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| //openni library for acquering data from kinect
#include <XnOpenNI.h>
#include <XnCppWrapper.h>
#include <XnVNite.h>
//opencv libraries
#include <cv.h>
#include <cxcore.h>
#include <highgui.h>
#include <iostream>
#define SAMPLE_XML_PATH "c:\\openni.xml"
#define X_SIZE 640 //this is how wide my window should be
#define Y_SIZE 480 //this is how long my window should be
#define DEPTH_THRESH_FAR 5000 //all depth info beyond this point (in mm) will be removed
#define DEPTH_THRESH_NEAR 0 //all depth info before this point will be removed
#define MAX_COLOR 255 //max color that can be used
#define COLOR_ZONES 20
//--------------------------------------- Globals --------------------------------
XnStatus rc; //to check status of various open-ni reld operations
xn::Context cxt; //context - represents the sensor (source of image / depth info)
xn::DepthGenerator depthGen; //will hold the depth generator node
xn::DepthMetaData depthMapMetaData; //will hold the meta data for the depth generator node
xn::ImageGenerator imageGen; //will hold the image generator node
xn::ImageMetaData imageMapMetaData; //will hold the meta data for the image generator node
/*************************************** NITE OBJECTS *********************************/
XnVSessionManager *sessionMgr; //this is a pointer to a session manager object
XnVPointControl *pointCtrl; //this is a pointer to a point control object
bool inSession = false; //this variable indicates if we're in session on not
XnPoint3D handPointCoords; //this variable will store the coordinates of the primary hand point
/***********************************************************************************
Callback routines for various NITE objects. These are invoked by the respective NITE
objects when various events occur
************************************************************************************/
void XN_CALLBACK_TYPE sessionStart(const XnPoint3D& ptPosition, void* UserCxt); //session started event callback
void XN_CALLBACK_TYPE sessionEnd(void* UserCxt); //session ended event callback
void XN_CALLBACK_TYPE pointCreate(const XnVHandPointContext *pContext, const XnPoint3D &ptFocus, void *cxt); //point created callback
void XN_CALLBACK_TYPE pointUpdate(const XnVHandPointContext *pContext, void *cxt); //point updated callback
void XN_CALLBACK_TYPE pointDestroy(XnUInt32 nID, void *cxt); //point destroyed callback
//----------------------------------------------------------------------------
/**********************************************************************************
Macro for nullifying the global variable to track hand point. I'm using negative values
as indications that the point is no longer valid.
**********************************************************************************/
#define nullifyHandPoint(){ \
handPointCoords.X = -1; \
handPointCoords.Y = -1; \
handPointCoords.Z = -1; \
}
/*********************************************************************************
This is simple function that allows us to check if the global hand point is valid
or not
**********************************************************************************/
inline bool isHandPointNull(){
if(handPointCoords.X == -1) return true;
else return false;
}
/*
* Main routine
*/
int main(int argc,char *argv[])
{
//------------------ Context initializations go in here ------------------
xn::EnumerationErrors errors;
rc = cxt.InitFromXmlFile(SAMPLE_XML_PATH,&errors); //initialize the context from the xml file
if(rc != XN_STATUS_OK)
{
cout << "Failed to open:" << xnGetStatusString(rc) << endl; //handle error in reading from XML
return rc;
}
rc = cxt.FindExistingNode(XN_NODE_TYPE_DEPTH,depthGen); //try to find the depth node from the context
if(rc != XN_STATUS_OK)
{ //handle error if node is not found
cout << "Failed to open Depth node!" << endl;
return rc;
}
rc=cxt.FindExistingNode(XN_NODE_TYPE_IMAGE,imageGen); //try to find the raw image from the context
if(rc != XN_STATUS_OK)
{ //handle error if node is not found
cout << "Failed to open Image node!" << endl;
return rc;
}
//-------------------- Init Nite objects -----------------------
sessionMgr = new XnVSessionManager(); //session manager is created
rc = sessionMgr->Initialize(&cxt,"Click,Wave","RaiseHand"); //session manager is initialized
if(rc!= XN_STATUS_OK){ //check if this init operation was good
printf("Session manager couldn't be initialized");
return rc;
}
sessionMgr->RegisterSession(&cxt,sessionStart,sessionEnd); //register the callbacks for the session manager
pointCtrl = new XnVPointControl("Point Tracker"); //create the point control object
pointCtrl->RegisterPrimaryPointCreate(&cxt,pointCreate); //register the primary point created handler
