C++ GestureGenerator::Create方法代码示例

int main(int argc, char **argv) {
    ros::init(argc, argv, "openni_hand_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");
	
    // Create generators
    nRetVal = g_GestureGenerator.Create(g_Context);
    CHECK_RC(nRetVal, "Unable to create GestureGenerator.");

    nRetVal = g_HandsGenerator.Create(g_Context);
    CHECK_RC(nRetVal, "Unable to create HandsGenerator.");
    
    ROS_INFO("Create Generator Success");

/*

	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");
	}

	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();
		r.sleep();
	}

	g_Context.Shutdown();
	return 0;
}

void GestureGenerator_Create_wrapped(xn::GestureGenerator& self, xn::Context& context) {
    check( self.Create(context, NULL, NULL) );
}

int main(int argc, char* argv[]) {
  glue.Init(argc, argv, 640, 240, "TrackHand");

  xn::Context context;
  XnStatus status = context.Init();
  bmg::OnError(status, []{
    std::cout << "Couldn't init OpenNi!" << std::endl;
    exit(1);
  });

  xn::ImageGenerator image_generator;
  status = image_generator.Create(context);
  bmg::OnError(status, []{
    std::cout << "Couldn't create image generator!" << std::endl;
  });

  status = depth_generator.Create(context);
  bmg::OnError(status, []{
    std::cout << "Couldn't create depth generator!" << std::endl;
  });

  xn::ImageMetaData image_metadata;
  xn::DepthMetaData depth_metadata;

  // Create gesture & hands generators
  status = gesture_generator.Create(context);
  bmg::OnError(status, []{
    std::cout << "Couldn't create gesture generator!" << std::endl;
  });
  status = hands_generator.Create(context);
  bmg::OnError(status, []{
    std::cout << "Couldn't create hands generator!" << std::endl;
  });

  // Register to callbacks
  XnCallbackHandle h1, h2;
  gesture_generator
    .RegisterGestureCallbacks(Gesture_Recognized, Gesture_Process, NULL, h1);
  hands_generator
    .RegisterHandCallbacks(Hand_Create, Hand_Update, Hand_Destroy, NULL, h2);

  status = context.StartGeneratingAll();
  bmg::OnError(status, []{
    std::cout << "Couldn't generate all data!" << std::endl;
  });
  status = gesture_generator.AddGesture(GESTURE, NULL);
  bmg::OnError(status, []{
    std::cout << "Couldn't add gesture!" << std::endl;
  });

  glue.BindDisplayFunc([&]{
    glue.BeginDraw();

    // here goes code for app main loop
    XnStatus status = context.WaitAndUpdateAll();
    bmg::OnError(status, []{
      std::cout << "Couldn't update and wait for new data!" << std::endl;
    });

    image_generator.GetMetaData(image_metadata);
    unsigned imageX = image_metadata.XRes();
    unsigned imageY = image_metadata.YRes();

    glue.DrawOnTexture(
      (void*)image_metadata.RGB24Data(),
      imageX, imageY,
      imageX, imageY,
      320, 0, 640, 240);

    depth_generator.GetMetaData(depth_metadata);
    unsigned depthX = depth_metadata.XRes();
    unsigned depthY = depth_metadata.YRes();

    XnRGB24Pixel* transformed_depth_map = new XnRGB24Pixel[depthX * depthY];
    bmg::CalculateDepth(
      depth_generator.GetDepthMap(), depthX, depthY, MAX_DEPTH, transformed_depth_map);

    glue.DrawOnTexture(
      (void*)transformed_depth_map,
      depthX, depthY,
      depthX, depthY,
      0, 0,
      320, 240);
    delete [] transformed_depth_map;

    if (hand_recognized) {
      // Draw point over tracked hand
      glue.DrawPointOverRegion(static_cast<unsigned>(projective_point.X), static_cast<unsigned>(projective_point.Y), 0, 0);
      glue.DrawPointOverRegion(static_cast<unsigned>(projective_point.X), static_cast<unsigned>(projective_point.Y), 320, 0);
    }

    glue.EndDraw();
  });

  glue.BindKeyboardFunc([](unsigned char key, int x, int y){
    switch(key) {
    case 27:
      exit(1);
    }
  });
//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
	// Start 
    VideoCapture capture (CV_CAP_OPENNI);
    if(!capture.isOpened())
    {
        int error = -1;
        return 1;
    }

    namedWindow( "Color Image", 1 );
	//namedWindow( "Depth Map", 1);
    Mat view;
    bool blink = false;


	// NITE + openni
	
	XnStatus rc = XN_STATUS_OK;
	
	Context context;
	rc = context.Init();
	rc = g_GestureGenerator.Create(context);
	rc = g_HandsGenerator.Create(context);
	XnCallbackHandle hcb1,hcb2; 
	g_GestureGenerator.RegisterGestureCallbacks(Gesture_Recognized, Gesture_Process, NULL, hcb1);
	g_HandsGenerator.RegisterHandCallbacks(handCreate, handUpdate, handDestroy, NULL, hcb2);
	rc = context.StartGeneratingAll();
	rc = g_GestureGenerator.AddGesture(GESTURE_TO_USE, NULL);

	double d = 1.0;
	double angle = 0.0;
	double angleZ = 0.0;

	Mat result;
	
	Mat orig = imread("crocus.jpg");
	result.create(750, 750, CV_8UC3);
	double centerX = orig.cols/2;
    double centerY = orig.rows/2;
	warpPerspective(orig, orig, getScaleMatrix(1.0), orig.size(), INTER_CUBIC, BORDER_TRANSPARENT);

    while( capture.isOpened() )
    {
		rc = context.WaitAndUpdateAll();
		d = getZoom();
		angle = getAngle();
		angleZ = getAngle3D();
		if (abs(d - oldZoom) > 0.009) {
			//printf("angle = %f \n",angle);
			oldAngle += angle;

			//create the transformation to be passed to warp
			Mat openCVTransform = getRotationMatrix2D(Point2f(centerX, centerY), oldAngle, d);

			//warp image to apply transformation
			result.setTo(Scalar(0));
			warpAffine(orig, result, openCVTransform, result.size(), INTER_CUBIC, BORDER_TRANSPARENT);
			oldZoom = d;
			
		}
		imshow("Result", result);
		

        Mat bgrImage;
        capture.grab();

		capture.retrieve( bgrImage, CV_CAP_OPENNI_BGR_IMAGE );

		if (hand1ID != -1) {
			circle(bgrImage,Point(hand1.back().X + bgrImage.rows/2, bgrImage.cols/2 - hand1.back().Y),2,CV_RGB(0,255,0),3);
		
		}
		if (hand2ID != -1) {
			circle(bgrImage,Point(hand2.back().X + bgrImage.rows/2, bgrImage.cols/2 - hand2.back().Y),2,CV_RGB(0,255,0),3);
		}
		flip(bgrImage,bgrImage,1);
        imshow("Color Image", bgrImage);
		result.create(750, 750, CV_8UC3);
		
        if(waitKey(33) == 'q')
        {
            break;
        }
    }
	context.Shutdown();
    return 0;
}