C++ UserGenerator::Create方法代码示例

本文整理汇总了C++中xn::UserGenerator::Create方法的典型用法代码示例。如果您正苦于以下问题：C++ UserGenerator::Create方法的具体用法？C++ UserGenerator::Create怎么用？C++ UserGenerator::Create使用的例子？那么, 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::UserGenerator的用法示例。

在下文中一共展示了UserGenerator::Create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: init

XnStatus hiKinect::init(const FB::JSObjectPtr &cb){
  XnStatus nRetVal = XN_STATUS_OK;
  callbackPtr = &cb;
  nRetVal = context.Init();
  (*callbackPtr)->InvokeAsync("", FB::variant_list_of("CONTEXT_INIT")
                        (nRetVal)(xnGetStatusString(nRetVal)));
  if (nRetVal != XN_STATUS_OK) return nRetVal;

  // Create the user generator
  nRetVal = g_UserGenerator.Create(context);
  (*callbackPtr)->InvokeAsync("", FB::variant_list_of("USERGENERATOR_CREATE")
                        (nRetVal)(xnGetStatusString(nRetVal)));
  if (nRetVal != XN_STATUS_OK) return nRetVal;
  XnCallbackHandle h1, h2, h3;
  g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, this, h1);
  g_UserGenerator.GetPoseDetectionCap()
      .RegisterToPoseCallbacks(Pose_Detected, NULL, this, h2);
  g_UserGenerator.GetSkeletonCap()
      .RegisterCalibrationCallbacks(Calibration_Start, Calibration_End,
                                    this, h3);
  // Set the profile
  g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
  FBLOG_INFO("contextInit", "Init finish");
  // Start generating
  nRetVal = context.StartGeneratingAll();
  (*callbackPtr)->InvokeAsync("", FB::variant_list_of("START_GENERATING")
                        (nRetVal)(xnGetStatusString(nRetVal)));
  if (nRetVal != XN_STATUS_OK) return nRetVal;
  while (getTrackedUserID() == 0){
    contextWaitAndUpdateAll();
  }
  return nRetVal;
}

开发者ID:xiaohanzhang，项目名称:HiKinect，代码行数:33，代码来源:hiKinect.cpp

示例2: main

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

	if (argc > 1)
	{
		nRetVal = g_Context.Init();
		CHECK_RC(nRetVal, "Init");
		nRetVal = g_Context.OpenFileRecording(argv[1]);
		if (nRetVal != XN_STATUS_OK)
		{
			printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
			return 1;
		}
	}
	else
	{
		nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
		CHECK_RC(nRetVal, "InitFromXml");
	}
	g_tunnel = new Tunnel();

	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);
		CHECK_RC(nRetVal, "Find user generator");
	}

	XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
	if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
	{
		printf("Supplied user generator doesn't support skeleton\n");
		return 1;
	}
	g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
	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))
		{
			printf("Pose required, but not supported\n");
			return 1;
		}
		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");

	glInit(&argc, argv);
	glutMainLoop();
}

开发者ID:ndruger，项目名称:kinect-modeling-tool，代码行数:60，代码来源:main.cpp

示例3: catch

	information()
	{
		RC(context.Init(),							"Context Intialized");
		
		XnMapOutputMode mode;
		mode.nXRes = XN_VGA_X_RES;
		mode.nYRes = XN_VGA_Y_RES;
		mode.nFPS  = 30;
		
		RC(image.Create(context),					"Create image buffer");
		RC(image.SetMapOutputMode(mode),			"Set image mode");
		
		RC(depth.Create(context),					"Create depth buffer");
		RC(depth.SetMapOutputMode(mode),			"Set depth mode");
		
		xn::Query q;
		RC(q.AddSupportedCapability(XN_CAPABILITY_SKELETON), "Request skeleton");

		try {
			RC(context.FindExistingNode(XN_NODE_TYPE_USER, user), "User generator");
		} catch (...) {
			RC(user.Create(context),					"Get skeleton!!!");
		}
//		RC(user.Create(context, &q),					"Get skeleton!!!");
//		
//		xn::NodeInfoList il;
//		RC(context.EnumerateProductionTrees(XN_NODE_TYPE_USER, &q, il, NULL),
//													"Enumerate nodes");
//		
//		xn::NodeInfo i = *il.Begin();
//		RC(context.CreateProductionTree(i),			"Create skeleton node");
//		RC(i.GetInstance(user),						"Get skeleton");
		
