void AllocateAllGlobals()
{
// Configure
XnStatus rc = g_Context.InitFromXmlFile(SAMPLE_XML_FILE, g_ScriptNode);
if (rc != XN_STATUS_OK)
{
printf("Error initializing: %s\n", xnGetStatusString(rc));
CleanupExit();
}
if(NULL == g_pSessionManager)
{
g_pSessionManager = new XnVSessionManager();
}
if(NULL == g_pSessionManager)
{
printf("Couldn't create PointTracker!! (out of memory)\n");
CleanupExit();
}
if(NULL == g_pTrackPad)
{
g_pTrackPad = new XnVSelectableSlider2D(g_TP_XDim, g_TP_YDim);
}
if(NULL == g_pTrackPad)
{
printf("Couldn't create TrackPad!! (out of memory)\n");
CleanupExit();
}
g_Context.StartGeneratingAll();
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
case 'b':
// Draw background?
g_bDrawBackground = !g_bDrawBackground;
break;
case 'x':
// Draw pixels at all?
g_bDrawPixels = !g_bDrawPixels;
break;
case 's':
// Draw Skeleton?
g_bDrawSkeleton = !g_bDrawSkeleton;
break;
case 'i':
// Print label?
g_bPrintID = !g_bPrintID;
break;
case 'l':
// Print ID & state as label, or only ID?
g_bPrintState = !g_bPrintState;
break;
case'p':
g_bPause = !g_bPause;
break;
}
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
// Exit
CleanupExit();
case 'd':
// Toggle drawing of the depth map
g_bDrawDepthMap = !g_bDrawDepthMap;
g_pDrawer->SetDepthMap(g_bDrawDepthMap);
break;
case 'f':
g_bPrintFrameID = !g_bPrintFrameID;
g_pDrawer->SetFrameID(g_bPrintFrameID);
break;
case 's':
// Toggle smoothing
if (g_fSmoothing == 0)
g_fSmoothing = 0.1;
else
g_fSmoothing = 0;
g_HandsGenerator.SetSmoothing(g_fSmoothing);
break;
case 'e':
// end current session
g_pSessionManager->EndSession();
break;
}
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
case'p':
g_bPause = !g_bPause;
break;
case 'l':
g_bPause = false;
g_bStep = true;
break;
case 'c':
g_bDrawCoM = !g_bDrawCoM;
break;
case 'f':
g_bPrintFrameID = !g_bPrintFrameID;
break;
case 'k':
if (g_pRecorder == NULL)
StartCapture();
else
StopCapture();
printf("Record turned %s\n", g_pRecorder ? "on" : "off");
break;
}
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_SCENE, g_SceneAnalyzer);
CHECK_RC(rc, "Find scene analyzer");
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#elif defined(USE_GLES)
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
}
}
void glutIdle (void)
{
if (g_bQuit) {
CleanupExit();
}
// Display the frame
glutPostRedisplay();
}
void glutIdle (void)
{
ros::spinOnce(); // This is needed to get our subscription.
