#ifndef __JBXL_OPENNI2_TOOL_H_ #define __JBXL_OPENNI2_TOOL_H_ /** @brief OpenNI2用 ツール ヘッダ @file OpenNi2Tool.h @author Fumi.Iseki (C) */ // #ifdef ENABLE_OPENNI2 #ifdef ENABLE_OPENNI #undef ENABLE_OPENNI #endif #endif #ifdef ENABLE_OPENNI2 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // OpenNI2 // #include "OpenNi2Device.h" #include "NiDevice.h" namespace jbxl { //////////////////////////////////////////////////////// // compatible for OpenNI ver 1.x typedef struct XnVector3D { double X; double Y; double Z; } XnVector3D; // typedef struct XnMatrix3X3 { double elements[9]; } XnMatrix3X3; typedef XnVector3D XnPoint3D; #define XN_SKEL_PROFILE_ALL 2 #define XN_SKEL_PROFILE_UPPER 3 /////////////////////////////////////////////////////////// // class COpenNiTool { public: COpenNiTool(void); virtual ~COpenNiTool(void) { free();} private: COpenNi2Device* device; COpenNi2Device* dev_backup; public: Buffer m_err_mesg; unsigned int tracking_user; unsigned int tracking_deny; public: BOOL init(BOOL use_camera); void free(void); void delete_Device(void); void clear_JointsData(void); void clear_JointsPosData(void); void clear_JointsRotData(void); nite::UserData* get_Avatar(unsigned int id); public: // Joints void get_JointsPositionData(unsigned int nId); void get_JointsRotationData(unsigned int nId); XnVector3D joint_PositionData(int joint); XnMatrix3X3 joint_RotationData(int joint); double joint_PositionConfidence(int joint); double joint_RotationConfidence(int joint); public: // Detection BOOL start_Detection(int profile, double smooth); BOOL stop_Detection(void); unsigned int get_TrackingUser(void); void set_DenyTrackingSearch(unsigned int user); // Device BOOL backupDevice(void); BOOL restoreDevice(void); protected: // Data XnVector3D jointPosData[OPENNI_JOINT_NUM]; // no data at [0] XnMatrix3X3 jointRotData[OPENNI_JOINT_NUM]; // no data at [0] double jointPosConfidence[OPENNI_JOINT_NUM]; double jointRotConfidence[OPENNI_JOINT_NUM]; // device Interface public: ONI_EnuDev getEnuDevice(void) { if (device!=NULL) return device->m_enu_dev; else return EnuDev_Unknown;} BOOL initDevice(BOOL image) { if (device!=NULL) return device->init(image); else return FALSE;} BOOL initDevice(char* fname, BOOL image) { if (device!=NULL) return device->init(fname, image); else return FALSE;} BOOL resetDevice(BOOL image) { deleteDepth(); deleteImage(); return initDevice(image);} BOOL resetDevice(char* fname, BOOL image) { deleteDepth(); deleteImage(); return initDevice(fname, image);} BOOL hasBackupDev(void) { if (dev_backup!=NULL) return TRUE; else return FALSE;} void deleteBackupDev(void) { if (dev_backup!=NULL) { delete(dev_backup); dev_backup=NULL;}} int getDevState(void) { if (device!=NULL) return device->m_state; else return NI_STATE_UNKNOWN;} void setDevState(int state) { if (device!=NULL) device->m_state = state;} BOOL hasContext(void) { if (device!=NULL && device->context!=NULL) return TRUE; else return FALSE;} BOOL hasImageGen(void) { if (device!=NULL && device->image!=NULL) return TRUE; else return FALSE;} BOOL hasDepthGen(void) { if (device!=NULL && device->depth!=NULL) return TRUE; else return FALSE;} BOOL createContext(void){ if (device!=NULL) return device->create_Context(); else return FALSE;} BOOL createImage(void) { if (device!=NULL) return device->create_Image(); else return FALSE;} BOOL createDepth(void) { if (device!=NULL) return device->create_Depth(); else return FALSE;} void deleteContext(void){ if (device!=NULL) device->delete_Context();} void deleteImage(void) { if (device!=NULL) device->delete_Image();} void deleteDepth(void) { if (device!=NULL) device->delete_Depth();} // void waitStreamData(void) { if (device!=NULL) device->wait_StreamData();} BOOL setImageData(void) { if (device!