		user.RegisterUserCallbacks(User_NewUser, NULL, NULL, hUserCallbacks);
		user.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, &user, hCalibrationCallbacks);
		
		if (user.GetSkeletonCap().NeedPoseForCalibration())
		{
			if (!user.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
			{
				post("Pose required, but not supported\n");
			}
			else
			{
				user.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, &user, hPoseCallbacks);
				user.GetSkeletonCap().GetCalibrationPose(g_strPose);
				user.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
			}
		}
		
		RC(context.StartGeneratingAll(),			"Start generating data");
		
		post("Kinect initialized!\n");
	}

开发者ID:kidaa，项目名称:Synthesis，代码行数:54，代码来源:tml.jit.OpenNI.cpp

示例4: xnGetStatusString

bool kinect_reader2::init() {
	nRetVal = XN_STATUS_OK;

	nRetVal = g_Context.Init();
	if (nRetVal != XN_STATUS_OK) {
		printf("Creating context failed: %s\n", xnGetStatusString(nRetVal));
		return false;
	}

	nRetVal = g_DepthGenerator.Create(g_Context);
	if(nRetVal != XN_STATUS_OK) {
		printf("Creating depth generator failed: %s\n", xnGetStatusString(nRetVal));
		return false;
	}
	g_DepthGenerator.GetMirrorCap().SetMirror(true);

	nRetVal = g_UserGenerator.Create(g_Context);
	if(nRetVal != XN_STATUS_OK) {
		printf("Creating user generator failed: %s\n", xnGetStatusString(nRetVal));
		return false;
	}

	XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
	if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
	{
		printf("Supplied user generator doesn't support skeleton\n");
		return false;
	}
	g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
	g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
	g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);

	if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
	{
		printf("Pose required, but not supported\n");
		return false;
	}
	g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);

	g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

	g_Context.StartGeneratingAll();

	return true;
}

开发者ID:CCJY，项目名称:engine-1，代码行数:45，代码来源:kinect_reader2.cpp

示例5: main

int main(int argc, char **argv) {
  ros::init(argc, argv, "scene_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);
		CHECK_RC(nRetVal, "Find user generator");
	}

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

	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.Shutdown();
	return 0;
}

开发者ID:Cognitive-Robotics-Lab，项目名称:TurtleRPI，代码行数:39，代码来源:cluster.cpp

示例6: start_kinect

void start_kinect() {
    XnStatus nRetVal = XN_STATUS_OK;
    xn::EnumerationErrors errors;
    UsersCount = 0;

    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_DEPTH, g_depth);      
    CHECK_RC(nRetVal,"No depth");
    
	  nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);      
    CHECK_RC(nRetVal,"No image");

    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 anyjoint;

    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;

        WriteLock w_lock(myLock);
    	  pDepthMap = g_depth.GetDepthMap();
        pPixelMap = g_image.GetRGB24ImageMap();
            
    	  g_depth.GetMetaData(g_depthMD);    
        g_image.GetMetaData(g_imageMD);
        pPixelPoint = g_imageMD.RGB24Data();

//.........这里部分代码省略.........

开发者ID:mjirik，项目名称:kinect-server，代码行数:101，代码来源:kinect_server.cpp

示例7: main


//.........这里部分代码省略.........
    
    int head_up = 0;
	int count = 0;
	int counter = 0;
    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_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();

开发者ID:YanyangChen，项目名称:KVPJ，代码行数:67，代码来源:NiSimpleSkeleton.cpp

示例8: main

int main(int argc, char **argv)
{
    XnStatus nRetVal = XN_STATUS_OK;
    xn::EnumerationErrors errors;
    TotalFrames = 0;
    static struct rusage ru;
    long double t;
    double w;
    struct timeval timStart;
    struct timeval timEnd;
    struct timeval Wall;
    bool Sample = true;
    XnFPSData xnFPS;
    XnUserID aUsers[MAX_NUM_USERS];
	XnUInt16 nUsers;
	XnSkeletonJointTransformation torsoJoint;

    if (argc > 1)
	{

    	//parse the cmd line
    	if (strcasecmp(argv[1],"--help") == 0)
    	{
    		PrintHelpHeader(argv[0]);
    		return 1;
    	}
    	numOfUser = atoi(argv[1]);
    	if(numOfUser == 0)
    	{
    		PrintHelpHeader(argv[0]);
    		return 1;
    	}
    	else if(numOfUser > 2)
    	{
    		printf("Maximal Users allowed is 2\n");
    		return 1;
    	}

