/camera/file
//or communicate with a thread to synchronize and get the data out
//the most important is to synchronize your data
//and copy the result to the VideoImageSteam used in this plugin
//
//0. you can collect some stats, for that you can use a timer
osg::Timer t;
{
//1. mutex lock access to the image video stream
OpenThreads::ScopedLock<OpenThreads::Mutex> _lock(this->getMutex());
osg::notify(osg::DEBUG_INFO)<<"osgART::OpenNIVideo::update() get new image.."<<std::endl;
XnStatus nRetVal = XN_STATUS_OK;
nRetVal=context.WaitAndUpdateAll();
CHECK_RC(nRetVal, "Update Data");
xnFPSMarkFrame(&xnFPS);
depth_generator.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
//depth pixel floating point depth map.
image_generator.GetMetaData(imageMD);
const XnUInt8* pImageMap = imageMD.Data();
// Hybrid mode isn't supported in this sample
if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
{
std::cerr<<"The device depth and image resolution must be equal!"<<std::endl;
exit(1);
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
std::cerr<<"The device image format must be RGB24"<<std::endl;
exit(1);
}
const XnDepthPixel* pDepth=pDepthMap;
const XnUInt8* pImage=pImageMap;
XnDepthPixel zMax = depthMD.ZRes();
//convert float buffer to unsigned short
for ( unsigned int i=0; i<(depthMD.XRes() * depthMD.YRes()); ++i )
{
*(_depthBufferByte + i) = 255 * (float(*(pDepth + i)) / float(zMax));
}
memcpy(_videoStreamList[0]->data(),pImage, _videoStreamList[0]->getImageSizeInBytes());
memcpy(_videoStreamList[1]->data(),_depthBufferByte, _videoStreamList[1]->getImageSizeInBytes());
//3. don't forget to call this to notify the rest of the application
//that you have a new video image
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
}
//4. hopefully report some interesting data
if (nv) {
const osg::FrameStamp *framestamp = nv->getFrameStamp();
if (framestamp && _stats.valid())
{
_stats->setAttribute(framestamp->getFrameNumber(),
"Capture time taken", t.time_m());
}
}
// Increase modified count every X ms to ensure tracker updates
if (updateTimer.time_m() > 50) {
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
updateTimer.setStartTick();
}
return true;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "openni_tracker1");
ros::NodeHandle nh;
/*
string configFilename = ros::package::getPath("openni_tracker1") + "/openni_tracker1.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml"); */
XnStatus nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording("/home/latifanjum/Downloads/OpenNI-master/Platform/Linux/Bin/x86-Release/Dataset/Wave2/wave25.oni", g_Player);
g_Player.SetRepeat( false );
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s\n", xnGetStatusString(nRetVal));
return 1;
}
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);
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();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "tracker_2");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("openni_tracker_multi") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
// XnStatus nRetVal = XN_STATUS_OK;
//xnLogInitFromXmlFile(csXmlFile);
nRetVal = g_Context.Init();
XN_IS_STATUS_OK(nRetVal);
// SELECTION OF THE DEVICE
xn::EnumerationErrors errors;
xn::Device g_Device;
// find devices
xn::NodeInfoList list;
xn::NodeInfoList list_depth;
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
XN_IS_STATUS_OK(nRetVal);
printf("The following devices were found:\n");
int i = 1;
for (xn::NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it, ++i)
{
xn::NodeInfo deviceNodeInfo = *it;
xn::Device deviceNode;
deviceNodeInfo.GetInstance(deviceNode);
XnBool bExists = deviceNode.IsValid();
if (!bExists)
{
g_Context.CreateProductionTree(deviceNodeInfo, deviceNode);
// this might fail.
