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/****************************************************************************
* *
* OpenNI 1.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* OpenNI is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* OpenNI is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with OpenNI. If not, see <http://www.gnu.org/licenses/>. *
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "SampleManager.h"
#include "SceneDrawer.h"
#include "DefaultTrackingInitializer.h"
#include "SinglePoseUserSelector.h"
#include "PoseToggleUserSelector.h"
#include "ClosestUserSelector.h"
// Utility macro. This calls cleanup, prints a message and returns.
#define RETURN_WITH_CLEANUP(returnCode,errorMsg) \
Cleanup(); \
printf("Failed to start sample: %s\n", errorMsg); \
return returnCode;
SampleManager::SampleManager() : m_pUserTracker(NULL),
m_pTrackingInitializer(NULL),
m_pUserSelector(NULL)
{
}
XnStatus SampleManager::StartSample(int argc, char **argv)
{
// first we create a UserTracker object. This initializes all the openNI portions...
m_pUserTracker = XN_NEW(UserTracker,argc,argv,3000000);
// make sure the initialization was a success
if(m_pUserTracker->Valid()==FALSE)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR, "User tracker invalid");
}
// set the user selector and tracking initializers. This is the main method overriden by
// inheriting classes.
if(SetSelectors()!=XN_STATUS_OK)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR, "Failed to initialize user selector and tracking initializers");
}
// test if we show low confidence joints (if this is true we show low confidence joints as
// dotted lines (confidence 0.5) or dashed lines (confidence lower than 0.5). If false we just
// do not draw low confidence joints.
XnBool bShowLowConfidence = FALSE;
for(int i=1; i<argc; i++)
{
if(xnOSStrCmp(argv[i] , "-ShowLowConfidence") == 0)
{
bShowLowConfidence = TRUE;
}
}
// start the actual running (handled by the scene drawer).
// note pUserTracker is deleted inside DrawScene when quitting.
SceneDrawer *singleton=SceneDrawer::GetInstance();
// This starts the actual program. NOTE: the DrawScene method never ends except for
// using the exit call to end the program.
singleton->DrawScene(m_pUserTracker,argc,argv,this, bShowLowConfidence);
return XN_STATUS_OK;
}
void SampleManager::Cleanup()
{
// delete everything in an ordered manner. Make sure pointers are null afterwards.
if(m_pUserSelector!=NULL)
{
XN_DELETE(m_pUserSelector);
m_pUserSelector=NULL;
}
if(m_pTrackingInitializer!=NULL)
{
XN_DELETE(m_pTrackingInitializer);
m_pTrackingInitializer=NULL;
}
if(m_pUserTracker!=NULL)
{
XN_DELETE(m_pUserTracker);
m_pUserTracker=NULL;
}
}
SampleManager::~SampleManager()
{
Cleanup();
}
DefaultInitializerWithCalibPose::DefaultInitializerWithCalibPose()
{
}
XnStatus DefaultInitializerWithCalibPose::SetSelectors()
{
// get the user generator (required as an input).
xn::UserGenerator *pUserGenerator=m_pUserTracker->GetUserGenerator();
// make sure the user generator is good.
if(pUserGenerator->IsCapabilitySupported(XN_CAPABILITY_SKELETON)==FALSE)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR, "User generator does not support skeleton!");
}
// tracking initializer to use is the default one.
m_pTrackingInitializer=XN_NEW(DefaultTrackingInitializer,pUserGenerator);
if(m_pTrackingInitializer->IsValid()==FALSE)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR, "Failed to create tracking initializer");
}
// pick the user selector.
// figure out which type of user selection to use.
// Option 1: if we need calibration pose - that is the type to use (and exit if we can't support it)
// Option 2: if do not need calibration pose we choose the overridden selector
if(pUserGenerator->GetSkeletonCap().NeedPoseForCalibration()==TRUE)
{
// make sure we have a pose detection capability (which is what this selector is all about).
if(pUserGenerator->IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)==FALSE)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR, "User tracker invalid");
}
// first we get the pose from the skeleton capability
char poseString[50];
pUserGenerator->GetSkeletonCap().GetCalibrationPose(poseString);
// we now create the appropriate pose selector chooser
m_pUserSelector=XN_NEW(PoseUserSelector,pUserGenerator,m_pTrackingInitializer,poseString);
}
else
{
// get the overridden user selector
m_pUserSelector=CreateUserSelector(pUserGenerator,m_pTrackingInitializer);
}
// make sure the user selector is valid
if(m_pUserSelector->IsValid()==FALSE)
{
RETURN_WITH_CLEANUP(XN_STATUS_ERROR,"Failed to create user selector");
}
// initialize the tracking initializer with the relevant user selector.
m_pTrackingInitializer->SetUserTracker(m_pUserSelector);
// set the user selector and tracking initializer to the
m_pUserTracker->InitUserSelection(m_pUserSelector,m_pTrackingInitializer);
return XN_STATUS_OK;
}
SingleWaveSampleManager::SingleWaveSampleManager()
{
}
UserSelector * SingleWaveSampleManager::CreateUserSelector(xn::UserGenerator *pUserGenerator,
TrackingInitializer *pTrackingInitializer)
{
return XN_NEW(SinglePoseUserSelector,pUserGenerator,pTrackingInitializer,"Wave");
}
MultipleWaveSampleManager::MultipleWaveSampleManager(XnUInt32 nMaxNumUsers) : m_nMaxNumUsers(nMaxNumUsers)
{
}
UserSelector * MultipleWaveSampleManager::CreateUserSelector(xn::UserGenerator *pUserGenerator,
TrackingInitializer *pTrackingInitializer)
{
return XN_NEW(PoseToggleUserSelector,pUserGenerator,pTrackingInitializer,"Wave",m_nMaxNumUsers,2000000);
}
ClosestSampleManager::ClosestSampleManager(XnUInt32 nMaxNumUsers) : m_nMaxNumUsers(nMaxNumUsers)
{
}
UserSelector * ClosestSampleManager::CreateUserSelector(xn::UserGenerator *pUserGenerator,
TrackingInitializer *pTrackingInitializer)
{
return XN_NEW(ClosestUserSelector,pUserGenerator,pTrackingInitializer,m_nMaxNumUsers);
}
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