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

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

/**
 * Initialize XN functions
 */
void initialize() 
{
    ImageMetaData imageMD;
    XnStatus status;
    int dummy;
    
    srand ( time(NULL) );

    // Initializing context and checking for enumeration errors
    status = g_Context.InitFromXmlFile(XML_CONFIG_FILE, &g_Error);
    checkEnumError(status, g_Error);

    // Finding nodes and checking for errors
    STATUS_CHECK(g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator), "Finding depth node");
    STATUS_CHECK(g_Context.FindExistingNode(XN_NODE_TYPE_SCENE, g_SceneAnalyzer), "Finding scene analizer");


    //  Note: when the image generation node is handled the program gets
    //  too slow.

    // STATUS_CHECK(g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator), "Finding image node");

    // Set view point of Depth generator to the image generator point of
    // view.
    // STATUS_CHECK(g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator), "Set View Point");

    STATUS_CHECK(g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator), "Finding user node");
    
    //g_ImageGenerator.GetMetaData(imageMD);
    
    // Checking camera pixel format
    //if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24) {
    //    reportError("Camera format not supported...!\n");
    //}

    // Checking user generator capabilities
    if(!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
        reportError("Skeleton capability not supported\n");
    }
    
    if(!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
        reportError("Pose detection capability not supported\n");
    }

    printf("Number of players: ");
    dummy = scanf("%d", &g_MaxPlayers);
    printf("\n");

    //Initialize user detector object
    g_UserDetector = UserDetector(g_UserGenerator, g_DepthGenerator);
    g_UserDetector.registerCallbacks();
    
    g_ZamusDetector = new Zamus(&g_UserDetector);
    g_LinqDetector = new Linq(&g_UserDetector);
    g_BusterDetector = new BusterDetector(g_ZamusDetector, &g_UserDetector);
    g_IceRodDetector = new IceRodDetector(g_LinqDetector, &g_UserDetector);

    // Initialize image render object
    g_SceneRenderer = SceneRenderer(&g_ImageGenerator,
                                    &g_DepthGenerator,
                                    &g_SceneAnalyzer,
                                    &g_UserDetector,
                                    g_ZamusDetector,
                                    g_LinqDetector);

    STATUS_CHECK(g_Context.StartGeneratingAll(), "Context generation");

    g_SFBgame = SuperFiremanBrothers(&g_UserDetector, 
                                     &g_SceneAnalyzer, 
                                     g_ZamusDetector, 
                                     g_LinqDetector, 
                                     g_MaxPlayers
                                    );

}

//.........这里部分代码省略.........
		_inOutSlider = new XnVSelectableSlider1D(3, 0, AXIS_Z);
		_inOutSlider->RegisterActivate(NULL, &InOutSlider_OnActivate);
		_inOutSlider->RegisterDeactivate(NULL, &InOutSlider_OnDeactivate);
		_inOutSlider->RegisterPrimaryPointCreate(NULL, &InOutSlider_OnPrimaryCreate);
		_inOutSlider->RegisterPrimaryPointDestroy(NULL, &InOutSlider_OnPrimaryDestroy);
		_inOutSlider->RegisterValueChange(NULL, &InOutSlider_OnValueChange);
		_inOutSlider->SetValueChangeOnOffAxis(false);
	}
	
	// Feature TrackPad.
	if(_featureTrackPad)
	{
		// Track Pad.
		if(trackpad_columns > 0 && trackpad_rows > 0)
		{
			_trackPad = new XnVSelectableSlider2D(trackpad_columns, trackpad_rows);
		}
		else
		{
			_trackPad = new XnVSelectableSlider2D(4, 9);
		}
		
		_trackPad->RegisterItemHover(NULL, &TrackPad_ItemHover);
		_trackPad->RegisterItemSelect(NULL, &TrackPad_ItemSelect);
	    _trackPad->RegisterPrimaryPointCreate(NULL, &TrackPad_PrimaryCreate);
	  	_trackPad->RegisterPrimaryPointDestroy(NULL, &TrackPad_PrimaryDestroy);
	}
	
	// Feature User Tracking.
	if(_featureUserTracking)
	{
		// Setup user generator callbacks.
		XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
		if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
		{
			printf("AS3OpenNI :: Supplied user generator doesn't support skeleton\n");
			return 1;
		}
		_userGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
		
		// Setup Skeleton detection.
		_userGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
		if (_userGenerator.GetSkeletonCap().NeedPoseForCalibration())
		{
			_needPose = true;
			if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
			{
				printf("AS3OpenNI :: Pose required, but not supported\n");
				return 1;
			}
			_userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
			_userGenerator.GetSkeletonCap().GetCalibrationPose(_strPose);
		}
		_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
	}
	
	// Create the broadcaster manager.
	_broadcaster = new XnVBroadcaster();
	
	// Start generating all.
	_context.StartGeneratingAll();
	
	// Set the frame rate.
	_status = xnFPSInit(&xnFPS, 180);
	CHECK_RC(_status, "AS3OpenNI :: FPS Init");
	

