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KinectV1Device.cpp
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502 lines (407 loc) · 14.3 KB
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#include "KinectV1Device.h"
#include "KinectMath.h"
// Generated JSON header file
#include "je_nourish_kinectv1_json.h"
#include <iostream>
namespace KinectOsvr {
std::map<HWND, KinectV1Device*> windowMap;
typedef HRESULT(_stdcall *NuiGetSensorCountType)(int*);
typedef HRESULT(_stdcall *NuiCreateSensorByIndexType)(int, INuiSensor**);
typedef HRESULT(_stdcall *NuiSkeletonCalculateBoneOrientationsType)(NUI_SKELETON_DATA*, NUI_SKELETON_BONE_ORIENTATION*);
NuiGetSensorCountType NuiGetSensorCount;
NuiCreateSensorByIndexType NuiCreateSensorByIndex;
NuiSkeletonCalculateBoneOrientationsType NuiSkeletonCalculateBoneOrientations;
KinectV1Device::KinectV1Device(OSVR_PluginRegContext ctx, INuiSensor* pNuiSensor) : m_pNuiSensor(pNuiSensor) {
m_trackingId = m_trackedBody = -1;
m_lastTrackedPosition.x = m_lastTrackedPosition.y = m_lastTrackedPosition.z = 0;
m_lastTrackedTime = 0;
m_firstUpdate = true;
m_trackedBodyChanged = false;
for (int i = 0; i < NUI_SKELETON_COUNT; i++) {
m_body_states[i] = CannotBeTracked;
}
HRESULT hr;
// Initialize the Kinect and specify that we'll be using skeleton
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);
if (SUCCEEDED(hr))
{
// Create an event that will be signaled when skeleton data is available
m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
// Open a skeleton stream to receive skeleton data
hr = m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0);
m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0);
}
mThreadData.kinect = this;
mThread = new std::thread(KinectV1Device::ui_thread, std::ref(mThreadData));
/// Create the initialization options
OSVR_DeviceInitOptions opts = osvrDeviceCreateInitOptions(ctx);
osvrDeviceTrackerConfigure(opts, &m_tracker);
osvrDeviceAnalogConfigure(opts, &m_analog, 20);
/// Create the device token with the options
m_dev.initAsync(ctx, "KinectV1", opts);
/// Send JSON descriptor
m_dev.sendJsonDescriptor(je_nourish_kinectv1_json);
/// Register update callback
m_dev.registerUpdateCallback(this);
};
OSVR_ReturnCode KinectV1Device::update() {
NUI_SKELETON_FRAME skeletonFrame = { 0 };
HRESULT hr = m_pNuiSensor->NuiSkeletonGetNextFrame(0, &skeletonFrame);
if (FAILED(hr))
{
return OSVR_RETURN_SUCCESS;
}
// smooth out the skeleton data
// m_pNuiSensor->NuiTransformSmooth(&skeletonFrame, NULL);
ProcessBody(&skeletonFrame);
return OSVR_RETURN_SUCCESS;
};
void KinectV1Device::toggleSeatedMode() {
m_seatedMode = !m_seatedMode;
m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, m_seatedMode ? NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT : 0);
}
KinectV1Device::BodyTrackingState* KinectV1Device::getBodyStates() {
return m_body_states;
}
void KinectV1Device::setTrackedBody(int i)
{
m_trackedBody = i;
m_trackedBodyChanged = true;
}
void KinectV1Device::recenter()
{
m_firstUpdate = true;
}
void KinectV1Device::ui_thread(ui_thread_data& data)
{
MSG msg;
BOOL ret;
HWND hDlg;
HINSTANCE hInst;
hInst = GetModuleHandle("je_nourish_kinect.dll");
hDlg = CreateDialogParam(hInst, MAKEINTRESOURCE(IDD_DIALOG1), 0, DialogProc, 0);
ShowWindow(hDlg, SW_RESTORE);
UpdateWindow(hDlg);
windowMap[hDlg] = data.kinect;
KinectV1Device::BodyTrackingState previousStates[NUI_SKELETON_COUNT];
