C++ UserGenerator::GetUserPixels方法代码示例

XnStatus prepare(char useScene, char useDepth, char useHistogram)
{
//TODO handle possible failures!
	if (useDepth)
	{
		mDepthGen.GetMetaData(depthMD);
		nXRes = depthMD.XRes();
		nYRes = depthMD.YRes();

		pDepth = depthMD.Data();

		if (useHistogram)
		{
			calcHist();

			// rewind the pointer
			pDepth = depthMD.Data();
		}
	}
	if (useScene) 
	{
		mUserGen.GetUserPixels(0, sceneMD);
		nXRes = sceneMD.XRes();
		nYRes = sceneMD.YRes();

		pLabels = sceneMD.Data();
	}
}

XnStatus prepare(char useScene, char useDepth, char useImage, char useIr, char useHistogram)
{
//TODO handle possible failures! Gotcha!
	if (useDepth)
	{
		mDepthGen.GetMetaData(depthMD);
		nXRes = depthMD.XRes();
		nYRes = depthMD.YRes();

		pDepth = depthMD.Data();

		if (useHistogram)
		{
			calcHist();

			// rewind the pointer
			pDepth = depthMD.Data();
		}
	}
	if (useScene) 
	{
		mUserGen.GetUserPixels(0, sceneMD);
		nXRes = sceneMD.XRes();
		nYRes = sceneMD.YRes();

		pLabels = sceneMD.Data();
	}
	if (useImage)
	{
		mImageGen.GetMetaData(imageMD);
		nXRes = imageMD.XRes();
		nYRes = imageMD.YRes();

		pRGB = imageMD.RGB24Data();
		// HISTOGRAM?????
	}
	if (useIr)
	{
		mIrGen.GetMetaData(irMD);
		nXRes = irMD.XRes();
		nYRes = irMD.YRes();

		pIR = irMD.Data();
		// HISTOGRAM????
	}
}

/*
 * Class:     org_OpenNI_Samples_Assistant_NativeMethods
 * Method:    initFromContext
 * Signature: (JZZ)I
 */
JNIEXPORT jint JNICALL 
Java_org_OpenNI_Samples_Assistant_NativeMethods_initFromContext
  (JNIEnv *env, jclass cls, jlong pContext, jboolean _hasUserGen, jboolean _hasDepthGen)
{
	LOGD("init_start");
	hasUserGen =  _hasUserGen;
	hasDepthGen = _hasDepthGen;

	mContext = new Context((XnContext*) pContext);
	
	if (!(hasUserGen || hasDepthGen))
		return XN_STATUS_BAD_PARAM;
	
	int rc;
	if (hasUserGen)
	{
		rc = mContext->FindExistingNode(XN_NODE_TYPE_USER, mUserGen);
		if (rc != XN_STATUS_OK)
		{
//TODO log&retval
			printf("No user node exists!");
			return 1;
		}

		mUserGen.GetUserPixels(0, sceneMD);
	}

	if (hasDepthGen)
	{
		rc = mContext->FindExistingNode(XN_NODE_TYPE_DEPTH, mDepthGen);
		if (rc != XN_STATUS_OK)
		{
//TODO log&retval
			printf("No depth node exists! Check your XML.");
			return 1;
		}

		mDepthGen.GetMetaData(depthMD);
	}

	initGraphics();

	LOGD("init_end");
	return XN_STATUS_OK;
}

/*
 *	Function:	run
 *
 *	Starts and continues generating data from the Kinect.
 *	A loop runs and updates data whenever new data is available from one of the Kinect
 *	devices, and then the data is processed to check for patient movement.
 *	The loop is controlled by the "quit" global boolean, which is set to false by the 
 *	signal handler "stop()"
 */
void KinectMonitor::run() {
  XnStatus status;
  SceneMetaData scene;
	DepthMetaData depth;
    
  // Start the device
  status = context.StartGeneratingAll();

  // Running loop
  while( !quit ) {
    // Wait for any new incoming data
    context.WaitOneUpdateAll(depthGenerator);
    // Mark the new frame
		xnFPSMarkFrame(&xnFPS);
    // Get the depth data from the device
		depthGenerator.GetMetaData(depth);
        
    // Get the recognized users
		XnUInt16 numUsers = 15;
		XnUserID users[numUsers];
		userGenerator.GetUsers(users, numUsers);
		// Only track the patient if they are alone
		if( numUsers != 1) continue;
        
		// Get the user data
		userGenerator.GetUserPixels(users[0], scene);
        
    // Update patient position
    previous = current;
    current = getPosition(users[0]);
        
