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C++ Context::Release方法代码示例

本文整理汇总了C++中xn::Context::Release方法的典型用法代码示例。如果您正苦于以下问题：C++ Context::Release方法的具体用法？C++ Context::Release怎么用？C++ Context::Release使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类xn::Context的用法示例。


在下文中一共展示了Context::Release方法的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: 

KinectDataPub::~KinectDataPub()
{
  scriptNode.Release();
  depthGen.Release();
  userGen.Release();
  context.Release();
}
开发者ID:Rajesh-Ru，项目名称:act-rec-proj-2013，代码行数:7，代码来源:KinectDataPub.cpp

示例2: CleanupExit

void CleanupExit() {
	g_scriptNode.Release();
	g_DepthGenerator.Release();
	g_UserGenerator.Release();
	g_Context.Release();
	exit(1);
}
开发者ID:Lammmark，项目名称:tuiframework，代码行数:7，代码来源:KinectDeviceApp.cpp

示例3: CleanupExit

void CleanupExit()
{
	g_ScriptNode.Release();
	g_DepthGenerator.Release();
	g_GestureGenerator.Release();
	g_Context.Release();

	exit (1);
}
开发者ID:cphoward，项目名称:AquaKinect，代码行数:9，代码来源:main.cpp

示例4: CleanupExit

void CleanupExit()
{
	g_scriptNode.Release();
	g_DepthGenerator.Release();
	g_ImageGenerator.Release();
	g_UserGenerator.Release();
	g_Player.Release();
	g_Context.Release();

	//exit (1);
	exit(0);
}
开发者ID:ZewiHugo，项目名称:UserTracker_modified，代码行数:12，代码来源:main.cpp

示例5: main


//.........这里部分代码省略.........
        g_bNeedPose = TRUE;
        if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)){
            LOG_E("%s", "Pose required, but not supported");
            return 1;
        }
        nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
        CHECK_RC(nRetVal, "Register to Pose Detected");
        g_SkeletonCap.GetCalibrationPose(g_strPose);
    }
    
    g_SkeletonCap.SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
    
    nRetVal = g_Context.StartGeneratingAll();
    CHECK_RC(nRetVal, "StartGenerating");
    
    // 表示用の画像データの作成
    XnMapOutputMode mapMode;
    g_ImageGenerator.GetMapOutputMode(mapMode);
    g_rgbImage = cvCreateImage(cvSize(mapMode.nXRes, mapMode.nYRes), IPL_DEPTH_8U, 3);

    LOG_I("%s", "Starting to run");
    if(g_bNeedPose){
        LOG_I("%s", "Assume calibration pose");
    }

    xn::Recorder recorder;
    if( DO_RECORED && !USE_RECORED_DATA ){
        // レコーダーの作成
        LOG_I("%s", "Setup Recorder");
        nRetVal = recorder.Create(g_Context);
        CHECK_RC(nRetVal, "Create recorder");
        
        // 保存設定
        nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORD_FILE_PATH);
        CHECK_RC(nRetVal, "Set recorder destination file");
        
        // 深度、ビデオカメラ入力を保存対象として記録開始
        nRetVal = recorder.AddNodeToRecording(g_DepthGenerator, XN_CODEC_NULL);
        CHECK_RC(nRetVal, "Add depth node to recording");
        nRetVal = recorder.AddNodeToRecording(g_ImageGenerator, XN_CODEC_NULL);
        CHECK_RC(nRetVal, "Add image node to recording");
        
        LOG_I("%s", "Recorder setup done.");
    }

    while (!xnOSWasKeyboardHit())
    {
        g_Context.WaitOneUpdateAll(g_UserGenerator);
        if( DO_RECORED  && !USE_RECORED_DATA ){
            nRetVal = recorder.Record();
            CHECK_RC(nRetVal, "Record");
        }

