/***************************************************************************** * * * Unity Wrapper * * Copyright (C) 2010 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 . * * * *****************************************************************************/ //Author: Shlomo Zippel //----------------------------------------------------------------------------- // Headers //----------------------------------------------------------------------------- #include "UnityInterface.h" #include #include #include #include #include #include #include "UsersManager.h" //----------------------------------------------------------------------------- // Globals //----------------------------------------------------------------------------- // OpenNI stuff static xn::Context g_Context; static xn::DepthGenerator g_DepthGenerator; static xn::UserGenerator g_UserGenerator; static XnCallbackHandle g_hUserCallbacks = NULL; static XnCallbackHandle g_hCalibrationCallbacks = NULL; static XnCallbackHandle g_hPoseCallbacks = NULL; static unsigned int g_nDepthWidth = 0; static unsigned int g_nDepthHeight = 0; static bool g_bSearchingForPlayers = false; static UsersManager * g_pUsersManager = NULL; // UI mode stuff static XnVSessionManager * g_pSessionManager = NULL; static XnVPointDenoiser * g_pPointDenoiser = NULL; static XnVPointControl g_PointControl; static XnVSelectableSlider1D* g_pMainSlider = NULL; // A dummy focus gesture - doesn't do anything // We will use this as our focus gesture when the user will force a UI session // at a specific location class XnVDummyGesture : public XnVGesture { virtual void Update(const xn::Context* pContext) {} }; XnVDummyGesture * g_pDummyGesture = NULL; //----------------------------------------------------------------------------- // Callbacks //----------------------------------------------------------------------------- static pfn_user_callback g_pfnNewUser = NULL; static pfn_user_callback g_pfnCalibrationStarted = NULL; static pfn_user_callback g_pfnCalibrationSucceeded = NULL; static pfn_user_callback g_pfnCalibrationFailed = NULL; static pfn_user_callback g_pfnUserLost = NULL; static pfn_focus_callback g_pfnFocused = NULL; static pfn_handpoint_callback g_pfnHandPoint = NULL; static pfn_item_callback g_pfnHighlighted = NULL; static pfn_item_callback g_pfnSelected = NULL; static pfn_value_callback g_pfnValueChanged = NULL; static pfn_value_callback g_pfnScroll = NULL; //----------------------------------------------------------------------------- // Internal event handlers //----------------------------------------------------------------------------- // Point create/destroy callbacks void XN_CALLBACK_TYPE OnPrimaryPointCreate(const XnVHandPointContext* hand, const XnPoint3D& ptFocus, void* cxt) { if (NULL != g_pfnFocused) { g_pfnFocused(true); } } void XN_CALLBACK_TYPE OnPrimaryPointDestroy(XnUInt32 nID, void* cxt) { if (NULL != g_pfnFocused) { g_pfnFocused(false); } } void XN_CALLBACK_TYPE OnPrimaryPointUpdate(const XnVHandPointContext* pContext, void* cxt) { if (NULL != g_pfnHandPoint) { g_pfnHandPoint(pContext->ptPosition.X, pContext->ptPosition.Y, pContext->ptPosition.Z); } } static void XN_CALLBACK_TYPE OnNewUser(xn::UserGenerator& generator, const XnUserID nUserId, void* pCookie) { if (g_bSearchingForPlayers) { if (NULL != g_pfnNewUser) { g_pfnNewUser(nUserId); } generator.GetPoseDetectionCap().StartPoseDetection("Psi", nUserId); } } static void XN_CALLBACK_TYPE OnLostUser(xn::UserGenerator& generator, const XnUserID nUserId, void* pCookie) { if (NULL != g_pfnUserLost) { g_pfnUserLost(nUserId); } } static