00001
00009 #include "OpenNi2Tool.h"
00010 #include "tools++.h"
00011
00012
00013
00014 #ifdef ENABLE_OPENNI2
00015
00016
00017 using namespace jbxl;
00018
00019
00020
00021
00022 COpenNiTool::COpenNiTool(void)
00023 {
00024 device = NULL;
00025 dev_backup = NULL;
00026
00027 tracking_user = 0;
00028 tracking_deny = 0;
00029
00030 m_err_mesg = make_Buffer(LMESG);
00031
00032 clear_JointsData();
00033 }
00034
00035
00036
00037 BOOL COpenNiTool::init(BOOL use_image)
00038 {
00039 device = new COpenNi2Device();
00040 BOOL ret = device->init(use_image);
00041 if (ret) {
00042
00043 setGlobalMirror(TRUE);
00044 }
00045 else {
00046 copy_Buffer(&device->m_err_mesg, &m_err_mesg);
00047 }
00048
00049
00050 device->m_state = NI_STATE_DETECT_STOPPED;
00051
00052 return ret;
00053 }
00054
00055
00056
00057 void COpenNiTool::free(void)
00058 {
00059 delete_Device();
00060
00061 free_Buffer(&m_err_mesg);
00062 }
00063
00064
00065
00066 void COpenNiTool::delete_Device(void)
00067 {
00068 if (device!=NULL) {
00069 delete(device);
00070 device = NULL;
00071 }
00072 return;
00073 }
00074
00075
00076
00077 void COpenNiTool::clear_JointsData(void)
00078 {
00079 clear_JointsPosData();
00080 clear_JointsRotData();
00081 }
00082
00083
00084
00085 void COpenNiTool::clear_JointsPosData(void)
00086 {
00087 memset(jointPosData, 0, sizeof(XnVector3D) *OPENNI_JOINT_NUM);
00088 memset(jointPosConfidence, 0, sizeof(double)*OPENNI_JOINT_NUM);
00089 }
00090
00091
00092
00093 void COpenNiTool::clear_JointsRotData(void)
00094 {
00095 memset(jointRotData, 0, sizeof(XnMatrix3X3)*OPENNI_JOINT_NUM);
00096 memset(jointRotConfidence, 0, sizeof(double)*OPENNI_JOINT_NUM);
00097 }
00098
00099
00100
00101 nite::UserData* COpenNiTool::get_Avatar(unsigned int id)
00102 {
00103 static nite::UserData avatar;
00104
00105 if (device!=NULL && device->user!=NULL) {
00106 const nite::Array<nite::UserData>& avatars = device->userFrame.getUsers();
00107 for (int i=0; i<avatars.getSize(); i++) {
00108 avatar = avatars[i];
00109 if (id==(unsigned int)avatar.getId()) {
00110 return &avatar;
00111 break;
00112 }
00113 }
00114 }
00115
00116 return NULL;
00117 }
00118
00119
00120
00121
00123
00124
00125 void COpenNiTool::get_JointsPositionData(unsigned int nId)
00126 {
00127 nite::UserData* avatar = get_Avatar(nId);
00128 if (avatar==NULL) {
00129 clear_JointsPosData();
00130 return;
00131 }
00132
00133 const nite::Skeleton& skeelton = avatar->getSkeleton();
00134
00135 if (skeelton.getState()==nite::SKELETON_TRACKED) {
00136 for (int j=1; j<OPENNI_JOINT_NUM; j++) {
00137 const nite::SkeletonJoint& joint = skeelton.getJoint((nite::JointType)(j-1));
00138 const nite::Point3f& position = joint.getPosition();
00139 jointPosData[j].X = position.x;
00140 jointPosData[j].Y = position.y;
00141 jointPosData[j].Z = position.z;
00142 jointPosConfidence[j] = joint.getPositionConfidence();
00143 }
00144 }
00145 }
00146
00147
00148
00149 void COpenNiTool::get_JointsRotationData(unsigned int nId)
00150 {
00151 memset(jointRotData, 0, sizeof(XnMatrix3X3)*OPENNI_JOINT_NUM);
00152 memset(jointRotConfidence, 0, sizeof(double)*OPENNI_JOINT_NUM);
00153
00154
00155
00156
00157
00158
00159
00160
00161
00162
00163
00164
00165
00166 }
00167
00168
00169
00170 XnVector3D COpenNiTool::joint_PositionData(int j)
00171 {
00172 XnVector3D vect;
00173
00174 if (j>=0 && j<OPENNI_JOINT_NUM) {
00175 vect = jointPosData[j];
00176 }
00177 else {
00178 memset(&vect, 0, sizeof(XnVector3D));
00179 }
00180
00181 return vect;
00182 }
00183
00184
00185
00186 XnMatrix3X3 COpenNiTool::joint_RotationData(int j)
00187 {
00188 XnMatrix3X3 mtrx;
00189
00190 if (j>=0 && j<OPENNI_JOINT_NUM) {
00191 mtrx = jointRotData[j];
00192 }
00193 else {