        // ビデオカメラ画像の生データを取得
        xn::ImageMetaData imageMetaData;
        g_ImageGenerator.GetMetaData(imageMetaData);
        // メモリコピー
        xnOSMemCopy(g_rgbImage->imageData, imageMetaData.RGB24Data(), g_rgbImage->imageSize);
        // BGRからRGBに変換して表示
        cvCvtColor(g_rgbImage, g_rgbImage, CV_RGB2BGR);

        // UserGeneratorからユーザー識別ピクセルを取得
        xn::SceneMetaData sceneMetaData;
        g_UserGenerator.GetUserPixels(0, sceneMetaData);
        
        XnUserID allUsers[MAX_NUM_USERS];
        XnUInt16 nUsers = MAX_NUM_USERS;
        g_UserGenerator.GetUsers(allUsers, nUsers);
        for (int i = 0; i < nUsers; i++) {
            
            // キャリブレーションに成功しているかどうか
            if (g_SkeletonCap.IsTracking(allUsers[i])) {
                // スケルトンを描画
                DrawSkelton(allUsers[i], i);
            }
        }
        
        // 表示
        cvShowImage("User View", g_rgbImage);

        // ESCもしくはqが押されたら終了させる
        if (cvWaitKey(10) == 27) {
            break;
        }
    }

    if( !USE_RECORED_DATA ){
        g_scriptNode.Release();
    }
    g_DepthGenerator.Release();
    g_UserGenerator.Release();
    g_Context.Release();

	if (g_rgbImage != NULL) {
		cvReleaseImage(&g_rgbImage);	
	}
	g_Context.Shutdown();

    
}
开发者ID:sparkgene，项目名称:recorder_test，代码行数:101，代码来源:main.cpp

示例6: main


//.........这里部分代码省略.........

	// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );

	g_DepthGen.GetMetaData ( g_DepthMD );
	g_ImageGen.GetMetaData ( g_ImageMD );

	assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
	assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );

	// 
	// Create OpenCV Showing Window and Related Data Structures
	// 

	cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
	cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );

	cv::Mat depthImgMat  ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
	cv::Mat depthImgShow ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC3  );
	cv::Mat colorImgMat  ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );

#define ARTAG_DEBUG

#ifdef ARTAG_DEBUG
	
	cv::setMouseCallback ( IMAGE_WIN_NAME, ClickOnMouse, 0 );

#endif

	bool flipColor = true;

	// 
	// Start to Loop
	// 

	while ( ctlWndKey != ESC_KEY_VALUE ) 
	{
		// 
		// Try to Get New Frame From Kinect
		// 
	
		nRetVal = g_Context.WaitAnyUpdateAll ();

		g_DepthGen.GetMetaData ( g_DepthMD );
		g_ImageGen.GetMetaData ( g_ImageMD );

		assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() && g_DepthMD.FullYRes() == g_DepthMD.YRes() );
		assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() && g_ImageMD.FullYRes() == g_ImageMD.YRes() );

		GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), colorImgMat );

#ifdef SHOW_DEPTH_WINDOW

		GlobalUtility::CopyDepthRawBufToCvMat16u  ( (const XnDepthPixel *)(g_DepthMD.Data()), depthImgMat );
		// GlobalUtility::ConvertDepthCvMat16uToYellowCvMat ( depthImgMat, depthImgShow );
		GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( depthImgMat, depthImgShow );

		cv::imshow ( DEPTH_WIN_NAME, depthImgShow );

#endif

		ctlWndKey = cvWaitKey ( 15 );

		if ( ctlWndKey == 'f' || ctlWndKey == 'F' ) 
		{
			artagHelper.Clear();

			artagHelper.FindMarkerCorners ( (unsigned char *)(g_ImageMD.Data()) );
			artagHelper.PrintMarkerCornersPos2dInCam ();
			extrCalibrator.ExtrCalib ( artagHelper );

			std::cout << "\nKinect Extr Matrix:" << std::endl;
			extrCalibrator.PrintMatrix ( extrCalibrator.GetMatrix ( ExtrCalibrator::EXTR ) );

