// 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
}
// this function is called each frame
void glutDisplay(void) {
//send stuff twice every frame
executeInputLoop();
executeInputLoop();
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.WaitOneUpdateAll(g_UserGenerator);
}
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
//draw the suff with openGL
DrawDepthMap(depthMD, sceneMD);
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.WaitOneUpdateAll(g_DepthGenerator);
}
// Process the data
//DRAW
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, 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
}
// 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 ()
{
clock_t t1 = clock();
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
xn::ImageMetaData imageMD;
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
#ifndef USE_GLES
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.WaitOneUpdateAll(g_UserGenerator);
}
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
if(Show_Image == FALSE)
DrawDepthMap(depthMD, sceneMD,COM_tracker,Bounding_Box);
else
{
DrawImageMap(imageMD, depthMD, sceneMD,COM_tracker,Bounding_Box);
}
#ifndef USE_GLES
glutSwapBuffers();
#endif
clock_t t2 = clock();
std::cout << t2 - t1 << std::endl;
}
// Callback: Finished calibration
void XN_CALLBACK_TYPE
UserCalibration_CalibrationEnd(xn::SkeletonCapability& capability, XnUserID nId, XnBool bSuccess, void* pCookie)
{
if (bSuccess)
{
// Calibration succeeded - save this first calibration and start tracking the user
ROS_INFO("[bk_skeletal_tracker] Calibration complete, now tracking user %d", nId);
g_bhasCal=true;
first_calibrated_user_ = nId;
g_UserGenerator.GetSkeletonCap().SaveCalibrationData(nId, 0);
g_UserGenerator.GetSkeletonCap().StartTracking(nId);
// Save the user's calibration
// Get mask of this user
xn::SceneMetaData sceneMD;
cv::Mat label_image;
g_UserGenerator.GetUserPixels(0, sceneMD);
getUserLabelImage(sceneMD, label_image);
label_image = (label_image == nId);
xn::ImageMetaData imageMD;
//g_ImageGenerator.GetMetaData(imageMD);
cv::Mat rgb;
rgb = getRGB(imageMD);
original_cal_.init(rgb, label_image);
user_cal_ = original_cal_;
}
else
{
// Calibration failed
ROS_INFO("[bk_skeletal_tracker] Calibration failed for user %d", nId);
if (g_bNeedPose)
g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
else
g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, true);
}
}
void publishTransforms(const std::string& frame_id, image_transport::Publisher& pub)
{
XnUserID users[15];
XnUInt16 users_count = 15;
g_UserGenerator.GetUsers(users, users_count);
for (int i = 0; i < users_count; ++i)
{
XnUserID user = users[i];
if (!g_UserGenerator.GetSkeletonCap().IsTracking(user))
continue;
publishTransform(user, XN_SKEL_HEAD, frame_id, "head");
publishTransform(user, XN_SKEL_NECK, frame_id, "neck");
publishTransform(user, XN_SKEL_TORSO, frame_id, "torso");
publishTransform(user, XN_SKEL_LEFT_SHOULDER, frame_id, "left_shoulder");
publishTransform(user, XN_SKEL_LEFT_ELBOW, frame_id, "left_elbow");
publishTransform(user, XN_SKEL_LEFT_HAND, frame_id, "left_hand");
publishTransform(user, XN_SKEL_RIGHT_SHOULDER, frame_id, "right_shoulder");
publishTransform(user, XN_SKEL_RIGHT_ELBOW, frame_id, "right_elbow");
publishTransform(user, XN_SKEL_RIGHT_HAND, frame_id, "right_hand");
publishTransform(user, XN_SKEL_LEFT_HIP, frame_id, "left_hip");
publishTransform(user, XN_SKEL_LEFT_KNEE, frame_id, "left_knee");
publishTransform(user, XN_SKEL_LEFT_FOOT, frame_id, "left_foot");
publishTransform(user, XN_SKEL_RIGHT_HIP, frame_id, "right_hip");
publishTransform(user, XN_SKEL_RIGHT_KNEE, frame_id, "right_knee");
publishTransform(user, XN_SKEL_RIGHT_FOOT, frame_id, "right_foot");
}
// publish segmented image
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
PublishPeopleImage(depthMD, sceneMD, pub);
}
// this function is called each frame
void glutDisplay (void)
{
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
xn::ImageMetaData imageMD;
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
#ifndef USE_GLES
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);
// Read next available data
g_Context.WaitOneUpdateAll(g_UserGenerator);
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
g_ImageGenerator.GetMetaData(imageMD);
// Draw the input fetched from the Kinect
DrawKinectInput(depthMD, sceneMD, imageMD);
#ifndef USE_GLES
glutSwapBuffers();
#endif
}
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();
}
void KinectDataPub::spin(bool async)
{
static bool onceThrough = false;
if (!onceThrough){
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
onceThrough = true;
printf("Starting to run\n");
if (needPose){
printf("Assume calibration pose\n");
}
}
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
SkeletonInfo skels[MAX_NUM_USERS];
SensorMsg msg;
xn::DepthMetaData depthMD;
xn::SceneMetaData sceneMD;
while(!xnOSWasKeyboardHit()){
context.WaitOneUpdateAll(userGen);
/**
* nUsers is used both as input and output parameters.
