C++ EnumerationErrors类代码示例

int main()
{
    XnStatus nRetVal = XN_STATUS_OK;

    Context context;
    EnumerationErrors errors;

    nRetVal = context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);

    if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
    {
        XnChar strError[1024];
        errors.ToString(strError, 1024);
        printf("%s\n", strError);
        return (nRetVal);
    }
    else if (nRetVal != XN_STATUS_OK)
    {
        printf("Open failed: %s\n", xnGetStatusString(nRetVal));
        return (nRetVal);
    }

    DepthGenerator depth;
    nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
    CHECK_RC(nRetVal, "Find depth generator");

    XnFPSData xnFPS;
    nRetVal = xnFPSInit(&xnFPS, 180);
    CHECK_RC(nRetVal, "FPS Init");

    DepthMetaData depthMD;

    while (!xnOSWasKeyboardHit())
    {
        nRetVal = context.WaitOneUpdateAll(depth);
        if (nRetVal != XN_STATUS_OK)
        {
            printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
            continue;
        }

        xnFPSMarkFrame(&xnFPS);

        depth.GetMetaData(depthMD);
        const XnDepthPixel* pDepthMap = depthMD.Data();

        printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS));
    }

    context.Shutdown();

    return 0;
}

// -----------------------------------------------------------------------------------------------------
//  connect
// -----------------------------------------------------------------------------------------------------
bool CameraDevice::connect()
{
	//Connect to kinect
	printf("Connecting to Kinect... ");
	fflush(stdout);
	XnStatus nRetVal = XN_STATUS_OK;
	EnumerationErrors errors;
	ScriptNode script;
	nRetVal = g_context.InitFromXmlFile(Config::_PathKinectXmlFile.c_str(), script, &errors);
	if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return false;
	}
	else if (nRetVal != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(nRetVal));
		return false;
	}
	printf("OK\n");

	// allocate the point cloud buffer
	g_cloudPointSave.width = NBPIXELS_WIDTH;
    g_cloudPointSave.height = NBPIXELS_HEIGHT;
    g_cloudPointSave.points.resize(NBPIXELS_WIDTH*NBPIXELS_HEIGHT);

	nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	CHECK_RC(nRetVal, "Find depth generator");

	nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
	CHECK_RC(nRetVal, "Find image generator");

	nRetVal = xnFPSInit(&g_xnFPS, 180);
	CHECK_RC(nRetVal, "FPS Init");

	g_context.SetGlobalMirror(false); // mirror image horizontally

	g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
	if (g_depth.GetIntProperty ("ShadowValue", g_shadowValue) != XN_STATUS_OK)
		printf ("[OpenNIDriver] Could not read shadow value!");

	if (g_depth.GetIntProperty ("NoSampleValue", g_noSampleValue) != XN_STATUS_OK)
		printf ("[OpenNIDriver] Could not read no sample value!");

    return (nRetVal == XN_STATUS_OK);
}

void createStream(Generator& generator, XnProductionNodeType type)
{
	EnumerationErrors errors;
	XnStatus nRetVal = g_Context.CreateAnyProductionTree(type, NULL, generator, &errors);
	if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		displayMessage("%s", strError);
		return;
	}
	else if (nRetVal != XN_STATUS_OK)
	{
		displayMessage("Open failed: %s", xnGetStatusString(nRetVal));
		return;
	}
}

//--------------------------------------------------------------
void testApp::setup(){
	
	XnStatus rc;
	
	EnumerationErrors errors;
	rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return ;
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
		return;
	}
	
	rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	if (rc != XN_STATUS_OK)
	{
		printf("No depth node exists! Check your XML.");
		return;
	}
	
	g_depth.GetMetaData(g_depthMD);
	
	// Texture map init
	g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512;
	g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512;
	g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));
	std::cout << " w:" << g_depthMD.FullXRes() << " h:" << g_depthMD.FullYRes() << std::endl;
	pixels = (unsigned char*)malloc(640*480*3*sizeof(unsigned char));
	tex.allocate(640, 480, GL_RGB);
}

int main()
{
	XnStatus nRetVal = XN_STATUS_OK;