void XN_CALLBACK_TYPE OnPoseDetected(xn::PoseDetectionCapability& poseDetection, const XnChar* strPose, XnUserID nId, void* pCookie) { // Stop detecting the pose poseDetection.StopPoseDetection(nId); // Start calibrating if we are looking for players if (g_bSearchingForPlayers) { g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE); } } static void XN_CALLBACK_TYPE OnCalibrationStart(xn::SkeletonCapability& skeleton, const XnUserID nUserId, void* pCookie) { // callback if (NULL != g_pfnCalibrationStarted) { g_pfnCalibrationStarted(nUserId); } } static void XN_CALLBACK_TYPE OnCalibrationEnd(xn::SkeletonCapability& skeleton, const XnUserID nUserId, XnBool bSuccess, void* pCookie) { // If this was a successful calibration if (bSuccess) { // start tracking skeleton.StartTracking(nUserId); // callback if (NULL != g_pfnCalibrationSucceeded) { g_pfnCalibrationSucceeded(nUserId); } } else { // failure callback if (NULL != g_pfnCalibrationFailed) { g_pfnCalibrationFailed(nUserId); } // Restart pose detection if still searching for players if (g_bSearchingForPlayers) { g_UserGenerator.GetPoseDetectionCap().StartPoseDetection("Psi", nUserId); } } } // Main slider void XN_CALLBACK_TYPE MainSlider_OnHover(XnInt32 nItem, void* cxt) { // TODO: Unhighlight old one? if (NULL != g_pfnHighlighted) { g_pfnHighlighted(nItem, true); } } void XN_CALLBACK_TYPE MainSlider_OnSelect(XnInt32 nItem, XnVDirection dir, void* cxt) { if (NULL != g_pfnSelected) { g_pfnSelected(nItem, dir); } } void XN_CALLBACK_TYPE MainSlider_OnValueChange(XnFloat fValue, void* cxt) { if (NULL != g_pfnValueChanged) { g_pfnValueChanged(fValue); } } void XN_CALLBACK_TYPE MainSlider_OnScroll(XnFloat fScrollValue, void* pUserCxt) { if (NULL != g_pfnScroll) { g_pfnScroll(fScrollValue); } } //----------------------------------------------------------------------------- // UnityInterface API //----------------------------------------------------------------------------- XnStatus Init(const char * strXmlPath) { XnStatus rc = XN_STATUS_OK; // Init NITE context rc = g_Context.InitFromXmlFile(strXmlPath); if (XN_STATUS_OK != rc) { return rc; } // Save width & height of our depth generator (also ensures we will have one) XnMapOutputMode mapOutputMode; rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator); if (XN_STATUS_OK != rc) { Shutdown(); return rc; } rc = g_DepthGenerator.GetMapOutputMode(mapOutputMode); if (XN_STATUS_OK != rc) { Shutdown(); return rc; } g_nDepthWidth = mapOutputMode.nXRes; g_nDepthHeight = mapOutputMode.nYRes; // Get our UserGenerator for later (also ensures we have one) rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator); if (XN_STATUS_OK != rc) { Shutdown(); return rc; } g_UserGenerator.RegisterUserCallbacks(OnNewUser, OnLostUser, NULL, g_hUserCallbacks); g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL); g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(&OnCalibrationStart, &OnCalibrationEnd, NULL, g_hCalibrationCallbacks); g_UserGenerator.GetSkeletonCap().SetSmoothing(0.5); g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(&OnPoseDetected, NULL, NULL, g_hPoseCallbacks); // users manager g_pUsersManager = new UsersManager(g_UserGenerator); // Setup a blank point control for the create/destroy events // We will use those for focus events g_PointControl.RegisterPrimaryPointCreate(NULL, &OnPrimaryPointCreate); g_PointControl.RegisterPrimaryPointDestroy(NULL, &OnPrimaryPointDestroy); g_PointControl.RegisterPrimaryPointUpdate(NULL, &OnPrimaryPointUpdate); // The point denoiser will smoothen out our hand