JunkBox_Lib++ (for Windows): NiLib/OpenNiTool.h Source File

00001 #ifndef  __JBXL_OPENNI_TOOL_H_
00002 #define  __JBXL_OPENNI_TOOL_H_
00003 
00011 //
00012 #ifdef ENABLE_OPENNI2
00013 
00014 #include "OpenNi2Tool.h"
00015 
00016 #ifdef ENABLE_OPENNI
00017     #undef ENABLE_OPENNI
00018 #endif
00019 
00020 #endif
00021 
00022 
00023 #ifdef  ENABLE_OPENNI
00024 
00025 
00026 #include  "OpenNiDevice.h"
00027 
00028 
00029 //
00030 namespace jbxl {
00031 
00032 
00033 class  COpenNiTool
00034 {
00035 public:
00036     COpenNiTool(void);
00037     virtual ~COpenNiTool(void) { free();}
00038 
00039 private:
00040     COpenNiDevice*  device;
00041     COpenNiDevice*  dev_backup;
00042 
00043 public:
00044     Buffer          m_err_mesg;
00045 
00046     unsigned int    tracking_user;
00047     unsigned int    tracking_deny;
00048 
00049 public:
00050     BOOL        init(BOOL use_camera);
00051     void        free(void);
00052     void        delete_Device(void);
00053     
00054     void        clear_JointsData(void);
00055     void        clear_JointsPosData(void);
00056     void        clear_JointsRotData(void);
00057 
00058 public:
00059     // Joints
00060     void        get_JointsPositionData(unsigned int nId);
00061     void        get_JointsRotationData(unsigned int nId);
00062 
00063     XnVector3D  joint_PositionData(int joint);
00064     XnMatrix3X3 joint_RotationData(int joint);
00065     double      joint_PositionConfidence(int joint);
00066     double      joint_RotationConfidence(int joint);
00067 
00068 public:
00069     // Detection
00070     BOOL         start_Detection(int profile, double smooth);
00071     BOOL         stop_Detection(void);
00072 
00073     unsigned int get_TrackingUser(void);
00074     void         set_DenyTrackingSearch(unsigned int user);
00075 
00076     // Device
00077     BOOL        backupDevice(void);
00078     BOOL        restoreDevice(void);
00079 
00080 
00081 protected:
00082 // Data
00083     XnVector3D  jointPosData[OPENNI_JOINT_NUM];         // no data at [0]
00084     XnMatrix3X3 jointRotData[OPENNI_JOINT_NUM];         // no data at [0]
00085     double      jointPosConfidence[OPENNI_JOINT_NUM];
00086     double      jointRotConfidence[OPENNI_JOINT_NUM];
00087 
00088 // device Interface
00089 public:
00090     ONI_EnuDev getEnuDevice(void) { if (device!=NULL) return device->m_enu_dev; else return EnuDev_Unknown;} 
00091 
00092     BOOL  initDevice(BOOL image) { if (device!=NULL) return device->init(image); else return FALSE;}
00093     BOOL  initDevice(char* fname, BOOL image) { if (device!=NULL) return device->init(fname, image); else return FALSE;}
00094     
00095     BOOL  resetDevice(BOOL image) { deleteDepth(); deleteImage(); deletePlayer(); return initDevice(image);}
00096     BOOL  resetDevice(char* fname, BOOL image) { deleteDepth(); deleteImage(); deletePlayer(); return initDevice(fname, image);}
00097 
00098     BOOL  hasBackupDev(void)     { if (dev_backup!=NULL) return TRUE; else return FALSE;}
00099     void  deleteBackupDev(void)  { if (dev_backup!=NULL) { delete(dev_backup); dev_backup=NULL;}}
00100 
00101     int   getDevState(void)      { if (device!=NULL) return device->m_state; else return NI_STATE_UNKNOWN;}
00102     void  setDevState(int state) { if (device!=NULL) device->m_state = state;}
00103 
00104     BOOL  hasContext(void)   { if (device!=NULL && device->context!=NULL) return TRUE; else return FALSE;}
