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NiUserTracker.cpp
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NiUserTracker.cpp
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#include "NiUserTracker.h"
#include <QDebug>
// Callback: New user was detected
#include <map>
std::map<XnUInt32, std::pair<XnCalibrationStatus, XnPoseDetectionStatus> > m_Errors;
void XN_CALLBACK_TYPE MyCalibrationInProgress(xn::SkeletonCapability& capability, XnUserID id, XnCalibrationStatus calibrationError, void* pCookie)
{
m_Errors[id].first = calibrationError;
}
void XN_CALLBACK_TYPE MyPoseInProgress(xn::PoseDetectionCapability& capability, const XnChar* strPose, XnUserID id, XnPoseDetectionStatus poseError, void* pCookie)
{
m_Errors[id].second = poseError;
}
void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
NiUserTracker *ut = (NiUserTracker *)pCookie;
qWarning() << "new";
printf("New User %d\n", nId);
// New user found
if (ut->g_bNeedPose)
{
ut->g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(ut->g_strPose, nId);
}
else
{
ut->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
// Callback: An existing user was lost
void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
qWarning() << "lost";
printf("Lost user %d\n", nId);
}
// Callback: Detected a pose
void XN_CALLBACK_TYPE UserPose_PoseDetected(xn::PoseDetectionCapability& capability, const XnChar* strPose, XnUserID nId, void* pCookie)
{
NiUserTracker *ut = (NiUserTracker *)pCookie;
qWarning() << "pose";
printf("Pose %s detected for user %d\n", strPose, nId);
ut->g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
ut->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
// Callback: Started calibration
void XN_CALLBACK_TYPE UserCalibration_CalibrationStart(xn::SkeletonCapability& capability, XnUserID nId, void* pCookie)
{
printf("Calibration started for user %d\n", nId);
}
// Callback: Finished calibration
void XN_CALLBACK_TYPE UserCalibration_CalibrationEnd(xn::SkeletonCapability& capability, XnUserID nId, XnBool bSuccess, void* pCookie)
{
NiUserTracker *ut = (NiUserTracker *)pCookie;
if (bSuccess)
{
// Calibration succeeded
printf("Calibration complete, start tracking user %d\n", nId);
ut->g_UserGenerator.GetSkeletonCap().StartTracking(nId);
}
else
{
// Calibration failed
printf("Calibration failed for user %d\n", nId);
if (ut->g_bNeedPose)
{
ut->g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(ut->g_strPose, nId);
}
else
{
ut->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
}
void XN_CALLBACK_TYPE UserCalibration_CalibrationComplete(xn::SkeletonCapability& capability, XnUserID nId, XnCalibrationStatus eStatus, void* pCookie)
{
NiUserTracker *ut = (NiUserTracker *)pCookie;
if (eStatus == XN_CALIBRATION_STATUS_OK)
{
// Calibration succeeded
printf("Calibration complete, start tracking user %d\n", nId);
ut->g_UserGenerator.GetSkeletonCap().StartTracking(nId);
}
else
{
// Calibration failed
printf("Calibration failed for user %d\n", nId);
if (ut->g_bNeedPose)
{
ut->g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(ut->g_strPose, nId);
}
else
{
ut->g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}
}
}
NiUserTracker::NiUserTracker()
: g_bNeedPose(FALSE),
g_bDrawBackground(TRUE),
g_bDrawPixels(TRUE),
g_bDrawSkeleton(TRUE),
g_bPrintID(TRUE),
g_bPrintState(TRUE),
g_bPause(false),
g_bRecord(false),
g_bQuit(false)
{
XnStatus nRetVal = XN_STATUS_OK;
g_strPose[0] = '\0';
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
qWarning() << "Find depth generator";
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
qWarning() << "Find user generator";
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected, hCalibrationInProgress, hPoseInProgress;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, this, hUserCallbacks);
qWarning() << "Register to user callbacks";
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, this, hCalibrationStart);
qWarning() << "Register to calibration start";
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, this, hCalibrationComplete);
qWarning() << "Register to calibration complete";
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, this, hPoseDetected);
qWarning() << "Register to Pose Detected";
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, this, hCalibrationInProgress);
