void CleanupExit() { g_scriptNode.Release(); g_DepthGenerator.Release(); g_UserGenerator.Release(); g_Player.Release(); g_Context.Release(); g_ImageGenerator.Release(); exit (1); }
void start_kinect() { XnStatus nRetVal = XN_STATUS_OK; xn::EnumerationErrors errors; UsersCount = 0; const char *fn = NULL; if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH; else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL; else { printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL); //return XN_STATUS_ERROR; } printf("Reading config from: '%s'\n", fn); nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &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_depth); CHECK_RC(nRetVal,"No depth"); nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); CHECK_RC(nRetVal,"No image"); 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, hCalibrationStart, hCalibrationComplete, hPoseDetected; if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) { printf("Supplied user generator doesn't support skeleton\n"); //return 1; } nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks); CHECK_RC(nRetVal, "Register to user callbacks"); nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart); CHECK_RC(nRetVal, "Register to calibration start"); nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete); CHECK_RC(nRetVal, "Register to calibration complete"); 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; } nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected); CHECK_RC(nRetVal, "Register to Pose Detected"); g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose); } g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL); nRetVal = g_Context.StartGeneratingAll(); CHECK_RC(nRetVal, "StartGenerating"); XnUserID aUsers[MAX_NUM_USERS]; XnUInt16 nUsers; XnSkeletonJointTransformation anyjoint; printf("Starting to run\n"); if(g_bNeedPose) { printf("Assume calibration pose\n"); } XnUInt32 epochTime = 0; while (!xnOSWasKeyboardHit()) { g_Context.WaitOneUpdateAll(g_UserGenerator); // print the torso information for the first user already tracking nUsers=MAX_NUM_USERS; g_UserGenerator.GetUsers(aUsers, nUsers); int numTracked=0; int userToPrint=-1; WriteLock w_lock(myLock); pDepthMap = g_depth.GetDepthMap(); pPixelMap = g_image.GetRGB24ImageMap(); g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); pPixelPoint = g_imageMD.RGB24Data(); for(XnUInt16 i=0; i<nUsers; i++) { if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE) continue; { /* Writing all new movements into structure*/ /* Head */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_HEAD,anyjoint); Skeletons[i]["Head"]["X"] = anyjoint.position.position.X; Skeletons[i]["Head"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["Head"]["Z"] = anyjoint.position.position.Z; /* Neck */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,anyjoint); Skeletons[i]["Neck"]["X"] = anyjoint.position.position.X; Skeletons[i]["Neck"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["Neck"]["Z"] = anyjoint.position.position.Z; /* Left Shoulder */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,anyjoint); Skeletons[i]["LeftShoulder"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftShoulder"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftShoulder"]["Z"] = anyjoint.position.position.Z; /* Right Shoulder */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,anyjoint); Skeletons[i]["RightShoulder"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightShoulder"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightShoulder"]["Z"] = anyjoint.position.position.Z; /* Torso */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,anyjoint); Skeletons[i]["Torso"]["X"] = anyjoint.position.position.X; Skeletons[i]["Torso"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["Torso"]["Z"] = anyjoint.position.position.Z; /* Left Elbow */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_ELBOW,anyjoint); Skeletons[i]["LeftElbow"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftElbow"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftElbow"]["Z"] = anyjoint.position.position.Z; /* Right Elbow */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_ELBOW,anyjoint); Skeletons[i]["RightElbow"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightElbow"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightElbow"]["Z"] = anyjoint.position.position.Z; /* Left Hip */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HIP,anyjoint); Skeletons[i]["LeftHip"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftHip"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftHip"]["Z"] = anyjoint.position.position.Z; /* Right Hip */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HIP,anyjoint); Skeletons[i]["RightHip"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightHip"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightHip"]["Z"] = anyjoint.position.position.Z; /* Left Hand */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HAND,anyjoint); Skeletons[i]["LeftHand"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftHand"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftHand"]["Z"] = anyjoint.position.position.Z; /* Right Hand */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HAND,anyjoint); Skeletons[i]["RightHand"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightHand"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightHand"]["Z"] = anyjoint.position.position.Z; /* Left Knee */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_KNEE,anyjoint); Skeletons[i]["LeftKnee"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftKnee"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftKnee"]["Z"] = anyjoint.position.position.Z; /* Right Knee */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_KNEE,anyjoint); Skeletons[i]["RightKnee"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightKnee"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightKnee"]["Z"] = anyjoint.position.position.Z; /* Left Foot */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_FOOT,anyjoint); Skeletons[i]["LeftFoot"]["X"] = anyjoint.position.position.X; Skeletons[i]["LeftFoot"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["LeftFoot"]["Z"] = anyjoint.position.position.Z; /* Right Foot */ g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_FOOT,anyjoint); Skeletons[i]["RightFoot"]["X"] = anyjoint.position.position.X; Skeletons[i]["RightFoot"]["Y"] = anyjoint.position.position.Y; Skeletons[i]["RightFoot"]["Z"] = anyjoint.position.position.Z; /*printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i], Skeletons[i]["Head"]["X"], Skeletons[i]["Head"]["Y"], Skeletons[i]["Head"]["Z"]);*/ } } } g_scriptNode.Release(); g_depth.Release(); g_image.Release(); g_UserGenerator.Release(); g_Context.Release(); }