void CleanUpExit() {
recorder.Release();
g_player.Release();
g_image.Release();
g_scriptNode.Release();
g_context.Release();
g_hands.Release();
g_gesture.Release();
free(g_pTexMap);
exit(1);
}
void XN_CALLBACK_TYPE Gesture_Recognized(xn::GestureGenerator& generator,
const XnChar* strGesture,
const XnPoint3D* pIDPosition,
const XnPoint3D* pEndPosition, void* pCookie)
{
printf("Gesture recognized: %s\n", strGesture);
g_gesture.RemoveGesture(strGesture);
g_hands.StartTracking(*pEndPosition);
std::cout << strGesture << std::endl;
if (!strcmp(strGesture, "Wave")) {
gesture = 1;
ready_state = true;
}
if (!strcmp(strGesture, "Click")) {
gesture = 2;
ready_state = false;
}
if (!strcmp(strGesture, "RaiseHand")) {gesture = 3;}
std::cout << gesture << std::endl;
}
int main(int argc, char **argv)
{
lasttime = time(NULL);
if(argc < 3)
{
printf("Usage : %s [address] [name] [port]\n", argv[0]);
return EXIT_FAILURE;
}
//first send the application name
sock = init_connection_module(argv[1],atoi(argv[3]));
char buffer[BUF_SIZE];
//use of a descriptor in order to use non-blocking sockets
fd_set rdfs;
if(fcntl(sock, F_SETFL, O_NONBLOCK) < 0)
printf("Error setting socket in non blocking mode\n");
else
printf("Socket is in non blocking mode\n");
// send the Applcation's name
write_server(sock, argv[2]);
write_server(sock, createInitGestureXml().c_str());
XnStatus retVal = XN_STATUS_OK;
//context creation
Context context;
//depth generator
DepthGenerator depth;
//for the led
XN_USB_DEV_HANDLE usbHandle;
bool foundUsb = false;
const XnUSBConnectionString *paths;
XnUInt32 count;
//for tracking the user
XnSkeletonJointPosition pos1, pos2;
retVal = xnUSBInit();
//retVal = 0;
if (retVal != XN_STATUS_OK)
{
xnPrintError(retVal, "xnUSBInit failed");
}
else
retVal = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID*/, &paths, &count);
if (retVal != XN_STATUS_OK)
{
xnPrintError(retVal, "xnUSBEnumerateDevices failed");
}else
{
retVal = xnUSBOpenDeviceByPath(paths[0], &usbHandle);
foundUsb = true;
}
//sessiong manager - NITE
XnVSessionManager* pSessionGenerator;
//context init
retVal = context.Init();
retVal = g_GestureGenerator.Create(context);
retVal = g_HandsGenerator.Create(context);
retVal = depth.Create(context);
pSessionGenerator = new XnVSessionManager();
pSessionGenerator->Initialize(&context, "Wave", "RaiseHand");
//start generating data
retVal = context.StartGeneratingAll();
/* session callbacks - START = when we detect focus or short focus gesture;
STOP = when we loose track;
PROGRESS = when we're interacting;
*/
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
//swipe control
XnVSwipeDetector sw;
sw.RegisterSwipeLeft(NULL, swipeLeft);
sw.RegisterSwipeRight(NULL, swipeRight);
pSessionGenerator->AddListener(&sw);
XnVPushDetector pw;
pw.RegisterPush(NULL, push);
pSessionGenerator->AddListener(&pw);
XnVSteadyDetector st;
st.RegisterSteady(NULL, steady);
//pSessionGenerator->AddListener(&st);
while(true)
{
//wait for data to be ready on depth node and update all nodes;
retVal = context.WaitAnyUpdateAll();
if(retVal != XN_STATUS_OK)
{
cout << "failed updating data; reason: " << xnGetStatusString(retVal) << endl;
continue;
}
pSessionGenerator->Update(&context);
//network
resetDescriptor(&sock, &rdfs);
int n = read_server(sock, buffer);
if(n > 0)
printf("################## Received from server: %s ##############\n", buffer);
}
end_connection_module(sock);
context.Release();
delete pSessionGenerator;
system("PAUSE");
return EXIT_SUCCESS;
}
int main(int argc, char* argv[])
{
int nRetVal;
XnStatus rc;
EnumerationErrors errors;
// get playback file if using
if (argc > 2 && strcmp(argv[2], "true") == 0) {
rc = g_context.Init();
rc = g_context.OpenFileRecording(RECORDING_PATH, g_player);