qWarning() << "Register to calibration in progress";
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, this, hPoseInProgress);
qWarning() << "Register to pose in progress";
nRetVal = g_Context.StartGeneratingAll();
qWarning() << "StartGenerating";
xn::DepthMetaData depthMD;
grab();
g_DepthGenerator.GetMetaData(depthMD);
uSize = depthMD.XRes();
vSize = depthMD.YRes();
uCenter = uSize / 2;
vCenter = vSize / 2;
pointCloud.create(vSize, uSize, CV_32FC3);
XnDouble pixelSize;
XnUInt64 focalLength;
g_DepthGenerator.GetIntProperty ("ZPD", focalLength );
g_DepthGenerator.GetRealProperty ("ZPPS", pixelSize );
P2R = pixelSize * ( 1280 / uSize ) / (float)focalLength;
}
NiUserTracker::~NiUserTracker()
{
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_ImageGenerator.Release();
g_Player.Release();
g_Context.Release();
}
void NiUserTracker::depth2point( Mat &img )
{
XnDepthPixel *depthMap = depthMD.WritableData();
float dist;
for (int v = 0; v < vSize; ++v)
{
for (int u = 0; u < uSize; ++u)
{
dist = (*depthMap) * 0.001f; //mm -> m
Point3f p;
p.x = dist * P2R * ( uCenter - u );
p.y = dist * P2R * ( vCenter - v );
p.z = dist;
pointCloud.at<Point3f>(v, u) = p;
++depthMap;
}
}
pointCloud.copyTo(img);
}
void NiUserTracker::renderUsers(Mat &img)
{
static const unsigned char Col[][3] =
{
{0,255,255},
{0,0,255},
{0,255,0},
{255,255,0},
{255,0,0},
{255,128,0},
{128,255,0},
{0,128,255},
{128,0,255},
{255,255,128},
{255,255,255}
};
int g_nYRes = sceneMD.YRes();
int g_nXRes = sceneMD.XRes();
Mat m(g_nYRes, g_nXRes, CV_8UC3);
const XnLabel *pLabels = sceneMD.Data();
for (int nY=0; nY<g_nYRes; nY++)
{
for (int nX=0; nX < g_nXRes; nX++)
{
Vec3b vec;
vec[0] = 0;
vec[1] = 0;
vec[2] = 0;
if (*pLabels != 0)
{
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
vec[0] = Col[nColorID][0];
vec[1] = Col[nColorID][1];
vec[2] = Col[nColorID][2];
}
m.at<Vec3b>(nY, nX) = vec;
pLabels++;
}
}
m.copyTo(img);
}
void NiUserTracker::retrieve(Mat &img, IMAGETYPE type)
{
switch(type)
{
case RGB8U:
{
g_ImageGenerator.GetMetaData(imageMD);
Mat m(imageMD.YRes(), imageMD.XRes(), CV_8UC3, imageMD.WritableRGB24Data());
m.copyTo(img);
break;
}
case DEPTH8U:
{
Mat m(depthMD.YRes(), depthMD.XRes(), CV_16UC1, depthMD.WritableData());
m.convertTo(img, CV_8UC1, 0.04);
break;
}
case DEPTH16U:
{
Mat m(depthMD.YRes(), depthMD.XRes(), CV_16UC1, depthMD.WritableData());
m.copyTo(img);
break;
}
case POINTCLOUD:
{
g_DepthGenerator.GetMetaData(depthMD);
depth2point(img);
break;
}
case USERLABELS:
{
g_UserGenerator.GetUserPixels(0, sceneMD);
renderUsers(img);
break;
}
}
}
Point3f NiUserTracker::Pos(XnUserID player,XnSkeletonJoint ejoint)
{
XnSkeletonJointPosition jointx;
/**playerのejointの情報をjointxに入れる*/
g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(player,ejoint,jointx);
/**jointxの位置情報をpointで指定したアドレスに入れる*/
float dist = jointx.position.Z * 0.001f; //mm -> m
Point3f p;
p.x = 0.001 * -jointx.position.X;
p.y = 0.001 * jointx.position.Y;
p.z = dist;
return p;
}
void NiUserTracker::retrieveSkeltons(QMap<unsigned int, Skelton> &skeltons)
{
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers,nUsers);//ユーザIDと認識中の人数の取得
for (int i = 0; i < nUsers; ++i)//ユーザの人数だけ繰り返す
{
/**骨格のトラッキング中かどうか*/
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])){
/*各間接位置の取得**/
Skelton s;
s.insert(XN_SKEL_TORSO, Pos(aUsers[i],XN_SKEL_TORSO));
s.insert(XN_SKEL_NECK, Pos(aUsers[i],XN_SKEL_NECK));
s.insert(XN_SKEL_HEAD, Pos(aUsers[i],XN_SKEL_HEAD));
s.insert(XN_SKEL_LEFT_SHOULDER, Pos(aUsers[i],XN_SKEL_LEFT_SHOULDER));
s.insert(XN_SKEL_LEFT_ELBOW, Pos(aUsers[i],XN_SKEL_LEFT_ELBOW));
s.insert(XN_SKEL_LEFT_HAND, Pos(aUsers[i],XN_SKEL_LEFT_HAND));
s.insert(XN_SKEL_RIGHT_SHOULDER, Pos(aUsers[i],XN_SKEL_RIGHT_SHOULDER));
s.insert(XN_SKEL_RIGHT_ELBOW, Pos(aUsers[i],XN_SKEL_RIGHT_ELBOW));
s.insert(XN_SKEL_RIGHT_HAND, Pos(aUsers[i],XN_SKEL_RIGHT_HAND));
s.insert(XN_SKEL_LEFT_HIP, Pos(aUsers[i],XN_SKEL_LEFT_HIP));
s.insert(XN_SKEL_LEFT_KNEE, Pos(aUsers[i],XN_SKEL_LEFT_KNEE));
s.insert(XN_SKEL_LEFT_FOOT, Pos(aUsers[i],XN_SKEL_LEFT_FOOT));
s.insert(XN_SKEL_RIGHT_HIP, Pos(aUsers[i],XN_SKEL_RIGHT_HIP));
s.insert(XN_SKEL_RIGHT_KNEE, Pos(aUsers[i],XN_SKEL_RIGHT_KNEE));
s.insert(XN_SKEL_RIGHT_FOOT, Pos(aUsers[i],XN_SKEL_RIGHT_FOOT));
skeltons.insert(aUsers[i], s);
}
}
}