OpenNI introduction.pptx

1、Open NI introduction,个人学习整理,OpenNI Data Structures,Supported platforms #define ONI_PLATFORM_WIN32 1 #define ONI_PLATFORM_LINUX_X86 2 #define ONI_PLATFORM_LINUX_ARM 3 #define ONI_PLATFORM_MACOSX 4 #define ONI_PLATFORM_ANDROID_ARM 5 Callback definitions #define ONI_STDCALL _stdcall #define ONI_C_DECL

2、#define ONI_API_EXPORT _attribute_ (visibility(default) #ifdef _cplusplus #define ONI_C extern C“ #define ONI_C_API_EXPORT ONI_C ONI_API_EXPORT #define ONI_C_API_IMPORT ONI_C ONI_API_IMPORT #define ONI_CPP_API_EXPORT ONI_API_EXPORT #define ONI_CPP_API_IMPORT ONI_API_IMPORT #else 就不用添加extern “C”了,typ

3、edef struct char uriONI_MAX_STR; char vendorONI_MAX_STR; char nameONI_MAX_STR; uint16_t usbVendorId; uint16_t usbProductId; OniDeviceInfo;,typedef struct OniPixelFormat pixelFormat; int resolutionX; int resolutionY; int fps; OniVideoMode;,typedef enum/ Depth ONI_PIXEL_FORMAT_DEPTH_1_MM = 100, ONI_PI

4、XEL_FORMAT_DEPTH_100_UM = 101, ONI_PIXEL_FORMAT_SHIFT_9_2 = 102, ONI_PIXEL_FORMAT_SHIFT_9_3 = 103, / Color ONI_PIXEL_FORMAT_RGB888 = 200, ONI_PIXEL_FORMAT_YUV422 = 201, ONI_PIXEL_FORMAT_GRAY8 = 202, ONI_PIXEL_FORMAT_GRAY16 = 203, ONI_PIXEL_FORMAT_JPEG = 204, OniPixelFormat;,typedef struct OniSensorT

5、ype sensorType; int numSupportedVideoModes; OniVideoMode *pSupportedVideoModes; OniSensorInfo;,typedef enum ONI_SENSOR_IR = 1, ONI_SENSOR_COLOR = 2, ONI_SENSOR_DEPTH = 3, OniSensorType;,typedef struct int dataSize; void* data; OniSensorType sensorType; uint64_t timestamp; int frameIndex; int width;i

6、nt height; OniVideoMode videoMode; OniBool croppingEnabled; int cropOriginX; int cropOriginY; int stride; OniFrame;,typedef struct OniDeviceInfoCallback deviceConnected; OniDeviceInfoCallback deviceDisconnected; OniDeviceStateCallback deviceStateChanged; OniDeviceCallbacks;,struct _OniDevice; typede

7、f _OniDevice* OniDeviceHandle; struct _OniStream; typedef _OniStream* OniStreamHandle; struct _OniRecorder; typedef _OniRecorder* OniRecorderHandle;,OpenNI C interfaces,General APIs OniStatus oniInitialize(int apiVersion); OniStatus oniGetDeviceList(OniDeviceInfo* pDevices, int* pNumDevices); OniSta

8、tus oniRegisterDeviceCallbacks(OniDeviceCallbacks* pCallbacks, void* pCookie, OniCallbackHandle* pHandle); OniStatus oniWaitForAnyStream(OniStreamHandle* pStreams, int numStreams, int* pStreamIndex, int timeout); Device APIs OniStatus oniDeviceOpen(const char* uri, OniDeviceHandle* pDevice); const O

9、niSensorInfo* oniDeviceGetSensorInfo(OniDeviceHandle device, OniSensorType sensorType); OniStatus oniDeviceGetInfo(OniDeviceHandle device, OniDeviceInfo* pInfo); OniStatus oniDeviceCreateStream(OniDeviceHandle device, OniSensorType sensorType, OniStreamHandle* pStream); OniStatus oniDeviceEnableDept