CHECK_RC(rc, "Opening file");
rc = g_player.SetRepeat(TRUE);
CHECK_RC(rc, "Turn repeat off");
} else {
// get context from xml
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
}
// error checking
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
CHECK_RC(rc, "Context initialization");
// get hand and image generator from context, check errors
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(rc, "Get image generator");
rc = g_context.FindExistingNode(XN_NODE_TYPE_HANDS, g_hands);
CHECK_RC(rc, "Get hand generator");
rc = g_context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_gesture);
CHECK_RC(rc, "Get gesture generator");
// create and register callbacks
XnCallbackHandle h1, h2;
g_gesture.RegisterGestureCallbacks(Gesture_Recognized,
Gesture_Process,
NULL, h1);
CHECK_RC(rc, "Get register gesture callback");
g_hands.RegisterHandCallbacks(Hand_Create, Hand_Update,
Hand_Destroy, NULL, h2);
CHECK_RC(rc, "Get hand callback");
// add gestures to the generator
rc = g_gesture.AddGesture("Click", NULL);
CHECK_RC(rc, " add click gesture");
rc = g_gesture.AddGesture("RaiseHand", NULL);
CHECK_RC(rc, "add raise gesture");
rc = g_gesture.AddGesture("Wave", NULL);
CHECK_RC(rc, "add wave gesture");
g_image.GetMetaData(g_imageMD);
// RGB is the only image format supported.
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
return 1;
}
// if argument is set true, then record the session
if (argc > 1 && strcmp(argv[1], "true") == 0) {
std::cout << "recording to " << RECORDING_PATH << std::endl;
// Create Recorder
rc = recorder.Create(g_context);
CHECK_RC(rc, "create recorder");
// Init it
rc = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORDING_PATH);
CHECK_RC(rc, "init recorder");
// Add nodes to recording
rc = recorder.AddNodeToRecording(g_image);
CHECK_RC(rc, "add image node");
rc = recorder.AddNodeToRecording(g_hands);
CHECK_RC(rc, "add hands node");
}
// initialize and run program
glutInit(&argc, argv); // GLUT initialization
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH ); // Display Mode
glutInitWindowSize(WIDTH, HEIGHT); // set window size
glutInitWindowPosition(GL_WIN_POSITION_X, GL_WIN_POSITION_Y);
glutCreateWindow(TITLE); // create Window
glutDisplayFunc(glutDisplay); // register Display Function
glutIdleFunc(glutDisplay); // register Idle Function
glutKeyboardFunc(glutKeyboard ); // register Keyboard Handler
initialize();
glutMainLoop();
CleanUpExit();
return 0;
}
int main(int argc, char *argv[])
{
//--------------------------------------------------------------------//
//------------------------- SETUP REQUIRED NODES ---------------------//
//--------------------------------------------------------------------//
// Setup the command line parameters.
setupParams(argc, argv);
// Setup all the sockets.
setupSockets();
// Setup the capture socket server for Mac.
#if (XN_PLATFORM == XN_PLATFORM_MACOSX)
if(_featureDepthMapCapture || _featureRGBCapture)
{
if(_useSockets)
{
g_AS3Network = network();
g_AS3Network.init(setupServer);
}
}
#endif
// Setup the status.
XnStatus _status = XN_STATUS_OK;
EnumerationErrors _errors;
// Context Init and Add license.
_status = _context.Init();
CHECK_RC(_status, "AS3OpenNI :: Initialize context");
_context.SetGlobalMirror(_mirror);
XnChar vendor[XN_MAX_NAME_LENGTH];
XnChar license[XN_MAX_LICENSE_LENGTH];
_license.strVendor[XN_MAX_NAME_LENGTH] = strcmp(vendor, "PrimeSense");
_license.strKey[XN_MAX_LICENSE_LENGTH] = strcmp(license, "0KOIk2JeIBYClPWVnMoRKn5cdY4=");
_status = _context.AddLicense(_license);
CHECK_RC(_status, "AS3OpenNI :: Added license");
// Set it to VGA maps at 30 FPS
_depthMode.nXRes = 640;
_depthMode.nYRes = 480;
_depthMode.nFPS = 30;
// Depth map create.
