00001 #include <XnOpenNI.h>
00002 #include <XnCodecIDs.h>
00003
00004 #include "KinectController.h"
00005
00006 #define CHECK_RC(nRetVal, what) \
00007 if (nRetVal != XN_STATUS_OK) \
00008 { \
00009 printf("%s failed: %s\n", what, xnGetStatusString(nRetVal));\
00010 return nRetVal; \
00011 }
00012
00013 xn::Context KinectController::g_Context;
00014 xn::DepthGenerator KinectController::g_DepthGenerator;
00015 xn::UserGenerator KinectController::g_UserGenerator;
00016
00017 XnBool KinectController::g_bNeedPose = FALSE;
00018 XnChar KinectController::g_strPose[20] = "";
00019
00020 KinectController::KinectController()
00021 {
00022 }
00023
00024
00025 xn::UserGenerator& KinectController::getUserGenerator()
00026 {
00027 return g_UserGenerator;
00028 }
00029
00030 xn::DepthGenerator& KinectController::getDepthGenerator()
00031 {
00032 return g_DepthGenerator;
00033 }
00034
00035 xn::Context& KinectController::getContext()
00036 {
00037 return g_Context;
00038 }
00039
00040
00041 void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
00042 {
00043 printf("New User %d\n", nId);
00044
00045 if (KinectController::g_bNeedPose)
00046 {
00047 KinectController::g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(KinectController::g_strPose, nId);
00048 }
00049 else
00050 {
00051 KinectController::g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
00052 }
00053 }
00054
00055
00056 void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
00057 {
00058 printf("Lost user %d\n", nId);
00059 }
00060
00061
00062 void XN_CALLBACK_TYPE UserPose_PoseDetected(xn::PoseDetectionCapability& capability, const XnChar* strPose, XnUserID nId, void* pCookie)
00063 {
00064 printf("Pose %s detected for user %d\n", strPose, nId);
00065 KinectController::g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
00066 KinectController::g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
00067 }
00068
00069
00070 void XN_CALLBACK_TYPE UserCalibration_CalibrationStart(xn::SkeletonCapability& capability, XnUserID nId, void* pCookie)
00071 {
00072 printf("Calibration started for user %d\n", nId);
00073 }
00074
00075
00076 void XN_CALLBACK_TYPE UserCalibration_CalibrationEnd(xn::SkeletonCapability& capability, XnUserID nId, XnBool bSuccess, void* pCookie)
00077 {
00078 if (bSuccess)
00079 {
00080
00081 printf("Calibration complete, start tracking user %d\n", nId);
00082 KinectController::g_UserGenerator.GetSkeletonCap().StartTracking(nId);
00083 }
00084 else
00085 {
00086
00087 printf("Calibration failed for user %d\n", nId);
00088 if (KinectController::g_bNeedPose)
00089 {
00090 KinectController::g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(KinectController::g_strPose, nId);
00091 }
00092 else
00093 {
00094 KinectController::g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
00095 }
00096 }
00097 }
00098
00099
00100 int KinectController::init(const char* path, bool recording)
00101 {
00102 XnStatus nRetVal = XN_STATUS_OK;
00103
00104 if (recording)
00105 {
00106 nRetVal = g_Context.Init();
00107 CHECK_RC(nRetVal, "Init");
00108 nRetVal = g_Context.OpenFileRecording(path);
00109 if (nRetVal != XN_STATUS_OK)
00110 {
00111 printf("Can't open recording %s: %s\n", path, xnGetStatusString(nRetVal));
00112 return 1;
00113 }
00114 }
00115 else
00116 {
00117 nRetVal = g_Context.InitFromXmlFile(path);
00118 CHECK_RC(nRetVal, "InitFromXml");
00119 }
00120
00121 nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
00122 CHECK_RC(nRetVal, "Find depth generator");
00123 nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
00124 if (nRetVal != XN_STATUS_OK)
00125 {
00126 nRetVal = g_UserGenerator.Create(g_Context);
00127 CHECK_RC(nRetVal, "Find user generator");
00128 }
00129
00130 XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
00131 if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
00132 {
00133 printf("Supplied user generator doesn't support skeleton\n");
00134 return 1;
00135 }
00136 g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
00137 g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
00138
00139 if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
00140 {
00141 g_bNeedPose = TRUE;
00142 if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
00143 {
00144 printf("Pose required, but not supported\n");
00145 return 1;
00146 }
00147 g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
00148 g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
00149 }
00150
00151 g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
00152
00153 nRetVal = g_Context.StartGeneratingAll();
00154 CHECK_RC(nRetVal, "StartGenerating");
00155
00156 return 0;
00157 }
00158
00159 int KinectController::shutdown()
00160 {
00161 g_Context.Shutdown();
00162 return 0;
00163 }