* When it's used as input parameter, it indicates the size of the user ID
* array, while, when it's used as output parameter, it means the number
* of users recognized. Therefore, it needs to be re-initialized in a loop.
*/
nUsers = MAX_NUM_USERS;
userGen.GetUsers(aUsers, nUsers);
memset(&msg, 0, sizeof(SensorMsg));
for (XnUInt16 i = 0; i < nUsers; ++i){
if (userGen.GetSkeletonCap().IsTracking(aUsers[i])){
// get the user's skeleton
skels[i].user = aUsers[i];
getSkeleton(skels[i]);
}
else
skels[i].user = 0; // user is not tracked
}
depthGen.GetMetaData(depthMD); // depth map
userGen.GetUserPixels(0, sceneMD); // labels
msg.nUsers = nUsers; // num of users detected, either tracked or not
msg.pSkels = skels;
msg.pDepthMD = &depthMD;
msg.pSceneMD = &sceneMD;
for (int i = 0; i < subscribers.size(); ++i)
subscribers[i]->notify(RAD_SENSOR_MSG, &msg);
if (async)
return;
}
}
/* The matlab mex function */
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
{
XnUInt64 *MXadress;
double *Pos;
int Jdimsc[2];
Jdimsc[0]=225; Jdimsc[1]=7;
plhs[0] = mxCreateNumericArray(2, Jdimsc, mxDOUBLE_CLASS, mxREAL);
Pos = mxGetPr(plhs[0]);
if(nrhs==0)
{
printf("Open failed: Give Pointer to Kinect as input\n");
mexErrMsgTxt("Kinect Error");
}
MXadress = (XnUInt64*)mxGetData(prhs[0]);
if(MXadress[0]>0){ g_Context = ((xn::Context*) MXadress[0])[0]; }
if(MXadress[2]>0)
{
g_DepthGenerator = ((xn::DepthGenerator*) MXadress[2])[0];
}
else
{
mexErrMsgTxt("No Depth Node in Kinect Context");
}
if(MXadress[4]>0)
{
g_UserGenerator = ((xn::UserGenerator*) MXadress[4])[0];
}
else
{
mexErrMsgTxt("No User Node in Kinect Context");
}
XnStatus nRetVal = XN_STATUS_OK;
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return;
}
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;
}
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
char strLabel[50] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
int r=0;
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
// Process the data
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
{
//printf(strLabel, "%d - Looking for pose", aUsers[i]);
XnSkeletonJointPosition joint[15];
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_HEAD, joint[0]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_NECK, joint[1]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_SHOULDER, joint[2]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_ELBOW, joint[3]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_HAND, joint[4]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_SHOULDER, joint[5]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_ELBOW, joint[6]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_HAND, joint[7]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_TORSO, joint[8]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_HIP, joint[9]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_KNEE, joint[10]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_LEFT_FOOT, joint[11]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_HIP, joint[12]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_KNEE, joint[13]);