=NULL) return device->set_ImageData(); else return FALSE;} BOOL setDepthData(void) { if (device!=NULL) return device->set_DepthData(); else return FALSE;} BOOL setSceneData(void) { if (device!=NULL) return device->set_SceneData(); else return FALSE;} // uByte* getImageData(void) { if (device!=NULL) return device->get_ImageData(); else return NULL; } uByte* getDepthData(void) { if (device!=NULL) return device->get_DepthData(); else return NULL; } uByte* getSceneData(void) { if (device!=NULL) return device->get_SceneData(); else return NULL; } // BOOL isTracking(unsigned int user) { nite::UserData* avatar = get_Avatar(user); if (avatar==NULL || avatar->isLost()) return FALSE; return TRUE; } // void stopTracking(unsigned int user) { if (device!=NULL && device->user!=NULL) { device->user->stopSkeletonTracking((nite::UserId)user); } } // void setGlobalMirror(BOOL mirror) { if (device!=NULL) { bool mirr = false; if (mirror) mirr = true; if (device->image!=NULL) device->image->setMirroringEnabled(mirr); if (device->depth!=NULL) device->depth->setMirroringEnabled(mirr); } } // int getXSize(void) { if (device!=NULL) return device->m_xsize; else return 0;} int getYSize(void) { if (device!=NULL) return device->m_ysize; else return 0;} int getFPS(void) { if (device!=NULL) return device->m_nfps; else return 0;} // void setViewPoint(void) {} // void convertDepth2Image(int dx, int dy, unsigned short dz, int* ix, int* iy) { if (device!=NULL && device->image!=NULL && device->depth!=NULL) { openni::CoordinateConverter::convertDepthToColor(*(device->depth), *(device->image), dx, dy, (openni::DepthPixel)dz, ix, iy); } } // void convert2Projective(unsigned int c, XnPoint3D* a, XnPoint3D* b) { if (device==NULL && device->user!=NULL) { memset(b, 0, c*sizeof(XnPoint3D)); return; } // for (unsigned int i=0; iuser->convertJointCoordinatesToDepth(a->X, a->Y, a->Z, &(b->X), &(b->Y)); a++; b++; } // // 本当はさらに Image座標系に変換しないといけない． } // BOOL startRecorde(char* file_name, BOOL use_image) { if (device!=NULL) return device->start_Recorde(file_name, use_image); else return FALSE; } // void stopRecorde(void) { device->stop_Recorde();} // void playerSetRepeat(BOOL rep) {} void playerSetSeek(int tm) {} // USB BOOL open_USBDevice(void) { if (device!=NULL) return device->open_USB_Device(); else return FALSE;} void close_USBDevice(void) { if (device!=NULL) device->close_USB_Device();} void set_LEDColor(int col) { if (device!=NULL) device->set_LED_Color(col);} void set_TiltMotor(int ang) { if (device!=NULL) device->set_Tilt_Motor(ang);} }; } // namespace #endif #endif // __JBXL_OPENNI2_TOOL_H_ //////////////////////////////////////////////////////////////////////////////////////////////////////////////////// // Information /* XnTypes.h typedef enum XnSkeletonJoint { XN_SKEL_HEAD = 1, XN_SKEL_NECK = 2, XN_SKEL_TORSO = 3, XN_SKEL_WAIST = 4, XN_SKEL_LEFT_COLLAR = 5, XN_SKEL_LEFT_SHOULDER = 6, XN_SKEL_LEFT_ELBOW = 7, XN_SKEL_LEFT_WRIST = 8, XN_SKEL_LEFT_HAND = 9, XN_SKEL_LEFT_FINGERTIP =10, XN_SKEL_RIGHT_COLLAR =11, XN_SKEL_RIGHT_SHOULDER =12, XN_SKEL_RIGHT_ELBOW =13, XN_SKEL_RIGHT_WRIST =14, XN_SKEL_RIGHT_HAND =15, XN_SKEL_RIGHT_FINGERTIP =16, XN_SKEL_LEFT_HIP =17, XN_SKEL_LEFT_KNEE =18, XN_SKEL_LEFT_ANKLE =19, XN_SKEL_LEFT_FOOT =20, XN_SKEL_RIGHT_HIP =21, XN_SKEL_RIGHT_KNEE =22, XN_SKEL_RIGHT_ANKLE =23, XN_SKEL_RIGHT_FOOT =24 } XnSkeletonJoint; */ /* NiteCEnums.h typedef enum { NITE_JOINT_HEAD, NITE_JOINT_NECK, NITE_JOINT_LEFT_SHOULDER, NITE_JOINT_RIGHT_SHOULDER, NITE_JOINT_LEFT_ELBOW, NITE_JOINT_RIGHT_ELBOW, NITE_JOINT_LEFT_HAND, NITE_JOINT_RIGHT_HAND, NITE_JOINT_TORSO, NITE_JOINT_LEFT_HIP, NITE_JOINT_RIGHT_HIP, NITE_JOINT_LEFT_KNEE, NITE_JOINT_RIGHT_KNEE, NITE_JOINT_LEFT_FOOT, NITE_JOINT_RIGHT_FOOT, } NiteJointType; */