}
if (deviceNode.IsValid() && deviceNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
{
const XnUInt32 nStringBufferSize = 200;
XnChar strDeviceName[nStringBufferSize];
XnChar strSerialNumber[nStringBufferSize];
XnUInt32 nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
}
else
{
printf("[%d] %s\n", i, deviceNodeInfo.GetCreationInfo());
}
// release the device if we created it
if (!bExists && deviceNode.IsValid())
{
deviceNode.Release();
}
}
printf("\n");
printf("Choose device to open (1): ");
int chosen=0;
if (argc != 2)
{
printf("Choose device to open (1): ");
int nRetval = scanf("%d", &chosen);
}
else
{
chosen = atoi(argv[1]);
}
// create it
xn::NodeInfoList::Iterator it = list.Begin();
for (i = 1; i < chosen; ++i)
{
it++;
}
xn::NodeInfo deviceNode = *it;
nRetVal = g_Context.CreateProductionTree(deviceNode, g_Device);
printf("Production tree of the device created.\n");
// SELECTION OF THE DEPTH GENERATOR
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, list_depth, &errors);
XN_IS_STATUS_OK(nRetVal);
printf("The following devices were found:\n");
int i_depth = 1;
for (xn::NodeInfoList::Iterator it_depth = list_depth.Begin(); it_depth != list_depth.End(); ++it_depth, ++i_depth)
{
xn::NodeInfo depthNodeInfo = *it_depth;
xn::Device depthNode;
depthNodeInfo.GetInstance(depthNode);
XnBool bExists_depth = depthNode.IsValid();
if (!bExists_depth)
{
g_Context.CreateProductionTree(depthNodeInfo, depthNode);
// this might fail.
}
if (depthNode.IsValid() && depthNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
{
const XnUInt32 nStringBufferSize = 200;
XnChar strDeviceName[nStringBufferSize];
XnChar strSerialNumber[nStringBufferSize];
XnUInt32 nLength = nStringBufferSize;
depthNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
nLength = nStringBufferSize;
depthNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
}
else
{
printf("[%d] %s\n", i, depthNodeInfo.GetCreationInfo());
}
// release the device if we created it
if (!bExists_depth && depthNode.IsValid())
{
depthNode.Release();
}
}
printf("\n");
printf("Choose device to open (1): ");
int chosen_depth = 1;
/*if (argc != 2)
{
printf("Choose device to open (1): ");
int nRetval_depth = scanf("%d", &chosen_depth);
}
else
{
chosen_depth = atoi(argv[1]);
}*/
// create it
xn::NodeInfoList::Iterator it_depth = list_depth.Begin();
for (i = 1; i < chosen_depth; ++i)
{
it_depth++;
}
xn::NodeInfo depthNode = *it_depth;
nRetVal = g_Context.CreateProductionTree(depthNode, g_DepthGenerator);
printf("Production tree of the DepthGenerator created.\n");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
printf("Production tree of the depth generator created.\n");
XN_IS_STATUS_OK(nRetVal);
printf("XN_IS_STATUS_OK(nRetVal).\n");
CHECK_RC(nRetVal, "Find depth generator");
printf("CHECK_RC(nRetVal, Find depth generator);\n");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
printf("User generator found.\n");
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
printf("User generator created.\n");
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
printf("Supplied user generator doesn't support skeleton.\n");
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("/kinect2_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
void Context_WaitAndUpdateAll_wrapped(xn::Context& self) {
check( self.WaitAndUpdateAll() );
}
