Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * usertracker_thread.h - OpenNI user tracker thread 00004 * 00005 * Created: Sun Feb 27 17:52:26 2011 00006 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_OPENNI_USERTRACKER_THREAD_H_ 00024 #define __PLUGINS_OPENNI_USERTRACKER_THREAD_H_ 00025 00026 #include "utils/version.h" 00027 00028 #include <core/threading/thread.h> 00029 #include <core/utils/lockptr.h> 00030 #include <aspect/logging.h> 00031 #include <aspect/configurable.h> 00032 #include <aspect/clock.h> 00033 #include <aspect/blackboard.h> 00034 #include <aspect/blocked_timing.h> 00035 #include <plugins/openni/aspect/openni.h> 00036 00037 #include <XnCppWrapper.h> 00038 00039 #include <map> 00040 00041 namespace fawkes { 00042 class HumanSkeletonInterface; 00043 class HumanSkeletonProjectionInterface; 00044 } 00045 namespace firevision { 00046 class SharedMemoryImageBuffer; 00047 } 00048 00049 class OpenNiUserTrackerThread 00050 : public fawkes::Thread, 00051 public fawkes::BlockedTimingAspect, 00052 public fawkes::LoggingAspect, 00053 public fawkes::ConfigurableAspect, 00054 public fawkes::ClockAspect, 00055 public fawkes::BlackBoardAspect, 00056 public fawkes::OpenNiAspect 00057 { 00058 public: 00059 OpenNiUserTrackerThread(); 00060 virtual ~OpenNiUserTrackerThread(); 00061 00062 virtual void init(); 00063 virtual void loop(); 00064 virtual void finalize(); 00065 00066 void new_user(XnUserID id); 00067 void lost_user(XnUserID id); 00068 void pose_start(XnUserID id, const char *pose_name); 00069 void pose_end(XnUserID id, const char *pose_name); 00070 void calibration_start(XnUserID id); 00071 void calibration_end(XnUserID id, bool success); 00072 00073 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00074 protected: virtual void run() { Thread::run(); } 00075 00076 private: 00077 /** Per user info struct. */ 00078 typedef struct { 00079 bool valid; /**< true if valid */ 00080 fawkes::HumanSkeletonInterface *skel_if; /**< Skeleton interface */ 00081 fawkes::HumanSkeletonProjectionInterface *proj_if; /**< Projection interface. */ 00082 } UserInfo; 00083 00084 typedef std::map<XnUserID, UserInfo> UserMap; 00085 00086 void update_user(XnUserID id, UserInfo &user); 00087 void update_com(XnUserID id, UserInfo &user); 00088 00089 private: 00090 xn::UserGenerator *__user_gen; 00091 xn::DepthGenerator *__depth_gen; 00092 00093 xn::SceneMetaData *__scene_md; 00094 xn::SkeletonCapability *__skelcap; 00095 00096 XnCallbackHandle __user_cb_handle; 00097 #if XN_VERSION_GE(1,3,2,0) 00098 XnCallbackHandle __pose_start_cb_handle; 00099 XnCallbackHandle __pose_end_cb_handle; 00100 XnCallbackHandle __calib_start_cb_handle; 00101 XnCallbackHandle __calib_complete_cb_handle; 00102 #else 00103 XnCallbackHandle __pose_cb_handle; 00104 XnCallbackHandle __calib_cb_handle; 00105 #endif 00106 00107 char __calib_pose_name[32]; 00108 bool __skel_need_calib_pose; 00109 00110 UserMap __users; 00111 00112 firevision::SharedMemoryImageBuffer *__label_buf; 00113 size_t __label_bufsize; 00114 }; 00115 00116 #endif