	Context context;
	ScriptNode scriptNode;
	EnumerationErrors errors;

	const char *fn = NULL;
	if	(fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
	else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
	else {
		printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
		return XN_STATUS_ERROR;
	}
	printf("Reading config from: '%s'\n", fn);
	nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);

	if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return (nRetVal);
	}
	else if (nRetVal != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(nRetVal));
		return (nRetVal);
	}

	DepthGenerator depth;
	nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
	CHECK_RC(nRetVal, "Find depth generator");

	XnFPSData xnFPS;
	nRetVal = xnFPSInit(&xnFPS, 180);
	CHECK_RC(nRetVal, "FPS Init");

	DepthMetaData depthMD;

	while (!xnOSWasKeyboardHit())
	{
		nRetVal = context.WaitOneUpdateAll(depth);
		if (nRetVal != XN_STATUS_OK)
		{
			printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
			continue;
		}

		xnFPSMarkFrame(&xnFPS);

		depth.GetMetaData(depthMD);

		printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS));
	}

	depth.Release();
	scriptNode.Release();
	context.Release();

	return 0;
}

int main(int argc, char **argv)
{
	XnBool bChooseDevice = false;
	const char* csRecordingName = NULL;

	if (argc > 1)
	{
		if (strcmp(argv[1], "-devices") == 0)
		{
			bChooseDevice = TRUE;
		}
		else
		{
			csRecordingName = argv[1];
		}
	}

	if (csRecordingName != NULL)
	{	
		// check if running from a different directory. If so, we need to change directory
		// to the real one, so that path to INI file will be OK (for log initialization, for example)
		if (0 != changeDirectory(argv[0]))
		{
			return(ERR_DEVICE);
		}
	}

	// Xiron Init
	XnStatus rc = XN_STATUS_OK;
	EnumerationErrors errors;

	if (csRecordingName != NULL)
	{	
		xnLogInitFromXmlFile(SAMPLE_XML_PATH);
		rc = openDeviceFile(argv[1]);
	}
	else if (bChooseDevice)
	{
		rc = openDeviceFromXmlWithChoice(SAMPLE_XML_PATH, errors);
	}
	else
	{
		rc = openDeviceFromXml(SAMPLE_XML_PATH, errors);
	}

	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		closeSample(ERR_DEVICE);
		return (rc);
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
		closeSample(ERR_DEVICE);
	}

	audioInit();
	captureInit();
	statisticsInit();

	reshaper.zNear = 1;
	reshaper.zFar = 100;
	glut_add_interactor(&reshaper);

	cb.mouse_function = MouseCallback;
	cb.motion_function = MotionCallback;
	cb.passive_motion_function = MotionCallback;
	cb.keyboard_function = KeyboardCallback;
	cb.reshape_function = ReshapeCallback;
	glut_add_interactor(&cb);

	glutInit(&argc, argv);
	glutInitDisplayString("stencil double rgb");
	glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
	glutCreateWindow("OpenNI Viewer");
	glutFullScreen();
	glutSetCursor(GLUT_CURSOR_NONE);

	init_opengl();

	glut_helpers_initialize();

	camera.configure_buttons(0);
	camera.set_camera_mode(true);
	camera.set_parent_rotation( & camera.trackball.r);
	camera.enable();

	object.configure_buttons(1);
	object.translator.t[2] = -1;
	object.translator.scale *= .1f;
	object.trackball.r = rotationf(vec3f(2.0,0.01,0.01), to_radians(180));
	object.set_parent_rotation( & camera.trackball.r);
	object.disable();

	light.configure_buttons(0);
	light.translator.t = vec3f(.5, .5, -1);
	light.set_parent_rotation( & camera.trackball.r);
//.........这里部分代码省略.........