			std::cout	<< "Reprojection ERROR = " 
						<< extrCalibrator.ComputeReprojectionErr ( artagHelper ) << std::endl
						// << extrCalibrator.ComputeReprojectionErr ( artagHelper.m_MarkerCornerPosCam2d, artagHelper.m_MarkerCornerPos3d, 24 ) << std::endl
						<< "Valid Marker Number = " << artagHelper.GetValidMarkerNumber() << std::endl
						<< std::endl;

			extrCalibrator.SaveMatrix ( ExtrCalibrator::EXTR, KINECT_EXTR_FILE );
		}
		if ( ctlWndKey == 's' || ctlWndKey == 'S' )
		{
			flipColor = !flipColor;
		}

		if ( flipColor ) { 
			cv::cvtColor ( colorImgMat, colorImgMat, CV_RGB2BGR );
		}

		artagHelper.DrawMarkersInCameraImage ( colorImgMat );
		cv::imshow ( IMAGE_WIN_NAME, colorImgMat );
	}

	g_Context.Release ();
	
	system	( "pause" );
	exit	( EXIT_SUCCESS );

}
开发者ID:maddy-z，项目名称:Kinect-Explorer，代码行数:101，代码来源:main.cpp

示例7: main

int main()
{
    XnStatus nRetVal = XN_STATUS_OK;
    xn::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 = g_Context.InitFromXmlFile(fn, g_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);
    }

    nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
    if (nRetVal != XN_STATUS_OK)
    {
        nRetVal = g_UserGenerator.Create(g_Context);
        CHECK_RC(nRetVal, "Find user generator");
    }

    XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
    if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
    {
        printf("Supplied user generator doesn't support skeleton\n");
        return 1;
    }
    nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
    CHECK_RC(nRetVal, "Register to user callbacks");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
    CHECK_RC(nRetVal, "Register to calibration start");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
    CHECK_RC(nRetVal, "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");
            return 1;
        }
        nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
        CHECK_RC(nRetVal, "Register to Pose Detected");
        g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
    }

    g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

    nRetVal = g_Context.StartGeneratingAll();
    CHECK_RC(nRetVal, "StartGenerating");

    XnUserID aUsers[MAX_NUM_USERS];
    XnUInt16 nUsers;
    XnSkeletonJointTransformation torsoJoint;

    printf("Starting to run\n");
    if(g_bNeedPose)
    {
        printf("Assume calibration pose\n");
    }

	while (!xnOSWasKeyboardHit())
    {
        g_Context.WaitOneUpdateAll(g_UserGenerator);
        // print the torso information for the first user already tracking
        nUsers=MAX_NUM_USERS;
        g_UserGenerator.GetUsers(aUsers, nUsers);
        for(XnUInt16 i=0; i<nUsers; i++)
        {
            if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
                continue;

            g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
                printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
                                                                torsoJoint.position.position.X,
                                                                torsoJoint.position.position.Y,
                                                                torsoJoint.position.position.Z);
        }
        
    }
    g_scriptNode.Release();
    g_UserGenerator.Release();
    g_Context.Release();

}
开发者ID:bschreck，项目名称:gesture-drone，代码行数:100，代码来源:NiSimpleSkeleton.cpp

示例8: main


//.........这里部分代码省略.........

    nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
    CHECK_RC(nRetVal,"No depth");

    nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
    if (nRetVal != XN_STATUS_OK)
    {
        nRetVal = g_UserGenerator.Create(g_Context);
        CHECK_RC(nRetVal, "Find user generator");
    }

    XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
    if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
    {
        printf("Supplied user generator doesn't support skeleton\n");
        return 1;
    }
    nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
    CHECK_RC(nRetVal, "Register to user callbacks");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
    CHECK_RC(nRetVal, "Register to calibration start");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
    CHECK_RC(nRetVal, "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");
            return 1;
        }
        nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
        CHECK_RC(nRetVal, "Register to Pose Detected");
        g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
    }

    g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

    nRetVal = g_Context.StartGeneratingAll();
    CHECK_RC(nRetVal, "StartGenerating");