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i],XN_SKEL_RIGHT_FOOT, joint[14]);
XnPoint3D pt[1];
for(int j=0; j<15; j++)
{
Pos[j +r]=aUsers[i];
Pos[j+Jdimsc[0] +r]=joint[j].fConfidence;
Pos[j+Jdimsc[0]*2+r]=joint[j].position.X;
Pos[j+Jdimsc[0]*3+r]=joint[j].position.Y;
Pos[j+Jdimsc[0]*4+r]=joint[j].position.Z;
pt[0] = joint[j].position;
g_DepthGenerator.ConvertRealWorldToProjective(1, pt, pt);
Pos[j+Jdimsc[0]*5+r]=pt[0].X;
Pos[j+Jdimsc[0]*6+r]=pt[0].Y;
}
r+=15;
}
}
}
// 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
}
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;
}
void matrixCalc(void *outputs)
{
TML::Matrix out1(outputs, 0);
TML::Matrix out2(outputs, 1);
TML::Matrix out3(outputs, 2);
TML::Matrix out4(outputs, 3);
xn::DepthMetaData depthMD;
xn::SceneMetaData sceneMD;
xn::ImageMetaData imageMD;
depth.GetMetaData(depthMD);
user.GetUserPixels(0, sceneMD);
image.GetMetaData(imageMD);
context.WaitNoneUpdateAll();
t_jit_matrix_info tmi;
memset(&tmi, 0, sizeof(tmi));
tmi.dimcount = 2;
tmi.planecount = 1;
tmi.dimstride[0] = 4;
tmi.dimstride[1] = depthMD.XRes()*4;
int width = tmi.dim[0] = depthMD.XRes();
int height = tmi.dim[1] = depthMD.YRes();
tmi.type = _jit_sym_float32;
out1.resizeTo(&tmi);
tmi.planecount = 1;
tmi.dimstride[0] = 1;
tmi.dimstride[1] = depthMD.XRes();
tmi.type = _jit_sym_char;
out2.resizeTo(&tmi);
tmi.planecount = 4;
tmi.dimstride[0] = 4;
tmi.dimstride[1] = depthMD.XRes()*4;
tmi.type = _jit_sym_char;
out3.resizeTo(&tmi);
const XnDepthPixel* pDepth = depthMD.Data();
float *depthData = (float*)out1.data();
//Copy depth data
int x,y;
for (y=0; y<height; y++)
{
for (x=0; x<width; x++)
{
depthData[0] = (float)pDepth[0]/powf(2, 15);
depthData++;
pDepth++;
}
}
//Get the users
unsigned char *userData = (unsigned char*)out2.data();
const XnLabel* pLabels = sceneMD.Data();
for (y=0; y<height; y++)
{
for (x=0; x<width; x++)
{
userData[0] = pLabels[0];
userData++;
pLabels++;
}
}
//Get the colors
const XnRGB24Pixel* pPixels = imageMD.RGB24Data();
unsigned char *pixData = (unsigned char*)out3.data();
for (y=0; y<height; y++)
{
for (x=0; x<width; x++)
{
pixData[0] = 0;
pixData[1] = pPixels[0].nRed;
pixData[2] = pPixels[0].nGreen;
pixData[3] = pPixels[0].nBlue;
pixData+=4;
pPixels++;
}
}
//For all the users -- output the joint info...