XnStatus TYKinect :: Init(bool depthNode, bool imageNode){	//Kinect Routines (Copied From OpenNI Sameple : Simple Viewer)
	cout << "Connecting to kinect..."		<<	endl;

	status = context.Init();
	CHECK_RC(status, "context init");
	if(status != XN_STATUS_OK)	return status;

	/* >>>>> Acquisition from device*/

	/* Depth Node Initialization */
	if(depthNode){
		status = depth.Create(context);
		CHECK_RC(status, "create depth generator");
		if(status == XN_STATUS_OK){
			status = depth.SetMapOutputMode(outputMode);	//640, 480, 30fps
			CHECK_RC(status, "set output mode");
			if(status == XN_STATUS_OK)	hasDepthNode = true;
		}
	}
	/* Depth Node Initialization */
	if(imageNode){
		status = image.Create(context);
		CHECK_RC(status, "create image generator");
		if(status == XN_STATUS_OK){
			status = image.SetMapOutputMode(outputMode);	//640, 480, 30fps
			CHECK_RC(status, "set output mode");
			if(status == XN_STATUS_OK)	hasImageNode = true;
		}
	}
	

	/* >>>>> Acquisition from file*/

	if(!(hasDepthNode||hasImageNode)){
		EnumerationErrors errors;
		printf("Trying to create node from oni file\n");
		//status = xnContextOpenFileRecording( (XnContext*) &context,  oniFile.c_str());
		status = context.OpenFileRecording(oniFile.c_str());
 		CHECK_RC(status,"Open input file");
		
		if (status == XN_STATUS_NO_NODE_PRESENT)
		{
			XnChar strError[1024];
			errors.ToString(strError, 1024);
			printf("%s\n", strError);
			return status;
		}
		else if (status != XN_STATUS_OK)
		{
			printf("Open failed: %s\n", xnGetStatusString(status));
			return status;
		}
	
		status = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
		CHECK_RC(status, "Find depth generator");
		if(status == XN_STATUS_OK)	hasDepthNode = true;

		status = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
		CHECK_RC(status, "Find image generator");
		if(status == XN_STATUS_OK)	hasImageNode = true;

		if(status != XN_STATUS_OK)
		{
			cout << "Initial Failed!! " << endl;
			return status;
		}
	}
	
	if(isSyncTwoView && hasImageNode && hasDepthNode)	depth.GetAlternativeViewPointCap().SetViewPoint(image);
	if(isMirroring)		context.SetGlobalMirror(!context.GetGlobalMirror());

	status = context.StartGeneratingAll();
	CHECK_RC(status, "context start generating all");

	return status;
}

int main(int argc, char* argv[])
{
	XnStatus rc;

	EnumerationErrors errors;
	rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return (rc);
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
		return (rc);
	}

	rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);

	g_depth.GetMetaData(g_depthMD);
	g_image.GetMetaData(g_imageMD);

	// Hybrid mode isn't supported in this sample
	if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
	{
		printf ("The device depth and image resolution must be equal!\n");
		return 1;
	}

	// RGB is the only image format supported.
	if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
	{
		printf("The device image format must be RGB24\n");
		return 1;
	}

	// Texture map init
	g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512;
	g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512;
	g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));

	// OpenGL init
	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
	glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
	glutCreateWindow ("OpenNI Simple Viewer");
	glutFullScreen();
	glutSetCursor(GLUT_CURSOR_NONE);

	glutKeyboardFunc(glutKeyboard);
	glutDisplayFunc(glutDisplay);
	glutIdleFunc(glutIdle);

	glDisable(GL_DEPTH_TEST);
	glEnable(GL_TEXTURE_2D);

