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Publish body transforms #9

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03b45ec
Fixed typo in include directories
Zabot Oct 13, 2017
80226cf
Removed commented code and publish transforms
Zabot Oct 30, 2017
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ find_package(catkin REQUIRED COMPONENTS geometry_msgs
roscpp
roslib
tf)
add_definitions("-std=c++11")
# Find OpenNI2
#find_package(PkgConfig)
#pkg_check_modules(OpenNI2 REQUIRED libopenni2)
Expand All @@ -30,7 +31,7 @@ find_library(Nite2_LIBRARY

catkin_package()

include_directories(${catkin_INCLUDEDIR}
include_directories(${catkin_INCLUDE_DIRS}
${OpenNI2_INCLUDEDIR}
${Nite2_INCLUDEDIR})
add_executable(openni2_tracker src/openni2_tracker.cpp)
Expand Down
224 changes: 52 additions & 172 deletions src/openni2_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,21 +31,20 @@
* Inspired by the openni_tracker by Tim Field and PrimeSense's NiTE 2.0 - Simple Skeleton Sample
*/

#include <geometry_msgs/TransformStamped.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <tf/transform_broadcaster.h>
#include <kdl/frames.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>

//#include <OpenNI.h>
//#include <XnCodecIDs.h>
//#include <XnCppWrapper.h>
#include <NiTE.h>

#include <map>
#include <sstream>

using std::string;

//xn::Context g_Context;
//xn::DepthGenerator g_DepthGenerator;
//xn::UserGenerator g_UserGenerator;
using namespace nite;

#define MAX_USERS 10
bool g_visibleUsers[MAX_USERS] = {false};
Expand All @@ -54,124 +53,6 @@ nite::SkeletonState g_skeletonStates[MAX_USERS] = {nite::SKELETON_NONE};
#define USER_MESSAGE(msg) \
{printf("[%08llu] User #%d:\t%s\n",ts, user.getId(),msg);}

//XnBool g_bNeedPose = FALSE;
//XnChar g_strPose[20] = "";
//
//void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie) {
// ROS_INFO("New User %d", nId);
//
// if (g_bNeedPose)
// g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
// else
// g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
//}
//
//void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie) {
// ROS_INFO("Lost user %d", nId);
//}
//
//void XN_CALLBACK_TYPE UserCalibration_CalibrationStart(xn::SkeletonCapability& capability, XnUserID nId, void* pCookie) {
// ROS_INFO("Calibration started for user %d", nId);
//}
//
//void XN_CALLBACK_TYPE UserCalibration_CalibrationEnd(xn::SkeletonCapability& capability, XnUserID nId, XnBool bSuccess, void* pCookie) {
// if (bSuccess) {
// ROS_INFO("Calibration complete, start tracking user %d", nId);
// g_UserGenerator.GetSkeletonCap().StartTracking(nId);
// }
// else {
// ROS_INFO("Calibration failed for user %d", nId);
// if (g_bNeedPose)
// g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(g_strPose, nId);
// else
// g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
// }
//}
//
//void XN_CALLBACK_TYPE UserPose_PoseDetected(xn::PoseDetectionCapability& capability, XnChar const* strPose, XnUserID nId, void* pCookie) {
// ROS_INFO("Pose %s detected for user %d", strPose, nId);
// g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
// g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
//}
//
//void publishTransform(XnUserID const& user, XnSkeletonJoint const& joint, string const& frame_id, string const& child_frame_id) {
// static tf::TransformBroadcaster br;
//
// XnSkeletonJointPosition joint_position;
// g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(user, joint, joint_position);
// double x = -joint_position.position.X / 1000.0;
// double y = joint_position.position.Y / 1000.0;
// double z = joint_position.position.Z / 1000.0;
//
// XnSkeletonJointOrientation joint_orientation;
// g_UserGenerator.GetSkeletonCap().GetSkeletonJointOrientation(user, joint, joint_orientation);
//
// XnFloat* m = joint_orientation.orientation.elements;
// KDL::Rotation rotation(m[0], m[1], m[2],
// m[3], m[4], m[5],
// m[6], m[7], m[8]);
// double qx, qy, qz, qw;
// rotation.GetQuaternion(qx, qy, qz, qw);
//
// char child_frame_no[128];
// snprintf(child_frame_no, sizeof(child_frame_no), "%s_%d", child_frame_id.c_str(), user);
//
// tf::Transform transform;
// transform.setOrigin(tf::Vector3(x, y, z));
// transform.setRotation(tf::Quaternion(qx, -qy, -qz, qw));
//
// // #4994
// tf::Transform change_frame;
// change_frame.setOrigin(tf::Vector3(0, 0, 0));
// tf::Quaternion frame_rotation;
// frame_rotation.setEulerZYX(1.5708, 0, 1.5708);
// change_frame.setRotation(frame_rotation);
//
// transform = change_frame * transform;
//
// br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), frame_id, child_frame_no));
//}
//
//void publishTransforms(const std::string& frame_id) {
// XnUserID users[15];
// XnUInt16 users_count = 15;
// g_UserGenerator.GetUsers(users, users_count);
//
// for (int i = 0; i < users_count; ++i) {
// XnUserID user = users[i];
// if (!g_UserGenerator.GetSkeletonCap().IsTracking(user))
// continue;
//
//
// publishTransform(user, XN_SKEL_HEAD, frame_id, "head");
// publishTransform(user, XN_SKEL_NECK, frame_id, "neck");
// publishTransform(user, XN_SKEL_TORSO, frame_id, "torso");
//
// publishTransform(user, XN_SKEL_LEFT_SHOULDER, frame_id, "left_shoulder");
// publishTransform(user, XN_SKEL_LEFT_ELBOW, frame_id, "left_elbow");
// publishTransform(user, XN_SKEL_LEFT_HAND, frame_id, "left_hand");
//
// publishTransform(user, XN_SKEL_RIGHT_SHOULDER, frame_id, "right_shoulder");
// publishTransform(user, XN_SKEL_RIGHT_ELBOW, frame_id, "right_elbow");
// publishTransform(user, XN_SKEL_RIGHT_HAND, frame_id, "right_hand");
//
// publishTransform(user, XN_SKEL_LEFT_HIP, frame_id, "left_hip");
// publishTransform(user, XN_SKEL_LEFT_KNEE, frame_id, "left_knee");
// publishTransform(user, XN_SKEL_LEFT_FOOT, frame_id, "left_foot");
//
// publishTransform(user, XN_SKEL_RIGHT_HIP, frame_id, "right_hip");
// publishTransform(user, XN_SKEL_RIGHT_KNEE, frame_id, "right_knee");
// publishTransform(user, XN_SKEL_RIGHT_FOOT, frame_id, "right_foot");
// }
//}
//
//#define CHECK_RC(nRetVal, what) \
// if (nRetVal != XN_STATUS_OK) \
// { \
// ROS_ERROR("%s failed: %s", what, xnGetStatusString(nRetVal));\
// return nRetVal; \
// }