void updateKinnect() {
xnContext.WaitAndUpdateAll();
}
int main() {
const unsigned int nBackgroundTrain = 30;
const unsigned short touchDepthMin = 10;
const unsigned short touchDepthMax = 20;
const unsigned int touchMinArea = 50;
const bool localClientMode = true; // connect to a local client
const double debugFrameMaxDepth = 4000; // maximal distance (in millimeters) for 8 bit debug depth frame quantization
const char* windowName = "Debug";
const Scalar debugColor0(0,0,128);
const Scalar debugColor1(255,0,0);
const Scalar debugColor2(255,255,255);
int xMin = 110;
int xMax = 560;
int yMin = 120;
int yMax = 320;
Mat1s depth(480, 640); // 16 bit depth (in millimeters)
Mat1b depth8(480, 640); // 8 bit depth
Mat3b rgb(480, 640); // 8 bit depth
Mat3b debug(480, 640); // debug visualization
Mat1s foreground(640, 480);
Mat1b foreground8(640, 480);
Mat1b touch(640, 480); // touch mask
Mat1s background(480, 640);
vector<Mat1s> buffer(nBackgroundTrain);
CHECK_RC(initOpenNI("niConfig.xml"), "initOpenNI");
// TUIO server object
TuioServer* tuio;
if (localClientMode) {
tuio = new TuioServer();
} else {
tuio = new TuioServer("192.168.0.1",3333,false);
}
TuioTime time;
// create some sliders
namedWindow(windowName);
createTrackbar("xMin", windowName, &xMin, 640);
createTrackbar("xMax", windowName, &xMax, 640);
createTrackbar("yMin", windowName, &yMin, 480);
createTrackbar("yMax", windowName, &yMax, 480);
// create background model (average depth)
for (unsigned int i=0; i<nBackgroundTrain; i++) {
CHECK_RC(xnContext.WaitAndUpdateAll(), "xnContext.WaitAndUpdateAll()");
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
buffer[i] = depth;
}
average(buffer, background);
while ( waitKey(1) != 27 ) {
// read available data
xnContext.WaitAndUpdateAll();
// update 16 bit depth matrix
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
//xnImgeGenertor.GetGrayscale8ImageMap()
// update rgb image
//rgb.data = (uchar*) xnImgeGenertor.GetRGB24ImageMap(); // segmentation fault here
//cvtColor(rgb, rgb, CV_RGB2BGR);
// extract foreground by simple subtraction of very basic background model
foreground = background - depth;
// find touch mask by thresholding (points that are close to background = touch points)
touch = (foreground > touchDepthMin) & (foreground < touchDepthMax);
// extract ROI
Rect roi(xMin, yMin, xMax - xMin, yMax - yMin);
Mat touchRoi = touch(roi);
// find touch points
vector< vector<Point2i> > contours;
vector<Point2f> touchPoints;
findContours(touchRoi, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, Point2i(xMin, yMin));
for (unsigned int i=0; i<contours.size(); i++) {
Mat contourMat(contours[i]);
// find touch points by area thresholding
if ( contourArea(contourMat) > touchMinArea ) {
Scalar center = mean(contourMat);
Point2i touchPoint(center[0], center[1]);
touchPoints.push_back(touchPoint);
}
}
// send TUIO cursors
time = TuioTime::getSessionTime();
tuio->initFrame(time);
for (unsigned int i=0; i<touchPoints.size(); i++) { // touch points
float cursorX = (touchPoints[i].x - xMin) / (xMax - xMin);
float cursorY = 1 - (touchPoints[i].y - yMin)/(yMax - yMin);
TuioCursor* cursor = tuio->getClosestTuioCursor(cursorX,cursorY);
// TODO improve tracking (don't move cursors away, that might be closer to another touch point)
if (cursor == NULL || cursor->getTuioTime() == time) {