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
user.GetUsers(aUsers, nUsers);
int rUsers = 0;
xn::SkeletonCapability sc = user.GetSkeletonCap();
int i;
for (i=0; i<nUsers; i++)
{
if (user.GetSkeletonCap().IsTracking(aUsers[i]))
rUsers++;
}
tmi.dimcount = 2;
tmi.planecount = 3;
tmi.dimstride[0] = 3*4;
tmi.dimstride[1] = 24*3*4;
tmi.dim[0] = 24;
tmi.dim[1] = rUsers;
tmi.type = _jit_sym_float32;
out4.resizeTo(&tmi);
float *sData = (float*)out4.data();
if (rUsers == 0)
{
int n;
for (n=0; n<24; n++)
{
sData[0] = 0;
sData[1] = 0;
sData[2] = 0;
sData+=3;
}
}
else
{
for (i=0; i<nUsers; i++)
{
if (user.GetSkeletonCap().IsTracking(aUsers[i]))
{
int n;
for (n=0; n<24; n++)
{
XnSkeletonJointPosition jp;
user.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], (XnSkeletonJoint)(n+1), jp);
sData[0] = (1280 - jp.position.X) / 2560;
sData[1] = (1280 - jp.position.Y) / 2560;
sData[2] = jp.position.Z * 7.8125 / 10000;
// if (n == 0)
// {
// post("%f %f %f\n", sData[0], sData[1], sData[2]);
// }
sData+=3;
}
}
}
}
//post("%i\n", rUsers);
}
// 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();
}
// this function is called each frame
void glutDisplay (void)
{
static ros::Duration pub_interval(1.0/pub_rate_temp_);
static ros::Time last_pub(0.0);
static int num_skipped = 0;
num_skipped++;
ros::Time now_time = ros::Time::now();
// Update stuff from OpenNI
XnStatus status = g_Context.WaitAndUpdateAll();
if( status != XN_STATUS_OK ){
ROS_ERROR_STREAM("Updating context failed: " << status);
return;
}
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
xn::ImageMetaData imageMD;
g_DepthGenerator.GetMetaData(depthMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
//g_ImageGenerator.GetMetaData(imageMD);
cv::Mat depth_image;
getDepthImage(depthMD, depth_image);
double minval, maxval;
cv::minMaxLoc(depth_image, &minval, &maxval);
// Convert user pixels to an OpenCV image
cv::Mat label_image;
getUserLabelImage(sceneMD, label_image);
sensor_msgs::PointCloud cloud;
cloud.header.stamp = now_time;
cloud.header.frame_id = frame_id_;
cloud.channels.resize(1);
cloud.channels[0].name = "intensity";
// Convert users into better format
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
cv::Mat this_mask;
XnPoint3D center_mass;
double pixel_area;
cv::Scalar s;
vector<user> users;
if( g_bhasCal && now_time-last_pub > pub_interval )
{
bool has_lock = false;
last_pub = now_time;
ROS_DEBUG_STREAM(num_skipped << " refreshes inbetween publishing");
num_skipped = 0;
cv::imshow( "Tracked user" , user_cal_.getImage() );
cv::imshow( "Original calibration", original_cal_.getImage() );
cv::Mat rgb, rgb_mask;
// getRGB(rgb, rgb_mask);
rgb = getRGB(imageMD);
for (unsigned int i = 0; i < nUsers; i++)
{
user this_user;
this_user.uid = aUsers[i];
// Bitwise mask of pixels belonging to this user
this_mask = (label_image == this_user.uid);
this_user.numpixels = cv::countNonZero(this_mask);
// Compare this user to the target
this_user.pc.init(rgb, this_mask);
double similarity = this_user.pc.compare(user_cal_ );
double sim_to_orig = this_user.pc.compare(original_cal_);
this_user.similarity = similarity;
this_user.similarity_to_orig = sim_to_orig;
/*
ros::Time t1 = ros::Time::now();
double emd = this_user.pc.getEMD (user_cal_ );
double emd_to_orig = this_user.pc.getEMD (original_cal_);
ros::Duration d = (ros::Time::now() - t1);
ROS_INFO_STREAM("EMD took " << (d.sec) );*/
if( now_time > save_timer_ ){
ROS_WARN_STREAM("[bk_skeletal_tracker] Say Cheezbuger");
save_timer_ = now_time + ros::Duration(60*60*24);
g_bSaveFrame = true;
}
if( g_bSaveFrame )
{
time_t t = ros::WallTime::now().sec;
char buf[1024] = "";
struct tm* tms = localtime(&t);
strftime(buf, 1024, "%Y-%m-%d-%H-%M-%S", tms);
