JunkBox_Win_Lib: WinNiLib/NiJointsTool.h Source File

00001 #pragma once
00002 
00003 #include  "NiToolWin.h"
00004 #include  "Vector.h"
00005 #include  "Rotation.h"
00006 #include  "RingBuffer.h"
00007 
00008 
00009 #define   NI_JTXT_FILE_ID       "NI_JOINTS_TEXT_FILE"
00010 
00011 
00012 #define   NI_NORML_JOINT_NUM    33  // NORMAL JOINTS
00013 #define   NI_SPECL_JOINT_NUM    4   // NI_L_FINGER, NI_R_FINGER, NI_FACE, NI_AVATAR
00014 #define   NI_TOTAL_JOINT_NUM    37  // 33 + 4
00015 
00016 
00017 #define   NI_OPENNI_JOINT_NUM   25  // OPENNI_JOINT_NUM
00018 #define   NI_OPENNI2_JOINT_NUM  16  // OPENNI2_JOINT_NUM
00019 #define   NI_KINECT_JOINT_NUM   20  // KINECT_JOINT_NUM, NUI_SKELETON_POSITION_COUNT
00020 
00021 //
00022 #define   NI_SDK_IS_TRACKING    0x0100
00023 #define   NI_SDK_PROFILE_UPPER  0x1000
00024 #define   NI_SDK_AVATAR_TRAILER 0x2000
00025 
00026 #define   NI_PROFILE_UPPER      3
00027 
00028 
00030 // 共通ジョイント番号
00031 
00032 #define   NI_PELVIS      0
00033 #define   NI_WAIST       1
00034 #define   NI_TORSO       2
00035 #define   NI_CHEST       3
00036 #define   NI_NECK        4
00037 #define   NI_HEAD        5
00038 #define   NI_SKULL       6
00039 
00040 #define   NI_L_EYE       7
00041 #define   NI_R_EYE       8
00042 #define   NI_L_BUST      9
00043 #define   NI_R_BUST     10
00044 
00045 #define   NI_L_COLLAR   11
00046 #define   NI_L_SHLDR    12
00047 #define   NI_L_ELBOW    13
00048 #define   NI_L_WRIST    14
00049 #define   NI_L_HAND     15
00050 #define   NI_L_FNGRTIP  16
00051 
00052 #define   NI_R_COLLAR   17
00053 #define   NI_R_SHLDR    18
00054 #define   NI_R_ELBOW    19
00055 #define   NI_R_WRIST    20
00056 #define   NI_R_HAND     21
00057 #define   NI_R_FNGRTIP  22
00058 
00059 #define   NI_L_HIP      23
00060 #define   NI_L_KNEE     24
00061 #define   NI_L_ANKLE    25
00062 #define   NI_L_FOOT     26
00063 #define   NI_L_TOE      27
00064     
00065 #define   NI_R_HIP      28
00066 #define   NI_R_KNEE     29
00067 #define   NI_R_ANKLE    30
00068 #define   NI_R_FOOT     31
00069 #define   NI_R_TOE      32
00070 
00071 // Special Joints
00072 #define   NI_L_FINGER   33      // Parameter for Left Finger
00073 #define   NI_R_FINGER   34      // Parameter for Right Finger
00074 #define   NI_FACE       35      // Parameter for Expression
00075 
00076 #define   NI_AVATAR     36
00077 
00078 
00080 // SDK独立な作業用ジョイント番号．
00081 // 二つのSDK（OpenNI, Kinect SDK）のジョイント名はこの名前に集約される．
00082 
00083 extern int  NI_SDK_PELVIS;
00084 extern int  NI_SDK_TORSO;
00085 extern int  NI_SDK_NECK;
00086 extern int  NI_SDK_HEAD;
00087 
00088 extern int  NI_SDK_L_EYE;
00089 extern int  NI_SDK_R_EYE;
00090 extern int  NI_SDK_L_BUST;
00091 extern int  NI_SDK_R_BUST;
00092     
00093 extern int  NI_SDK_L_SHLDR;
00094 extern int  NI_SDK_L_ELBOW;
00095 extern int  NI_SDK_L_WRIST;
00096 extern int  NI_SDK_L_HAND;
00097     
00098 extern int  NI_SDK_R_SHLDR;
00099 extern int  NI_SDK_R_ELBOW;
00100 extern int  NI_SDK_R_WRIST;
00101 extern int  NI_SDK_R_HAND;
00102 
00103 extern int  NI_SDK_L_HIP;
00104 extern int  NI_SDK_L_KNEE;
00105 extern int  NI_SDK_L_ANKLE;
00106 extern int  NI_SDK_L_FOOT;
00107     
00108 extern int  NI_SDK_R_HIP;
00109 extern int  NI_SDK_R_KNEE;
00110 extern int  NI_SDK_R_ANKLE;
00111 extern int  NI_SDK_R_FOOT;
00112 
00113 extern int  NI_SDK_L_FINGER;
00114 extern int  NI_SDK_R_FINGER;
00115 extern int  NI_SDK_FACE;