tuio->addTuioCursor(cursorX,cursorY);
} else {
tuio->updateTuioCursor(cursor, cursorX, cursorY);
}
}
tuio->stopUntouchedMovingCursors();
tuio->removeUntouchedStoppedCursors();
tuio->commitFrame();
// draw debug frame
depth.convertTo(depth8, CV_8U, 255 / debugFrameMaxDepth); // render depth to debug frame
cvtColor(depth8, debug, CV_GRAY2BGR);
debug.setTo(debugColor0, touch); // touch mask
rectangle(debug, roi, debugColor1, 2); // surface boundaries
for (unsigned int i=0; i<touchPoints.size(); i++) { // touch points
circle(debug, touchPoints[i], 5, debugColor2, CV_FILLED);
}
// render debug frame (with sliders)
imshow(windowName, debug);
//imshow("image", rgb);
}
return 0;
}
// this function is called each frame
void glutDisplay (void)
{
if(gScene == NULL) return;
gScene->simulate(1.0f/30.0f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
// 射影マトリックス
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(100.0f, (float)glutGet(GLUT_WINDOW_WIDTH)/(float)glutGet(GLUT_WINDOW_HEIGHT), 1.0f, 10000.0f); // 視点の位置
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(gEye.x, gEye.y, gEye.z, gEye.x + gDir.x, gEye.y + gDir.y, gEye.z + gDir.z, 0.0f, 1.0f, 0.0f);
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
for(int i=0;i<2;i++){
for(int j=0;j<15;j++){
oldjpoint[i][j]=jpoint[i][j];
}
}
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
CalculateJoint();
head.x=(jpoint[0][0].X);
head.y=(jpoint[0][0].Y);
head.z=(jpoint[0][0].Z);
neck.x=(jpoint[0][1].X);
neck.y=(jpoint[0][1].Y);
neck.z=(jpoint[0][1].Z);
rshoulder.x=(jpoint[0][2].X);
rshoulder.y=(jpoint[0][2].Y);
rshoulder.z=(jpoint[0][2].Z);
relbow.x=(jpoint[0][3].X*2+oldjpoint[0][3].X)/3;
relbow.y=(jpoint[0][3].Y*2+oldjpoint[0][3].Y)/3;
relbow.z=(jpoint[0][3].Z*2+oldjpoint[0][3].Z)/3;
rhand.x=(jpoint[0][4].X*2+oldjpoint[0][4].X)/3;
rhand.y=(jpoint[0][4].Y*2+oldjpoint[0][4].Y)/3;
rhand.z=(jpoint[0][4].Z*2+oldjpoint[0][4].Z)/3;
lshoulder.x=(jpoint[0][5].X*2+oldjpoint[0][5].X)/3;
lshoulder.y=(jpoint[0][5].Y*2+oldjpoint[0][5].Y)/3;
lshoulder.z=(jpoint[0][5].Z*2+oldjpoint[0][5].Z)/3;
lelbow.x=(jpoint[0][6].X*2+oldjpoint[0][6].X)/3;
lelbow.y=(jpoint[0][6].Y*2+oldjpoint[0][6].Y)/3;
lelbow.z=(jpoint[0][6].Z*2+oldjpoint[0][6].Z)/3;
lhand.x=(jpoint[0][7].X*2+oldjpoint[0][7].X)/3;
lhand.y=(jpoint[0][7].Y*2+oldjpoint[0][7].Y)/3;
lhand.z=(jpoint[0][7].Z*2+oldjpoint[0][7].Z)/3;
torso.x=(jpoint[0][8].X*2+oldjpoint[0][8].X)/3;
torso.y=(jpoint[0][8].Y*2+oldjpoint[0][8].Y)/3;
torso.z=(jpoint[0][8].Z*2+oldjpoint[0][8].Z)/3;
rhip.x=(jpoint[0][9].X*2+oldjpoint[0][9].X)/3;
rhip.y=(jpoint[0][9].Y*2+oldjpoint[0][9].Y)/3;
rhip.z=(jpoint[0][9].Z*2+oldjpoint[0][9].Z)/3;
rknee.x=(jpoint[0][10].X*2+oldjpoint[0][10].X)/3;
rknee.y=(jpoint[0][10].Y*2+oldjpoint[0][10].Y)/3;
rknee.z=(jpoint[0][10].Z*2+oldjpoint[0][10].Z)/3;
rfoot.x=(jpoint[0][11].X*2+oldjpoint[0][11].X)/3;
rfoot.y=(jpoint[0][11].Y*2+oldjpoint[0][11].Y)/3;
rfoot.z=(jpoint[0][11].Z*2+oldjpoint[0][11].Z)/3;
lhip.x=(jpoint[0][12].X*2+oldjpoint[0][12].X)/3;
lhip.y=(jpoint[0][12].Y*2+oldjpoint[0][12].Y)/3;
lhip.z=(jpoint[0][12].Z*2+oldjpoint[0][12].Z)/3;
lknee.x=(jpoint[0][13].X*2+oldjpoint[0][13].X)/3;
lknee.y=(jpoint[0][13].Y*2+oldjpoint[0][13].Y)/3;
lknee.z=(jpoint[0][13].Z*2+oldjpoint[0][13].Z)/3;
lfoot.x=(jpoint[0][14].X*2+oldjpoint[0][14].X)/3;
lfoot.y=(jpoint[0][14].Y*2+oldjpoint[0][14].Y)/3;