    XnUserID aUsers[MAX_NUM_USERS];
    XnUInt16 nUsers;
    int j;

    printf("Starting to run\n");
    if(g_bNeedPose)
    {
        printf("Assume calibration pose\n");
    }
    XnUInt32 epochTime = 0;
    while (!xnOSWasKeyboardHit())
    {
        g_Context.WaitOneUpdateAll(g_UserGenerator);
        // print the torso information for the first user already tracking
        nUsers=MAX_NUM_USERS;
        g_UserGenerator.GetUsers(aUsers, nUsers);
        int numTracked=0;
        int userToPrint=-1;
        for(XnUInt16 i=0; i<nUsers; i++)
        {
            if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
                continue;

            if(getJoints(aUsers[i])){
              /**
              printf("Left Elbow: %.2f\nLeft Shoulder Roll: %.2f\nLeft Shoulder Pitch: %.2f\nHead Pitch: %.2f\n", 
                  findAngle(jointArr[6], jointArr[4], jointArr[8], 0),
                  findAngle(jointArr[4], jointArr[10], jointArr[6], 0),
                  findAngle(jointArr[4], jointArr[10], jointArr[6], 1),
                  findAngle(jointArr[2], jointArr[1], jointArr[0], 1)
                  );
              **/
              float headAngle = findAngle(jointArr[2], jointArr[1], jointArr[0], 1);
              float leftElbowAngle = findAngle(jointArr[6], jointArr[4], jointArr[8], 0);
              float leftShoulderRoll = findAngle(jointArr[4], jointArr[10], jointArr[6], 0);
              float leftShoulderPitch = findAngle(jointArr[4], jointArr[10], jointArr[6], 1);
              float rightElbowAngle = findAngle(jointArr[5], jointArr[3], jointArr[7], 0);
              float rightShoulderRoll = findAngle(jointArr[3], jointArr[9], jointArr[5], 0);
              float rightShoulderPitch = findAngle(jointArr[3], jointArr[9], jointArr[5], 1);
              ostringstream ostr;
              ostr << "{"<<headAngle<<",{"<<leftShoulderPitch<<","<<leftShoulderRoll<<","<<
                leftElbowAngle<<"},{"<<rightShoulderPitch<<","<<rightShoulderRoll<<","<<rightElbowAngle<<"},}";
              string send = ostr.str();
              //cout<<send;
              //printRotation(aUsers[i]);
              commSend(send);
              usleep(200000);             
            }
        }
        
    }
    g_scriptNode.Release();
    g_DepthGenerator.Release();
    g_UserGenerator.Release();
    g_Context.Release();


}
开发者ID:Zinginz，项目名称:KiNaomatics，代码行数:101，代码来源:NiSimpleSkeleton.cpp

示例9: TeardownPrimesense

void TeardownPrimesense(void)
{
	g_context.Release();

}
开发者ID:Topographic0cean，项目名称:src，代码行数:5，代码来源:PrimesenseTestbed.cpp

示例10: main


//.........这里部分代码省略.........
		g_DepthGen.GetMetaData ( g_DepthMD );
		assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
	}
	if ( colorFlag ) {
		g_ImageGen.GetMetaData ( g_ImageMD );
		assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
	}

	g_DepthImgShow = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC1  );
	g_DepthImgMat  = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
	g_ColorImgMat  = cv::Mat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3  );
	
	// 
	// Start to Loop
	// 

	bool flipColor = true;
	int ctlWndKey = -1;

	g_StartTickCount = GetTickCount();
	g_HeadTrackingFrameCount = 0;
	
	while ( ctlWndKey != ESC_KEY_VALUE ) 
	{
		nRetVal = g_Context.WaitOneUpdateAll ( g_DepthGen );
		// nRetVal = g_Context.WaitAnyUpdateAll();

#ifdef HANDLING_IMAGE_DATA

		if ( colorFlag ) 
		{
			g_ImageGen.GetMetaData ( g_ImageMD );

			assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() );
			assert ( g_ImageMD.FullYRes() == g_ImageMD.YRes() );

			GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), g_ColorImgMat );
	
			if ( ctlWndKey == 's' || ctlWndKey == 'S' ) {												// Switch
				flipColor = !flipColor;
			}
			if ( flipColor ) {
				cv::cvtColor ( g_ColorImgMat, g_ColorImgMat, CV_RGB2BGR );
			}

			cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
			cv::imshow ( IMAGE_WIN_NAME, g_ColorImgMat );
		}

#endif

#ifdef HANDLING_DEPTH_DATA

		if ( depthFlag ) 
		{
			g_DepthGen.GetMetaData(g_DepthMD);
		
			// assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() );
			// assert ( g_DepthMD.FullYRes() == g_DepthMD.YRes() );

			GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), g_DepthImgMat );
			GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( g_DepthImgMat, g_DepthImgShow );

			/*
			cv::putText(colorImgMat, 
						GlobalUtility::DoubleToString(g_ImageMD.FPS()) + " FPS", 
						cv::Point(10, 450), 
						cv::FONT_ITALIC, 
						0.7, 
						cv::Scalar(255, 255, 255, 0),
						2,
						8,
						false);
						*/

			cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
			cv::imshow ( DEPTH_WIN_NAME, g_DepthImgShow );
		}

#endif

		XnFieldOfView fov;
		g_DepthGen.GetFieldOfView( fov );

		std::cout	<< "HFov = " << fov.fHFOV << std::endl
					<< "VFov = " << fov.fVFOV << std::endl;

		ctlWndKey = cvWaitKey ( 5 );

		g_HeadTrackingFrameCount++;
		g_CurrTickCount = GetTickCount();
		std::cout	<< "FPS = " 
					<< 1000 / ( ( double )( g_CurrTickCount - g_StartTickCount ) / ( double )( g_HeadTrackingFrameCount ) ) 
					<< std::endl;
	}

	g_Context.Release ();

	exit ( EXIT_SUCCESS );
}
开发者ID:maddy-z，项目名称:Kinect-Explorer，代码行数:101，代码来源:KinectExplorer.cpp

示例11: main


//.........这里部分代码省略.........

string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
ROS_INFO_STREAM("Setting up configuration from XML file '" << configFilename << "'");
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");

ROS_INFO_STREAM("Looking for existing depth generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Looking for existing user generators ...");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

if (nRetVal != XN_STATUS_OK)
{
  nRetVal = g_UserGenerator.Create(g_Context);
  CHECK_RC(nRetVal, "Find user generator");
  ROS_INFO_STREAM("No existing user generators found. Created new one.");
  ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));
}

if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
  ROS_INFO_STREAM("Supplied user generator doesn't support skeleton");
  return 1;
}

ROS_INFO_STREAM("Registering user callbacks ...");
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);

ROS_INFO_STREAM("Registering calibration callbacks ...");
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart,
                                                              UserCalibration_CalibrationEnd, NULL,
                                                              hCalibrationCallbacks);

ROS_INFO_STREAM("Checking pose detection capability ...");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
  g_bNeedPose = TRUE;
  if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
  {
    ROS_INFO_STREAM("Pose required, but not supported");
    return 1;
  }

  ROS_INFO_STREAM("Registering pose callbacks ...");
  XnCallbackHandle hPoseCallbacks;
  g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);

  ROS_INFO_STREAM("Getting calibration pose ...");
  g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}

ROS_INFO_STREAM("Setting skeleton profile ...");
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

//g_Context.Release();

ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Stopping to generate everything ...");
nRetVal = g_Context.StopGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Starting to generate everything ...");
nRetVal = g_Context.StartGeneratingAll();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("Setting up ROS node ...");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);

nRetVal = g_Context.GetGlobalErrorState();
ROS_INFO_STREAM("nRetVal: " << xnGetStatusString(nRetVal));