if (g_bQuit) {
CleanupExit();
}
// Display the frame
glutPostRedisplay();
}
osaOpenNI::~osaOpenNI()
{
if (this->Data){
CleanupExit();
delete this->Data;
this->Data = 0;
}
if (ProjectivePointsBuffer) delete ProjectivePointsBuffer;
if (WorldPointsBuffer) delete WorldPointsBuffer;
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
break;
case 'v': //Enable/Disable Value Change presentation on screen
g_isPrintValueChange = !g_isPrintValueChange;
break;
case 'h': //Enable/Disable Item Hover presentation on screen
g_isPrintItemHover = !g_isPrintItemHover;
break;
case 't': //Toggle between Value Change and Item Hover presentation on screen
if(FALSE == g_isPrintItemHover)
{
g_isPrintValueChange = FALSE;
g_isPrintItemHover = TRUE;
}
else
{
g_isPrintValueChange = TRUE;
g_isPrintItemHover = FALSE;
}
break;
case 'r': // Remove a row from the TrackPad
if(XN_MIN_X_DIM >= g_TP_YDim) //Check if we have reached minimum size
return;
--g_TP_YDim;
InitiateTrackPad();
break;
case 'R': // Add a row to the TrackPad
if(XN_MAX_X_DIM <= g_TP_YDim) //Check if we have reached maximum size
return;
++g_TP_YDim;
InitiateTrackPad();
break;
case 'c': // Remove a column from the TrackPad
if(XN_MIN_Y_DIM >= g_TP_XDim) //Check if we have reached minimum size
return;
--g_TP_XDim;
InitiateTrackPad();
break;
case 'C': // Add a column to the TrackPad
if(XN_MAX_Y_DIM <= g_TP_XDim) //Check if we have reached maximum size
return;
++g_TP_XDim;
InitiateTrackPad();
break;
}
}
void Processor::glutDisplay (void) {
XnUInt32 nFrame, nFrameTot;
instance->gen->player.GetNumFrames(instance->strNodeName,nFrameTot);
instance->gen->player.TellFrame(instance->strNodeName,nFrame);
//finish at end of movie
if(nFrame == nFrameTot -1){
CleanupExit();
return;
}
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
instance->gen->depth.GetMetaData(depthMD);
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
glDisable(GL_TEXTURE_2D);
bool display = false;
if (!g_bPause)
{
if (g_bStep)
{
g_bStep = false;
g_bPause = true;
}
display = true;
// Read next available data
instance->context.WaitAndUpdateAll();
}
// Process the data
instance->gen->depth.GetMetaData(depthMD);
instance->gen->user.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, sceneMD, 0);
if(display)
{
if (instance->hasUserInSight) instance->sequence->update();
}
glutSwapBuffers();
}
void glutKeyboard (unsigned char key, int /*x*/, int /*y*/)
{
switch (key)
{
case 27:
CleanupExit();
case 'b':
// Draw background?
g_bDrawBackground = !g_bDrawBackground;
break;
case 'x':
// Draw pixels at all?
g_bDrawPixels = !g_bDrawPixels;
break;
case 's':
// Draw Skeleton?
g_bDrawSkeleton = !g_bDrawSkeleton;
break;
case 'i':
// Print label?
g_bPrintID = !g_bPrintID;
break;
case 'l':
// Print ID & state as label, or only ID?
g_bPrintState = !g_bPrintState;
break;
case 'f':
// Print FrameID
g_bPrintFrameID = !g_bPrintFrameID;
break;
case 'j':
// Mark joints
g_bMarkJoints = !g_bMarkJoints;
break;
case'p':
g_bPause = !g_bPause;
break;
case 'S':
SaveCalibration();
break;
case 'L':
LoadCalibration();
break;
}
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
case'p':
g_bPause = !g_bPause;
break;
case 'k':
if (g_pRecorder == NULL)
StartCapture();
else
StopCapture();
printf("Record turned %s\n", g_pRecorder ? "on" : "off");
break;
}
}
void Processor::glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
break;
case 'd':
if (g_bPause)
playNextFrame();
break;
case 'a':
if (g_bPause)
playPrevFrame();
break;
case 'p':
g_bPause = !g_bPause;
break;
}
}
void glutKeyboard (unsigned char key, int /*x*/, int /*y*/)
{
switch (key)
{
case 27:
CleanupExit();
case 'b':
// Draw background?
g_bDrawBackground = !g_bDrawBackground;
break;
case 'x':
// Draw pixels at all?
g_bDrawPixels = !g_bDrawPixels;
break;
case 'l':
// Print ID & state as label, or only ID?
