CSkeletonTracker.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CSkeletonTracker_H
#define CSkeletonTracker_H

#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/obs/CObservationSkeleton.h>

namespace mrpt
{
        namespace hwdrivers
        {

                /** A class for grabbing mrpt::obs::CObservationSkeleton from a PrimeSense camera.
                  *  It connects to a PrimeSense camera and tries to detect users while recording the positions of their skeletons' joints along time.
                  *
                  *  See also the application "rawlog-grabber" for a ready-to-use application to gather data from this sensor.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *        driver                       = CSkeletonTracker
                  *        sensorLabel          = <label>                       ; Label of the sensor
                  *        grab_decimation      = 1                                     ; [int] Grab skeletons in 1 out of 'grab_decimation' frames.
                  *    show_preview             = 1                                     ; [bool] {0,1} Opens a display window to show the recorded skeleton.
                  *    pose_x                   = 0                                     ; [double] Sensor 3D position relative to the robot (meters)
                  *    pose_y                   = 0
                  *    pose_z                   = 0
                  *    pose_yaw                 = 0                                     ; [double] Angles in degrees
                  *    pose_pitch               = 0
                  *    pose_roll                = 0
                  *                                                               
                  *  \endcode
                  * \ingroup mrpt_hwdrivers_grp
                  */
                class HWDRIVERS_IMPEXP CSkeletonTracker : public hwdrivers::CGenericSensor
                {

enum JOINT {HEAD = 0, NECK, TORSO, 
                LEFT_SHOULDER, LEFT_ELBOW, LEFT_HAND, LEFT_HIP, LEFT_KNEE, LEFT_FOOT, 
                RIGHT_SHOULDER, RIGHT_ELBOW, RIGHT_HAND, RIGHT_HIP, RIGHT_KNEE, RIGHT_FOOT, NONE};

#define NUM_JOINTS 15   // number of joints
#define NUM_LINES 14    // number of lines joining joints

                        DEFINE_GENERIC_SENSOR(CSkeletonTracker)
                protected:

                        /** Opaque pointers to specific NITE data */
                        void * /* nite::SkeletonState* */       m_skeletons_ptr;
                        void * /* nite::userTracker* */         m_userTracker_ptr;

                        /** Timestamp management */
                        uint32_t                                                        m_timeStartUI;
                        mrpt::system::TTimeStamp                        m_timeStartTT;
                        
                        mrpt::poses::CPose3D                            m_sensorPose;                           //!< Sensor pose
                        int                                                                     m_nUsers;                                       //!< Number of detected users

                        /** Preview window management */
                        bool                                                                    m_showPreview;
                        mrpt::gui::CDisplayWindow3DPtr                  m_win;
                        std::vector< std::pair<JOINT,JOINT> >   m_linesToPlot;                  //!< Lines between joints
                        std::vector<double>                                             m_joint_theta;                  //!< Joint angles when no skeleton has been detected

                        unsigned int                                            m_toutCounter;                          //!< Timeout counter (for internal use only)

                        /** See the class documentation at the top for expected parameters */
                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase      & configSource,
                                const std::string                                       & iniSection );

                        /** Displays real-time info for the captured skeleton */
                        void processPreview(const mrpt::obs::CObservationSkeletonPtr & obs);
                        void processPreviewNone();

                public:
                        /** Constructor
                          */
                        CSkeletonTracker( );

                        /** Destructor
                          */
                        virtual ~CSkeletonTracker();

                        /** This method will be invoked at a minimum rate of "process_rate" (Hz)
                          *  \exception This method must throw an exception with a descriptive message if some critical error is found.
                          */
                        void doProcess();

                        /** Connects to the PrimeSense camera and prepares it to get skeleton data */
                        void initialize();

                        /** Set/unset preview */
                        inline void setPreview( const bool setPreview = true ) { m_showPreview = setPreview; }
                }; // end of class

        } // end of namespace
} // end of namespace

#endif