Added files

Author: jspranger

HandSkeleton.pro

@@ -0,0 +1,54 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2014-06-05T20:48:57
+#
+#-------------------------------------------------
+
+QT       += core gui opengl
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = HandSkeleton
+TEMPLATE = app
+
+# ------------------------------------------------------------------------------
+# OpenNI2 & NiTE2 _
+INCLUDEPATH += "C:\\Program Files (x86)\\OpenNI2\\Include" \
+                             "C:\\Program Files (x86)\\PrimeSense\\NiTE2\\Include"
+LIBS += -L"C:/Program Files (x86)/OpenNI2/Lib" -lOpenNI2
+LIBS += -L"C:/Program Files (x86)/PrimeSense/NiTE2/Lib" -lNiTE2
+# _
+
+# OpenCV _
+INCLUDEPATH += "C:/opencv/ocv249/opencv/build/include"
+LIBS += -L"C:/opencv/ocv249/opencv/build/x86/vc11/lib" -lopencv_core249 \
+                                                                                            -lopencv_highgui249 \
+                                                                                            -lopencv_imgproc249
+# _
+
+# Ogre _
+INCLUDEPATH += "C:/ogrevc11/include"
+LIBS += -L"C:/ogrevc11/lib/Release" -lOgreMain
+# _
+
+# Boost _
+INCLUDEPATH += "C:/boostvc11"
+LIBS += -L"C:/boostvc11/lib32-msvc-11.0"
+# ------------------------------------------------------------------------------
+
+SOURCES += main.cpp\
+    mainwindow.cpp \
+    api/recognizer.cpp \
+    api/hw/sensordevice.cpp \
+    api/learn/handhypothesis.cpp \
+    api/learn/handmodel.cpp \
+    ogrewidget.cpp
+
+HEADERS  += mainwindow.h \
+    api/recognizer.h \
+    api/hw/sensordevice.h \
+    api/learn/handhypothesis.h \
+    api/learn/handmodel.h \
+    ogrewidget.h
+
+FORMS    += mainwindow.ui

api/hw/sensordevice.cpp

@@ -0,0 +1,116 @@
+#ifndef SENSORDEVICE_H
+#define SENSORDEVICE_H
+
+#include <QObject>
+#include <QThread>
+
+#include <OpenNI.h>
+#include <NiTE.h>
+#include <opencv2/opencv.hpp>
+
+#include <QQuaternion>
+#include <QVector3D>
+#include <QVector2D>
+
+#include <QDebug>
+
+#define SENSOR_WIDTH 640
+#define SENSOR_HEIGHT 480
+
+namespace IMAGE { enum Mode { DEPTH = 0, COLOR = 1, IR = 2, }; }
+Q_DECLARE_METATYPE(IMAGE::Mode)
+
+namespace POSE { enum Type { PSI = 0, ARMS_CROSSED = 1, }; }
+Q_DECLARE_METATYPE(POSE::Type)
+
+typedef struct { QVector3D minimum; QVector3D maximum; } RealWorldBoundingBox;
+typedef struct { QVector2D minimum; QVector2D maximum; } ProjectiveBoundingBox;
+typedef struct
+{
+    cv::Mat pixelmap;
+    QVector2D projective_center_of_mass;
+    QVector3D real_world_center_of_mass;
+    ProjectiveBoundingBox projective_bounding_box;
+    RealWorldBoundingBox real_world_bounding_box;
+} UserMap;
+Q_DECLARE_METATYPE(UserMap)
+
+typedef struct { QVector2D position; } ProjectiveJoint;
+typedef struct
+{
+    ProjectiveJoint head; ProjectiveJoint neck;
+    ProjectiveJoint left_shoulder; ProjectiveJoint left_elbow; ProjectiveJoint left_hand;
+    ProjectiveJoint right_shoulder; ProjectiveJoint right_elbow; ProjectiveJoint right_hand;
+    ProjectiveJoint torso;
+    ProjectiveJoint left_hip; ProjectiveJoint left_knee; ProjectiveJoint left_foot;
+    ProjectiveJoint right_hip; ProjectiveJoint right_knee; ProjectiveJoint right_foot;
+} ProjectiveSkeleton;
+Q_DECLARE_METATYPE(ProjectiveSkeleton)
+
+typedef struct { QQuaternion orientation; QVector3D position; } RealWorldJoint;
+typedef struct
+{
+    RealWorldJoint head; RealWorldJoint neck;
+    RealWorldJoint left_shoulder; RealWorldJoint left_elbow; RealWorldJoint left_hand;
+    RealWorldJoint right_shoulder; RealWorldJoint right_elbow; RealWorldJoint right_hand;
+    RealWorldJoint torso;
+    RealWorldJoint left_hip; RealWorldJoint left_knee; RealWorldJoint left_foot;
+    RealWorldJoint right_hip; RealWorldJoint right_knee; RealWorldJoint right_foot;
+} RealWorldSkeleton;
+Q_DECLARE_METATYPE(RealWorldSkeleton)
+
+Q_DECLARE_METATYPE(cv::Mat)
+
+class SensorDevice : public QThread
+{
+    Q_OBJECT
+public:
+    explicit SensorDevice(QObject *parent = 0, QString devicePath = QString());
+    ~SensorDevice(void);
+
+    bool initSensor(int depthXres = 640,
+                    int depthYres = 480,
+                    int depthFPS = 30,
+                    int rgbXres = 640,
+                    int rgbYres = 480,
+                    int rgbFPS = 30,
+                    int irXres = 640,
+                    int irYres = 480,
+                    int irFPS = 30);
+    bool stopSensor(void);
+
+private:
+    QString m_devicePath;
+    bool m_isActive,
+            m_isDepth_running,
+            m_isRGB_running,
+            m_isIR_running;
+
+    openni::Device m_device;
+    openni::VideoStream m_videoDepth, m_videoColor, m_videoIR;
+    openni::VideoStream** m_videoStreamDepth, **m_videoStreamColor, **m_videoStreamIR;
+    nite::HandTracker m_handTracker;
+    nite::UserTracker m_userTracker;
+
+    RealWorldJoint convertSkeletonJointToRealWorld(const nite::SkeletonJoint);
+    ProjectiveJoint convertSkeletonJointToProjective(const nite::SkeletonJoint);
+
+public slots:
+    void run(void);
+
+signals:
+    void hand_init(short);
+    void hand_coordinate(short, QVector3D);
+    void hand_stop(short);
+
+    void user_init(short);
+    void user_map(short, UserMap);
+    void user_projective_skeleton(short, ProjectiveSkeleton);
+    void user_real_world_skeleton(short, RealWorldSkeleton);
+    void user_pose(short, POSE::Type);
+    void user_stop(short);
+
+    void image_data(IMAGE::Mode, cv::Mat);
+};
+
+#endif // SENSORDEVICE_H