KinectV1Device::BodyTrackingState* bodyStates = data.kinect->getBodyStates();
for (int i = 0; i < NUI_SKELETON_COUNT; i++) {
previousStates[i] = bodyStates[i];
}
do {
ret = PeekMessage(&msg, 0, 0, 0, PM_REMOVE);
if (ret) {
if (!IsDialogMessage(hDlg, &msg)) {
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
bool redraw = false;
bool foundBody = false;
int bodies = 0;
for (int i = 0; i < NUI_SKELETON_COUNT; i++) {
if (bodyStates[i] == ShouldBeTracked) {
foundBody = true;
}
if (bodyStates[i] != CannotBeTracked) {
bodies++;
}
if (bodyStates[i] != previousStates[i]) {
redraw = true;
EnableWindow(GetDlgItem(hDlg, IDC_RADIO1 + i), bodyStates[i] != CannotBeTracked);
if (bodyStates[i] == ShouldBeTracked) {
CheckRadioButton(hDlg, IDC_RADIO1, IDC_RADIO6, IDC_RADIO1 + i);
}
previousStates[i] = bodyStates[i];
}
}
if (redraw) {
if (!foundBody) {
CheckRadioButton(hDlg, IDC_RADIO1, IDC_RADIO6, 0);
}
if (bodies == 1) {
SetDlgItemText(hDlg, IDC_STATIC1, "1 body detected.");
}
else {
SetDlgItemText(hDlg, IDC_STATIC1, (std::to_string(bodies) + " bodies detected.").c_str());
}
UpdateWindow(hDlg);
}
bodyStates = data.kinect->getBodyStates();
} while (true);
DestroyWindow(hDlg);
}
INT_PTR CALLBACK KinectV1Device::DialogProc(HWND hDlg, UINT uMsg, WPARAM wParam, LPARAM lParam)
{
switch (uMsg)
{
case WM_COMMAND:
switch (LOWORD(wParam))
{
case IDC_BUTTON1:
windowMap[hDlg]->recenter();
break;
case IDC_CHECK1:
if (BN_CLICKED == HIWORD(wParam)) {
windowMap[hDlg]->toggleSeatedMode();
}
break;
case IDC_RADIO1:
case IDC_RADIO2:
case IDC_RADIO3:
case IDC_RADIO4:
case IDC_RADIO5:
case IDC_RADIO6:
if (BST_CHECKED == Button_GetCheck(GetDlgItem(hDlg, LOWORD(wParam)))) {
windowMap[hDlg]->setTrackedBody(LOWORD(wParam) - IDC_RADIO1);
}
break;
}
break;
case WM_CLOSE:
DestroyWindow(hDlg);
return TRUE;
case WM_DESTROY:
PostQuitMessage(0);
return TRUE;
}
return FALSE;
}
void setupOffset(OSVR_PoseState* offset, Vector4* joint, NUI_SKELETON_BONE_ORIENTATION* jointOrientation) {
osvrVec3SetX(&(offset->translation), joint->x);
osvrVec3SetY(&(offset->translation), joint->y);
osvrVec3SetZ(&(offset->translation), joint->z);
Vector4 orientation = jointOrientation->absoluteRotation.rotationQuaternion;
osvrQuatSetX(&(offset->rotation), orientation.x);
osvrQuatSetY(&(offset->rotation), orientation.y);
osvrQuatSetZ(&(offset->rotation), orientation.z);
osvrQuatSetW(&(offset->rotation), orientation.w);
Eigen::Quaterniond q = osvr::util::fromQuat(offset->rotation);
osvr::util::toQuat(q.inverse(), offset->rotation);
}
void KinectV1Device::ProcessBody(NUI_SKELETON_FRAME* pSkeletons) {
LONGLONG timestamp = pSkeletons->liTimeStamp.QuadPart;
if (m_initializeOffset == 0) {
osvrTimeValueGetNow(&m_initializeTime);
m_initializeOffset = timestamp;
}
timestamp = timestamp - m_initializeOffset;
OSVR_TimeValue timeValue;
timeValue.seconds = timestamp / 1000;
timeValue.microseconds = (timestamp % 1000) * 1000;
osvrTimeValueSum(&timeValue, &m_initializeTime);
IdentifyBodies(pSkeletons);
if (m_trackedBody >= 0)
{
NUI_SKELETON_DATA skeleton = pSkeletons->SkeletonData[m_trackedBody];
m_lastTrackedPosition = skeleton.Position;
m_lastTrackedTime = pSkeletons->liTimeStamp.QuadPart;
if (skeleton.eTrackingState != NUI_SKELETON_TRACKED) return;
Vector4* joints = skeleton.SkeletonPositions;
NUI_SKELETON_BONE_ORIENTATION jointOrientations[NUI_SKELETON_POSITION_COUNT];