g_bPrintState = !g_bPrintState;
break;
case 'f':
// Print FrameID
g_bPrintFrameID = !g_bPrintFrameID;
break;
case'p':
g_bPause = !g_bPause;
break;
case 'P':
print_COM(COM_tracker);
break;
case 'B':
print_Box_Pos(Bounding_Box);
break;
case '1':
Show_Image = FALSE;
changeRegistration(0);
break;
case '2':
Show_Image = TRUE;
changeRegistration(1);
break;
}
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1], g_Player);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, 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_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, hCalibrationStart, hCalibrationComplete, hPoseDetected, hCalibrationInProgress, hPoseInProgress;
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_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
CHECK_RC(nRetVal, "Register to calibration in progress");
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
CHECK_RC(nRetVal, "Register to pose in progress");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
void glutIdle (void)
{
if (g_bQuit) { CleanupExit(); }
glutPostRedisplay();
}
void cleanup_exit(int code)
{
CleanupExit(code);
}
int Processor::start(int argc, char **argv) {
//get the path of exe dir
path = argv[0];
int pos = path.find_last_of("/")+1;
if (pos > 0 ){
path = path.substr(0, pos);
}else{
path = "";
}
fileName = argv[1]; //ONI file
bool isDisplay = false; //display or not the depth scene
if(argc>2)
isDisplay=true;
//get the name of file without path
pos = fileName.find_last_of("/") +1;
if (pos < 0 ) pos = 0;
fileName = fileName.substr(pos);
dateStart = fileName.substr(0,fileName.find("."));
//Get the config
std::string tmp = path + "config.xml";
const char *filename = tmp.c_str();
TiXmlDocument config(filename);
if (!config.LoadFile()) {
printf("Error while loading config!\n");
return 1;
}
TiXmlElement *root, *video, *faceDetection;
root = config.FirstChildElement( "config" );
int fps = 24;
bool active = false;
const char* cascadeFile;
if (root) {
video = root->FirstChildElement("video");
fps = atoi(video->Attribute("fps2d"));
faceDetection = root->FirstChildElement("faceDetection");
active = faceDetection->Attribute("active");
cascadeFile = faceDetection->Attribute("cascadeFile");
tmp = path + cascadeFile;
cascadeFile = tmp.c_str();
}
MovingObject::init(active, cascadeFile);
//create directory for media
instance->dir = "movieData/"+fileName.substr(0,fileName.find_last_of("."));
mkdir("movieData", 0777);
mkdir((dir).c_str(), 0777);
mkdir((dir+"/2D").c_str(), 0777);
mkdir((dir+"/3D").c_str(), 0777);
XnStatus rc = XN_STATUS_OK;
xn::DepthGenerator g_DepthGenerator;
xn::UserGenerator g_UserGenerator;
xn::ImageGenerator g_image;
//Init context and all Node/Generator
rc = context.Init();
CHECK_RC(rc, "Init");
context.SetGlobalMirror(true); //mirror image
rc = context.OpenFileRecording(argv[1]);
CHECK_RC(rc, "InitFromONI");
rc = context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if(rc!=XN_STATUS_OK){
rc = g_UserGenerator.Create(context);
CHECK_RC(rc, "UserGenerator");
}
rc = context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(rc, "Find image generator");
initGenerator(g_UserGenerator, g_DepthGenerator);
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ||
!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
printf("User generator doesn't support either skeleton or pose detection.\n");
return XN_STATUS_ERROR;
}
XnBool isSupported = g_DepthGenerator.IsCapabilitySupported("AlternativeViewPoint");
if(TRUE == isSupported) {
XnStatus res = g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_image);
if(XN_STATUS_OK != res) {
printf("Getting and setting AlternativeViewPoint failed: %s\n", xnGetStatusString(res));
}
} else {
printf("AlternativeViewPoint not supported\n");
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//Init Player
xn::Player player;
xn::NodeInfoList list;
rc = context.EnumerateExistingNodes(list);
if (rc == XN_STATUS_OK) {
for (xn::NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it) {
switch ((*it).GetDescription().Type) {
case XN_NODE_TYPE_PLAYER:
(*it).GetInstance(player);
}
}
}else{
printf("Player error: %s\n", xnGetStatusString(rc));
}
//Create a Generators contains all generators
