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comparison example/kinect.cc @ 4:edf80c055589 default tip

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kinect run on Cerium
author kazz <kazz@cr.ie.u-ryukyu.ac.jp>
date Tue, 01 Feb 2011 14:44:56 +0900
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3:7e112b536f0a 4:edf80c055589
1 #include <math.h>
2 #include <stdlib.h>
3 #include <stdio.h>
4 #include "SceneGraphRoot.h"
5 #include "MainLoop.h"
6
7 #include <XnOpenNI.h>
8 #include <XnCppWrapper.h>
9 #include <XnVNite.h>
10
11 #include "kinect.h"
12
13 #define INIT_XML_PATH "./kinect.xml"
14
15 void checkRC(const XnStatus &rc, const char *what) {
16 if (rc != XN_STATUS_OK) {
17 printf("%s faild: %s\n", what, xnGetStatusString(rc));
18 }
19 }
20
21 void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
22 if (rc == XN_STATUS_NO_NODE_PRESENT) {
23 XnChar strError[1024];
24 errors.ToString(strError, 1024);
25 printf("%s\n", strError);
26 }
27 }
28
29 SessionState NIState::gSessionState = NOT_IN_SESSION;
30 XnBool NIState::gBDrawDepthMap = true;
31 xn::Context NIState::gContext;
32 XnVSessionManager *NIState::gPSessionManager;
33 XnVPointDrawer *NIState::gPDrawer;
34
35 void NIState::XN_CALLBACK_TYPE sessionStarting(const XnPoint3D &ptPosition, void *userCxt) {
36 printf("Session start: (%f, %f, %f)\n", ptPosition.X, ptPosition.Y, ptPosition.Z);
37 gSessionState = IN_SESSION;
38 }
39 void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
40 printf("Session end\n");
41 gSessionState = NOT_IN_SESSION;
42 }
43 void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
44 XnFloat fProgress, void *userCxt) {
45 printf("Focus progress: %s @(%f, %f, %f): %f\n", strFocus, ptPosition.X, ptPosition.Y, ptPosition.Z, fProgress);
46 }
47 void NIState::XN_CALLBACK_TYPE noHands(void *UserCxt) {
48 if (gSessionState != NOT_IN_SESSION) {
49 printf("Quick refocus\n");
50 gSessionState = QUICK_REFOCUS;
51 }
52 }
53
54 // prototype
55 static void ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h);
56 static void null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h, SceneGraphPtr tree);
57
58 static void
59 ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
60 {
61 NIState::gContext.WaitNoneUpdateAll();
62 NIState::gPSessionManager->Update(&NIState::gContext);
63 float x, y, z;
64 int error = NIState::gPDrawer->getPosition(x, y, z);
65 if (error > 0) {
66 node->xyz[0] = x/640 * screen_w;
67 node->xyz[1] = y/480 * screen_h;
68 node->xyz[2] = z - 500;
69 }
70 }
71
72 static void
73 null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h,
74 SceneGraphPtr tree)
75 {
76 }
77
78 MainLoopPtr
79 Kinect::init(Viewer *sgroot, int screen_w, int screen_h)
80 {
81 SceneGraphPtr ball;
82
83 srandom(100);
84
85 sgroot->createFromXMLfile("xml_file/Ball.xml");
86
87 ball = sgroot->createSceneGraph("Ball");
88 ball->set_move_collision(ball_move, null_collision);
89
90 ball->xyz[0] = screen_w/2;
91 ball->xyz[1] = screen_h/2;
92 ball->xyz[2] = 550.0f;
93
94 sgroot->setSceneData(ball);
95
96 xn::EnumerationErrors errors;
97 XnStatus rc = NIState::gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
98 checkErrors(rc, errors, "InitFromXMLFile");
99 checkRC(rc, "InitFromXMLFile");
100
101 xn::DepthGenerator gDepthGenerator;
102 rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
103 checkRC(rc, "Find depth generator");
104
105 xn::HandsGenerator gHandsGenerator;
106 rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
107 checkRC(rc, "Find hands generator");
108 NIState::gPSessionManager = new XnVSessionManager();
109 rc = NIState::gPSessionManager->Initialize(&NIState::gContext, "Click,Wave", "RaiseHand");
110 checkRC(rc, "SessionManager::Initialize");
111
112 NIState::gPSessionManager->RegisterSession(NULL, NIState::sessionStarting, NIState::sessionEnding, NIState::focusProgress);
113
114 NIState::gPDrawer = new XnVPointDrawer(20, gDepthGenerator);
115 XnVFlowRouter *gPFlowRouter = new XnVFlowRouter;
116 gPFlowRouter->SetActive(NIState::gPDrawer);
117
118 NIState::gPSessionManager->AddListener(gPFlowRouter);
119
120 NIState::gPDrawer->RegisterNoPoints(NULL, NIState::noHands);
121 NIState::gPDrawer->setDepthMap(NIState::gBDrawDepthMap);
122
123 rc = NIState::gContext.StartGeneratingAll();
124 checkRC(rc, "StartGenerating");
125
126 return sgroot;
127 }
128
129 extern Application *
130 application() {
131 return new Kinect();
132 }
133
134 const char *usr_help_str = "Usage: ./kinect [OPTION]\n";
135
136 extern int init(TaskManager *manager, int argc, char *argv[]);
137 extern void task_initialize();
138 static void TMend(TaskManager *manager);
139
140 int
141 TMmain(TaskManager *manager, int argc, char *argv[])
142 {
143 task_initialize();
144 manager->set_TMend(TMend);
145 return init(manager, argc, argv);
146 }
147
148 void
149 TMend(TaskManager *manager)
150 {
151 printf("kinect end\n");
152 }
153
154 /* end */