	}
    else
    {
    	numOfUser = 4;
    }

    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_DEPTH, g_DepthGenerator);
    CHECK_RC(nRetVal,"No depth");

#if (XN_PLATFORM != XN_PLATFORM_MACOSX)	
    //we want out benchmark application will be running only on one CPU core
    cpu_set_t mask;
	CPU_ZERO(&mask);
	CPU_SET(1,&mask);
	sched_setaffinity(0,sizeof(mask),&mask);
#endif	
	//initialize the FPS calculator
	nRetVal = xnFPSInit(&xnFPS, 90);
	CHECK_RC(nRetVal, "FPS Init");
	//ensure the User generator exists
    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");
    }
    //register to generators callbacks
    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");
//.........这里部分代码省略.........

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

示例9: main

int main(int argc, char **argv)
{
    XnStatus nRetVal = XN_STATUS_OK;
    xn::EnumerationErrors errors;
    
    if( USE_RECORED_DATA ){
        g_Context.Init();
        g_Context.OpenFileRecording(RECORD_FILE_PATH);
        xn::Player player;
        
        // Player nodeの取得
        nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
        CHECK_RC(nRetVal, "Find player");
        
        LOG_D("PlaybackSpeed: %d", player.GetPlaybackSpeed());
        
        xn:NodeInfoList nodeList;
        player.EnumerateNodes(nodeList);
        for( xn::NodeInfoList::Iterator it = nodeList.Begin();
            it != nodeList.End(); ++it){
            
            if( (*it).GetDescription().Type == XN_NODE_TYPE_IMAGE ){
                nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
                CHECK_RC(nRetVal, "Find image node");
                LOG_D("%s", "ImageGenerator created.");
            }
            else if( (*it).GetDescription().Type == XN_NODE_TYPE_DEPTH ){
                nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
                CHECK_RC(nRetVal, "Find depth node");
                LOG_D("%s", "DepthGenerator created.");            
            }
            else{
                LOG_D("%s %s %s", ::xnProductionNodeTypeToString((*it).GetDescription().Type ),
                      (*it).GetInstanceName(),
                      (*it).GetDescription().strName);
            }
        }
    }
    else{
        LOG_I("Reading config from: '%s'", CONFIG_XML_PATH);
        
        nRetVal = g_Context.InitFromXmlFile(CONFIG_XML_PATH, g_scriptNode, &errors);
        if (nRetVal == XN_STATUS_NO_NODE_PRESENT){
            XnChar strError[1024];
            errors.ToString(strError, 1024);
            LOG_E("%s\n", strError);
            return (nRetVal);
        }
        else if (nRetVal != XN_STATUS_OK){
            LOG_E("Open failed: %s", xnGetStatusString(nRetVal));
            return (nRetVal);
        }
        
        nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
        CHECK_RC(nRetVal,"No depth");
        
        // ImageGeneratorの作成
        nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
        CHECK_RC(nRetVal, "Find image generator");
        
    }
    // UserGeneratorの取得
    nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
    if(nRetVal!=XN_STATUS_OK){
        nRetVal = g_UserGenerator.Create(g_Context); 
        CHECK_RC(nRetVal, "Create user generator");
    }

    
    XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
    if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)){
        LOG_E("%s", "Supplied user generator doesn't support skeleton");
        return 1;
    }
    nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
    CHECK_RC(nRetVal, "Register to user callbacks");

    g_SkeletonCap = g_UserGenerator.GetSkeletonCap();
    nRetVal = g_SkeletonCap.RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
    CHECK_RC(nRetVal, "Register to calibration start");

    nRetVal = g_SkeletonCap.RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
    CHECK_RC(nRetVal, "Register to calibration complete");
    
    if (g_SkeletonCap.NeedPoseForCalibration()){
        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");
    
//.........这里部分代码省略.........