void updateUserState(const nite::UserData& user, unsigned long long ts)
{
if (user.isNew())
Expand Down Expand Up @@ -211,50 +92,18 @@ void updateUserState(const nite::UserData& user, unsigned long long ts)
}

int main(int argc, char **argv) {
// string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
// XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
// CHECK_RC(nRetVal, "InitFromXml");
//
// nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
// CHECK_RC(nRetVal, "Find depth generator");
//
// nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
// if (nRetVal != XN_STATUS_OK) {
// nRetVal = g_UserGenerator.Create(g_Context);
// CHECK_RC(nRetVal, "Find user generator");
// }
//
// if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
// ROS_INFO("Supplied user generator doesn't support skeleton");
// return 1;
// }
//
// XnCallbackHandle hUserCallbacks;
// g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
//
// XnCallbackHandle hCalibrationCallbacks;
// g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
//
// if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
// g_bNeedPose = TRUE;
// if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
// ROS_INFO("Pose required, but not supported");
// return 1;
// }
//
// XnCallbackHandle hPoseCallbacks;
// g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
//
// g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
// }
//
// g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//
// nRetVal = g_Context.StartGeneratingAll();
// CHECK_RC(nRetVal, "StartGenerating");
const std::map<nite::JointType, std::string> joints = {
{JOINT_HEAD, "head"}, {JOINT_NECK, "neck"},
{JOINT_LEFT_HAND, "left_hand"}, {JOINT_LEFT_ELBOW, "left_elbow"}, {JOINT_LEFT_SHOULDER, "left_shoulder"},
{JOINT_RIGHT_HAND, "right_hand"}, {JOINT_RIGHT_ELBOW, "right_elbow"}, {JOINT_RIGHT_SHOULDER, "right_shoulder"},
{JOINT_RIGHT_FOOT, "right_foot"}, {JOINT_RIGHT_KNEE, "right_knee"}, {JOINT_RIGHT_HIP, "right_hip"},
{JOINT_LEFT_FOOT, "left_foot"}, {JOINT_LEFT_KNEE, "left_knee"}, {JOINT_LEFT_HIP, "left_hip"},
{JOINT_TORSO, "torso"},
};

ros::init(argc, argv, "openni_tracker");
ros::NodeHandle nh, nh_priv("~");
tf2_ros::TransformBroadcaster br;

nite::UserTracker userTracker;
nite::Status niteRc;
Expand Down Expand Up @@ -292,13 +141,43 @@ int main(int argc, char **argv) {
}
else if (user.getSkeleton().getState() == nite::SKELETON_TRACKED)
{
ROS_INFO_STREAM("Now tracking user " << user.getId());
// const nite::SkeletonJoint& head = user.getSkeleton().getJoint(nite::JOINT_HEAD);
// if (head.getPositionConfidence() > .5)
// printf("%d. (%5.2f, %5.2f, %5.2f)\n", user.getId(), head.getPosition().x, head.getPosition().y, head.getPosition().z);
ROS_INFO_THROTTLE(1, "Now tracking user %d", user.getId());
const nite::Skeleton skeleton = user.getSkeleton();

geometry_msgs::TransformStamped transform;
transform.header.stamp = ros::Time::now();
transform.header.frame_id = frame_id;

for(const auto jointNamePair : joints) {
const nite::SkeletonJoint& joint = skeleton.getJoint(jointNamePair.first);

nite::Point3f position = joint.getPosition();
nite::Quaternion orientation = joint.getOrientation();

// If the orientation isn't a unit quaternion, replace it with the identy quaternion
// (Should only occur for hands and feet)
if(orientation.x*orientation.x +
orientation.y*orientation.y +
orientation.z*orientation.z < 0.001) orientation = nite::Quaternion(1,0,0,0);

std::stringstream frame;
frame << jointNamePair.second << "_" << user.getId();

// Fill out the message
transform.child_frame_id = frame.str();
transform.transform.translation.x = position.x / 1000.0;
transform.transform.translation.y = position.y / 1000.0;
transform.transform.translation.z = position.z / 1000.0;

transform.transform.rotation.x = orientation.x;
transform.transform.rotation.y = orientation.y;
transform.transform.rotation.z = orientation.z;
transform.transform.rotation.w = orientation.w;

br.sendTransform(transform);
}
}
}
// publishTransforms(frame_id);
}
else
{
Expand All @@ -309,3 +188,4 @@ int main(int argc, char **argv) {
}
return 0;
}