00194 memset(&mtrx, 0, sizeof(XnMatrix3X3));
00195 }
00196
00197 return mtrx;
00198 }
00199
00200
00201
00202 double COpenNiTool::joint_PositionConfidence(int j)
00203 {
00204 double cnfd = 0.0;
00205
00206 if (j>=0 && j<OPENNI_JOINT_NUM) {
00207 cnfd = (double)jointPosConfidence[j];
00208 }
00209
00210 return cnfd;
00211 }
00212
00213
00214
00215
00216 double COpenNiTool::joint_RotationConfidence(int j)
00217 {
00218 double cnfd = 0.0;
00219
00220 if (j>=0 && j<OPENNI_JOINT_NUM) {
00221 cnfd = (double)jointRotConfidence[j];
00222 }
00223
00224 return cnfd;
00225 }
00226
00227
00228
00229
00231
00232
00233 BOOL COpenNiTool::start_Detection(int profile, double smooth)
00234 {
00235 if (device->m_state==NI_STATE_DETECT_EXEC) {
00236 copy_s2Buffer("COpenNiTool:start_Detection WARNING: detection is already executed", &m_err_mesg);
00237 return FALSE;
00238 }
00239
00240 device->m_state = NI_STATE_DETECT_STARTING;
00241 clear_JointsData();
00242 tracking_user = 0;
00243 tracking_deny = 0;
00244
00245 BOOL ret = device->create_User();
00246 if (ret) ret = device->setup_Tracking(profile, smooth);
00247
00248 if (!ret) {
00249 device->m_state = NI_STATE_DETECT_STOPPING;
00250 device->delete_User();
00251 device->m_state = NI_STATE_DETECT_STOPPED;
00252 copy_s2Buffer("COpenNiTool:start_Detection ERROR: Myabe NITE is not installed!!", &m_err_mesg);
00253 return FALSE;
00254 }
00255 device->m_state = NI_STATE_DETECT_EXEC;
00256
00257 return TRUE;
00258 }
00259
00260
00261
00262 BOOL COpenNiTool::stop_Detection(void)
00263 {
00264 if (device->m_state==NI_STATE_DETECT_STOPPED) {
00265 copy_s2Buffer("COpenNiTool:stop_Detection WARNING: detection is already stopped", &m_err_mesg);
00266 return FALSE;
00267 }
00268
00269 device->m_state = NI_STATE_DETECT_STOPPING;
00270 Sleep(NI_STOP_WAIT_TIME);
00271 device->delete_User();
00272
00273 tracking_user = 0;
00274 tracking_deny = 0;
00275
00276 device->m_state = NI_STATE_DETECT_STOPPED;
00277
00278 return TRUE;
00279 }
00280
00281
00282
00283 unsigned int COpenNiTool::get_TrackingUser(void)
00284 {
00285 unsigned int id = 0;
00286
00287 if (device!=NULL && device->user!=NULL) {
00288 const nite::Array<nite::UserData>& avatars = device->userFrame.getUsers();
00289
00290 int start = 0;
00291 if (tracking_deny!=0) {
00292 for (int i=0; i<avatars.getSize(); i++) {
00293 const nite::UserData& avatar = avatars[i];
00294 if (tracking_deny==(unsigned int)avatar.getId()) {
00295 start = i + 1;
00296 break;
00297 }
00298 }
00299 }
00300
00301 for (int i=0; i<avatars.getSize(); i++) {
00302 int idx = (start + i) % avatars.getSize();
00303 const nite::UserData& avatar = avatars[idx];
00304 if (avatar.isNew()) {
00305 nite::Status nc = device->user->startSkeletonTracking(avatar.getId());
00306 if (nc==nite::STATUS_OK) id = (unsigned int)avatar.getId();
00307 break;
00308 }
00309 else if (!avatar.isLost()) {
00310 id = (unsigned int)avatar.getId();
00311 break;
00312 }
00313 }
00314 }
00315
00316 return id;
00317 }
00318
00319
00320
00321 void COpenNiTool::set_DenyTrackingSearch(unsigned int user)
00322 {
00323 if ((int)user>0) tracking_deny = user;
00324 else tracking_deny = 0;
00325
00326 return;
00327 }
00328
00329
00330
00331
00333
00334 BOOL COpenNiTool::backupDevice(void)
00335 {
00336 dev_backup = device;
00337 device = new COpenNi2Device();
00338
00339 if (device==NULL) {
00340 device = dev_backup;
00341 dev_backup = NULL;
00342 return FALSE;
00343 }
00344 return TRUE;
00345 }
00346
00347
00348
00349 BOOL COpenNiTool::restoreDevice(void)
00350 {
00351 if (dev_backup==NULL) return FALSE;
00352
00353 delete(device);
00354 device = dev_backup;
00355 dev_backup = NULL;
00356 return TRUE;
00357 }
00358
00359
00360 #endif // ifdef ENABLE_OPENNI2