10、hColorSync(OniDeviceHandle device); 两者的采集时间差限定在一定的范围内 OniStatus oniDeviceSetProperty(OniDeviceHandle device, int propertyId, const void* data, int dataSize); OniBool oniDeviceIsPropertySupported(OniDeviceHandle device, int propertyId); OniStatus oniDeviceInvoke(OniDeviceHandle device, int commandId,

11、 const void* data, int dataSize); /* Invoke an internal functionality of the device. */ OniBool oniDeviceIsCommandSupported(OniDeviceHandle device, int commandId); OniBool oniDeviceIsImageRegistrationModeSupported(OniDeviceHandle device, OniImageRegistrationMode mode); /不同位置的camera图像叠加,OpenNI C inte

12、rfaces2,Stream APIs const OniSensorInfo* oniStreamGetSensorInfo(OniStreamHandle stream); OniStatus oniStreamStart(OniStreamHandle stream); OniStatus oniStreamReadFrame(OniStreamHandle stream, OniFrame* pFrame); oniStreamRegisterNewFrameCallback(OniStreamHandle stream, OniNewFrameCallback handler, vo

13、id* pCookie, OniCallbackHandle* pHandle); OniStatus oniStreamSetProperty(OniStreamHandle stream, int propertyId, const void* data, int dataSize); OniBool oniStreamIsPropertySupported(OniStreamHandle stream, int propertyId); OniStatus oniStreamInvoke(OniStreamHandle stream, int commandId, const void*

14、 data, int dataSize); OniBool oniStreamIsCommandSupported(OniStreamHandle stream, int commandId); void oniFrameAddRef(OniFrame* pFrame); /* Mark another user of the frame. */ Record Stream APIS: 录制到文件 OniStatus oniCreateRecorder(const char* fileName, OniRecorderHandle* pRecorder); OniStatus oniRecor

15、derAttachStream( OniRecorderHandle recorder, OniStreamHandle stream, OniBool allowLossyCompression); OniStatus oniRecorderStart(OniRecorderHandle recorder); 坐标转换 OniStatus oniCoordinateConverterDepthToWorld(OniStreamHandle depthStream, float depthX, float depthY, float depthZ, float* pWorldX, float*

16、 pWorldY, float* pWorldZ); OniStatus oniCoordinateConverterWorldToDepth(OniStreamHandle depthStream, float worldX, float worldY, float worldZ, float* pDepthX, float* pDepthY, float* pDepthZ); OniStatus oniCoordinateConverterDepthToColor(OniStreamHandle depthStream, OniStreamHandle colorStream, int d

17、epthX, int depthY, OniDepthPixel depthZ, int* pColorX, int* pColorY);,OpenNI C+ interfaces,class VideoMode : private OniVideoMode 对C 数据结构OniVideoMode的简单OO封装 class SensorInfo： SensorInfo objects should be the only source of VideoMode objects for the vast majority ofapplication programs. SensorInfo ob

18、jects should be obtained either from a Device or VideoStream,and in turn be used to provide available video modes for that sensor. class DeviceInfo： Applications will generally obtain objects of this type via calls to OpenNI:enumerateDevices() or openni:Device:getDeviceInfo(), and then use the vario

19、us accessor functions to obtain specificinformation on that device. class VideoFrameRef： The VideoFrameRef class encapsulates a single video frame - the output of a VideoStream at a specific time.The data contained will be a single frame of color, IR, or depth video, along with associated meta data.