	// Per frame code is in glutDisplay
	glutMainLoop();

	return 0;
}

int OpenniWrapper::start()
{
	XnStatus rc;
	EnumerationErrors errors;
	hasRGB = 0;
	hasDepth = 0;

	rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		sprintf(buf, "%s\n", strError);
		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
		return (rc);
	}
	else if (rc != XN_STATUS_OK)
	{
		sprintf(buf, "Open failed: %s\n", xnGetStatusString(rc));
		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
		return (rc);
	}

	rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	hasDepth = 1;
	if (rc != XN_STATUS_OK)
	{
		sprintf(buf, "No depth node exists! Check your XML.");
		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
		hasDepth = 0;
		//return 1;
	}

	rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
	hasRGB=1;
	if (rc != XN_STATUS_OK)
	{
		sprintf(buf, "No image node exists! Check your XML.");
		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
		hasRGB=0;
		//return 1;
	}

//	rc = g_depth.SetIntProperty ("OutputFormat", 0);
//	if (rc != XN_STATUS_OK)
//	{
//		sprintf(buf, "Cannot set depth generator property");
//		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
//		return 1;
//	}
	//for ASUS XTION ONLY
	//see: http://dev.pointclouds.org/projects/pcl/wiki/MacOSX
	rc = g_depth.SetIntProperty ("RegistrationType", 1);
	if (rc != XN_STATUS_OK)
	{
		sprintf(buf, "Cannot set depth generator property: RegistrationType");
		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
		return 1;
	}

	//obviously Kinect doesn't support anything else!?
//	XnMapOutputMode outputMode;
//
//	outputMode.nXRes = 640;
//	outputMode.nYRes = 480;
//	outputMode.nFPS = 30;
////
//	rc = g_depth.SetMapOutputMode(outputMode);
//	if (rc != XN_STATUS_OK)
//	{
//		sprintf(buf, "Cannot set depth generator property");
//		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
//		return 1;
//	}
////
//	rc = g_image.SetMapOutputMode(outputMode);
//	if (rc != XN_STATUS_OK)
//	{
//		sprintf(buf, "Cannot set image generator property");
//		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
//		return 1;
//	}
	// TODO: check error code
	if(hasDepth)
		g_depth.GetMetaData(g_depthMD);
	if(hasRGB)
		g_image.GetMetaData(g_imageMD);

	// Hybrid mode isn't supported in this sample
//	if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
//	{
//		sprintf (buf, "The device depth and image resolution must be equal!\n");
//		__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);
//		return 1;
//	}

	//show some info of the device...
//	sprintf(buf, "Image Resolution: %d x %d", g_imageMD.FullXRes(), g_imageMD.FullYRes());
//	__android_log_print(ANDROID_LOG_DEBUG, "OPENNI",  buf);

//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
	XnStatus nRetVal = XN_STATUS_OK;

	Context context;
	EnumerationErrors errors;
	Mode mode;

	// default mode
#if XN_PLATFORM == XN_PLATFORM_WIN32
	mode = MODE_PLAY;
#else
	mode = MODE_RECORD;
#endif

	// check if mode was provided by user
	if (argc > 1)
	{
		if (strcmp(argv[1], "play") == 0)
		{
			mode = MODE_PLAY;
		}
		else if (strcmp(argv[1], "record") == 0)
		{
			mode = MODE_RECORD;
		}
		else
		{
			printUsage(argv[0]);
			return -1;
		}
	}

	// make sure mode is valid
#if XN_PLATFORM != XN_PLATFORM_WIN32
	if (mode == MODE_PLAY)
	{
		printf("Playing is not supported on this platform!\n");
		return -1;
	}
#endif

	ScriptNode scriptNode;

	nRetVal = context.InitFromXmlFile(SAMPLE_XML_PATH, scriptNode);
	if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return (nRetVal);
	}
	else if (nRetVal != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(nRetVal));
		return (nRetVal);
	}

	// find audio nodes
	AudioGenerator gens[nSupportedNodes];
	XnUInt32 nNodes = 0;