00105     BOOL  hasImageGen(void)  { if (device!=NULL && device->image!=NULL)   return TRUE; else return FALSE;}
00106     BOOL  hasDepthGen(void)  { if (device!=NULL && device->depth!=NULL)   return TRUE; else return FALSE;}
00107     BOOL  hasPlayer(void)    { if (device!=NULL && device->player!=NULL)  return TRUE; else return FALSE;}
00108 
00109     BOOL  createContext(void){ if (device!=NULL) return device->create_Context();else return FALSE;}
00110     BOOL  createImage(void)  { if (device!=NULL) return device->create_Image();  else return FALSE;}
00111     BOOL  createDepth(void)  { if (device!=NULL) return device->create_Depth();  else return FALSE;}
00112     BOOL  createPlayer(void) { if (device!=NULL) return device->create_Player(); else return FALSE;}
00113 
00114     void  deleteContext(void){ if (device!=NULL) device->delete_Context();}
00115     void  deleteImage(void)  { if (device!=NULL) device->delete_Image();}
00116     void  deleteDepth(void)  { if (device!=NULL) device->delete_Depth();}
00117     void  deletePlayer(void) { if (device!=NULL) device->delete_Player();}
00118 
00119     void  waitStreamData(void) { if (device!=NULL && device->context!=NULL) device->context->WaitAndUpdateAll();}     
00120 
00121     //
00122     BOOL  setImageData(void)
00123     {
00124         if (device!=NULL && device->image!=NULL && device->imageMD!=NULL) {
00125             device->image->GetMetaData(*(device->imageMD));
00126             return TRUE;
00127         }
00128         return FALSE;
00129     }
00130         
00131     //
00132     BOOL  setDepthData(void)
00133     {
00134         if (device!=NULL && device->depth!=NULL && device->depthMD!=NULL) {
00135             device->depth->GetMetaData(*(device->depthMD));
00136             return TRUE;
00137         }
00138         return FALSE;
00139     }
00140 
00141     //
00142     BOOL  setSceneData(void)
00143     {
00144         if (device!=NULL && device->user!=NULL && device->sceneMD!=NULL) {
00145             device->user->GetUserPixels(0, *(device->sceneMD));
00146             return TRUE;
00147         }
00148         return FALSE;
00149     }
00150 
00151     //
00152     uByte* getImageData(void) 
00153     { 
00154         if (device!=NULL && device->imageMD!=NULL) return (uByte*)device->imageMD->RGB24Data(); 
00155         else return NULL;
00156     }
00157 
00158     //
00159     uByte* getDepthData(void) 
00160     { 
00161         if (device!=NULL && device->depthMD!=NULL) return (uByte*)device->depthMD->Data(); 
00162         else return NULL;
00163     }
00164 
00165     //
00166     uByte* getSceneData(void) 
00167     { 
00168         if (device!=NULL && device->sceneMD!=NULL) return (uByte*)device->sceneMD->Data(); 
00169         else return NULL;
00170     }
00171 
00172     //
00173     BOOL  isTracking(unsigned int user)   
00174     { 
00175         if (device!=NULL && device->skeleton!=NULL && device->skeleton->IsTracking((XnUserID)user)) return TRUE; 
00176         else return FALSE;
00177     }
00178     void  stopTracking(unsigned int user) 
00179     { 
00180         if (device!=NULL && device->skeleton!=NULL) device->skeleton->StopTracking((XnUserID)user);
00181     }
00182     
00183     //
00184     void  setGlobalMirror(BOOL mirror) 
00185     {