points g_pPointDenoiser = new XnVPointDenoiser(); g_pDummyGesture = new XnVDummyGesture(); rc = g_Context.StartGeneratingAll(); if (XN_STATUS_OK != rc) { Shutdown(); return rc; } return XN_STATUS_OK; } void Update(bool async) { // update openni if (async) { g_Context.WaitNoneUpdateAll(); } else { g_Context.WaitAndUpdateAll(); } // update users manager g_pUsersManager->Update(); // if in UI mode - update ui if (NULL != g_pSessionManager) { g_pSessionManager->Update(&g_Context); } } void Shutdown() { // Stop generating events g_Context.StopGeneratingAll(); // Unregister any callbacks we may have if (NULL != g_hPoseCallbacks) { g_UserGenerator.GetPoseDetectionCap().UnregisterFromPoseCallbacks(g_hPoseCallbacks); g_hPoseCallbacks = NULL; } if (NULL != g_hCalibrationCallbacks) { g_UserGenerator.GetSkeletonCap().UnregisterCalibrationCallbacks(g_hCalibrationCallbacks); g_hCalibrationCallbacks = NULL; } if (NULL != g_hUserCallbacks) { g_UserGenerator.GetSkeletonCap().UnregisterCalibrationCallbacks(g_hUserCallbacks); g_hUserCallbacks = NULL; } // user manager delete g_pUsersManager; g_pUsersManager = NULL; // UI if (NULL != g_pSessionManager) { delete g_pSessionManager; g_pSessionManager = NULL; } if (NULL != g_pDummyGesture) { delete g_pDummyGesture; g_pDummyGesture = NULL; } // Bye bye open ni g_Context.Shutdown(); } const char * GetStatusString(const XnStatus rc) { return xnGetStatusString(rc); } unsigned int GetDepthWidth() { return g_nDepthWidth; } unsigned int GetDepthHeight() { return g_nDepthHeight; } void StartLookingForUsers(pfn_user_callback pNewUser, pfn_user_callback pCalibrationStarted, pfn_user_callback pCalibrationFailed, pfn_user_callback pCalibrationSuccess, pfn_user_callback pUserLost) { // save our callbacks for later g_pfnNewUser = pNewUser; g_pfnCalibrationStarted = pCalibrationStarted; g_pfnCalibrationFailed = pCalibrationFailed; g_pfnCalibrationSucceeded = pCalibrationSuccess; g_pfnUserLost = pUserLost; // start pose detection for all existing non-calibrated users XnUInt16 nUsers = g_UserGenerator.GetNumberOfUsers(); XnUserID * pUsers = new XnUserID[nUsers]; g_UserGenerator.GetUsers(pUsers, nUsers); for (int i = 0; i < nUsers; i++) { if (!g_UserGenerator.GetSkeletonCap().IsCalibrated(pUsers[i]) && !g_UserGenerator.GetSkeletonCap().IsCalibrating(pUsers[i])) { g_UserGenerator.GetPoseDetectionCap().StartPoseDetection("Psi", pUsers[i]); } } delete [] pUsers; // make sure we try to calibrate future players g_bSearchingForPlayers = true; } void StopLookingForUsers() { g_bSearchingForPlayers = false; } void LoseUsers() { // stop tracking all users XnUInt16 nUsers = g_UserGenerator.GetNumberOfUsers(); XnUserID * pUsers = new XnUserID[nUsers]; g_UserGenerator.GetUsers(pUsers, nUsers); for (int i = 0; i < nUsers; i++) { if (g_UserGenerator.GetSkeletonCap().IsCalibrating(pUsers[i])) { g_UserGenerator.GetSkeletonCap().Reset(pUsers[i]); if (NULL != g_pfnCalibrationFailed) { g_pfnCalibrationFailed(pUsers[i]); } } if (g_UserGenerator.GetSkeletonCap().IsCalibrated(pUsers[i])) { g_UserGenerator.GetSkeletonCap().Reset(pUsers[i]); if (NULL != g_pfnUserLost) { g_pfnUserLost(pUsers[i]); } } } delete [] pUsers; } bool GetUserCenterOfMass(XnUserID userID, OUT XnVector3D * pCom) { return (XN_STATUS_OK == g_UserGenerator.GetCoM(userID, *pCom)); } float GetUserPausePoseProgress(XnUserID userID) { UserContext * pUser = g_pUsersManager->GetUserContext(userID); if (NULL == pUser) return 0.0f; return (float)pUser->pauseGesturePoseDetector.GetDetectionProgress(); } const XnLabel * GetUsersLabelMap() { xn::SceneMetaData