/*
 *	Function:	KinectMonitor	(Constructor)
 *
 *	Initializes all the production nodes for the kinect to get and process data.
 *	Sets the camera tilt to the specified (or default) angle.
 *	Registers the OpenNI callbacks for user events.
 *	Registers the system signal handlers (for terminating the program).
 *	Initializes the global and member variables.
 *
 *	Parameters:
 *		int*	tilt	-	A pointer to the desired tilt angle of the camera.
 *									If it is NULL, the default value is used.
 */
KinectMonitor::KinectMonitor(char *tilt) {
    XnStatus status;
    EnumerationErrors errors;
    XnCallbackHandle userCallbacks;
    
    // Setup Context from an XML configuration file (the default supplied by OpenNI)
		// CONTEXT_XML is defined in monitor.h
    status = context.InitFromXmlFile(CONTEXT_XML, scriptNode, &errors);
    // Check to ensure that the context was initialized properly.
		if( status == XN_STATUS_NO_NODE_PRESENT ) {
        XnChar strError[1024];
        errors.ToString(strError, 1024);
        printf("%s\n", strError);
        
        return;
    } else if( status != XN_STATUS_OK ) {
        printf("Could not initialize Context: %s\n", xnGetStatusString(status));
        
        return;
    }
    
    // Setup Depth Generator production node from the context
    status = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depthGenerator);
	
	// Setup User Generator production node from the context
	status = context.FindExistingNode(XN_NODE_TYPE_USER, userGenerator);
	// Check that the user generator is available
	if( status != XN_STATUS_OK ) {
		// If the context did not define a UserGenerator node, then try to create one
		status = userGenerator.Create(context);
		CHECK_RC(status, "Find user generator");
	}
	
	// Set FPS
	status = xnFPSInit(&xnFPS, 180);
	
	// Check for Skeletal Mapping
	if( !userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ) {
		printf("Skeletal mapping not supported.\n");
		
		return;
	}
	// Set the skeletal profile to only include the joints in the upper body.
	// Profile options are XN_SKEL_PROFILE_<option>
	// Where <option> could be: NONE, ALL, UPPER, LOWER, or HEAD_HANDS
	userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
	
	// Tilt camera - This feature requires the program to be run with root privilege,
	// because it requires writing to the usb device.
	XN_USB_DEV_HANDLE dev;
	// Sets the angle to either the DEFAULT_TILT (defined in monitor.h) or the given tilt.
	int angle = (tilt == nullptr)? DEFAULT_TILT : atoi(tilt);
	// Open the kinect usb device
	status = xnUSBOpenDevice(VID_MICROSOFT, PID_NUI_MOTOR, NULL, NULL, &dev);
	// Send the proper code to the usb device to set the angle.
	uint8_t empty[0x1];
	status = xnUSBSendControl(
		dev, XN_USB_CONTROL_TYPE_VENDOR, 0x31, (XnUInt16)angle,
		0x0, empty, 0x0, 0
	);
	
	// Register Callbacks
	status = userGenerator.RegisterUserCallbacks(
	    foundUser, lostUser, NULL, userCallbacks
	);
	
	// Register Handlers
	signal(SIGABRT, &stop);
	signal(SIGTERM, &stop);
	signal(SIGINT, &stop);
	// Initialize globals
	quit = false;
	out = true;
}

bool CVKinectWrapper::init(string CalibFilePath)
{

	this->CalibFilePath = CalibFilePath;

	XnStatus rc;

	EnumerationErrors errors;
	rc = g_context.InitFromXmlFile(CalibFilePath.c_str(), g_scriptNode, &errors);

	if (rc == XN_STATUS_NO_NODE_PRESENT)
	{
		XnChar strError[1024];
		errors.ToString(strError, 1024);
		printf("%s\n", strError);
        error = 1;
		return started;
	}
	else if (rc != XN_STATUS_OK)
	{
		printf("Open failed: %s\n", xnGetStatusString(rc));
        error = 2;
		return started;
	}

	rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
	if (rc != XN_STATUS_OK)
	{
		printf("No depth node exists! Check your XML.");
        error = 3;
		return started;
	}

	rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
	if (rc != XN_STATUS_OK)
	{
		printf("No image node exists! Check your XML.");
        error = 4;
		return started;
	}

	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");
        error = 5;
		return started;
	}

	// RGB is the only image format supported.
	if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
	{
		printf("The device image format must be RGB24\n");
        error = 6;
		return started;
	}

    // skeleton
	rc = g_context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
	if (rc != XN_STATUS_OK)
	{
		rc = g_UserGenerator.Create(g_context);
		CHECK_RC(rc, "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");
        error = 7;
		return 1;
	}
	rc = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
	CHECK_RC(rc, "Register to user callbacks");
	rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
	CHECK_RC(rc, "Register to calibration start");
	rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
	CHECK_RC(rc, "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");
            error = 7;
			return 1;
		}
		rc = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
		CHECK_RC(rc, "Register to Pose Detected");
		g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
	}

	g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

	rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
	CHECK_RC(rc, "Register to calibration in progress");
//.........这里部分代码省略.........