	NodeInfoList list;
	nRetVal = context.EnumerateExistingNodes(list, XN_NODE_TYPE_AUDIO);
	CHECK_RC(nRetVal, "Enumerate audio nodes");

	for (NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it)
	{
		NodeInfo info = *it;
		nRetVal = info.GetInstance(gens[nNodes]);
		CHECK_RC(nRetVal, "Get audio node");
		nNodes++;
	}

	if (nNodes == 0)
	{
		printf("No audio node was found!\n");
		return -1;
	}

	if (mode == MODE_PLAY)
	{
		nRetVal = play(context, gens, nNodes);
	}
	else if (mode == MODE_RECORD)
	{
		nRetVal = record(context, gens, nNodes);
	}

	scriptNode.Release();
	for (int i = 0; i < nSupportedNodes; ++i)
		gens[i].Release();
	context.Release();

	return nRetVal;
}

int main(int argc, char* argv[])
{

	EnumerationErrors errors;


    //rc = context.Init();
    rc = context.InitFromXmlFile(strPathToXML,&errors);
    if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		return (rc);
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
		return (rc);
	}
	
	/* UNCOMMENT TO GET FILE READING 
    //rc = context.OpenFileRecording(strInputFile);
	//CHECK_RC(rc, "Open input file");

	//rc = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
	//CHECK_RC(rc, "Get player node"); */ 

	rc = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
	CHECK_RC(rc, "Find depth generator");

	rc = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
	CHECK_RC(rc, "Find image generator");

    depth.GetMetaData(depthMD);
	image.GetMetaData(imageMD);

    //rc = player.SetRepeat(FALSE);
	XN_IS_STATUS_OK(rc);

    //rc = player.GetNumFrames(image.GetName(), nNumFrames);
	//CHECK_RC(rc, "Get player number of frames");
	//printf("%d\n",nNumFrames);

    //rc = player.GetNumFrames(depth.GetName(), nNumFrames);
	//CHECK_RC(rc, "Get player number of frames");
	//printf("%d\n",nNumFrames);

	// Hybrid mode isn't supported
	if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
	{
		printf ("The device depth and image resolution must be equal!\n");
		return 1;
	}

	// RGB is the only image format supported.
	if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
	{
		printf("The device image format must be RGB24\n");
		return 1;
	}

    avi = cvCreateVideoWriter(strOutputFile, 0, 30, cvSize(640,480), TRUE);

    depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
    kinectDepthImage = cvCreateImage( cvSize(640,480),16,1 );

    depthMetersMat2 = cvCreateMat(480, 640, CV_16UC1);
    kinectDepthImage2 = cvCreateImage( cvSize(640,480),16,1 );

    colorArr[0] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
    colorArr[1] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
    colorArr[2] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);

    //prepare_for_face_detection();

    int b;
    int g;
    int r;

	while ((rc = image.WaitAndUpdateData()) != XN_STATUS_EOF && (rc = depth.WaitAndUpdateData()) != XN_STATUS_EOF) {
        if (rc != XN_STATUS_OK) {
            printf("Read failed: %s\n", xnGetStatusString(rc));
            break;
        }
        depth.GetMetaData(depthMD);
        image.GetMetaData(imageMD);

        //XnUInt32 a;
        //a = g_imageMD.FPS;
        printf("%d\n",imageMD.FrameID());
        //a = g_depthMD.DataSize();
        //printf("%d\n",a);

        pDepth = depthMD.Data();
        pImageRow = imageMD.RGB24Data();

        for (unsigned int y=0; y<imageMD.YRes(); y++) {
            pPixel = pImageRow;
            uchar* Bptr = colorArr[0].ptr<uchar>(y);
//.........这里部分代码省略.........

//////////////////// Entry point //////////////////// 
int main(int argc, char* argv[]) 
{
	depthmask_for_mesh = cvCreateImage(MESH_SIZE, IPL_DEPTH_8U, 1);
	markerSize.width = -1; 
	markerSize.height = -1;

  //init OpenNI
  EnumerationErrors errors;
	switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) {
		case XN_STATUS_OK:
			break;
		case XN_STATUS_NO_NODE_PRESENT:
			XnChar strError[1024];	errors.ToString(strError, 1024);
			printf("%s\n", strError);
			return rc; break;
		default:
			printf("Open failed: %s\n", xnGetStatusString(rc));
			return rc;
	}

