void gl_onKeyboard(unsigned char key, int x, int y)
{
XnUInt16 nUser = 16;
XnUserID users[16];
switch(key){
case 27:
gContext.Shutdown();
exit(1);
break;
case 'c':
gUserGenerator.GetUsers(users, nUser);
if(nUser == 0){
fprintf(stderr, "cannot find user\n");
}else if(capture->start(*std::min_element(users, &users[nUser]))){
fprintf(stderr, "start recording\n");
}
break;
case 's':
if(capture->stop()){
fprintf(stderr, "stop recording\n");
}
break;
}
}
void Context_Shutdown_wrapped(xn::Context& self) {
#ifdef _DEBUG
PyCout << "Shutting down OpenNI.." << std::endl;
#endif
self.Shutdown();
}
void CleanupExit()
{
if (g_pRecorder)
g_pRecorder->RemoveNodeFromRecording(g_DepthGenerator);
StopCapture();
g_Context.Shutdown();
exit (1);
}
/* The matlab mex function */
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] ) {
XnUInt64 *MXadress;
if(nrhs==0)
{
printf("Close 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]; }
g_Context.Shutdown();
}
void CleanupExit()
{
g_Context.Shutdown();
if(gPhysicsSDK != NULL)
{
if(gScene != NULL) gPhysicsSDK->releaseScene(*gScene);
gScene = NULL;
NxReleasePhysicsSDK(gPhysicsSDK);
gPhysicsSDK = NULL;
}
exit (1);
}
void gl_onKeyboard(unsigned char key, int x, int y)
{
switch(key){
case 27:
gContext.Shutdown();
exit(1);
break;
case 't':
setMainWindow((winMode == DEPTH_WINDOW)? IMAGE_WINDOW : DEPTH_WINDOW);
break;
}
}
void CleanupExit()
{
if (NULL != g_pSessionManager) {
delete g_pSessionManager;
g_pSessionManager = NULL;
}
if (NULL != g_pCircle)
{
delete g_pCircle;
g_pCircle = NULL;
}
g_Context.Shutdown();
exit (1);
}
void CleanupExit()
{
if (NULL != g_pSessionManager) {
delete g_pSessionManager;
g_pSessionManager = NULL;
}
delete g_pMainFlowRouter;
delete g_pMainSlider;
delete g_pBox[0];
delete g_pBox[1];
delete g_pBox[2];
g_Context.Shutdown();
exit (1);
}
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;
}
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();
}
int main(int argc, char **argv) {
ros::init(argc, argv, "tts_talkback_to_openni_tracker");
ros::NodeHandle nh;
// 2015.5.11 add
//voice = nh.getParam("~voice", voice_cmu_us_clb_arctic_clunits);
sound_play::SoundClient soundhandle;
//soundhandle = sound_play::SoundClient();
soundhandle.stopAll();
//soundhandle.say("Ready", voice);
soundhandle.say("Ready");
ROS_INFO("waiting for openni_tracker package to detect people ...");
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);
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;
}
}
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;
}
bool DataCapture::initialise()
{
context_.Shutdown();
XnStatus rc = context_.Init();
if( rc != XN_STATUS_OK )
{
std::cout << "Init: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "depthGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "imageGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
if( rc != XN_STATUS_OK )
{
std::cout << "SetPixelFormat: " << xnGetStatusString(rc) << std::endl;
return false;
}
XnMapOutputMode imgMode;
imgMode.nXRes = 640; // XN_VGA_X_RES
imgMode.nYRes = 480; // XN_VGA_Y_RES
imgMode.nFPS = 30;
rc = imageGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "image SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "depth SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
depthGen_.GetMetaData(depthMd_);
std::cout << "Depth offset " << depthMd_.XOffset() << " " << depthMd_.YOffset() << std::endl;
// set the depth image viewpoint
depthGen_.GetAlternativeViewPointCap().SetViewPoint(imageGen_);
// read off the depth camera field of view. This is the FOV corresponding to
// the IR camera viewpoint, regardless of the alternative viewpoint settings.