00116 
00117 extern int  NI_SDK_AVATAR;
00118 
00119 //
00120 extern  jbxl::RBound<double>    RBound_NI_TORSO;
00121 extern  jbxl::RBound<double>    RBound_NI_CHEST;
00122 extern  jbxl::RBound<double>    RBound_NI_NECK;
00123 extern  jbxl::RBound<double>    RBound_NI_HEAD;
00124 
00125 extern  jbxl::RBound<double>    RBound_NI_L_COLLAR;
00126 extern  jbxl::RBound<double>    RBound_NI_L_COLLAR;  
00127 extern  jbxl::RBound<double>    RBound_NI_L_COLLAR;  
00128 extern  jbxl::RBound<double>    RBound_NI_R_COLLAR;
00129 extern  jbxl::RBound<double>    RBound_NI_L_SHLDR;
00130 extern  jbxl::RBound<double>    RBound_NI_R_SHLDR;
00131 extern  jbxl::RBound<double>    RBound_NI_L_ELBOW;
00132 extern  jbxl::RBound<double>    RBound_NI_R_ELBOW;
00133 extern  jbxl::RBound<double>    RBound_NI_L_WRIST;
00134 extern  jbxl::RBound<double>    RBound_NI_R_WRIST;
00135 extern  jbxl::RBound<double>    RBound_NI_L_HAND;
00136 extern  jbxl::RBound<double>    RBound_NI_R_HAND;
00137 
00138 extern  jbxl::RBound<double>    RBound_NI_L_HIP;
00139 extern  jbxl::RBound<double>    RBound_NI_R_HIP;
00140 extern  jbxl::RBound<double>    RBound_NI_L_KNEE;
00141 extern  jbxl::RBound<double>    RBound_NI_R_KNEE;
00142 extern  jbxl::RBound<double>    RBound_NI_L_ANKLE;
00143 extern  jbxl::RBound<double>    RBound_NI_R_ANKLE;
00144 extern  jbxl::RBound<double>    RBound_NI_L_FOOT;
00145 extern  jbxl::RBound<double>    RBound_NI_R_FOOT;
00146 
00147 
00148 
00149 namespace jbxwl {
00150 
00151 using namespace jbxl;
00152 
00153 
00155 
00156 typedef struct __NiJointData
00157 {
00158     int               joint;        // Niジョイントの番号
00159     int               index;        // フレームの通し番号．フレームデータの添え字．NiFrameData[i].jdata[j].index==i
00160 
00161     Vector<double>     vect;        // ジョイントの座標
00162     Quaternion<double> quat;        // ジョイントの回転
00163 
00164     double             angl;        // 回転角（度）
00165     //
00166 } NiJointData;
00167 
00168 
00169 //
00170 typedef struct __NiFrameData
00171 {
00172     int          frmn;          // フレーム番号
00173     int          msec;          // フレーム時間
00174     int          jnum;          // Joint の数
00175     NiJointData* jdat;          // Joint データの配列（jnum個）
00176     //
00177 } NiFrameData;
00178 
00179 
00180 
00182 
00183 // 共通のジョイントの名前と番号
00184 std::string NiJointName(int n);
00185 int         NiJointNum(char* name);
00186 
00187 // SDK 固有のジョイント番号から共通のジョイント名を得る
00188 std::string NiSDK2JointName(int joint, NiSDK_Lib lib);
00189 
00190 // SDK 固有のジョイント番号のミラージョイントの番号を得る
00191 int         NiSDKMirrorJointNum(int joint, NiSDK_Lib lib);
00192 
00193 #define     NiMirrorJointNum(j)  NiSDKMirrorJointNum((j), NiSDK_None)
00194 
00195 // 共通のジョイント名から Library 固有のジョイント番号を得る
00196 int         JointName2NiSDK(char* jname, NiSDK_Lib lib);
00197 
00198 // 共通ジョイント番号から，SDK 固有の座標用または回転用ジョイント番号を得る
00199 int         Ni2SDKPosJointNum(int joint, NiSDK_Lib lib);
00200 int         Ni2SDKRotJointNum(int joint, NiSDK_Lib lib);
00201 
00202 #define     Ni2SDKJointNum(j, l)  Ni2SDKPosJointNum((j), (l))
00203 
00204 // SDK 固有のジョイント番号を設定する
00205 void        NiSetKinectJointNums(void);
00206 void        NiSetOpenNIJointNums(void);
00207 void        NiSetOpenNI2JointNums(void);
00208 
00209 // Frame
00210 //NiFrameData* makeFramesData(int frame, int  jnum);
00211 //NiFrameData* makeVarFrameData(int frame, int* jnum, int* frtm=NULL);