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

示例10: main

int main(int argc, char **argv) {
    ros::init(argc, argv, "skeleton_tracker");
    ros::NodeHandle nh;
    // Added by Igor
    ros::Duration time(2.0);
    time.sleep();
    ROS_INFO("******************************* KINECT CALIBRATION ************************************");
    ROS_INFO("- Do initial calibration pose");

    string configFilename = ros::package::getPath("skeleton_tracker") + "/skeleton_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);
        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("~");
    ros::NodeHandle pnh("~");
    string frame_id("openni_depth_frame");
    pnh.getParam("camera_frame_id", frame_id);

    //Added by IGOR
    skeleton_pub = nh.advertise<skeleton_tracker::Skeleton>("skeleton", 1000);

    while (ros::ok()) {

        g_Context.WaitAndUpdateAll();
        publishTransforms(frame_id);

        //ROS_INFO("Lx: %f, Ly: %f, Lz: %f", msg.left_hand_x, msg.left_hand_y, msg.left_hand_z);
        //ROS_INFO("Rx: %f, Ry: %f, Rz: %f", msg.right_hand_x, msg.right_hand_y, msg.right_hand_z);
        skeleton_pub.publish(skelMsg);
        ros::spinOnce();

        r.sleep();
    }

    g_Context.Shutdown();
    return 0;
}

开发者ID:rsait，项目名称:rsait_public_packages，代码行数:78，代码来源:skeleton_tracker.cpp

示例11: main

int main(int argc, char **argv)
{
    commInit("192.168.1.255", 54321);
    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_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)
//.........这里部分代码省略.........

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

示例12: main

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

  std::string configFilename = ros::package::getPath("people_tracker_denbyk") + "/init/openni_tracker.xml";
  genericUserCalibrationFileName = ros::package::getPath("people_tracker_denbyk") + "/init/GenericUserCalibration.bin";

  ros::Rate loop_rate(1);

  //valore di ritorno Xn
  XnStatus nRetVal;

  //while (ros::ok())
  while (nh.ok())
  {
    //inizializzo contesto openni
    //ROS_INFO(configFilename.c_str(),xnGetStatusString(nRetVal));
    nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());

    //TODO: remove
    nRetVal = XN_STATUS_OK;

    //riprovo tra un po'
    if(nRetVal != XN_STATUS_OK)
    {
      ROS_INFO("InitFromXml failed: %s Retrying in 3 seconds...", xnGetStatusString(nRetVal));
      ros::Duration(3).sleep();

    }
    else
    {
      break;
    }
  }


  //std::string frame_id;

  nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);


  if(nRetVal != XN_STATUS_OK)
  {
    ROS_ERROR("Find depth generator failed: %s", xnGetStatusString(nRetVal));
  }

  //cerca nodo ti tipo user generator e lo salva in g_UserGenerator
  nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);


  if (nRetVal != XN_STATUS_OK)
  {
    //crea lo userGenerator del g_context. SE non riesce probabilmente manca NITE
    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;
    }
  }
  //veriica che lo userGenerator creato supporti SKELETON
  if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
  {
    ROS_INFO("Supplied user generator doesn't support skeleton");
    return EXIT_FAILURE;
  }

  //imposto la modalità dello skeleton, quali giunzioni rilevare e quali no.
  //in questo caso upper è il torso/la testa
  g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);

  //setto varie callbacks per entrata, uscita e rientro user nello UserGenerator
  XnCallbackHandle hUserCallbacks;
  g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
  g_UserGenerator.RegisterToUserExit(User_OutOfScene, NULL, hUserCallbacks);
  g_UserGenerator.RegisterToUserReEnter(User_BackIntoScene, NULL, hUserCallbacks);

  //attivo la generazione dei vari generators
  nRetVal = g_Context.StartGeneratingAll();

  if(nRetVal != XN_STATUS_OK)
  {
    ROS_ERROR("StartGenerating failed: %s", xnGetStatusString(nRetVal));
  }

  //recupera un parametro passato al nodo dal server dei parametri ROS.
  //usando la chiave camera_frame_id e lo memorizza nella variabile frame_id
  std::string frame_id("camera_depth_frame");
  nh.getParam("camera_frame_id", frame_id);


  std::cout << "init ok\n";
  //ciclo principale.
  while(nh.ok())
  {
    //aggiorna il contesto e aspetta
    g_Context.WaitAndUpdateAll();
    //pubblica le trasformazioni su frame_id
    publishTransforms(frame_id);
//.........这里部分代码省略.........