XnFieldOfView fov;
rc = depthGen_.GetFieldOfView(fov);
std::cout << "Fov: " << fov.fHFOV << " " << fov.fVFOV << std::endl;
pDepthData_ = new char [640 * 480];
pRgbData_ = new char [640 * 480 * 3];
return true;
}
bool DataCapture::stopDataCapture()
{
context_.StopGeneratingAll();
context_.Shutdown(); // do once. should probably be in uninitialise()
return true;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "skeleton_tracker");
ros::NodeHandle nh;
// Added by Igor
ros::Duration time(2.0);
time.sleep();
ROS_INFO("******************************* KINECT CALIBRATION ************************************");
ROS_INFO("- Do initial calibration pose");
string configFilename = ros::package::getPath("skeleton_tracker") + "/skeleton_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");
}
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("~");
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
//Added by IGOR
skeleton_pub = nh.advertise<skeleton_tracker::Skeleton>("skeleton", 1000);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
//ROS_INFO("Lx: %f, Ly: %f, Lz: %f", msg.left_hand_x, msg.left_hand_y, msg.left_hand_z);
//ROS_INFO("Rx: %f, Ry: %f, Rz: %f", msg.right_hand_x, msg.right_hand_y, msg.right_hand_z);
skeleton_pub.publish(skelMsg);
ros::spinOnce();
r.sleep();
}
g_Context.Shutdown();
return 0;
}
void CleanupExit()
{
g_Context.Shutdown();
exit (1);
}
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;
}
void OniTrackApp::shutdown()
{
delete pSessionGenerator;
context.Shutdown();
}
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;
}
int main() {
printf("main() START\n");
signal(SIGINT, onSignalReceived); // hit CTRL-C keys in terminal (2)
signal(SIGTERM, onSignalReceived); // hit stop button in eclipse CDT (15)
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 30;
CHECK_RC(ctx.Init(), "init");
CHECK_RC(depthGenerator.Create(ctx), "create depth");
depthGenerator.SetMapOutputMode(mapMode);
XnStatus userAvailable = ctx.FindExistingNode(XN_NODE_TYPE_USER, userGenerator);
if(userAvailable != XN_STATUS_OK) {
CHECK_RC(userGenerator.Create(ctx), "create user");
}
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
xn::SkeletonCapability skel = userGenerator.GetSkeletonCap();
CHECK_RC(userGenerator.RegisterUserCallbacks(onUserNew, onUserLost, NULL, hUserCallbacks), "register user");
CHECK_RC(skel.RegisterCalibrationCallbacks(onCalibrationStart, onCalibrationEnd, NULL, hCalibrationCallbacks), "register calib");
CHECK_RC(userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(onPoseDetected, NULL, NULL, hPoseCallbacks), "register pose");
XnChar poseName[20] = "";
CHECK_RC(skel.GetCalibrationPose(poseName), "get posename");
printf("poseName: %s\n", poseName);
CHECK_RC(skel.SetSkeletonProfile(XN_SKEL_PROFILE_ALL), "set skel profile");
CHECK_RC(skel.SetSmoothing(0.8), "set smoothing");
// xnSetMirror(depth, !mirrorMode);
CHECK_RC(ctx.StartGeneratingAll(), "start generating");
printf("waitAnyUpdateAll ...\n");
while(!shouldTerminate) {
ctx.WaitAnyUpdateAll();
// depthGenerator.GetMetaData(tempDepthMetaData);
const XnUInt16 userCount = userGenerator.GetNumberOfUsers();
// printf("userCount: %i\n", userCount);
XnUserID aUsers[userCount];
XnUInt16 nUsers = userCount;
userGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i) {
XnUserID currentUserId = aUsers[i];
if (skel.IsTracking(aUsers[i])) {
XnSkeletonJointPosition joint;
skel.GetSkeletonJointPosition(currentUserId, XN_SKEL_HEAD, joint);
XnFloat x = joint.position.X;
XnFloat y = joint.position.Y;
XnFloat z = joint.position.Z;
printf("joint position: %.2f x %.2f x %.2f\n", x, y, z);
printf("joint.fConfidence: %.2f\n", joint.fConfidence);
}
}
}
printf("STOP\n");
CHECK_RC(ctx.StopGeneratingAll(), "stop generating");
ctx.Shutdown();
printf("main() END\n");
}
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;
}
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;
}
extern "C" void shutdown(){
printf("C shutdown()\n");
context.Shutdown();
}
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;
}
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;
}