_status = _depth.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create depth generator");
_status = _depth.SetMapOutputMode(_depthMode);
// Depth map create.
_status = _image.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create image generator");
_status = _image.SetMapOutputMode(_depthMode);
_status = _image.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
// Create the hands generator.
_status = _hands.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create hands generator");
_hands.SetSmoothing(0.1);
// Create the gesture generator.
_status = _gesture.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create gesture generator");
// Create user generator.
_status = _userGenerator.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Find user generator");
// Create and initialize point tracker
_sessionManager = new XnVSessionManager();
_status = _sessionManager->Initialize(&_context, "Wave", "RaiseHand");
if (_status != XN_STATUS_OK)
{
printf("AS3OpenNI :: Couldn't initialize the Session Manager: %s\n", xnGetStatusString(_status));
CleanupExit();
}
_sessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
// Start catching signals for quit indications
CatchSignals(&_quit);
//---------------------------------------------------------------//
//------------------------- SETUP FEATURES ---------------------//
//--------------------------------------------------------------//
// Define the Wave and SinglePoint detectors.
_waveDetector = new XnVWaveDetector();
// SinglePoint detector.
if(_featureSinglePoint) _waveDetector->RegisterPointUpdate(NULL, &OnPointUpdate);
// Feature Gesture.
if(_featureGesture)
{
// Wave detector.
_waveDetector->RegisterWave(NULL, &OnWave);
// Push detector.
_pushDetector = new XnVPushDetector();
_pushDetector->RegisterPush(NULL, &onPush);
// Swipe detector.
_swipeDetector = new XnVSwipeDetector();
_swipeDetector->RegisterSwipeUp(NULL, &Swipe_SwipeUp);
_swipeDetector->RegisterSwipeDown(NULL, &Swipe_SwipeDown);
_swipeDetector->RegisterSwipeLeft(NULL, &Swipe_SwipeLeft);
_swipeDetector->RegisterSwipeRight(NULL, &Swipe_SwipeRight);
// Steady detector.
_steadyDetector = new XnVSteadyDetector();
_steadyDetector->RegisterSteady(NULL, &Steady_OnSteady);
}
// Feature Circle.
if(_featureCircle)
{
// Circle detector.
_circleDetector = new XnVCircleDetector();
_circleDetector->RegisterCircle(NULL, &CircleCB);
_circleDetector->RegisterNoCircle(NULL, &NoCircleCB);
_circleDetector->RegisterPrimaryPointCreate(NULL, &Circle_PrimaryCreate);
_circleDetector->RegisterPrimaryPointDestroy(NULL, &Circle_PrimaryDestroy);
}
// Feature Slider.
if(_featureSlider)
{
// Left/Right slider.
_leftRightSlider = new XnVSelectableSlider1D(3, 0, AXIS_X);
_leftRightSlider->RegisterActivate(NULL, &LeftRightSlider_OnActivate);
_leftRightSlider->RegisterDeactivate(NULL, &LeftRightSlider_OnDeactivate);
_leftRightSlider->RegisterPrimaryPointCreate(NULL, &LeftRightSlider_OnPrimaryCreate);
_leftRightSlider->RegisterPrimaryPointDestroy(NULL, &LeftRightSlider_OnPrimaryDestroy);
_leftRightSlider->RegisterValueChange(NULL, &LeftRightSlider_OnValueChange);
_leftRightSlider->SetValueChangeOnOffAxis(false);
// Up/Down slider.