  //set camera parameter
  capture = new Camera(0, CAPTURE_SIZE, CAMERA_PARAMS_FILENAME);
	RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width));

  //init parameter for rendering
  osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE));

  //for Kinect view
  loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort);
	kinectDistort =0;
	kinectParams->data.db[2]=320.0; 
	kinectParams->data.db[5]=240.0;

	//setting kinect context
	niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
	g_depth.GetMirrorCap().SetMirror(false);
	g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);

	//registration
	kinectReg = new RegistrationOPIRA(new OCVSurf());
	kinectReg->addResizedMarker(MARKER_FILENAME, 400);

	//physics
	m_world = new bt_ARMM_world();
	ground_grid = new float[GRID_SIZE];
	for (int i =0;i < GRID_SIZE; i++) {
		ground_grid[i] = 0; 
	}
#ifdef SIM_PARTICLES
	voxel_grid = new float[1200];
	for (int i =0;i < 1200; i++) {
		voxel_grid[i] = 0;
	}
#endif

	//controls
	KeyboardController *kc = new KeyboardController(m_world);
	XboxController *xc = new XboxController(m_world);

	loadKinectTransform(KINECT_TRANSFORM_FILENAME);

#ifdef USE_ARMM_VRPN
	//----->Server part
	m_Connection = new vrpn_Connection_IP();
	ARMM_server = new ARMM_Communicator(m_Connection	);

	//Open the imager server and set up channel zero to send our data.
	//if ( (ARMM_img_server = new vrpn_Imager_Server("ARMM_Image", m_Connection, MESH_SIZE.width, MESH_SIZE.height)) == NULL) {
	//	fprintf(stderr, "Could not open imager server\n");
	//	return -1;
	//}
	//if ( (channel_id = ARMM_img_server->add_channel("Grid")) == -1) {
	//	fprintf(stderr, "Could not add channel\n");
	//	return -1;
	//}
	ARMM_server->SetObjectsData(&(m_world->Objects_Body));
	ARMM_server->SetHandsData(&(m_world->HandObjectsArray));

  cout << "Created VRPN server." << endl;
	//<-----
#ifdef USE_ARMM_VRPN_RECEIVER 	//----->Receiver part
	ARMM_sever_receiver = new vrpn_Tracker_Remote (ARMM_CLIENT_IP);
	ARMM_sever_receiver->register_change_handler(NULL, handle_object);
#endif 	//<----- 

#endif

#ifdef USE_SKIN_SEGMENTATION	//Skin color look up
	_HandRegion.LoadSkinColorProbTable();
#endif

#ifdef USE_OPTICAL_FLOW
	prev_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
	curr_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
	flow_capture = new FlowCapture();
	flow_capture->Init();
#endif

//.........这里部分代码省略.........

//----------------------------------------------------
// OpenNI関連の初期化
//----------------------------------------------------
void xnInit(void){
	XnStatus rc;

	EnumerationErrors errors;
	rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
	if (rc == XN_STATUS_NO_NODE_PRESENT){
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		exit(1);
	}else if (rc != XN_STATUS_OK){
		printf("Open failed: %s\n", xnGetStatusString(rc));
		exit(1);
	}
	
	//playerInit();

	rc = xnFPSInit(&g_xnFPS, 180);	// FPSの初期化
	//CHECK_RC(rc, "FPS Init");

	// デプス・イメージ・ユーザジェネレータの作成
	rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	errorCheck(rc, "g_depth");		// エラーチェック
	rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
	errorCheck(rc, "g_image");
	rc = g_context.FindExistingNode(XN_NODE_TYPE_USER, g_user);
	//rc = g_user.Create(g_context);
	errorCheck(rc, "g_user");

	// ユーザー検出機能をサポートしているか確認
	if (!g_user.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
		//throw std::runtime_error("ユーザー検出をサポートしてません");
		cout << "ユーザー検出をサポートしてません" << endl;
		exit(1);
	}

