void OniTrackApp::setup()
{
bRemoting = FALSE;
XnStatus rc = context.InitFromXmlFile(SAMPLE_XML_FILE);
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize: %s\n", xnGetStatusString(rc));
shutdown();
}
pSessionGenerator = new XnVSessionManager();
rc = ((XnVSessionManager*)pSessionGenerator)->Initialize(&context, "Click", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
shutdown();
}
context.StartGeneratingAll();
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
wc.RegisterWave(NULL, OnWaveCB);
wc.RegisterPointUpdate(NULL, OnPointUpdate);
pSessionGenerator->AddListener(&wc);
printf("Please perform focus gesture to start session\n");
printf("Hit any key to exit\n");
}
// this sample can run either as a regular sample, or as a client for multi-process (remote mode)
int main(int argc, char** argv)
{
//ros::Subscriber subcommand = rosnode.subscribe("/camera/rgb/image_color", 10, cameracallback);
/*ros::Subscriber subcommand = rosnode.subscribe("/camera/depth_registered/image_raw", 10, cameracallback);
printf("subscribe get\n");
*/
xn::Context context;
xn::ScriptNode scriptNode;
XnVSessionGenerator* pSessionGenerator;
XnBool bRemoting = FALSE;
ros::init(argc, argv, "detect_people", ros::init_options::NoSigintHandler);
ros::NodeHandle rosnode = ros::NodeHandle();
if (argc > 1)
{
// remote mode
context.Init();
printf("Running in 'Remoting' mode (Section name: %s)\n", argv[1]);
bRemoting = TRUE;
// Create multi-process client
pSessionGenerator = new XnVMultiProcessFlowClient(argv[1]);
XnStatus rc = ((XnVMultiProcessFlowClient*)pSessionGenerator)->Initialize();
if (rc != XN_STATUS_OK)
{
printf("Initialize failed: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
}
else
{
// Local mode
// Create context
const char *fn = NULL;
if (fileExists(SAMPLE_XML_FILE)) fn = SAMPLE_XML_FILE;
else if (fileExists(SAMPLE_XML_FILE_LOCAL)) fn = SAMPLE_XML_FILE_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_FILE, SAMPLE_XML_FILE_LOCAL);
return XN_STATUS_ERROR;
}
XnStatus rc = context.InitFromXmlFile(fn, scriptNode);
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize: %s\n", xnGetStatusString(rc));
return 1;
}
// Create the Session Manager
pSessionGenerator = new XnVSessionManager();
rc = ((XnVSessionManager*)pSessionGenerator)->Initialize(&context, "Click", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
// Initialization done. Start generating
context.StartGeneratingAll();
}
// Register session callbacks
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
// init & register wave control
XnVWaveDetector wc;
wc.RegisterWave(NULL, OnWaveCB);
wc.RegisterPointUpdate(NULL, OnPointUpdate);
pSessionGenerator->AddListener(&wc);
printf("Please perform focus gesture to start session\n");
printf("Hit any key to exit\n");
// Main loop
while (!xnOSWasKeyboardHit())
{
if (bRemoting)
{
((XnVMultiProcessFlowClient*)pSessionGenerator)->ReadState();
}
else
{
context.WaitAnyUpdateAll();
((XnVSessionManager*)pSessionGenerator)->Update(&context);
}
}
delete pSessionGenerator;
return 0;
}
// this sample can run either as a regular sample, or as a client for multi-process (remote mode)
int main(int argc, char** argv)
{
xn::Context context;
xn::ScriptNode scriptNode;
XnVSessionGenerator* pSessionGenerator;
XnBool bRemoting = FALSE;
if (argc > 1)
{
// remote mode
context.Init();
printf("Running in 'Remoting' mode (Section name: %s)\n", argv[1]);
bRemoting = TRUE;
// Create multi-process client
pSessionGenerator = new XnVMultiProcessFlowClient(argv[1]);
XnStatus rc = ((XnVMultiProcessFlowClient*)pSessionGenerator)->Initialize();
if (rc != XN_STATUS_OK)
{
printf("Initialize failed: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
}
else
{
const char *fn = NULL;
if (fileExists(SAMPLE_XML_FILE)) fn = SAMPLE_XML_FILE;
else if (fileExists(SAMPLE_XML_FILE_LOCAL)) fn = SAMPLE_XML_FILE_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_FILE, SAMPLE_XML_FILE_LOCAL);
return XN_STATUS_ERROR;
}
XnStatus rc = context.InitFromXmlFile(fn, scriptNode);
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize: %s\n", xnGetStatusString(rc));
return 1;
}
// Create the Session Manager
pSessionGenerator = new XnVSessionManager();
rc = ((XnVSessionManager*)pSessionGenerator)->Initialize(&context, "Click", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
// Initialization done. Start generating
context.StartGeneratingAll();
}
// Register session callbacks
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
// init & register wave control
XnVWaveDetector wc;
wc.RegisterWave(NULL, OnWaveCB);
wc.RegisterPointUpdate(NULL, OnPointUpdate);
pSessionGenerator->AddListener(&wc);
printf("Please perform focus gesture to start session\n");
printf("Hit any key to exit\n");
//We initialize our ROS nodes and publishers here
ros::init(argc, argv, "pointcontrol", ros::init_options::NoSigintHandler);
ros::NodeHandle rosnode = ros::NodeHandle();
/* ros::Publisher pub = rosnode.advertise<jimmy::pointerpos>("point_location", 10); //publisher for hand XYZ positions
jimmy::pointerpos msg;
ros::Publisher pub_gestures = rosnode.advertise<jimmy::gestures>("detected_gestures", 10); //publisher for gesture booleans
jimmy::gestures msg_gestures;
*/
ros::Publisher pub_single_servo = rosnode.advertise<std_msgs::Int16>("single_servo", 10); //publisher for gesture booleans
std_msgs::Int16 msg_single_servo;
// Main loop
while (!xnOSWasKeyboardHit())
{
if (bRemoting)
{
((XnVMultiProcessFlowClient*)pSessionGenerator)->ReadState();
}
else
{
context.WaitAnyUpdateAll();
((XnVSessionManager*)pSessionGenerator)->Update(&context);
//fill out the custom message fields with the placeholders we've previously defined
/* msg.positionx = xpos;
msg.positiony = ypos;
msg.positionz = zpos;
pub.publish(msg);
msg_gestures.wave = wave;
msg_gestures.hello = sess_start;
msg_gestures.goodbye = sess_end;
pub_gestures.publish(msg_gestures);
*/
if(wave){
int num = 1;
msg_single_servo.data = num;
pub_single_servo.publish(msg_single_servo);
}
//set gesture booleans back to false for re-initialization again
wave = false;
sess_start = false;
sess_end = false;
ros::spinOnce();
}
}
delete pSessionGenerator;
return 0;
}