pointCtrl->RegisterPrimaryPointUpdate(&cxt,pointUpdate); //register the primary point updated handler
pointCtrl->RegisterPrimaryPointDestroy(&cxt,pointDestroy); //register the primary point destroyed handler
sessionMgr->AddListener(pointCtrl); //make the session manager listen to the point control object
nullifyHandPoint(); //initialize the global variable to track hand points
//------------------- opencv init ------------------------
cvNamedWindow("Depth", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Raw Image", CV_WINDOW_AUTOSIZE);
IplImage *depth_image = cvCreateImage(cvSize(X_SIZE,Y_SIZE),8,1);
IplImage *raw_image = cvCreateImage(cvSize(X_SIZE,Y_SIZE),8,3);
//running routine
while(1)
{
rc = cxt.WaitAnyUpdateAll(); //first update the context - refresh the depth/image data coming from the sensor
sessionMgr->Update(&cxt);
if(rc != XN_STATUS_OK) //if the update failed, i.e. couldn't be read
{
cout << "ERROR:Read failed... Quitting!" << endl; //print error message
exit(0); //exit the program
}
else
{
//update the session manager
depthGen.GetMetaData(depthMapMetaData); //grab the depth map meta data
imageGen.GetMetaData(imageMapMetaData); //grab the image map meta data
const XnRGB24Pixel* imageMetaData; //this array will contain the color of each pixel in depth map
imageMetaData = imageMapMetaData.RGB24Data(); //this will grab the color values and store it into the array
int i,j,colorToSet,depth,temp;
for(i = 0;i<X_SIZE;i++) //this loop will run through width of the depth map
{
for(j=0;j<Y_SIZE;j++) //this will run through the height
{
temp = j*X_SIZE + i;
depth = depthMapMetaData(i,j); //get the depth info from the depthMapData. lvalue is (i*Xmax + j) in order to translate matrix coords to linear ones
colorToSet = MAX_COLOR - depth/COLOR_ZONES;
depth_image->imageData[temp] = colorToSet;
raw_image->imageData[3*temp]= imageMetaData[temp].nBlue;
raw_image->imageData[3*temp+1]= imageMetaData[temp].nGreen;
raw_image->imageData[3*temp+2]= imageMetaData[temp].nRed;
}
}
if(inSession)
{
if(isHandPointNull() == false)
{
cvCircle(raw_image, cvPoint((int)handPointCoords.X,(int)handPointCoords.Y), 10, CV_RGB(0,255,0), -1);
}
}
cvShowImage("Depth", depth_image);
cvShowImage("Raw Image",raw_image);
}
int key = (char)cvWaitKey(10);
if ( key == 27|| key == 'q'|| key == 'Q') break;
}
cvReleaseImage(&depth_image);
cvReleaseImage(&raw_image);
return 0;
}
/************************************ CALLBACK DEFINITIONS ********************************/
/**********************************************************************************
Session started event handler. Session manager calls this when the session begins
**********************************************************************************/
void XN_CALLBACK_TYPE sessionStart(const XnPoint3D& ptPosition, void* UserCxt){
inSession = true;
printf("\nin session");
}
/**********************************************************************************
session end event handler. Session manager calls this when session ends
**********************************************************************************/
void XN_CALLBACK_TYPE sessionEnd(void* UserCxt){
inSession = false;
printf("\nnot in session");
}
/**********************************************************************************
point created event handler. this is called when the pointControl detects the creation
of the hand point. This is called only once when the hand point is detected
**********************************************************************************/
void XN_CALLBACK_TYPE pointCreate(const XnVHandPointContext *pContext, const XnPoint3D &ptFocus, void *cxt){
XnPoint3D coords(pContext->ptPosition);
depthGen.ConvertRealWorldToProjective(1,&coords,&handPointCoords);
}
/**********************************************************************************
Following the point created method, any update in the hand point coordinates are
reflected through this event handler
**********************************************************************************/
void XN_CALLBACK_TYPE pointUpdate(const XnVHandPointContext *pContext, void *cxt){
XnPoint3D coords(pContext->ptPosition);
depthGen.ConvertRealWorldToProjective(1,&coords,&handPointCoords);
}
/**********************************************************************************
when the point can no longer be tracked, this event handler is invoked. Here we
nullify the hand point variable
**********************************************************************************/
void XN_CALLBACK_TYPE pointDestroy(XnUInt32 nID, void *cxt){
nullifyHandPoint();
printf("\nDead");
} |
Problème de démarrage de session avec OpenNI (Kinect)
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