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comparison test/main.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
parents main.cc@7e112b536f0a
children
comparison
equal deleted inserted replaced
3:7e112b536f0a 4:edf80c055589
1 #include <stdio.h>
2 #include <XnOpenNI.h>
3 #include <XnCppWrapper.h>
4 #include <XnVNite.h>
5
6 #include "KinectTrack.h"
7
8 #define INIT_XML_PATH "./kinect.xml"
9
10 void checkRC(const XnStatus &rc, const char *what) {
11 if (rc != XN_STATUS_OK) {
12 printf("%s faild: %s\n", what, xnGetStatusString(rc));
13 }
14 }
15
16 void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
17 if (rc == XN_STATUS_NO_NODE_PRESENT) {
18 XnChar strError[1024];
19 errors.ToString(strError, 1024);
20 printf("%s\n", strError);
21 }
22 }
23
24 SessionState NIState::gSessionState = NOT_IN_SESSION;
25 XnBool NIState::gBDrawDepthMap = true;
26 void NIState::XN_CALLBACK_TYPE sessionStarting(const XnPoint3D &ptPosition, void *userCxt) {
27 printf("Session start: (%f, %f, %f)\n", ptPosition.X, ptPosition.Y, ptPosition.Z);
28 gSessionState = IN_SESSION;
29 }
30 void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
31 printf("Session end\n");
32 gSessionState = NOT_IN_SESSION;
33 }
34 void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
35 XnFloat fProgress, void *userCxt) {
36 printf("Focus progress: %s @(%f, %f, %f): %f\n", strFocus, ptPosition.X, ptPosition.Y, ptPosition.Z, fProgress);
37 }
38 void NIState::XN_CALLBACK_TYPE noHands(void *UserCxt) {
39 if (gSessionState != NOT_IN_SESSION) {
40 printf("Quick refocus\n");
41 gSessionState = QUICK_REFOCUS;
42 }
43 }
44
45 int main(int argc, char *argv[]) {
46 xn::Context gContext;
47 xn::EnumerationErrors errors;
48 XnStatus rc = gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
49 checkErrors(rc, errors, "InitFromXMLFile");
50 checkRC(rc, "InitFromXMLFile");
51
52 xn::DepthGenerator gDepthGenerator;
53 rc = gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
54 checkRC(rc, "Find depth generator");
55
56 xn::HandsGenerator gHandsGenerator;
57 rc = gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
58 checkRC(rc, "Find hands generator");
59 XnVSessionManager *gPSessionManager = new XnVSessionManager();
60 rc = gPSessionManager->Initialize(&gContext, "Click,Wave", "RaiseHand");
61 checkRC(rc, "SessionManager::Initialize");
62
63 gPSessionManager->RegisterSession(NULL, NIState::sessionStarting, NIState::sessionEnding, NIState::focusProgress);
64
65 XnVPointDrawer *gPDrawer = new XnVPointDrawer(20, gDepthGenerator);
66 XnVFlowRouter *gPFlowRouter = new XnVFlowRouter;
67 gPFlowRouter->SetActive(gPDrawer);
68
69 gPSessionManager->AddListener(gPFlowRouter);
70
71 gPDrawer->RegisterNoPoints(NULL, NIState::noHands);
72 gPDrawer->setDepthMap(NIState::gBDrawDepthMap);
73
74 rc = gContext.StartGeneratingAll();
75 checkRC(rc, "StartGenerating");
76
77 while (true) {
78 gContext.WaitAndUpdateAll();
79 gPSessionManager->Update(&gContext);
80 float x, y, z;
81 int error = gPDrawer->getPosition(x, y, z);
82 if (error > 0) {
83 printf("%f, %f, %f\n", x, y, z);
84 }
85
86 //usleep(10);
87 }
88
89 return 0;
90 }