HRESULT hr = NuiSkeletonCalculateBoneOrientations(&skeleton, jointOrientations);
if (SUCCEEDED(hr)) {
OSVR_PoseState poseState;
OSVR_Vec3 translation;
OSVR_Quaternion rotation;
osvrVec3Zero(&translation);
osvrQuatSetIdentity(&rotation);
if (m_firstUpdate) {
m_firstUpdate = false;
setupOffset(&m_offset, &joints[NUI_SKELETON_POSITION_HEAD], &jointOrientations[NUI_SKELETON_POSITION_HEAD]);
osvrVec3SetX(&(m_kinectPose.translation), -joints[NUI_SKELETON_POSITION_HEAD].x);
osvrVec3SetY(&(m_kinectPose.translation), -joints[NUI_SKELETON_POSITION_HEAD].y);
osvrVec3SetZ(&(m_kinectPose.translation), -joints[NUI_SKELETON_POSITION_HEAD].z);
Eigen::Quaterniond quaternion(Eigen::AngleAxisd(0, Eigen::Vector3d::UnitY()));
osvr::util::toQuat(quaternion, m_kinectPose.rotation);
}
osvrDeviceTrackerSendPoseTimestamped(m_dev, m_tracker, &m_kinectPose, 21, &timeValue);
for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; ++j)
{
osvrVec3SetX(&translation, joints[j].x);
osvrVec3SetY(&translation, joints[j].y);
osvrVec3SetZ(&translation, joints[j].z);
Vector4 orientation = jointOrientations[j].absoluteRotation.rotationQuaternion;
osvrQuatSetX(&rotation, orientation.x);
osvrQuatSetY(&rotation, orientation.y);
osvrQuatSetZ(&rotation, orientation.z);
osvrQuatSetW(&rotation, orientation.w);
// Rotate hand orientation to something more useful for OSVR
if (j == NUI_SKELETON_POSITION_HAND_LEFT || j == NUI_SKELETON_POSITION_HAND_RIGHT) {
boneSpaceToWorldSpace(&rotation);
}
poseState.translation = translation;
poseState.rotation = rotation;
applyOffset(&m_offset, &poseState);
// Send pose
osvrDeviceTrackerSendPoseTimestamped(m_dev, m_tracker, &poseState, j, &timeValue);
OSVR_AnalogState confidence = 0;
switch (skeleton.eSkeletonPositionTrackingState[j]) {
case NUI_SKELETON_POSITION_TRACKED:
confidence = 1;
break;
case NUI_SKELETON_POSITION_INFERRED:
confidence = 0.5;
break;
default:
case NUI_SKELETON_POSITION_NOT_TRACKED:
confidence = 0;
break;
}
// Tracking confidence for use in smoothing plugins
osvrDeviceAnalogSetValueTimestamped(m_dev, m_analog, confidence, j, &timeValue);
}
}
}
};
void KinectV1Device::IdentifyBodies(NUI_SKELETON_FRAME* pSkeletons) {
if (m_trackedBody >= 0) { // We're tracking a body
if (m_trackedBodyChanged) {
m_trackingId = pSkeletons->SkeletonData[m_trackedBody].dwTrackingID;
m_trackedBodyChanged = false;
}
else {
for (int i = 0; i < NUI_SKELETON_COUNT; ++i) {
if (pSkeletons->SkeletonData[i].dwTrackingID == m_trackingId) {
m_trackedBody = i;
break;
}
}
}
DWORD trackingId;
switch (pSkeletons->SkeletonData[m_trackedBody].eTrackingState) {
case NUI_SKELETON_POSITION_ONLY: // Keep tracking same body, discount other bodies
case NUI_SKELETON_TRACKED:
for (int i = 0; i < NUI_SKELETON_COUNT; ++i) {
trackingId = pSkeletons->SkeletonData[i].dwTrackingID;
if (trackingId == m_trackingId) continue;
switch (pSkeletons->SkeletonData[i].eTrackingState) {
case NUI_SKELETON_NOT_TRACKED:
m_body_states[i] = CannotBeTracked;
break;
case NUI_SKELETON_POSITION_ONLY:
case NUI_SKELETON_TRACKED:
m_body_states[i] = ShouldNotBeTracked;
break;
}
}
return;
case NUI_SKELETON_NOT_TRACKED: // We've lost tracking
m_body_states[m_trackedBody] = CannotBeTracked;
m_trackedBody = -1;
m_trackingId = -1;
break;
}
}
// Lost tracking or haven't started yet
m_trackedBody = m_trackingId = -1;
int candidates = 0;
double confidence[NUI_SKELETON_COUNT];