lfoot.z=(jpoint[0][14].Z*2+oldjpoint[0][14].Z)/3;
printf("%f, %f, %f\n",rightreduction.x, rightreduction.y, rightreduction.z);
printf("%f, %f, %f\n",leftreduction.x, leftreduction.y, leftreduction.z);
if(jpoint[0][8].X!=0.0&&jpoint[0][8].Y!=0.0&&jpoint[0][8].Z!=0.0){
Head->setGlobalPosition(NxVec3(-head.x+positionx, -head.y+positiony, -head.z+positionz));
Head->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
Neck->setGlobalPosition(NxVec3(-neck.x+positionx, -neck.y+positiony, -neck.z+positionz));
Neck->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
rightshoulder->setGlobalPosition(NxVec3(-rshoulder.x+positionx, -rshoulder.y+positiony, -rshoulder.z+positionz));
rightshoulder->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
rightelbow->setGlobalPosition(NxVec3(-relbow.x+positionx, -relbow.y+positiony, -relbow.z+positionz));
rightelbow->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
righthand->setGlobalPosition(NxVec3(-rhand.x+positionx, -rhand.y+positiony, -rhand.z+positionz));
righthand->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
leftshoulder->setGlobalPosition(NxVec3(-lshoulder.x+positionx, -lshoulder.y+positiony, -lshoulder.z+positionz));
leftshoulder->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
leftelbow->setGlobalPosition(NxVec3(-lelbow.x+positionx, -lelbow.y+positiony, -lelbow.z+positionz));
leftelbow->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
lefthand->setGlobalPosition(NxVec3(-lhand.x+positionx, -lhand.y+positiony, -lhand.z+positionz));
lefthand->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
Torso->setGlobalPosition(NxVec3(-torso.x+positionx, -torso.y+positiony, -torso.z+positionz));
Torso->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
righthip->setGlobalPosition(NxVec3(-rhip.x+positionx, -rhip.y+positiony, -rhip.z+positionz));
righthip->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
rightknee->setGlobalPosition(NxVec3(-rknee.x+positionx, -rknee.y+positiony, -rknee.z+positionz));
rightknee->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
rightfoot->setGlobalPosition(NxVec3(-rfoot.x+positionx, -rfoot.y+positiony, -rfoot.z+positionz));
rightfoot->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
lefthip->setGlobalPosition(NxVec3(-lhip.x+positionx, -lhip.y+positiony, -lhip.z+positionz));
lefthip->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
leftknee->setGlobalPosition(NxVec3(-lknee.x+positionx, -lknee.y+positiony, -lknee.z+positionz));
leftknee->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
leftfoot->setGlobalPosition(NxVec3(-lfoot.x+positionx, -lfoot.y+positiony, -lfoot.z+positionz));
leftfoot->setLinearVelocity(NxVec3(0.0f, 0.0f, 0.0f));
}
glPushMatrix();
glBegin(GL_POLYGON);
glColor4f(0.2f,1.2f,0.1f,1.0f); // 地面の色
glVertex3f( 10000.0f,-1.0f, 10000.0f);
glVertex3f( 10000.0f,-1.0f,-10000.0f);
glVertex3f(-10000.0f,-1.0f,-10000.0f);
glVertex3f(-10000.0f,-1.0f, 10000.0f);
glEnd();
glPopMatrix();
//地平線の描画
glPushMatrix();
glColor4f(1.0f, 1.0f, 1.0f,1.0f);
glLineWidth(1);
glBegin(GL_LINES);
for(int i=-10000; i< 10000; i+=500) {
glVertex3f( i , -0.2f,-10000 );
glVertex3f( i , -0.2f, 10000 );
glVertex3f(-10000, -0.2f, i );
glVertex3f( 10000, -0.2f, i );
}
glEnd();
glPopMatrix();
switch(gameflag){
case 0: // スタート画面
glViewport( 0, 0, (float)glutGet(GLUT_WINDOW_WIDTH),(float)glutGet(GLUT_WINDOW_HEIGHT) );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