20、 class VideoStream: 对C 数据结构OniVideoStream及其相关操作的简单OO封装 class Device The Device object abstracts a specific device; either a single hardware device, or a file device holding a recording from a hardware device. It offers the ability to connect to the device, and obtain information about its configurat

21、ion and the data streams it can offer. class PlaybackControl class PlaybackControl: 对录制的文件的回放操作,class OpenNI class DeviceConnectedListener class DeviceDisconnectedListener class DeviceStateChangedListener static Status initialize() static void shutdown() static Version getVersion() static const char

22、* getExtendedError() static void enumerateDevices(Array* deviceInfoList) static Status waitForAnyStream(VideoStream* pStreams, streamCount, int* pReadyStreamIndex, int timeout = FOREVER) static Status addDeviceConnectedListener(DeviceConnectedListener* pListener) static Status addDeviceDisconnectedL

23、istener(DeviceDisconnectedListener* pListener) static Status addDeviceStateChangedListener(DeviceStateChangedListener* pListener) 入口Class,OpenNI C+ interfaces2,typedef struct int handCount; NiteHandData* pHands; int gestureCount; NiteGestureData* pGestures; OniFrame* pDepthFrame; unsigned long long

24、timestamp; int frameIndex; NiteHandTrackerFrame;,typedef struct NiteHandId id; NitePoint3f position; int state; NiteHandData;,typedef enum NITE_HAND_STATE_LOST = 0, NITE_HAND_STATE_NEW = 1, NITE_HAND_STATE_TRACKED = 2, NITE_HAND_STATE_TOUCHING_FOV = 4, NiteHandState;,typedef struct NiteGestureType t

25、ype; NitePoint3f currentPosition; int state; NiteGestureData;,typedef enum NITE_GESTURE_STATE_NEW = 1, NITE_GESTURE_STATE_IN_PROGRESS = 2, NITE_GESTURE_STATE_COMPLETED = 4 NiteGestureState;,typedef enum NITE_GESTURE_WAVE, NITE_GESTURE_CLICK, NITE_GESTURE_HAND_RAISE NiteGestureType;,typedef struct in

26、t userCount; NiteUserData* pUser; NiteUserMap userMap; OniFrame* pDepthFrame; unsigned long long timestamp; int frameIndex; float floorConfidence; NitePlane floor; NiteUserTrackerFrame;,typedef struct NiteUserId id; NiteBoundingBox boundingBox; NitePoint3f centerOfMass; int state; NiteSkeleton skele

27、ton; NitePoseData poses2; NiteUserData;,typedef enum NITE_USER_STATE_VISIBLE = 1, NITE_USER_STATE_NEW = 2, NITE_USER_STATE_LOST = 4, NiteUserState;,typedef struct NiteSkeletonJoint joints15; NiteSkeletonState state; NiteSkeleton;,typedef struct NitePoseType type; int state; NitePoseData;,typedef enu

28、m NITE_POSE_STATE_DETECTING = 1, NITE_POSE_STATE_IN_POSE = 2, NITE_POSE_STATE_ENTER = 4, NITE_POSE_STATE_EXIT = 8 NitePoseState;,typedef enum NITE_POSE_PSI, NITE_POSE_CROSSED_HANDS NitePoseType;,typedef struct NiteJointType jointType; NitePoint3f position; 真实的 float positionConfidence; NiteQuaternio

29、n orientation; float orientationConfidence; NiteSkeletonJoint;,typedef enum NITE_SKELETON_NONE, NITE_SKELETON_CALIBRATING, NITE_SKELETON_TRACKED, NITE_SKELETON_CALIBRATION_xxx, NiteSkeletonState;,typedef struct NiteUserId* pixels; int width; int height; int stride; NiteUserMap;,typedef struct NitePo

30、int3f point; NitePoint3f normal; NitePlane;,typedef enum HEAD, NECK, LEFT_SHOULDER, RIGHT_SHOULDER, LEFT_ELBOW, RIGHT_ELBOW, LEFT_HAND, RIGHT_HAND, TORSO, LEFT_HIP, RIGHT_HIP, LEFT_KNEE, RIGHT_KNEE, LEFT_FOOT, RIGHT_FOOT, NiteJointType;,NiTE C interfaces,General APIs NiteStatus niteInitialize(); -Ni