double timeConfidence = (pSkeletons->liTimeStamp.QuadPart - m_lastTrackedTime) / 15000.0; // If we lose tracking for a few seconds, just pick whoever's visible
Vector4 position;
float distanceFromLastPosition;
float distanceConfidence;
for (int i = 0; i < NUI_SKELETON_COUNT; ++i)
{
DWORD trackingId = pSkeletons->SkeletonData[i].dwTrackingID;
NUI_SKELETON_TRACKING_STATE trackingState = pSkeletons->SkeletonData[i].eTrackingState;
BodyTrackingState myTrackingState = m_body_states[i];
confidence[i] = 0.0f;
switch (trackingState) {
case NUI_SKELETON_NOT_TRACKED:
m_body_states[i] = CannotBeTracked;
break;
case NUI_SKELETON_POSITION_ONLY:
case NUI_SKELETON_TRACKED:
switch (myTrackingState) {
case CannotBeTracked:
case CanBeTracked:
m_body_states[i] = CanBeTracked;
candidates++;
position = pSkeletons->SkeletonData[i].Position;
distanceFromLastPosition = sqrt(pow(position.x - m_lastTrackedPosition.x, 2) +
pow(position.y - m_lastTrackedPosition.y, 2) + pow(position.z - m_lastTrackedPosition.z, 2));
distanceConfidence = 1.0f - distanceFromLastPosition / 7.0f; // Approx largest possible distance in playspace
confidence[i] = distanceConfidence + timeConfidence;
break;
case ShouldNotBeTracked: // Ignore bodies we've previously ruled out
break;
case ShouldBeTracked: // Shouldn't be possible at this point
break;
}
break;
}
}
switch (candidates) {
case 0: // No bodies found
break;
case 1: // Only 1 candidate (lets still wait until confidence is good enough)
default: // Multiple possible bodies, choose based on last known position
double bestConfidence = 0.0;
for (int i = 0; i < NUI_SKELETON_COUNT; ++i) {
if (m_body_states[i] == CanBeTracked) {
if (confidence[i] > bestConfidence) {
bestConfidence = confidence[i];
m_trackedBody = i;
m_trackingId = pSkeletons->SkeletonData[i].dwTrackingID;
}
}
}
if (bestConfidence > 0.75) {
for (int i = 0; i < NUI_SKELETON_COUNT; ++i) {
if (i == m_trackedBody) {
m_body_states[i] = ShouldBeTracked;
}
else if (m_body_states[i] == CanBeTracked) {
m_body_states[i] = ShouldNotBeTracked;
}
}
}
else {
m_trackedBody = m_trackingId = -1;
}
break;
}
}
bool KinectV1Device::Detect(INuiSensor** ppNuiSensor) {
HINSTANCE hinstLib = LoadLibrary(TEXT("Kinect10.dll"));
if (hinstLib == NULL) return false;
NuiGetSensorCount = (NuiGetSensorCountType)GetProcAddress(hinstLib, "NuiGetSensorCount");
NuiCreateSensorByIndex = (NuiCreateSensorByIndexType)GetProcAddress(hinstLib, "NuiCreateSensorByIndex");
NuiSkeletonCalculateBoneOrientations = (NuiSkeletonCalculateBoneOrientationsType)GetProcAddress(hinstLib, "NuiSkeletonCalculateBoneOrientations");
if (NuiGetSensorCount == NULL || NuiCreateSensorByIndex == NULL || NuiSkeletonCalculateBoneOrientations == NULL) return false;
int iSensorCount = 0;
HRESULT hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr)) {
return OSVR_RETURN_SUCCESS;
}
bool bSensorFound = false;
for (int i = 0; i < iSensorCount; i++) {
hr = NuiCreateSensorByIndex(i, ppNuiSensor);
if (FAILED(hr))
{
continue;
}
hr = (*ppNuiSensor)->NuiStatus();
if (S_OK == hr)
{
bSensorFound = true;
break;
}
(*ppNuiSensor)->Release();
}
return bSensorFound;
};
KinectV1Device::~KinectV1Device() {
if (m_pNuiSensor)
{
m_pNuiSensor->NuiShutdown();
m_pNuiSensor->Release();
m_pNuiSensor = NULL;
}
if (m_hNextSkeletonEvent && (m_hNextSkeletonEvent != INVALID_HANDLE_VALUE))
{
CloseHandle(m_hNextSkeletonEvent);
}
};
};