smd; g_UserGenerator.GetUserPixels(0, smd); return smd.Data(); } const XnDepthPixel * GetUsersDepthMap() { return g_DepthGenerator.GetDepthMap(); } void SetSkeletonSmoothing(double f) { g_UserGenerator.GetSkeletonCap().SetSmoothing(f); } bool GetJointTransformation(XnUserID userID, XnSkeletonJoint joint, OUT XnSkeletonJointTransformation* pTransformation) { xn::SkeletonCapability skelCap = g_UserGenerator.GetSkeletonCap(); if(userID == 0 || !skelCap.IsTracking(userID)) { return false; } skelCap.GetSkeletonJoint(userID, joint, *pTransformation); return true; } bool GetJointPosition(XnUserID userID, XnSkeletonJoint joint, OUT XnSkeletonJointPosition* pPosition) { xn::SkeletonCapability skelCap = g_UserGenerator.GetSkeletonCap(); if(userID == 0 || !skelCap.IsTracking(userID)) { return false; } skelCap.GetSkeletonJointPosition(userID, joint, *pPosition); return true; } bool GetJointOrientation(XnUserID userID, XnSkeletonJoint joint, OUT XnSkeletonJointOrientation* pOrientation) { xn::SkeletonCapability skelCap = g_UserGenerator.GetSkeletonCap(); if(userID == 0 || !skelCap.IsTracking(userID)) { return false; } skelCap.GetSkeletonJointOrientation(userID, joint, *pOrientation); return true; } void StartUIMode(pfn_focus_callback pFocus, pfn_handpoint_callback pHandPoint, bool bUseFocusGesture) { // cleanup previous UI mode if (NULL != g_pSessionManager) { StopUIMode(); } // save our callbacks g_pfnFocused = pFocus; g_pfnHandPoint = pHandPoint; // initialize the point tracker g_pSessionManager = new XnVSessionManager(); g_pSessionManager->Initialize(&g_Context, "Click", "RaiseHand"); if (!bUseFocusGesture) { g_pSessionManager->SetGesture(g_pDummyGesture); g_pSessionManager->SetQRGesture(g_pDummyGesture); g_pSessionManager->SetQuickRefocusTimeout(0); } g_pSessionManager->AddListener(g_pPointDenoiser); g_pPointDenoiser->AddListener(&g_PointControl); } void ForceUISession(float x, float y, float z) { XnPoint3D ptFocus; ptFocus.X = x; ptFocus.Y = y; ptFocus.Z = z; g_pSessionManager->ForceSession(ptFocus); } void StopUIMode() { g_pfnHandPoint = NULL; g_pfnFocused = NULL; if (NULL != g_pSessionManager) { delete g_pSessionManager; g_pSessionManager = NULL; } } void StartScrollingMenu(bool horiz, int items, float scrollsize, pfn_item_callback selected_cb, pfn_item_callback highlighted_cb, pfn_value_callback value_cb, pfn_value_callback scroll_cb) { // dont do anything if not in UI mode if (NULL == g_pSessionManager) { return; } // cleanup any existing menu if (NULL != g_pMainSlider) { g_pSessionManager->RemoveListener(g_pMainSlider); delete g_pMainSlider; g_pMainSlider = NULL; } // save callbacks g_pfnHighlighted = highlighted_cb; g_pfnSelected = selected_cb; g_pfnValueChanged = value_cb; g_pfnScroll = scroll_cb; // create our new slider g_pMainSlider = new XnVSelectableSlider1D(items, scrollsize, (horiz) ? AXIS_X : AXIS_Y); g_pMainSlider->RegisterItemHover(NULL, &MainSlider_OnHover); g_pMainSlider->RegisterItemSelect(NULL, &MainSlider_OnSelect); g_pMainSlider->RegisterValueChange(NULL, &MainSlider_OnValueChange); g_pMainSlider->RegisterScroll(NULL, &MainSlider_OnScroll); // recenter around focus point XnPoint3D ptCenter; g_pSessionManager->GetFocusPoint(ptCenter); g_pMainSlider->Reposition(ptCenter); // add it to our session manager g_pPointDenoiser->AddListener(g_pMainSlider); } void StopMenu() { // cleanup any existing menu if (NULL != g_pMainSlider) { g_pPointDenoiser->RemoveListener(g_pMainSlider); delete g_pMainSlider; g_pMainSlider = NULL; } g_pfnHighlighted = NULL; g_pfnSelected = NULL; g_pfnValueChanged = NULL; g_pfnScroll = NULL; }