_upDownSlider = new XnVSelectableSlider1D(3, 0, AXIS_Y);
_upDownSlider->RegisterActivate(NULL, &UpDownSlider_OnActivate);
_upDownSlider->RegisterDeactivate(NULL, &UpDownSlider_OnDeactivate);
_upDownSlider->RegisterPrimaryPointCreate(NULL, &UpDownSlider_OnPrimaryCreate);
_upDownSlider->RegisterPrimaryPointDestroy(NULL, &UpDownSlider_OnPrimaryDestroy);
_upDownSlider->RegisterValueChange(NULL, &UpDownSlider_OnValueChange);
_upDownSlider->SetValueChangeOnOffAxis(false);
// In/Out slider.
_inOutSlider = new XnVSelectableSlider1D(3, 0, AXIS_Z);
_inOutSlider->RegisterActivate(NULL, &InOutSlider_OnActivate);
_inOutSlider->RegisterDeactivate(NULL, &InOutSlider_OnDeactivate);
_inOutSlider->RegisterPrimaryPointCreate(NULL, &InOutSlider_OnPrimaryCreate);
_inOutSlider->RegisterPrimaryPointDestroy(NULL, &InOutSlider_OnPrimaryDestroy);
_inOutSlider->RegisterValueChange(NULL, &InOutSlider_OnValueChange);
_inOutSlider->SetValueChangeOnOffAxis(false);
}
// Feature TrackPad.
if(_featureTrackPad)
{
// Track Pad.
if(trackpad_columns > 0 && trackpad_rows > 0)
{
_trackPad = new XnVSelectableSlider2D(trackpad_columns, trackpad_rows);
}
else
{
_trackPad = new XnVSelectableSlider2D(4, 9);
}
_trackPad->RegisterItemHover(NULL, &TrackPad_ItemHover);
_trackPad->RegisterItemSelect(NULL, &TrackPad_ItemSelect);
_trackPad->RegisterPrimaryPointCreate(NULL, &TrackPad_PrimaryCreate);
_trackPad->RegisterPrimaryPointDestroy(NULL, &TrackPad_PrimaryDestroy);
}
// Feature User Tracking.
if(_featureUserTracking)
{
// Setup user generator callbacks.
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("AS3OpenNI :: Supplied user generator doesn't support skeleton\n");
return 1;
}
_userGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
// Setup Skeleton detection.
_userGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (_userGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
_needPose = true;
if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("AS3OpenNI :: Pose required, but not supported\n");
return 1;
}
_userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
_userGenerator.GetSkeletonCap().GetCalibrationPose(_strPose);
}
_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
}
// Create the broadcaster manager.
_broadcaster = new XnVBroadcaster();
// Start generating all.
_context.StartGeneratingAll();
// Set the frame rate.
_status = xnFPSInit(&xnFPS, 180);
CHECK_RC(_status, "AS3OpenNI :: FPS Init");
//----------------------------------------------------------------------//
//------------------------- SETUP DISPLAY SUPPORT ---------------------//
//--------------------------------------------------------------------//
// Setup depth and image data.
_depth.GetMetaData(_depthData);
_image.GetMetaData(_imageData);
// Hybrid mode isn't supported in this sample
if (_imageData.FullXRes() != _depthData.FullXRes() || _imageData.FullYRes() != _depthData.FullYRes())
{
printf ("AS3OpenNI :: The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (_imageData.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("AS3OpenNI :: The device image format must be RGB24\n");
return 1;
}
// Setup the view points to match between the depth and image maps.
if(_snapPixels) _depth.GetAlternativeViewPointCap().SetViewPoint(_image);
//-------------------------------------------------------------//
//------------------------- MAIN LOOP ------------------------//
//-----------------------------------------------------------//
// Setup the capture socket server for PC.
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
if(_featureDepthMapCapture || _featureRGBCapture || _featureUserTracking)
{
if(_useSockets)
{
g_AS3Network = network();
g_AS3Network.init(setupServer);
}
}
#endif
// Main loop
while ((!_kbhit()) && (!_quit))
{
xnFPSMarkFrame(&xnFPS);
_context.WaitAndUpdateAll();
_sessionManager->Update(&_context);
if(_featureDepthMapCapture) captureDepthMap(g_ucDepthBuffer);
if(_featureRGBCapture) captureRGB(g_ucImageBuffer);
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
if(_featureUserTracking) getPlayers();
#else
if(_featureUserTracking) renderSkeleton();
#endif
}
CleanupExit();
}