    // Raise alerts based on the patient's state and position
		if( previous != current ) {
        if( current == TURNED && out == false ) {
					// Patient is turned
					printf("Patient getting out of bed.\n");
				} else if( out && bedSet ) {
					printf("Patient is out of bed.\n");
				}
		}
  }
}

void glutDisplay (void){
    glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    // Setup the OpenGL viewpoint
    glMatrixMode(GL_PROJECTION);
    glPushMatrix();
    glLoadIdentity();
    SceneMetaData sceneMD;
    DepthMetaData depthMD;
    ImageMetaData imageMD;
    g_DepthGenerator.GetMetaData(depthMD);
    glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
    glDisable(GL_TEXTURE_2D);
    //XnStatus rc = g_Context.WaitOneUpdateAll(g_DepthGenerator);
    XnStatus rc = g_Context.WaitAnyUpdateAll();
    CHECK_RC("Wait Data",rc);
    g_DepthGenerator.GetMetaData(depthMD);
    if(g_UserGenerator.IsValid())
        g_UserGenerator.GetUserPixels(0, sceneMD);
    g_ImageGenerator.GetMetaData(imageMD);

    DrawDepthMap(depthMD, sceneMD);
    DrawImage(imageMD);
    glutSwapBuffers();
}//glutdisplay

//----------------------------------------------------
// 描画処理
//----------------------------------------------------
void glutDisplay (void){
	xnFPSMarkFrame(&g_xnFPS);		// FPSの計測開始？

	XnStatus rc = XN_STATUS_OK;

	// 更新されたノードを待つ(どれでもいい)
	rc = g_context.WaitAnyUpdateAll();
	if (rc != XN_STATUS_OK){
		printf("Read failed: %s\n", xnGetStatusString(rc));
		printf("test\n");
		return;
	}

	// イメージ・デプス・ユーザのデータを取得
	g_image.GetMetaData(g_imageMD);
	g_depth.GetMetaData(g_depthMD);
	g_user.GetUserPixels(0, g_sceneMD);

	// カラー・デプスバッファをクリア
	glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

	// 設定
	setDepthHistgram(g_depth, g_depthMD, g_pDepthHist);	// ヒストグラムの計算・作成
	setTexture();	// テクスチャ設定

	// 描画
	drawImage();	// イメージデータの描画

	// デバッグモードの文字は描画の行列と隔離
	glMatrixMode(GL_PROJECTION);								// 射影変換の行列の設定
	//glLoadIdentity();											// スタックのクリア
	glMatrixMode(GL_MODELVIEW);								// モデルビュー変換の行列の設定
	glLoadIdentity();
	if(g_debugMode) glDebug();								// デバッグモード

	// 一度だけスクリーンショットをとる
	if(g_screenShotImageMode){
		ostringstream fname;
		fname	<< OUT_IMAGE_PATH ;//出力ファイル名
		std::string name = fname.str();
		g_glScreenShot.screenshot(name.c_str(), 24);

		g_screenShotImageMode = !g_screenShotImageMode;	// トグル
	}

	// 一度だけ深さデータを取得する
	if(g_screenShotDepthMode){
		ofstream ofs(OUT_DEPTH_PATH);
		const XnDepthPixel* pDepth = g_depthMD.Data();

		for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; y ++){
			for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; x ++, pDepth ++){
				if(*pDepth < 2000){
					ofs << (int)((*pDepth) * 2) << ',';
				}else{
					ofs << (*pDepth) << ',';
				}
			}
			ofs << endl;
		}

		g_screenShotDepthMode = !g_screenShotDepthMode;	// トグル
	}

	// Swap the OpenGL display buffers
	glutSwapBuffers();
}

//----------------------------------------------------
// 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
}

void captureDepthMap(unsigned char* g_ucDepthBuffer)
{
	SceneMetaData smd;
	DepthMetaData dmd;
	_depth.GetMetaData(dmd);

	//printf("AS3OpenNI :: Frame %d Middle point is: %u. FPS: %f\n", dmd.FrameID(), dmd(dmd.XRes() / 2, dmd.YRes() / 2), xnFPSCalc(&xnFPS));

	_depth.GetMetaData(dmd);
	_userGenerator.GetUserPixels(0, smd);
	unsigned int nValue = 0;
	unsigned int nHistValue = 0;
	unsigned int nIndex = 0;
	unsigned int nX = 0;
	unsigned int nY = 0;
	unsigned int nNumberOfPoints = 0;
	XnUInt16 g_nXRes = dmd.XRes();
	XnUInt16 g_nYRes = dmd.YRes();

	const XnDepthPixel* pDepth = dmd.Data();
	const XnLabel* pLabels = smd.Data();

	// Calculate the accumulative histogram
	memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
	for (nY=0; nY<g_nYRes; nY++)
	{
		for (nX=0; nX<g_nXRes; nX++)
		{
			nValue = *pDepth;
			if (nValue != 0)
			{
				g_pDepthHist[nValue]++;
				nNumberOfPoints++;
			}
			pDepth++;
		}
	}

	for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
	{
		g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
	}

	if (nNumberOfPoints)
	{
		for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
		{
			g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
		}
	}
	