gen = new Generators(g_UserGenerator, g_DepthGenerator, g_image, player);
strNodeName = g_image.GetName();
createXML(); //Create a XMLDocument
//Start the Nodes/Generators
rc = context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
//Set callbacks functions : NewUser & LostUser
XnCallbackHandle hUserCBs;
g_UserGenerator.RegisterUserCallbacks(Processor::NewUser, Processor::LostUser, NULL, hUserCBs);
XnUInt32 nFrame, nFrameTot;
instance->gen->player.GetNumFrames(instance->strNodeName, nFrameTot);
//Loop each frames with windows output or not
if (!isDisplay){
while(nFrame != nFrameTot -2){
//update current frame id
instance->gen->player.TellFrame(instance->strNodeName,nFrame);
// Read next available data
instance->context.WaitAndUpdateAll();
//Update sequence if there is someone in the scene
if (instance->hasUserInSight)
instance->sequence->update();
}
CleanupExit();
}else{
//Start the GL to display Depth image
glInit(&argc, argv);
glutMainLoop();
}
}
int main(int argc, char ** argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
// Configure
rc = g_Context.InitFromXmlFile(SAMPLE_XML_FILE, g_ScriptNode, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize from file: %s\n", xnGetStatusString(rc));
return 1;
}
// Create and initialize point tracker
g_pSessionManager = new XnVSessionManager();
rc = g_pSessionManager->Initialize(&g_Context, "Wave", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize the Session Manager: %s\n", xnGetStatusString(rc));
CleanupExit();
}
g_pSessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd);
// Start catching signals for quit indications
CatchSignals(&g_bQuit);
// init and register circle control
g_pCircle = new XnVCircleDetector;
g_pCircle->RegisterCircle(NULL, &CircleCB);
g_pCircle->RegisterNoCircle(NULL, &NoCircleCB);
g_pCircle->RegisterPrimaryPointCreate(NULL, &Circle_PrimaryCreate);
g_pCircle->RegisterPrimaryPointDestroy(NULL, &Circle_PrimaryDestroy);
g_pSessionManager->AddListener(g_pCircle);
SetCircle(true, 0);
SetCircleColor(1,1,1);
SetCircleLineColor(0.7,0.7,0.7);
g_Context.StartGeneratingAll();
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
//glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char ** argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
// Initialize OpenNI
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_ScriptNode, &errors);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXmlFile");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_HANDS, g_HandsGenerator);
CHECK_RC(rc, "Find hands generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_GestureGenerator);
CHECK_RC(rc, "Find gesture generator");
XnCallbackHandle h;
if (g_HandsGenerator.IsCapabilitySupported(XN_CAPABILITY_HAND_TOUCHING_FOV_EDGE))
{
g_HandsGenerator.GetHandTouchingFOVEdgeCap().RegisterToHandTouchingFOVEdge(TouchingCallback, NULL, h);
}
XnCallbackHandle hGestureIntermediateStageCompleted, hGestureProgress, hGestureReadyForNextIntermediateStage;
g_GestureGenerator.RegisterToGestureIntermediateStageCompleted(GestureIntermediateStageCompletedHandler, NULL, hGestureIntermediateStageCompleted);
g_GestureGenerator.RegisterToGestureReadyForNextIntermediateStage(GestureReadyForNextIntermediateStageHandler, NULL, hGestureReadyForNextIntermediateStage);
g_GestureGenerator.RegisterGestureCallbacks(NULL, GestureProgressHandler, NULL, hGestureProgress);
// Create NITE objects
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Click,Wave", "RaiseHand");
CHECK_RC(rc, "SessionManager::Initialize");
g_pSessionManager->RegisterSession(NULL, SessionStarting, SessionEnding, FocusProgress);
g_pDrawer = new XnVPointDrawer(20, g_DepthGenerator);
g_pFlowRouter = new XnVFlowRouter;
g_pFlowRouter->SetActive(g_pDrawer);
g_pSessionManager->AddListener(g_pFlowRouter);
g_pDrawer->RegisterNoPoints(NULL, NoHands);
g_pDrawer->SetDepthMap(g_bDrawDepthMap);
// Initialization done. Start generating
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
// Mainloop
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#elif defined(USE_GLES)
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char ** argv)
{
AllocateAllGlobals();
init_eventsocket("EVENT_SERVER_IP",8000);
// Initialize the point tracker