31、teVersion niteGetVersion(); UserTracker APIs NiteStatus niteInitializeUserTracker(NiteUserTrackerHandle*); NiteStatus niteInitializeUserTrackerByDevice(void*, NiteUserTrackerHandle*); NiteStatus niteStartSkeletonTracking(NiteUserTrackerHandle, NiteUserId); bool niteIsSkeletonTracking(NiteUserTracker

32、Handle, NiteUserId); NiteStatus niteSetSkeletonSmoothing(NiteUserTrackerHandle, float); NiteStatus niteGetSkeletonSmoothing(NiteUserTrackerHandle, float*); NiteStatus niteStartPoseDetection(NiteUserTrackerHandle, NiteUserId, NitePoseType); NiteStatus niteRegisterUserTrackerCallbacks(NiteUserTrackerH

33、andle, NiteUserTrackerCallbacks*, void*); NiteStatus niteReadUserTrackerFrame(NiteUserTrackerHandle, NiteUserTrackerFrame*); NiteStatus niteUserTrackerFrameAddRef(NiteUserTrackerHandle, NiteUserTrackerFrame*); NiteStatus niteUserTrackerFrameRelease(NiteUserTrackerHandle, NiteUserTrackerFrame*); Hand

34、Tracker APIs NiteStatus niteInitializeHandTracker(NiteHandTrackerHandle*); NiteStatus niteInitializeHandTrackerByDevice(void*, NiteHandTrackerHandle*); NiteStatus niteStartHandTracking(NiteHandTrackerHandle, const NitePoint3f*, NiteHandId* pNewHandId); NiteStatus niteSetHandSmoothingFactor(NiteHandT

35、rackerHandle, float); NiteStatus niteGetHandSmoothingFactor(NiteHandTrackerHandle, float*); NiteStatus niteRegisterHandTrackerCallbacks(NiteHandTrackerHandle, NiteHandTrackerCallbacks*, void*); NiteStatus niteReadHandTrackerFrame(NiteHandTrackerHandle, NiteHandTrackerFrame*); NiteStatus niteHandTrac

36、kerFrameAddRef(NiteHandTrackerHandle, NiteHandTrackerFrame*); NiteStatus niteHandTrackerFrameRelease(NiteHandTrackerHandle, NiteHandTrackerFrame*); NiteStatus niteStartGestureDetection(NiteHandTrackerHandle, NiteGestureType); Convert NiteStatus niteConvertJointCoordinatesToDepth(NiteUserTrackerHandl

37、e userTracker, float x, float y, float z, float* pX, float* pY); NiteStatus niteConvertDepthCoordinatesToJoint(NiteUserTrackerHandle userTracker, int x, int y, int z, float* pX, float* pY); NiteStatus niteConvertHandCoordinatesToDepth(NiteHandTrackerHandle handTracker, float x, float y, float z, flo

38、at* pX, float* pY); NiteStatus niteConvertDepthCoordinatesToHand(NiteHandTrackerHandle handTracker, int x, int y, int z, float* pX, float* pY);,NiTE C+ interfaces,class Point3f： 对坐标点的OO化 class Plane : 对NitePlane的OO化 class Quaternion : 对 NiteQuaternion的OO化 class BoundingBox : 对 NiteBoundingBox的OO化 cl

39、ass PoseData : 对 NitePoseData的OO化 class UserMap : 对NiteUserMap的OO化 class SkeletonJointclass Skeletonclass UserData class UserTrackerFrameRef Snapshot of the User Tracker algorithm. It holds all the users identified at this time, including their position, skeleton and such, as well as the floor plane class UserTracker This is the main object of the User Tracker algorithm. Through it all the users are accessible. class HandTracker This is the main object of the Hand Tracker algorithm. Through it all the hands and gestures are accessible. class NiTE The NiTE class is a static e