00186         if (device!=NULL && device->context!=NULL) device->context->SetGlobalMirror(mirror);
00187     }
00188 
00189     //
00190     int   getXSize(void)  { if (device!=NULL) return device->m_xsize; else return 0;}
00191     int   getYSize(void)  { if (device!=NULL) return device->m_ysize; else return 0;}
00192     int   getFPS(void)    { if (device!=NULL) return device->m_nfps;  else return 0;}
00193     
00194     //
00195     void  setViewPoint(void)
00196     {
00197         if (device!=NULL && device->depth!=NULL && device->image!=NULL) {
00198             device->depth->GetAlternativeViewPointCap().SetViewPoint(*(device->image));
00199         }
00200     }
00201 
00202     //
00203     void  convertDepth2Image(int dx, int dy, unsigned short dz, int* ix, int* iy) 
00204     {
00205         (*ix) = dx;
00206         (*iy) = dy;
00207     }
00208 
00209     //
00210     void  convert2Projective(unsigned int c, XnPoint3D* a, XnPoint3D* b) 
00211     { 
00212         if (device!=NULL && device->depth!=NULL) device->depth->ConvertRealWorldToProjective(c, a, b);
00213     }
00214 
00215     //
00216     BOOL  startRecorde(char* file_name, BOOL use_image) 
00217     { 
00218         if (device!=NULL) return device->start_Recorde(file_name, use_image); 
00219         else return FALSE;
00220     }
00221 
00222     //
00223     void  stopRecorde(void) { device->stop_Recorde();}
00224     //
00225     void  playerSetRepeat(BOOL rep) { if (device!=NULL && device->player!=NULL) device->player->SetRepeat(rep); }
00226     void  playerSetSeek(XnInt64 tm) { if (device!=NULL && device->player!=NULL) device->player->SeekToTimeStamp(tm, XN_PLAYER_SEEK_SET);}
00227 
00228     // USB
00229     BOOL  open_USBDevice(void)   { if (device!=NULL) return device->open_USB_Device(); else return FALSE;}
00230     void  close_USBDevice(void)  { if (device!=NULL) device->close_USB_Device();}
00231     void  set_LEDColor(int col)  { if (device!=NULL) device->set_LED_Color(col);}
00232     void  set_TiltMotor(int ang) { if (device!=NULL) device->set_Tilt_Motor(ang);}
00233 
00234 };
00235 
00236 
00237 }       // namespace
00238 
00239 
00240 
00241 
00242 #endif
00243 
00244 
00245 
00246 #endif  // __JBXL_OPENNI_TOOL_H_
00247 
00248 
00249 
00250 
00251 
00252 
00253 
00254 
00255 
00256 
00258 // Information
00259 
00260 /*
00261 XnTypes.h
00262 
00263 typedef enum XnSkeletonJoint
00264 {
00265     XN_SKEL_HEAD            = 1,
00266     XN_SKEL_NECK            = 2,
00267     XN_SKEL_TORSO           = 3,
00268     XN_SKEL_WAIST           = 4,
00269 
00270     XN_SKEL_LEFT_COLLAR     = 5,
00271     XN_SKEL_LEFT_SHOULDER   = 6,
00272     XN_SKEL_LEFT_ELBOW      = 7,
00273     XN_SKEL_LEFT_WRIST      = 8,
00274     XN_SKEL_LEFT_HAND       = 9,
00275     XN_SKEL_LEFT_FINGERTIP  =10,
00276 
00277     XN_SKEL_RIGHT_COLLAR    =11,
00278     XN_SKEL_RIGHT_SHOULDER  =12,
00279     XN_SKEL_RIGHT_ELBOW     =13,
00280     XN_SKEL_RIGHT_WRIST     =14,
00281     XN_SKEL_RIGHT_HAND      =15,
00282     XN_SKEL_RIGHT_FINGERTIP =16,
00283 
00284     XN_SKEL_LEFT_HIP        =17,
00285     XN_SKEL_LEFT_KNEE       =18,
00286     XN_SKEL_LEFT_ANKLE      =19,
00287     XN_SKEL_LEFT_FOOT       =20,
00288 
00289     XN_SKEL_RIGHT_HIP       =21,
00290     XN_SKEL_RIGHT_KNEE      =22,
00291     XN_SKEL_RIGHT_ANKLE     =23,
00292     XN_SKEL_RIGHT_FOOT      =24 
00293 } XnSkeletonJoint;
00294 */
00295 
00296 
00297