	// レコーダーの設定
	//rc = setRecorder(g_recorder, rc);

	// ユーザコールバックの登録
	XnCallbackHandle userCallbacks;
	g_user.RegisterUserCallbacks(UserDetected, UserLost, NULL, userCallbacks);

	// デプス・イメージ・ユーザデータの取得
	g_depth.GetMetaData(g_depthMD);
	g_image.GetMetaData(g_imageMD);
	g_user.GetUserPixels(0, g_sceneMD);

	// Hybrid mode isn't supported in this sample
	// イメージとデプスの大きさが違うとエラー
	if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes()){
		printf ("The device depth and image resolution must be equal!\n");
		exit(1);
	}

	// RGB is the only image format supported.
	// フォーマットの確認
	if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24){
		printf("The device image format must be RGB24\n");
		exit(1);
	}

	// Texture map init
	// フルスクリーン画面の大きさ調整
	g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes() - 1) / 512) + 1) * 512;	// 大きさによって512の倍数に調整(1024)
	g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes() - 1) / 512) + 1) * 512;	// 512
	g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));	// スクリーンの大きさ分の色情報の容量を確保

	// 座標ポインタの初期化
	g_pPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D));			// 座標を入れるポインタを作成
	g_pBackTex = (XnRGB24Pixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnRGB24Pixel));	// 背景画像を入れるポインタを作成
	g_pBackPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D));		// 背景座標を入れるポインタを作成
	g_pBackDepth = (XnDepthPixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnDepthPixel));		// 背景座標を入れるポインタを作成
}

const Int32 NInput::init(void)
{
    XnStatus xn_rs = XN_STATUS_OK;
    EnumerationErrors errors;

    // hardware initializing
    xn_rs = context.Init();
    if (xn_rs == XN_STATUS_NO_NODE_PRESENT)
    {
        XnChar strError[1024];
        errors.ToString(strError, 1024);
        lasterr_str = reinterpret_cast<TCHAR*>(strError);
        return (xn_rs);
    }
    else if (xn_rs != XN_STATUS_OK)
    {
        lasterr_str = Str(_T("Open failed: "))
            + Str(reinterpret_cast<const TCHAR*>(xnGetStatusString(xn_rs)));
        return (xn_rs);
    }

    // mumble
    XnLicense license;
    xnOSStrCopy(license.strVendor, "PrimeSense", XN_MAX_NAME_LENGTH);
    xnOSStrCopy(license.strKey, "0KOIk2JeIBYClPWVnMoRKn5cdY4=",
                XN_MAX_LICENSE_LENGTH);
    CHECK_RC(context.AddLicense(license), "Added license");

#ifdef MOTOR
    // motor initializing
#define VID_MICROSOFT 0x45e
#define PID_NUI_MOTOR 0x02b0

//     CHECK_RC(xnUSBInit(), "USB init");
    XN_USB_DEV_HANDLE dev;
    CHECK_RC(xnUSBOpenDevice(VID_MICROSOFT, PID_NUI_MOTOR, NULL, NULL, &dev),
             "USB Open");
    uChar empty[0x1];
    int angle = 1;
    CHECK_RC(xnUSBSendControl(dev,
                              XN_USB_CONTROL_TYPE_VENDOR,
                              0x31, (XnUInt16)angle,
                              0x0, empty, 0x0, 0), "USB sendcontrol");
    CHECK_RC(xnUSBCloseDevice(dev), "USB Close");
#endif

    // base initializing
    CHECK_RC(gen_depth.Create(context), "Find depth generator");
    CHECK_RC(gen_image.Create(context), "Find image generator");

    // recognition initializing
    CHECK_RC(gen_user.Create(context), "Find user generator");
    CHECK_RC(gen_gesture.Create(context), "Find gesture generator");
    CHECK_RC(gen_hands.Create(context), "Find hand generator");

    // user initializing
    XnCallbackHandle usr_cbh;
    gen_user.RegisterUserCallbacks(cb_usr_found, cb_usr_lost, this, usr_cbh);

