//--------------------------------------------------------------
void testApp::draw()
{
//depth.draw(0,0,320,240);
//user.draw();
image.draw(0, 0, 640, 480);
ofxTrackedUser* tracked = user.getTrackedUser(0);
if(tracked != NULL)
{
tracked->debugDraw();
int xl = tracked->left_lower_arm.end.x;
int yl = tracked->left_lower_arm.end.y;
int xr = tracked->right_lower_arm.end.x;
int yr = tracked->right_lower_arm.end.y;
int xh = tracked->neck.begin.x;
int yh = tracked->neck.begin.y;
ofSetColor(255, 255, 255);
hands.draw(xl, yl);
hands.draw(xr, yr);
head.draw(xh, yh);
XnUSBDeviceSpeed* pDevSpeed;
xnUSBGetDeviceSpeed(usbhandle, pDevSpeed);
char rstr[1024];
sprintf(rstr, "DEV SPEED: %d", (int)pDevSpeed);
ofDrawBitmapString(rstr, 400,400);
xnUSBCloseDevice(usbhandle);
}
}
XnStatus XnSensorIO::OpenDevice(const XnChar* strPath)
{
XnStatus nRetVal;
XnUSBDeviceSpeed DevSpeed;
nRetVal = xnUSBInit();
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_USB_ALREADY_INIT)
return nRetVal;
xnLogVerbose(XN_MASK_DEVICE_IO, "Connecting to USB device...");
if (strPath == NULL || strcmp(strPath, "*:0") == 0)
{
// support old style API
XnConnectionString aConnections[1];
XnUInt32 nCount = 1;
nRetVal = EnumerateSensors(aConnections, &nCount);
if (nRetVal != XN_STATUS_OK && nRetVal != XN_STATUS_OUTPUT_BUFFER_OVERFLOW)
{
return nRetVal;
}
strPath = aConnections[0];
}
// try to open the device
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open sensor '%s'...", strPath);
nRetVal = xnUSBOpenDeviceByPath(strPath, &m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnUSBGetDeviceSpeed(m_pSensorHandle->USBDevice, &DevSpeed);
XN_IS_STATUS_OK(nRetVal);
if (DevSpeed != XN_USB_DEVICE_HIGH_SPEED)
{
XN_LOG_WARNING_RETURN(XN_STATUS_USB_UNKNOWN_DEVICE_SPEED, XN_MASK_DEVICE_IO, "Device is not high speed!");
}
// on older firmwares, control was sent over BULK endpoints. Check if this is the case
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open endpoint 0x4 for control out (for old firmwares)...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x4, XN_USB_EP_BULK, XN_USB_DIRECTION_OUT, &m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_DIRECTION)
{
// this is not the case. use regular control endpoint (0)
m_pSensorHandle->ControlConnection.bIsBulk = FALSE;
}
else
{
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x85 for control in...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x85, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.bIsBulk = TRUE;
}
nRetVal = IsSensorLowBandwidth(strPath, &m_bIsLowBandwidth);
XN_IS_STATUS_OK(nRetVal);
xnLogInfo(XN_MASK_DEVICE_IO, "Connected to USB device%s", m_bIsLowBandwidth ? " (LowBand)" : "");
strcpy(m_strDeviceName, strPath);
return XN_STATUS_OK;
}
XnStatus XnSensorIO::OpenDevice(const XnChar* strPath, XnBool bLeanInit)
{
XnStatus nRetVal;
XnUSBDeviceSpeed DevSpeed;
xnLogVerbose(XN_MASK_DEVICE_IO, "Connecting to USB device...");
// try to open the device
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open sensor '%s'...", strPath);
nRetVal = xnUSBOpenDeviceByPath(strPath, &m_pSensorHandle->USBDevice);
XN_IS_STATUS_OK(nRetVal);
if (!bLeanInit)
{
nRetVal = xnUSBGetDeviceSpeed(m_pSensorHandle->USBDevice, &DevSpeed);
XN_IS_STATUS_OK(nRetVal);
if (DevSpeed != XN_USB_DEVICE_HIGH_SPEED)
{
XN_LOG_WARNING_RETURN(XN_STATUS_USB_UNKNOWN_DEVICE_SPEED, XN_MASK_DEVICE_IO, "Device is not high speed!");
}
}
// on older firmwares, control was sent over BULK endpoints. Check if this is the case
xnLogVerbose(XN_MASK_DEVICE_IO, "Trying to open endpoint 0x4 for control out (for old firmwares)...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x4, XN_USB_EP_BULK, XN_USB_DIRECTION_OUT, &m_pSensorHandle->ControlConnection.ControlOutConnectionEp);
if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE || nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_DIRECTION)
{
// this is not the case. use regular control endpoint (0)
m_pSensorHandle->ControlConnection.bIsBulk = FALSE;
}
else
{
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoint 0x85 for control in...");
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x85, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->ControlConnection.ControlInConnectionEp);
XN_IS_STATUS_OK(nRetVal);
m_pSensorHandle->ControlConnection.bIsBulk = TRUE;
}
nRetVal = XnDeviceEnumeration::IsSensorLowBandwidth(strPath, &m_bIsLowBandwidth);
XN_IS_STATUS_OK(nRetVal);
xnLogInfo(XN_MASK_DEVICE_IO, "Connected to USB device%s", m_bIsLowBandwidth ? " (LowBand)" : "");
// check if we're currently on BULK interfaces or ISO ones
XN_USB_EP_HANDLE hEP;
nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &hEP);
if (nRetVal == XN_STATUS_USB_WRONG_ENDPOINT_TYPE)
{
m_interface = XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS;
}
else
{
m_interface = XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS;
xnUSBCloseEndPoint(hEP);
}
strcpy(m_strDeviceName, strPath);
return XN_STATUS_OK;
}
