Save/load skeleton calibration to a file

// openni_tracker.cpp

#include <ros/ros.h>
#include <ros/package.h>
#include <tf/transform_broadcaster.h>
#include <kdl/frames.hpp>

#include <XnOpenNI.h>
#include <XnCodecIDs.h>
#include <XnCppWrapper.h>

#include <calibration_save_load/SaveCalibration.h>
#include <calibration_save_load/LoadCalibration.h>
#include <calibration_save_load/SaveCalibrationToFile.h>
#include <calibration_save_load/LoadCalibrationFromFile.h>

using std::string;

xn::Context        g_Context;
xn::DepthGenerator g_DepthGenerator;
xn::UserGenerator  g_UserGenerator;

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");
    }
}

bool saveCalibrationCallback(calibration_save_load::SaveCalibration::Request& req, calibration_save_load::SaveCalibration::Response& res)
{
    ROS_INFO_STREAM("Request to save calibration of user " << req.user << " into slot " << req.slot << " received");
    if(g_UserGenerator.GetSkeletonCap().IsTracking(req.user))
    {
        ROS_INFO_STREAM("User skeleton is calibrated, trying to save the data");
        XnStatus status = g_UserGenerator.GetSkeletonCap().SaveCalibrationData(req.user, req.slot);
        if(status == XN_STATUS_OK)
        {
            ROS_INFO("Calibration data saved");
            res.succeeded = true;
        }
        else
        {
            ROS_ERROR("Failed to save the calibration data");
            xnPrintError(status, "ERROR");
            res.error = "Failed to save skeleton calibration data";
            res.succeeded = false;
        }
    }
    else
    {
        ROS_ERROR("User is not being tracked");
        res.error = "User is not being tracked";
        res.succeeded = false;
    }

    return true;
}

bool loadCalibrationCallback(calibration_save_load::LoadCalibration::Request& req, calibration_save_load::LoadCalibration::Response& res)
{
    XnUserID users[15];
    XnUInt16 users_count = 15;
    g_UserGenerator.GetUsers(users, users_count);
    bool detected = false;

    for(int i=0; i<users_count; ++i)
    {
        if(users[i] == XnUserID(req.user))
        {
            detected = true;
            break;
        }
    }

    if(!detected)
    {
        res.error = "No user with specified id has been detected";
        res.succeeded = false;
        return true;
    }

    if(g_UserGenerator.GetSkeletonCap().LoadCalibrationData(req.user, req.slot) == XN_STATUS_OK)
    {
        g_UserGenerator.GetSkeletonCap().StartTracking(req.user);
        res.succeeded = true;
    }
    else
    {
        res.error = "Failed to load skeleton calibration data";
        res.succeeded = false;
    }

    return true;
}

bool saveCalibrationToFileCallback(calibration_save_load::SaveCalibrationToFile::Request& req, calibration_save_load::SaveCalibrationToFile::Response& res)
{
    ROS_INFO_STREAM("Request to save calibration of user " << req.user << " into file " << req.filename << " received");
    if(g_UserGenerator.GetSkeletonCap().IsTracking(req.user))
    {
        ROS_INFO_STREAM("User skeleton is calibrated, trying to save the data");
        XnStatus status = g_UserGenerator.GetSkeletonCap().SaveCalibrationDataToFile(req.user, req.filename.c_str());
        if(status == XN_STATUS_OK)
        {
            ROS_INFO("Calibration data saved");
            res.succeeded = true;
        }
        else
        {
            ROS_ERROR("Failed to save the calibration data");
            xnPrintError(status, "ERROR");
            res.error = "Failed to save skeleton calibration data";
            res.succeeded = false;
        }
    }
    else
    {
        ROS_ERROR("User is not being tracked");
        res.error = "User is not being tracked";
        res.succeeded = false;
    }

    return true;
}

bool loadCalibrationFromFileCallback(calibration_save_load::LoadCalibrationFromFile::Request& req, calibration_save_load::LoadCalibrationFromFile::Response& res)
{
    XnUserID users[15];
    XnUInt16 users_count = 15;
    g_UserGenerator.GetUsers(users, users_count);
    bool detected = false;

    for(int i=0; i<users_count; ++i)
    {
        if(users[i] == XnUserID(req.user))
        {
            detected = true;
            break;
        }
    }

    if(!detected)
    {
        res.error = "No user with specified id has been detected";
        res.succeeded = false;
        return true;
    }

    XnStatus status = g_UserGenerator.GetSkeletonCap().LoadCalibrationDataFromFile(req.user, req.filename.c_str());
    if(status == XN_STATUS_OK)
    {
        res.succeeded = true;
    }
    else
    {
        ROS_ERROR("Failed to save the calibration data");
        xnPrintError(status, "ERROR");
        res.error = "Failed to load skeleton calibration data";
        res.succeeded = false;
    }

    return true;
}

#define CHECK_RC(nRetVal, what)                                     \
    if (nRetVal != XN_STATUS_OK)                                    \
    {                                                               \
        ROS_ERROR("%s failed: %s", what, xnGetStatusString(nRetVal));\
        return nRetVal;                                             \
    }

int main(int argc, char **argv) {
    ros::init(argc, argv, "openni_tracker");
    ros::NodeHandle nh;

    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");

    ros::Rate r(30);

    ros::NodeHandle pnh("~");
    string frame_id("openni_depth_frame");
    pnh.getParam("camera_frame_id", frame_id);

    ros::ServiceServer save_calibration_service = pnh.advertiseService("save_skeleton_calibration", saveCalibrationCallback);
    ros::ServiceServer load_calibration_service = pnh.advertiseService("load_skeleton_calibration", loadCalibrationCallback);
    ros::ServiceServer save_calibration_to_file_service = pnh.advertiseService("save_skeleton_calibration_to_file", saveCalibrationToFileCallback);
    ros::ServiceServer load_calibration_from_file_service = pnh.advertiseService("load_skeleton_calibration_from_file", loadCalibrationFromFileCallback);

    while (ros::ok()) {
        g_Context.WaitAndUpdateAll();
        publishTransforms(frame_id);
        ros::spinOnce();
        r.sleep();
    }

    g_Context.Shutdown();
    return 0;
}