ROS_INFO_STREAM("And go!");

while (ros::ok())
{
  ros::spinOnce();
  nRetVal = g_Context.WaitAndUpdateAll();
  CHECK_RC(nRetVal, "WaitAndUpdateAll");
  publishTransforms(frame_id);
  r.sleep();
}

g_Context.StopGeneratingAll();
g_Context.Release();
g_Context.Shutdown();
return 0;
}
开发者ID:bit-pirate，项目名称:openni_tracker_rosmake，代码行数:101，代码来源:openni_tracker.cpp

示例12: 

kinect_reader2::~kinect_reader2() {
	g_DepthGenerator.Release();
	g_UserGenerator.Release();
	g_Context.Release();
}
开发者ID:CCJY，项目名称:engine-1，代码行数:5，代码来源:kinect_reader2.cpp

示例13: main


//.........这里部分代码省略.........
              printf("%d\n", gait_time_L_temp[ijk]);
        }
          printf("Gait_time_R_temp is \n");
          for(int ijk=0;ijk<5;ijk++)
          {
              printf("%d\n", gait_time_R_temp[ijk]);
          }

  }


    //************* END OF SERIAL READ
        if (z>=5)
      {
          // first elements in both left and right arrays are invalid data

          for(i=0;i<4;i++)
          {
              gait_time_L[i+1]=gait_time_L_temp[i+1]+gait_time_R_temp[i];
              gait_time_R[i+1]=gait_time_R_temp[i+1]+gait_time_L_temp[i+1];
          }

          printf("Gait_time_L is \n");
          for(int ij=0;ij<5;ij++)
          {
              printf("%d\n", gait_time_L[ij]);
          }
          printf("Gait_time_R is \n");
          for(int ij=0;ij<5;ij++)
          {
              printf("%d\n", gait_time_R[ij]);
          }
            printf("test\n");
            g_scriptNode.Release();
            g_UserGenerator.Release();
            g_Context.Release();
            break;
      }

    // ********************5 gait cycles

        }



           if (z>=5)
      {
           break;
      }



    }

    //To calculate stride_len

    int stride_len_L=0;
    int stride_len_R=0;


    stride_len_L = param_stride_len(param,12, gait_cycle_L);
    stride_len_R = param_stride_len(param,13, gait_cycle_R);


    printf("Left stride length is %d in cm\n", abs(stride_len_L/10));
    printf("Right stride length is %d in cm\n", abs(stride_len_R/10));
开发者ID:KartikKannapur，项目名称:Final-Year-Undergraduate-Project，代码行数:67，代码来源:main.cpp

示例14: main

int main(int argc, char **argv) {
    ros::init(argc, argv, "openni_tracker");
    ros::NodeHandle nh;

    string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
    XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
    CHECK_RC(nRetVal, "InitFromXml");

    nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
    CHECK_RC(nRetVal, "Find depth generator");

	nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
	if (nRetVal != XN_STATUS_OK) {
		nRetVal = g_UserGenerator.Create(g_Context);
	    if (nRetVal != XN_STATUS_OK) {
		    ROS_ERROR("NITE is likely missing: Please install NITE >= 1.5.2.21. Check the readme for download information. Error Info: User generator failed: %s", xnGetStatusString(nRetVal));
            return nRetVal;
	    }
	}

	if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
		ROS_INFO("Supplied user generator doesn't support skeleton");
		return 1;
	}

    XnCallbackHandle hUserCallbacks;
	g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);

	XnCallbackHandle hCalibrationCallbacks;
	g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);

	if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
		g_bNeedPose = TRUE;
		if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
			ROS_INFO("Pose required, but not supported");
			return 1;
		}

		XnCallbackHandle hPoseCallbacks;
		g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);

		g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
	}

	g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

	nRetVal = g_Context.StartGeneratingAll();
	CHECK_RC(nRetVal, "StartGenerating");

	ros::Rate r(30);

        
        ros::NodeHandle pnh("~");
        string frame_id("openni_depth_frame");
        pnh.getParam("camera_frame_id", frame_id);
                
	while (ros::ok()) {
		g_Context.WaitAndUpdateAll();
		publishTransforms(frame_id);
		r.sleep();
	}

	g_Context.Release();
	return 0;
}
开发者ID:hscale，项目名称:compv，代码行数:65，代码来源:openni_tracker.cpp

