vrecko
virtual reality framework
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
Kinect.h
Go to the documentation of this file.
1 
10 #pragma once
11 
12 #ifndef WIN32_LEAN_AND_MEAN
13  #define WIN32_LEAN_AND_MEAN
14 #endif
15 #include <windows.h>
16 
17 #include <vrecko/IOPins.h>
18 #include <vrecko/Device.h>
19 #include <vrecko/EventDispatcher.h>
20 
21 #include <NuiApi.h>
22 #include <NuiSkeleton.h>
23 
24 namespace vreckoDP_Kinect {
25 
26  class DP_EXPORT Kinect : public vrecko::Device
27  {
28  public:
29  Kinect();
31  virtual int openDevice(void);
32  int closeDevice(void);
33  void update(void);
34  bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode);
35 
36  void getSkeleton();
37  static DWORD WINAPI KinectThread(LPVOID pParam);
38  void sendSkeletonPositions(NUI_SKELETON_DATA * pSkel);
39  void sendPosition(vrecko::OutputPin<vrecko::MessageVec3>* outputPin, int index, NUI_SKELETON_DATA * pSkel );
40 
41  // InputConnector uses this kind of events
42  void sendSensorTransformation(int sensorNumber, int SkeletonIndex, NUI_SKELETON_DATA * pSkel);
43 
44  protected:
45  HANDLE _hNextSkeletonEvent;
46 
47 
48  //XML parameters
49  float _scale;
50  bool _smoothing;
51  osg::Vec3 _worldOrigin;
52  bool _inputConnector;
53  int* _inputConnectorMappings;
54 
55  // thread handling
56  HANDLE _hThNuiProcess;
57  HANDLE _hEvNuiProcessStop;
58 
59  DECLARE_OUTPUT(HipCenterPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HIP_CENTER
60  DECLARE_OUTPUT(SpinePosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_SPINE
61  DECLARE_OUTPUT(ShoulderCenterPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_SHOULDER_CENTER
62  DECLARE_OUTPUT(HeadPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HEAD
63  DECLARE_OUTPUT(ShoulderLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_SHOULDER_LEFT
64  DECLARE_OUTPUT(ElbowLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_ELBOW_LEFT
65  DECLARE_OUTPUT(WristLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_WRIST_LEFT
66  DECLARE_OUTPUT(HandLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HAND_LEFT
67  DECLARE_OUTPUT(ShoulderRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_SHOULDER_RIGHT
68  DECLARE_OUTPUT(ElbowRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_ELBOW_RIGHT
69  DECLARE_OUTPUT(WristRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_WRIST_RIGHT
70  DECLARE_OUTPUT(HandRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HAND_RIGHT
71  DECLARE_OUTPUT(HipLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HIP_LEFT
72  DECLARE_OUTPUT(KneeLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_KNEE_LEFT
73  DECLARE_OUTPUT(AnkleLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_ANKLE_LEFT
74  DECLARE_OUTPUT(FootLeftPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_FOOT_LEFT
75  DECLARE_OUTPUT(HipRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_HIP_RIGHT
76  DECLARE_OUTPUT(KneeRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_KNEE_RIGHT
77  DECLARE_OUTPUT(AnkleRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_ANKLE_RIGHT
78  DECLARE_OUTPUT(FootRightPosition, vrecko::MessageVec3); //NUI_SKELETON_POSITION_FOOT_RIGHT
79 
80  DECLARE_OUTPUT(Sensor_Transformation, vrecko::MessageSensorTransformation); //data about one point
81  };
82 }
83