    // gestures initializing
    XnCallbackHandle gesture_cb;
    gen_gesture.RegisterGestureCallbacks(cb_gst_recognized, cb_gst_beginning,
                                         this, gesture_cb);

    // hands initializing
    XnCallbackHandle hand_cb;
    gen_hands.RegisterHandCallbacks(cb_hnd_begin, cb_hnd_continue,
                                    cb_hnd_finish, this, hand_cb);

    xn_rs = context.StartGeneratingAll();
    CHECK_RC(xn_rs, "Start generating all");

    // The first getting of metadatas
    gen_depth.GetMetaData(depthMD);
    gen_image.GetMetaData(imageMD);
    gen_user.GetUserPixels(0, sceneMD);

    // gesture
    add_ordinal_gestures();
    CHECK_RC(xn_rs, "Start generating gesture");

    // Hybrid mode isn't supported in this sample
    if (imageMD.FullXRes() != depthMD.FullXRes()
        || imageMD.FullYRes() != depthMD.FullYRes())
    {
        lasterr_str =
            _T("The device depth and image resolution must be equal!\n");
        return 1;
    }

    // RGB is the only image format supported.
    if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
    {
        lasterr_str = _T("The device image format must be RGB24\n");
        return 1;
    }

    // Calibrate rgb and depth
    gen_depth.GetAlternativeViewPointCap().SetViewPoint(gen_image);

//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
    
    XnBool bChooseDevice = false;
	const char* csRecordingName = NULL;
    
	if (argc > 1)
	{
		if (strcmp(argv[1], "-devices") == 0)
		{
			bChooseDevice = TRUE;
		}
		else
		{
			csRecordingName = argv[1];
		}
	}
    
	if (csRecordingName != NULL)
	{
		// check if running from a different directory. If so, we need to change directory
		// to the real one, so that path to INI file will be OK (for log initialization, for example)
		if (0 != changeDirectory(argv[0]))
		{
			return(ERR_DEVICE);
		}
	}
    
	// Xiron Init
	XnStatus rc = XN_STATUS_OK;
	EnumerationErrors errors;
    
	if (csRecordingName != NULL)
	{
		xnLogInitFromXmlFile(SAMPLE_XML_PATH);
		rc = openDeviceFile(argv[1]);
	}
	else if (bChooseDevice)
	{
		rc = openDeviceFromXmlWithChoice(SAMPLE_XML_PATH, errors);
	}
	else
	{
		rc = openDeviceFromXml(SAMPLE_XML_PATH, errors);
	}
    
	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
		closeSample(ERR_DEVICE);
		return (rc);
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
		closeSample(ERR_DEVICE);
	}
    
	captureInit();
	statisticsInit();
    
	//reshaper.zNear = 1;
	//reshaper.zFar = 100;
	//glut_add_interactor(&reshaper);
    
	//cb.mouse_function = MouseCallback;
	//cb.motion_function = MotionCallback;
	//cb.passive_motion_function = MotionCallback;
	//cb.keyboard_function = KeyboardCallback;
	//cb.reshape_function = ReshapeCallback;
	//glut_add_interactor(&cb);
    
    glutInit(&argc, argv);
	glutInitDisplayString("stencil double rgb");
	glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
	glutCreateWindow("OpenNI Viewer");
	//glutFullScreen();
	glutSetCursor(GLUT_CURSOR_NONE);
    
    glutMouseFunc(MouseCallback);
    glutMotionFunc(MotionCallback);
    
    init_opengl();
    
    glutIdleFunc(IdleCallback);
	glutDisplayFunc(drawFunctionMain);
    glutPassiveMotionFunc(MotionCallback);
    
	//createKeyboardMap();
	//createMenu();

    atexit(onExit);
    
    //Use built in hand tracker class to handle all hand movements and gestures
    HandTracker mainHandTracker(g_Context);
    m_HandTracker = &mainHandTracker;
    
    drawInit(m_HandTracker);
//.........这里部分代码省略.........