	pDepth = dmd.Data();
	if (_drawPixels)
	{
		XnUInt32 nIndex = 0;
		for (nY=0; nY<g_nYRes; nY++)
		{
			for (nX=0; nX < g_nXRes; nX++, nIndex++)
			{
				g_ucDepthBuffer[0] = 0;
				g_ucDepthBuffer[1] = 0;
				g_ucDepthBuffer[2] = 0;
				g_ucDepthBuffer[3] = 0x00;
				if (_depthMapBackground || *pLabels != 0)
				{
					nValue = *pDepth;
					XnLabel label = *pLabels;
					XnUInt32 nColorID = label % nColors;
					if (label == 0)
					{
						nColorID = nColors;
					}

					if (nValue != 0)
					{
						nHistValue = g_pDepthHist[nValue];
						if(_depthMapDetect)
						{
							g_ucDepthBuffer[0] = nHistValue * Colors[nColorID][0]; 
							g_ucDepthBuffer[1] = nHistValue * Colors[nColorID][1];
							g_ucDepthBuffer[2] = nHistValue * Colors[nColorID][2];
						}
						else
						{
							g_ucDepthBuffer[0] = nHistValue; 
							g_ucDepthBuffer[1] = nHistValue;
							g_ucDepthBuffer[2] = nHistValue;
						}
						
						g_ucDepthBuffer[3] = 0xFF;
					}
				}
				pDepth++;
				pLabels++;
				g_ucDepthBuffer+=4;
			}
		}
	}
}

	void OpenNIUser::updatePixels()
	{
		// Get device generators
		DepthGenerator* depth = _device->getDepthGenerator();
		UserGenerator* user = _device->getUserGenerator();

		// Get metadata
		//xn::DepthMetaData depthMetaData;
		//depth->GetMetaData( depthMetaData );
		xn::DepthMetaData* depthMetaData = _device->getDepthMetaData();
		xn::SceneMetaData* sceneMetaData = _device->getUserMetaData();


		// Get Center Of Mass
		XnPoint3D com;
		user->GetCoM( mId, com );
		// Convert to screen coordinates
		depth->ConvertRealWorldToProjective( 1, &com, &com );
		mCenter[0] = com.X;
		mCenter[1] = com.Y;
		mCenter[2] = com.Z;


		if( _enablePixels )
		{
			// Get user pixels
			user->GetUserPixels( mId, *sceneMetaData );
			//xn::SceneMetaData sceneMetaData;
			//user->GetUserPixels( mId, sceneMetaData );

			// Get labels
			const XnLabel* labels = sceneMetaData->Data();
			if( labels )
			{
				//
				// Generate a bitmap with the user pixels colored
				//
				uint16_t* pDepth = _device->getDepthMap();
				int depthWidth = depthMetaData->XRes();
				int depthHeight = depthMetaData->YRes();
				if( !_userPixels || (mWidth != depthWidth) || (mHeight != depthHeight) )
				{
					mWidth = depthWidth;
					mHeight = depthHeight;
					allocate( depthWidth, depthHeight );
				}

				xnOSMemSet( _backUserPixels, 0, depthWidth*depthHeight*3 );

				uint8_t* pixels = _backUserPixels;
				int index = 0;
				for( int j=0; j<depthHeight; j++ )
				{
					for( int x=0; x<depthWidth; x++ )
					{
						// Only fill bitmap with current user's data
						/*if( *labels != 0 && *labels == mId )
						{
							// Pixel is not empty, deal with it.
							uint32_t nValue = *pDepth;

							mColor[0] = g_Colors[mId][0];
							mColor[1] = g_Colors[mId][1];
							mColor[2] = g_Colors[mId][2];

							if( nValue != 0 )
							{
								int nHistValue = _device->getDepthMap24()[nValue];
								pixels[index+0] = 0xff & static_cast<uint8_t>(nHistValue * mColor[0]);//g_Colors[nColorID][0]); 
								pixels[index+1] = 0xff & static_cast<uint8_t>(nHistValue * mColor[1]);//g_Colors[nColorID][1]);
								pixels[index+2] = 0xff & static_cast<uint8_t>(nHistValue * mColor[2]);//g_Colors[nColorID][2]);
							}
						}****/


						// Check out for every user visible and fill bitmap with correct coloring
						// NOTE! This should be removed in the future. User should only know about its own data and not all
						if( *labels != 0 )
						{
							// Pixel is not empty, deal with it.
							uint32_t nValue = *pDepth;
							XnLabel label = *labels;
							XnUInt32 nColorID = label % nColors;
							if( label == 0 )
							{
								nColorID = nColors;
							}

							mColor[0] = g_Colors[mId][0];
							mColor[1] = g_Colors[mId][1];
							mColor[2] = g_Colors[mId][2];

							if( nValue != 0 )
							{
								int nHistValue = _device->getDepthMap24()[nValue];
								pixels[index+0] = 0xff & static_cast<uint8_t>(nHistValue * g_Colors[nColorID][0]); 
								pixels[index+1] = 0xff & static_cast<uint8_t>(nHistValue * g_Colors[nColorID][1]);
								pixels[index+2] = 0xff & static_cast<uint8_t>(nHistValue * g_Colors[nColorID][2]);
							}
						}
//.........这里部分代码省略.........