开发者ID:denbyk，项目名称:people_tracker_denbyk，代码行数:101，代码来源:OLDPeopleTracker_denbyk.cpp

示例13: main

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

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

	// init kinect user IDs to 0 to indicate they're invalid.
	for (int i = 0; i < NUSERS; i++)
	{
		kinectUsers[i].id = 0;
	}

    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);
		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);
                
	ros::Publisher user_pub = nh.advertise<kinect::User>("kinect_users", 1000);

	while (ros::ok()) {
		g_Context.WaitAndUpdateAll();
		publishTransforms(frame_id, user_pub);
		r.sleep();
	}

	g_Context.Shutdown();
	return 0;
}

开发者ID:TjlHope，项目名称:Rutler，代码行数:74，代码来源:user_tracker.cpp

示例14: main

int main(int argc, char **argv)
{
  setup(argc, argv, &g_UserGenerator);

	XnStatus nRetVal = XN_STATUS_OK;

  std::string configFilename = ros::package::getPath("user_tracker") + "/config/SamplesConfig.xml";

  xn::EnumerationErrors errors;
  nRetVal = g_Context.InitFromXmlFile(configFilename.c_str(), g_scriptNode, &errors);
  if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
  {
    XnChar strError[1024];
    errors.ToString(strError, 1024);
    ROS_INFO("%s\n", strError);
    return (nRetVal);
  }
  else if (nRetVal != XN_STATUS_OK)
  {
    ROS_INFO("Open failed: %s\n", xnGetStatusString(nRetVal));
    return (nRetVal);
  }

	nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
	if (nRetVal != XN_STATUS_OK)
	{
		ROS_INFO("No depth generator found. Using a default one...");
		xn::MockDepthGenerator mockDepth;
		nRetVal = mockDepth.Create(g_Context);
		CHECK_RC(nRetVal, "Create mock depth");

		// set some defaults
		XnMapOutputMode defaultMode;
		defaultMode.nXRes = 320;
		defaultMode.nYRes = 240;
		defaultMode.nFPS = 30;
		nRetVal = mockDepth.SetMapOutputMode(defaultMode);
		CHECK_RC(nRetVal, "set default mode");

		// set FOV
		XnFieldOfView fov;
		fov.fHFOV = 1.0225999419141749;
		fov.fVFOV = 0.79661567681716894;
		nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
		CHECK_RC(nRetVal, "set FOV");

		XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
		XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);

		nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
		CHECK_RC(nRetVal, "set empty depth map");

		g_DepthGenerator = mockDepth;
	}

	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, hCalibrationInProgress, hPoseInProgress;
	if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
	{
		ROS_INFO("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))
		{
			ROS_INFO("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_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
	CHECK_RC(nRetVal, "Register to calibration in progress");

	nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
	CHECK_RC(nRetVal, "Register to pose in progress");

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

#ifndef USE_GLES
//.........这里部分代码省略.........

开发者ID:arnthorm，项目名称:Fable，代码行数:101，代码来源:main.cpp

示例15: main

int main()
{
    int left_flag=0, right_flag=1;
    int gait_time_L[5], gait_time_L_temp[5];
    int gait_time_R[5], gait_time_R_temp[5];
    int z=0;
    int gait_cycle_L[5];
    int gait_cycle_R[5];
    struct timeval stop, start;

    srand(time(NULL));
    int param[14][3][1000];


    using namespace LibSerial ;
    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");
    }


//******************** SERIAL Read

        SerialStream serial_port ;
    serial_port.Open( "/dev/ttyACM0" ) ;
    if ( ! serial_port.good() )
    {
        std::cerr << "[" << __FILE__ << ":" << __LINE__ << "] "
                  << "Error: Could not open serial port."
                  << std::endl ;
        exit(1) ;
//.........这里部分代码省略.........

开发者ID:KartikKannapur，项目名称:Final-Year-Undergraduate-Project，代码行数:101，代码来源:main.cpp

注：本文中的xn::UserGenerator::Create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。