00212 NiFrameData* makeFramesData(int frame, int joint_num, int* frame_num);
00213 void         freeFramesData(NiFrameData* frmdata, int frm_num);
00214 
00215 
00216 
00218 // ジョイントの回転角の補正
00219 
00220 void        NiInitRBoundJointsRotation(void);
00221 
00222 void        NiCorrectJointsRotation(Quaternion<double>* quat, NiSDK_Lib lib);
00223 void        NiCorrectJointEuler(int joint, Quaternion<double>* quat, RBound<double> rb);
00224 
00225 void        NiGetJointEuler(int joint, Quaternion<double>* quat, Vector<double>* vect);
00226 void        NiSetJointEuler(int joint, Vector<double>* vect, Quaternion<double>* quat);
00227 
00228 
00229 
00231 //  共通ジョイントのクラス
00232 //      ジョイントを抽象化するクラス
00233 
00234 class  CNiJoints
00235 {
00236 public:
00237     CNiJoints(void)          { init();}
00238     CNiJoints(NiSDK_Lib lib) { init(); sdk_lib = lib;}
00239     virtual ~CNiJoints(void) {}
00240 
00241     void     clear(void)     { init();}
00242 
00243 public:
00244     NiSDK_Lib   sdk_lib;
00245 
00246 public:
00247     void    init(void);
00248 
00249     void    clearNiJointsData(void);
00250     void    connectJointsData(Vector<double>* vct, Quaternion<double>* qut, 
00251                               Vector<int>* crd, double* agl, CRingBuffer* vrg, CRingBuffer* qrg);
00252     void    copyJoints2NiJoints(BOOL mirror);
00253 
00254 public:
00255     Vector<double>*     posVect;
00256     Quaternion<double>* rotQuat;
00257     Vector<int>*        crdVect;
00258 
00259     double*             jntAngl;
00260 
00261     CRingBuffer*        posRing;
00262     CRingBuffer*        rotRing;
00263     
00264     Vector<double>      niPosVect[NI_TOTAL_JOINT_NUM];
00265     Quaternion<double>  niRotQuat[NI_TOTAL_JOINT_NUM];
00266     double              niJntAngl[NI_TOTAL_JOINT_NUM];
00267 
00268 //  BOOL            validPosVect[NI_TOTAL_JOINT_NUM];
00269 //  BOOL            validRotQuat[NI_TOTAL_JOINT_NUM];
00270 //  BOOL            validJntAngl[NI_TOTAL_JOINT_NUM];
00271 };
00272 
00273 
00274 
00276 //  CBaseFrameTool Class
00277 //      アニメーションのフレームデータを扱う基本クラス
00278 
00279 class  CBaseFrameTool
00280 {
00281 public:
00282     CBaseFrameTool(void);
00283     virtual ~CBaseFrameTool(void);
00284 
00285 public:
00286     virtual unsigned int    getFramesNumber(void) { return frames_num;}
00287     virtual int             getJointsNumber(void) { return joints_num;}
00288 
00289     virtual NiFrameData*    getFramesData(void)   { return framesData;}
00290     virtual NiJointData*    getJointsData(int frmnum, int fps) { return jointsData;}
00291 
00292     virtual int             getPlayBackTime(void) { return exec_time;}
00293     virtual int             getPlayBackFPS(void)  { return 30;}
00294 
00295     virtual BOOL            readFile (FILE* fp) { return FALSE;}
00296     virtual BOOL            writeFile(FILE* fp) { return FALSE;}
00297 
00298 //
00299 protected:
00300     void            init_data(void);
00301     void            free_data(void);
00302     void            clear_data(void);
00303 
00304 protected:
00305     unsigned int    frames_num;
00306     int             joints_num;
00307 
00308     int             start_time;     // msec
00309     int             stop_time;      // msec
00310     int             exec_time;      // msec
00311 
00312 protected:
00313     NiFrameData*    framesData;     // 全フレームデータ
00314     NiJointData*    jointsData;