XnStatus rc = g_pSessionManager->Initialize(&g_Context, "Wave", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize the Session Manager: %s\n", xnGetStatusString(rc));
CleanupExit();
}
g_pSessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd);
// init & register wave control
XnVWaveDetector wc;
wc.RegisterWave(NULL, OnWaveCB);
g_pSessionManager->AddListener(&wc);
// Add TrackPad to the point tracker
g_TrackPadHandle = g_pSessionManager->AddListener(g_pTrackPad);
// Register for the Hover event of the TrackPad
g_nItemHoverHandle = g_pTrackPad->RegisterItemHover(NULL, &TrackPad_ItemHover);
// Register for the Value Change event of the TrackPad
g_nValueChangeHandle = g_pTrackPad->RegisterValueChange(NULL, &TrackPad_ValueChange);
// Register for the Select event of the TrackPad
g_nItemSelectHandle = g_pTrackPad->RegisterItemSelect(NULL, &TrackPad_ItemSelect);
// Register for Input Start event of the TrackPad
g_nPrimaryCreateHandle = g_pTrackPad->RegisterPrimaryPointCreate(NULL, &TrackPad_PrimaryCreate);
// Register for Input Stop event of the TrackPad
g_nPrimaryDestroyHandle = g_pTrackPad->RegisterPrimaryPointDestroy(NULL, &TrackPad_PrimaryDestroy);
// Start catching signals for quit indications
CatchSignals(&g_bQuit);
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char **argv)
{
setup(argc, argv, &g_UserGenerator);
XnStatus nRetVal = XN_STATUS_OK;
std::string configFilename = ros::package::getPath("user_tracker") + "/config/SamplesConfig.xml";
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(configFilename.c_str(), g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
ROS_INFO("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
ROS_INFO("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if (nRetVal != XN_STATUS_OK)
{
ROS_INFO("No depth generator found. Using a default one...");
xn::MockDepthGenerator mockDepth;
nRetVal = mockDepth.Create(g_Context);
CHECK_RC(nRetVal, "Create mock depth");
// set some defaults
XnMapOutputMode defaultMode;
defaultMode.nXRes = 320;
defaultMode.nYRes = 240;
defaultMode.nFPS = 30;
nRetVal = mockDepth.SetMapOutputMode(defaultMode);
CHECK_RC(nRetVal, "set default mode");
// set FOV
XnFieldOfView fov;
fov.fHFOV = 1.0225999419141749;
fov.fVFOV = 0.79661567681716894;
nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
CHECK_RC(nRetVal, "set FOV");
XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);
nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
CHECK_RC(nRetVal, "set empty depth map");
g_DepthGenerator = mockDepth;
}
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, hCalibrationInProgress, hPoseInProgress;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
ROS_INFO("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))
{
ROS_INFO("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_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
CHECK_RC(nRetVal, "Register to calibration in progress");
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
CHECK_RC(nRetVal, "Register to pose in progress");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
ROS_INFO("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
CHECK_RC(rc, "Find user generator");
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ||
!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("User generator doesn't support either skeleton or pose detection.\n");
return XN_STATUS_ERROR;
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
XnCallbackHandle hUserCBs, hCalibrationCBs, hPoseCBs;
g_UserGenerator.RegisterUserCallbacks(NewUser, LostUser, NULL, hUserCBs);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(CalibrationStarted, CalibrationEnded, NULL, hCalibrationCBs);
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(PoseDetected, NULL, NULL, hPoseCBs);
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
CleanupExit();
case 's':
if(gameflag==0){
gameflag=2;
t1 = clock();
}
break;
case 'r':
gameflag=0;
endcountflag=0;
for(int i =0;i<9;i++)
touchcount[i]=0;
{
int nbActors = gScene->getNbActors();
NxActor** actors = gScene->getActors();
for(int i=28;i<nbActors;i++){
gScene->releaseActor(*actors[i]);// オブジェクトリセット
}
panelcreate();
}
break;
case 't':
t1 = clock();
break;
case 'l':
// Print ID & state as label, or only ID?
