osaOpenNI.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s): Kelleher Guerin, Simon Leonard
  Created on: 2011

  (C) Copyright 2011 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---

*/


#ifndef _osaOpenNI_h
#define _osaOpenNI_h

#include <sawOpenNI/osaOpenNISkeleton.h>
// Always include last!
#include <sawOpenNI/sawOpenNIExport.h>


#define WAIT_AND_UPDATE_ALL         1
#define WAIT_ANY_UPDATE_ONE         2
#define WAIT_NONE_UPDATE_ALL        3

#define CNI_USR_NEW         0
#define CNI_USR_LOST        1
#define CNI_USR_POSE        2
#define CNI_USR_CAL_START   3
#define CNI_USR_CAL_END     4
#define CNI_USR_SUCCESS     5
#define CNI_USR_FAIL        6
#define CNI_USR_WAIT        7
#define CNI_USR_IDLE        -1

#define CNI_HEA     1
#define CNI_NEK     2     //XN_SKEL_NECK            = 2,
#define CNI_TOR     3     //XN_SKEL_TORSO           = 3,
#define CNI_WAI     4     //XN_SKEL_WAIST           = 4,

#define CNI_LCO     5     //XN_SKEL_LEFT_COLLAR     = 5,
#define CNI_LSH     6     //XN_SKEL_LEFT_SHOULDER   = 6,
#define CNI_LEL     7     //XN_SKEL_LEFT_ELBOW      = 7,
#define CNI_LWR     8     //XN_SKEL_LEFT_WRIST      = 8,
#define CNI_LHN     9     //XN_SKEL_LEFT_HAND       = 9,
#define CNI_LFI     10    //XN_SKEL_LEFT_FINGERTIP  =10,

#define CNI_RCO     11    //XN_SKEL_RIGHT_COLLAR    =11,
#define CNI_RSH     12    //XN_SKEL_RIGHT_SHOULDER  =12,
#define CNI_REL     13    //XN_SKEL_RIGHT_ELBOW     =13,
#define CNI_RWR     14    //XN_SKEL_RIGHT_WRIST     =14,
#define CNI_RHN     15    //XN_SKEL_RIGHT_HAND      =15,
#define CNI_RFI     16    //XN_SKEL_RIGHT_FINGERTIP =16,

#define CNI_LHP     17    //XN_SKEL_LEFT_HIP        =17,
#define CNI_LKN     18    //XN_SKEL_LEFT_KNEE       =18,
#define CNI_LAN     19    //XN_SKEL_LEFT_ANKLE      =19,
#define CNI_LFT     20    //XN_SKEL_LEFT_FOOT       =20,

#define CNI_RHP     21    //XN_SKEL_RIGHT_HIP       =21,
#define CNI_RKN     22    //XN_SKEL_RIGHT_KNEE      =22,
#define CNI_RAN     23    //XN_SKEL_RIGHT_ANKLE     =23,
#define CNI_RFT     24     //XN_SKEL_RIGHT_FOOT     =24 


class osaOpenNIData;

class CISST_EXPORT osaOpenNI {

    friend class osaOpenNISkeleton;

 public:

    enum Errno {ESUCCESS, EFAILURE};

 private:

    osaOpenNIData* Data;

    std::string name;

    std::vector<osaOpenNISkeleton*> skeletons;

    int users;
    bool usingPrecapturedCalibration;

    char* ProjectivePointsBuffer;
    char* WorldPointsBuffer;
    unsigned int PointsBufferSize;

 public:

    osaOpenNI(int numUsers = 0);

    osaOpenNI(int numUsers, char usrPath);

    ~osaOpenNI();

    void CleanupExit();


    void Configure(const std::string & devname = "");


    void Update(int type);

    void InitSkeletons();


    osaOpenNI::Errno GetRangeData(vctDynamicMatrix<double> & rangedata,
                                  const std::vector< vctFixedSizeVector<unsigned short, 2> > & pixels);
    osaOpenNI::Errno GetRangeData(vctDynamicMatrixRef<vctFloat3> rangedata);


    osaOpenNI::Errno GetDepthImageRaw(vctDynamicMatrix<double> & depthimage);
    osaOpenNI::Errno GetDepthImageRaw(vctDynamicMatrixRef<unsigned short> depthimage);


    void GetDepthImage(vctDynamicMatrix<double> & placeHolder);


    osaOpenNI::Errno GetRGBImage(vctDynamicMatrix<unsigned char> & RGBinterlaced);
    osaOpenNI::Errno GetRGBImage(vctDynamicMatrixRef<unsigned char> RGBinterlaced);


    osaOpenNI::Errno GetRGBPlanarImage(vctDynamicNArray<unsigned char,3> & RGBplanar);



    std::vector<osaOpenNISkeleton*> & UpdateAndGetUserSkeletons(void);


    void UpdateUserSkeletons(void);


    std::vector<osaOpenNISkeleton*> & GetUserSkeletons(void);

    // Convert 3D to projective
    osaOpenNI::Errno
        Convert3DToProjectiveMask(const vctDynamicMatrix<double> & rangedata,
                                  vctDynamicMatrix<bool> & mask);
    void Convert3DToProjective(const vctFloat3& point3d, vctFloat3& point2d);

};

#endif