00315 
00316     void            clearJointsData(int jnum);
00317 
00318 protected:
00319     // Ni Joints
00320     void            clearVectorData(int jnum);
00321     
00322     Vector<double>*     posVect;
00323     Quaternion<double>* rotQuat;
00324 };
00325 
00326 
00327 }   // name space
00328 
00329 
00330 
00331 /*
00332 //
00333 // OpenNI
00334 //
00335     PELVIS                  ( 0)
00336     XN_SKEL_HEAD            ( 1)
00337     XN_SKEL_NECK            ( 2)
00338     XN_SKEL_TORSO           ( 3)
00339     XN_SKEL_WAIST           ( 4)
00340 
00341     XN_SKEL_LEFT_COLLAR     ( 5)
00342     XN_SKEL_LEFT_SHOULDER   ( 6)
00343     XN_SKEL_LEFT_ELBOW      ( 7)
00344     XN_SKEL_LEFT_WRIST      ( 8)
00345     XN_SKEL_LEFT_HAND       ( 9)
00346     XN_SKEL_LEFT_FINGERTIP  (10)
00347 
00348     XN_SKEL_RIGHT_COLLAR    (11)
00349     XN_SKEL_RIGHT_SHOULDER  (12)
00350     XN_SKEL_RIGHT_ELBOW     (13)
00351     XN_SKEL_RIGHT_WRIST     (14)
00352     XN_SKEL_RIGHT_HAND      (15)
00353     XN_SKEL_RIGHT_FINGERTIP (16)
00354 
00355     XN_SKEL_LEFT_HIP        (17)
00356     XN_SKEL_LEFT_KNEE       (18)
00357     XN_SKEL_LEFT_ANKLE      (19)
00358     XN_SKEL_LEFT_FOOT       (20)
00359 
00360     XN_SKEL_RIGHT_HIP       (21)
00361     XN_SKEL_RIGHT_KNEE      (22)
00362     XN_SKEL_RIGHT_ANKLE     (23)
00363     XN_SKEL_RIGHT_FOOT      (24)
00364 */
00365 
00366 
00367 /*
00368 //
00369 // OpenNI2
00370 //
00371     PELVIS                           ( 0)
00372 
00373     NITE_JOINT_HEAD              0+1 ( 1)
00374     NITE_JOINT_NECK              1+1 ( 2)
00375 
00376     NITE_JOINT_LEFT_SHOULDER     2+1 ( 3)
00377     NITE_JOINT_RIGHT_SHOULDER    3+1 ( 4)
00378     NITE_JOINT_LEFT_ELBOW        4+1 ( 5)
00379     NITE_JOINT_RIGHT_ELBOW       5+1 ( 6)
00380     NITE_JOINT_LEFT_HAND         6+1 ( 7)
00381     NITE_JOINT_RIGHT_HAND        7+1 ( 8)
00382 
00383     NITE_JOINT_TORSO             8+1 ( 9)
00384 
00385     NITE_JOINT_LEFT_HIP          9+1 (10)
00386     NITE_JOINT_RIGHT_HIP        10+1 (11)
00387     NITE_JOINT_LEFT_KNEE        11+1 (12)
00388     NITE_JOINT_RIGHT_KNEE       12+1 (13)
00389     NITE_JOINT_LEFT_FOOT        13+1 (14)
00390     NITE_JOINT_RIGHT_FOOT       14+1 (15)
00391 */
00392 
00393 
00394 /*
00395 //
00396 // Kinect SDK
00397 //
00398     NUI_SKELETON_POSITION_HIP_CENTER      ( 0)
00399     NUI_SKELETON_POSITION_SPINE           ( 1)
00400     NUI_SKELETON_POSITION_SHOULDER_CENTER ( 2)
00401     NUI_SKELETON_POSITION_HEAD            ( 3)
00402 
00403     NUI_SKELETON_POSITION_SHOULDER_LEFT   ( 4)
00404     NUI_SKELETON_POSITION_ELBOW_LEFT      ( 5)
00405     NUI_SKELETON_POSITION_WRIST_LEFT      ( 6)
00406     NUI_SKELETON_POSITION_HAND_LEFT       ( 7)
00407 
00408     NUI_SKELETON_POSITION_SHOULDER_RIGHT  ( 8)
00409     NUI_SKELETON_POSITION_ELBOW_RIGHT     ( 9)
00410     NUI_SKELETON_POSITION_WRIST_RIGHT     (10)
00411     NUI_SKELETON_POSITION_HAND_RIGHT      (11)
00412 
00413     NUI_SKELETON_POSITION_HIP_LEFT        (12)
00414     NUI_SKELETON_POSITION_KNEE_LEFT       (13)
00415     NUI_SKELETON_POSITION_ANKLE_LEFT      (14)
00416     NUI_SKELETON_POSITION_FOOT_LEFT       (15)
00417 
00418     NUI_SKELETON_POSITION_HIP_RIGHT       (16)
00419     NUI_SKELETON_POSITION_KNEE_RIGHT      (17)
00420     NUI_SKELETON_POSITION_ANKLE_RIGHT     (18)
00421     NUI_SKELETON_POSITION_FOOT_RIGHT      (19)
00422 */
00423