g_bPrintState = !g_bPrintState;
break;
case'p':
leg->setGlobalPosition(NxVec3(0.0,100.0,1000.0)); // 再配置位置
leg->setLinearVelocity(NxVec3(0, 0,0));
leg->setAngularVelocity(NxVec3(0,0,0));
endcountflag++;
if(endcountflag>9)
{
gameflag = 1;
}
break;
case'q':
leg->setLinearVelocity(NxVec3(0, 0,10000));
break;
case 'a': // ボール発射
if(gameflag==2){
if(btime>=balldire){
ballactor=CreateSphere(NxVec3(gEye.x,gEye.y,gEye.z+50), 50, 1);
ballactor->setLinearVelocity(gDir * ballspeed*10.0);
balltimer1 = clock();
}
}
break;
case GLUT_KEY_UP:
gEye += gDir*30.0f;
break;
case GLUT_KEY_DOWN:
gEye -= gDir*30.0f;
break;
case GLUT_KEY_LEFT:
gEye -= gViewY*30.0f;
break;
case GLUT_KEY_RIGHT:
gEye += gViewY*30.0f;
break;
}
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
memset(COM_tracker,0,15*100*sizeof(float));
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1], g_Player);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, 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_DepthGenerator);
if (nRetVal != XN_STATUS_OK)
{
printf("No depth generator found. Using a default one...");
xn::MockDepthGenerator mockDepth;
nRetVal = mockDepth.Create(g_Context);
CHECK_RC(nRetVal, "Create mock depth");
// set some defaults
XnMapOutputMode defaultMode;
defaultMode.nXRes = 320;
defaultMode.nYRes = 240;
defaultMode.nFPS = 30;
nRetVal = mockDepth.SetMapOutputMode(defaultMode);
CHECK_RC(nRetVal, "set default mode");
// set FOV
XnFieldOfView fov;
fov.fHFOV = 1.0225999419141749;
fov.fVFOV = 0.79661567681716894;
nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
CHECK_RC(nRetVal, "set FOV");
XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);
nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
CHECK_RC(nRetVal, "set empty depth map");
g_DepthGenerator = mockDepth;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
if (nRetVal != XN_STATUS_OK)
{
printf("No image node exists! check your XML.");
return 1;
}
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;
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_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
// Create and initialize point tracker
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Wave", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize the Session Manager: %s\n", xnGetStatusString(rc));
delete g_pSessionManager;
return rc;
}
g_pSessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd);
// Start catching signals for quit indications
CatchSignals(&g_bQuit);
// Create and initialize the main slider
g_pMainSlider = new XnVSelectableSlider1D(3);
g_pMainSlider->RegisterItemHover(NULL, &MainSlider_OnHover);
g_pMainSlider->RegisterItemSelect(NULL, &MainSlider_OnSelect);
g_pMainSlider->RegisterActivate(NULL, &MainSlider_OnActivate);
g_pMainSlider->RegisterDeactivate(NULL, &MainSlider_OnDeactivate);
g_pMainSlider->RegisterPrimaryPointCreate(NULL, &MainSlider_OnPrimaryCreate);
g_pMainSlider->RegisterPrimaryPointDestroy(NULL, &MainSlider_OnPrimaryDestroy);
g_pMainSlider->RegisterValueChange(NULL, &MainSlider_OnValueChange);
g_pMainSlider->SetValueChangeOnOffAxis(true);
// Creat the flow manager
g_pMainFlowRouter = new XnVFlowRouter;
// Connect flow manager to the point tracker
g_pSessionManager->AddListener(g_pMainFlowRouter);
// Create the MyBox objects
XnPoint3D ptMax, ptMin;
ptMax.Z = ptMin.Z = 0;
ptMax.Y = GL_WIN_SIZE_Y-50;
ptMin.Y = GL_WIN_SIZE_Y-300;
ptMax.X = 50; ptMin.X = 240;
g_pBox[0] = new MyBox(ptMax, ptMin);
ptMax.X = 260; ptMin.X = 450;
g_pBox[1] = new MyBox(ptMax, ptMin);
ptMax.X = 470; ptMin.X = 650;
g_pBox[2] = new MyBox(ptMax, ptMin);
// Register callback to the MyBox objects for their Leave event.
g_pBox[0]->RegisterLeave(NULL, &MyBox_Leave);
g_pBox[1]->RegisterLeave(NULL, &MyBox_Leave);
g_pBox[2]->RegisterLeave(NULL, &MyBox_Leave);
g_Context.StartGeneratingAll();
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
