DataSkeleton.cpp

/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com

Copyright (c) 2012 I-maginer

This program 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 2 of the License, or (at your option) any later
version.

This program 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
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt

-----------------------------------------------------------------------------
*/

#include "core/DataSkeleton.h"
#include "generator/User.h"
#include "generator/Depth.h"
#include "objects/KinectDevice.h"
#include "objects/KinectUser.h"

DataSkeleton::DataSkeleton(KinectUser* existingUser)
{
  p_User = existingUser;
}

DataSkeleton::DataSkeleton()
{
  p_User = 0;
}

DataSkeleton::~DataSkeleton()
{
  p_User = 0;
}

bool DataSkeleton::GetBoneCurrentPosition(nite::JointType jointType, nite::Point3f &position, float minConfidence)
{
  if (p_User && p_User->GetParentDevice()->GetUserGenerator() != 0 && p_User->GetParentDevice()->GetUserGenerator()->IsValid())
  {
    nite::UserTracker* pUserTracker = p_User->GetParentDevice()->GetUserGenerator()->GetUserTraker();
    nite::UserTrackerFrameRef* pTrakerFrame = p_User->GetParentDevice()->GetUserGenerator()->GetTrakerFrame();
    const nite::UserData* userData = pTrakerFrame->getUserById((nite::UserId)p_User->GetId());
    if (userData && userData->isVisible())
    {
      const nite::Skeleton skl = userData->getSkeleton();
      if (skl.getState() == nite::SKELETON_TRACKED)
      {
        const nite::SkeletonJoint joint = skl.getJoint(jointType);
        if (joint.getPositionConfidence() < minConfidence)
          return false;
        
        position = joint.getPosition();
        return true;
      }
    }
  }
  return false;
}

bool DataSkeleton::GetBoneImgCoordinates(nite::JointType jointType, nite::Point3f &v, float minConfidence)
{
  if (p_User && p_User->GetParentDevice()->GetUserGenerator() != 0 && p_User->GetParentDevice()->GetUserGenerator()->IsValid())
  {
    nite::UserTracker* pUserTracker = p_User->GetParentDevice()->GetUserGenerator()->GetUserTraker();
    nite::UserTrackerFrameRef* pTrakerFrame = p_User->GetParentDevice()->GetUserGenerator()->GetTrakerFrame();
    const nite::UserData* userData = pTrakerFrame->getUserById(p_User->GetId());
    if (userData && userData->isVisible())
    {
      const nite::Skeleton skl = userData->getSkeleton();
      if (skl.getState() == nite::SKELETON_TRACKED)
      {
        const nite::SkeletonJoint joint = skl.getJoint(jointType);
        if (joint.getPositionConfidence() < minConfidence)
          return false;
        
        float x, y;
              if (pUserTracker->convertJointCoordinatesToDepth(joint.getPosition().x, joint.getPosition().y, joint.getPosition().z, &x, &y) != nite::STATUS_OK)
          return false;

        v.x = x;
        v.y = y;
        v.z = joint.getPosition().z;

        return true;
      }
    }
  }
  return false;
}

bool DataSkeleton::GetBoneCurrentOrientation(nite::JointType jointType, Quaternion* mQuat, float minConfidence)
{
  if (p_User && p_User->GetParentDevice()->GetUserGenerator() != 0 && p_User->GetParentDevice()->GetUserGenerator()->IsValid())
  {
    nite::UserTracker* pUserTracker = p_User->GetParentDevice()->GetUserGenerator()->GetUserTraker();
    nite::UserTrackerFrameRef* pTrakerFrame = p_User->GetParentDevice()->GetUserGenerator()->GetTrakerFrame();
    const nite::UserData* userData = pTrakerFrame->getUserById(p_User->GetId());
    if (userData && userData->isVisible())
    {
      const nite::Skeleton skl = userData->getSkeleton();
      if (skl.getState() == nite::SKELETON_TRACKED)
      {
        const nite::SkeletonJoint joint = skl.getJoint(jointType);
        if (joint.getOrientationConfidence() < minConfidence)
          return false;
        
        const nite::Quaternion jquat = joint.getOrientation();
        mQuat->x = -jquat.x;
        mQuat->y = jquat.y;
        mQuat->z = -jquat.z;
        mQuat->w = jquat.w;

        return true;
      }
    }
  }
  return false;
}