std::string prefix = ( boost::format("capture_%s_user%d") % buf % this_user.uid ).str();
cv::Mat rgb_masked;
rgb.copyTo(rgb_masked, this_mask);
saveMat(rgb_masked , prefix + "_rgb" );
saveMat(this_mask , prefix + "_mask" );
saveMat(this_user.pc.getHist() , prefix + "_hist" );
saveMat(this_user.pc.getImage(), prefix + "_himg" );
}
// Mean depth
this_user.meandepth = cv::mean(depth_image, this_mask)[0];
this_user.silhouette_area = 0;
// Find the area of the silhouette in cartesian space
for( int i=0; i<this_mask.rows; i++) {
for( int j=0; j<this_mask.cols; j++ ) {
if( this_mask.at<uchar>(i,j) != 0 )
{
pixel_area = cam_model_.getDeltaX(1, depth_image.at<float>(i,j))
* cam_model_.getDeltaY(1, depth_image.at<float>(i,j));
this_user.silhouette_area += pixel_area;
}
}
}
// Find the center in 3D
g_UserGenerator.GetCoM(this_user.uid, center_mass);
this_user.center3d.point = vecToPt(center_mass);
ROS_DEBUG_STREAM(boost::format("User %d: area %.3fm^2, mean depth %.3fm")
% (unsigned int)this_user.uid % this_user.silhouette_area % this_user.meandepth);
// Screen out unlikely users based on area
if( this_user.meandepth > min_dist_ && this_user.silhouette_area < max_area_ && this_user.silhouette_area > min_area_ )
{
ROS_INFO_STREAM(boost::format("User %d new: %.0f --- orig: %.0f")
% ((int)this_user.uid) % (100*similarity) % (100*sim_to_orig) );
/*ROS_INFO_STREAM(boost::format("EMD new: %.2f --- orig: %.2f")
% (emd) % (emd_to_orig) );*/
if( similarity > PersonCal::getMatchThresh() ) {
user_cal_.update(rgb, this_mask);
}
else{
if( sim_to_orig > PersonCal::getMatchThresh() ) {
ROS_WARN_STREAM("Reset to original calibration");
user_cal_ = original_cal_;
}
}
std::stringstream window_name;
window_name << "user_" << ((int)this_user.uid);
cv::imshow(window_name.str(), this_user.pc.getImage());
ROS_DEBUG("Accepted user");
users.push_back(this_user);
// Visualization
geometry_msgs::Point32 p;
p.x = this_user.center3d.point.x;
p.y = this_user.center3d.point.y;
p.z = this_user.center3d.point.z;
cloud.points.push_back(p);
cloud.channels[0].values.push_back(0.0f);
}
}
// Try to associate the tracker with a user
if( latest_tracker_.first != "" )
{
// Transform the tracker to this time. Note that the pos time is updated but not the restamp.
tf::Point pt;
tf::pointMsgToTF(latest_tracker_.second.pos.pos, pt);
tf::Stamped<tf::Point> loc(pt, latest_tracker_.second.pos.header.stamp, latest_tracker_.second.pos.header.frame_id);
try {
tfl_->transformPoint(frame_id_, now_time-ros::Duration(.1), loc, latest_tracker_.second.pos.header.frame_id, loc);
latest_tracker_.second.pos.header.stamp = now_time;
latest_tracker_.second.pos.header.frame_id = frame_id_;
latest_tracker_.second.pos.pos.x = loc[0];
latest_tracker_.second.pos.pos.y = loc[1];
latest_tracker_.second.pos.pos.z = loc[2];
}
catch (tf::TransformException& ex) {
ROS_ERROR("(finding) Could not transform person to this time");
}
people_msgs::PositionMeasurement pos;
if( users.size() > 0 )
{
std::stringstream users_ss;
users_ss << boost::format("(finding) Tracker \"%s\" = (%.2f,%.2f) Users = ")
% latest_tracker_.first % latest_tracker_.second.pos.pos.x % latest_tracker_.second.pos.pos.y;
// Find the closest user to the tracker
user closest;
closest.distance = BIGDIST_M;
foreach(user u, users)
{
u.distance = pow(latest_tracker_.second.pos.pos.x - u.center3d.point.x, 2.0)
+ pow(latest_tracker_.second.pos.pos.y - u.center3d.point.y, 2.0);
users_ss << boost::format("(%.2f,%.2f), ") % u.center3d.point.x % u.center3d.point.y;
if( u.distance < closest.distance )
{
if( u.similarity > PersonCal::getMatchThresh() ) {
closest = u;
}
else {
ROS_WARN_STREAM("Ignored close user not matching (" << u.uid << ")");
}
}
}//foreach