示例15: main


//.........这里部分代码省略.........
        printf("Supplied user generator doesn't support skeleton\n");
        return 1;
    }
    nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
    CHECK_RC(nRetVal, "Register to user callbacks");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
    CHECK_RC(nRetVal, "Register to calibration start");
    nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
    CHECK_RC(nRetVal, "Register to calibration complete");
    //ensure calibration
    if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
    {
        g_bNeedPose = TRUE;
        if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
        {
            printf("Pose required, but not supported\n");
            return 1;
        }
        nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
        CHECK_RC(nRetVal, "Register to Pose Detected");
        g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
    }
    //set skeleton profile (all joints)
    g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
    //start to generate
    nRetVal = g_Context.StartGeneratingAll();
    CHECK_RC(nRetVal, "StartGenerating");



    printf("%c[%d;%d;%dmPrimeSense Skeleton Benchmark Application\n ", 0x1B, BRIGHT,BLUE,BG_BLACK);
    printf("%c[%d;%d;%dmSet Maximal users to %d ", 0x1B, BRIGHT,BLUE,BG_BLACK,numOfUser);
	printf("%c[%dm\n", 0x1B, 0);
    printf("Starting to run\n");
    if(g_bNeedPose)
    {
        printf("Assume calibration pose\n");
    }

    XnUInt32 epochTime = 0;
    //each 30 frames (1 second) we start the CPU resources usages
    while (!xnOSWasKeyboardHit())
    {
    	if (Sample)
    	{	//get the beginning sample of CPU resources
    		getrusage(RUSAGE_SELF, &ru);
    		timStart=ru.ru_utime;
    		t=(double)timStart.tv_sec * 1000000.0 + (double)timStart.tv_usec \
    		   + (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec;
    		//get the wall clock time
    		gettimeofday(&Wall,NULL);

    		w=(double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec;
    		Sample = false;
    	}
    	g_Context.WaitOneUpdateAll(g_UserGenerator);
    	xnFPSMarkFrame(&xnFPS);
        // print the torso information for the first user already tracking every 1 second to prevent CPU of printf
        if(TotalFrames % 30 == 0)
        {
			nUsers=MAX_NUM_USERS;
			g_UserGenerator.GetUsers(aUsers, nUsers);
			int numTracked=0;
			int userToPrint=-1;
			for(XnUInt16 i=0; i<nUsers; i++)
			{
				if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
					continue;

				g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
				printf("User %d Located At distance of %6.2f mm from the sensor\n",aUsers[i],torsoJoint.position.position.Z);

			 }
			//get the finish sample of the CPU resources
			getrusage(RUSAGE_SELF, &ru);
			timEnd=ru.ru_utime;
			t = (double)timEnd.tv_sec * 1000000.0 + (double)timEnd.tv_usec \
				+	(double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec	- t;
			//get the wall clock
			gettimeofday(&Wall,NULL);

			w = (double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec - w;

			XnDouble fps=xnFPSCalc(&xnFPS);
			//print stuff.
			printf("%c[%d;%d;%dmCPU Utilization=%3.2f%%\t", 0x1B, BRIGHT,RED,BG_BLACK,(double)100*t/w);
			printf("%c[%d;%d;%dmFPS=%3.2f ", 0x1B, BRIGHT,RED,BG_BLACK,(double)fps);
			printf("%c[%dm\n", 0x1B, 0);
			Sample= true;

		}
        TotalFrames++;
        
    }
    g_scriptNode.Release();
    g_DepthGenerator.Release();
    g_UserGenerator.Release();
    g_Context.Release();

}
开发者ID:stozpark，项目名称:openni，代码行数:101，代码来源:NiSkeletonBenchmark.cpp


注：本文中的xn::Context::Release方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。