glOrtho( 0.0f, (float)glutGet(GLUT_WINDOW_WIDTH),(float)glutGet(GLUT_WINDOW_HEIGHT), 0.0f, 0.0f, 1.0f );
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
glPushMatrix();
glColor3d(1.0, 1.0, 0.0);
glRasterPos3d(GL_WIN_SIZE_X/2-80, GL_WIN_SIZE_Y/2, 0.0);
drawBitmapString(GLUT_BITMAP_HELVETICA_18,"Push 's' -> START");
glPopMatrix();
printf("Push 's' -> START\n");
break;
case 1: // ゲーム終了時
glViewport( 0, 0, (float)glutGet(GLUT_WINDOW_WIDTH),(float)glutGet(GLUT_WINDOW_HEIGHT) );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
glOrtho( 0.0f, (float)glutGet(GLUT_WINDOW_WIDTH),(float)glutGet(GLUT_WINDOW_HEIGHT), 0.0f, 0.0f, 1.0f );
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
glPushMatrix();
glColor3d(0.0, 0.0, 1.0);
glRasterPos3d(GL_WIN_SIZE_X/2-60, GL_WIN_SIZE_Y/2+20, 0.0);
drawBitmapString(GLUT_BITMAP_HELVETICA_18,"GAME OVER");
glPopMatrix();
glPushMatrix();
glColor3d(1.0, 1.0, 0.0);
glRasterPos3d(GL_WIN_SIZE_X/2-65, GL_WIN_SIZE_Y/2, 0.0);
drawBitmapString(GLUT_BITMAP_HELVETICA_18,gametime);
glPopMatrix();
glPushMatrix();
glColor3d(1.0, 0.0, 0.0);
glRasterPos3d(GL_WIN_SIZE_X/2-90, GL_WIN_SIZE_Y/2-20, 0.0);
drawBitmapString(GLUT_BITMAP_HELVETICA_18,"Push 'r' -> RESTART");
glPopMatrix();
printf("GAME OVER\ntime -> %f\n",(double)(t2 - t1) / CLOCKS_PER_SEC);
break;
case 2: // ゲーム中の画面
glEnable(GL_DEPTH_TEST);
// アクターの描画
int nbActors = gScene->getNbActors();
NxActor** actors = gScene->getActors();
while(nbActors--)
{
NxActor* actor = *actors++;
if(!actor->userData) continue;
glPushMatrix();
glEnable(GL_LIGHTING);
float glMat[16];
actor->getGlobalPose().getColumnMajor44(glMat);
glMultMatrixf(glMat);
myData* mydata = (myData*)actor->userData;
int shape = mydata->shape;
int color = mydata->color;
switch(shape){
case 1:
glColor4f(0.0f,0.0f,1.0f,1.0f);
if(mydata->houkou==0){
link(pole[0], pole[4]);
}
else if(mydata->houkou==1){
tlink(3000.0,2000.0,6000.0,-3000.0,2000.0,6000.0);
tlink(-3000.0,2000.0,4000.0,-3000.0,2000.0,6000.0);
}
else if(mydata->houkou==2){
ylink(3000.0,2000.0,4000.0,-3000.0,2000.0,4000.0);
ylink(3000.0,2000.0,6000.0,-3000.0,2000.0,6000.0);
}
else if(mydata->houkou==3){ // パネル
glColor4f(0.0f,1.0f,1.0f,1.0f);
cuboid(mydata->width*2,mydata->length*2, mydata->height*2);
}
else if(mydata->houkou==4){
}
break;
case 2:
if(mydata->ball == 1){
glColor4f(1.0f,0.0f,0.0f,1.0f); // ボールの色
glutSolidSphere(mydata->size,15,15);
}
else if(mydata->ball == 0){
glColor4f(1.0f,1.0f,0.0f,1.0f);
glutSolidSphere(mydata->size,15,15);
}
break;
case 4:
glColor4f(1.0f,0.0f,0.0f,1.0f);
cylinder(50, 100, 50);
break;
}
glDisable(GL_LIGHTING);
glPopMatrix();
}
glDisable(GL_DEPTH_TEST);
t2 = clock();
balltimer2 = clock();
btime=(double)(balltimer2 - balltimer1) / CLOCKS_PER_SEC;
gtime=(double)(t2 - t1) / CLOCKS_PER_SEC;
printf("%f\n",gtime);
if(gtime<=10.0){
balldire=2.0;
ballspeed=250.0;
}
else if(gtime<=20.0){
balldire=1.5;
ballspeed=300.0;
}
else if(gtime<=30.0){
balldire=1.0;
ballspeed=350.0;
}
else if(gtime<=40.0){
balldire=0.5;
ballspeed=400.0;
}
break;
}
// 描画の終了
gScene->flushStream();
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
glutSwapBuffers();
}
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;
}
void OniTrackApp::update()
{
context.WaitAndUpdateAll();
((XnVSessionManager*)pSessionGenerator)->Update(&context);
}