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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDepthStream.h"
#include <XnLog.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define XN_DEPTH_STREAM_MAX_DEPTH_VALUE XN_MAX_UINT16
#define XN_DEPTH_STREAM_DEFAULT_PIXEL_SIZE_FACTOR 1
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnDepthStream::XnDepthStream(const XnChar* csName, XnBool bAllowCustomResolutions, XnDepthPixel nDeviceMaxDepth, XnUInt16 nDeviceMaxShift) :
XnPixelStream(XN_STREAM_TYPE_DEPTH, csName, bAllowCustomResolutions),
m_MinDepth(XN_STREAM_PROPERTY_MIN_DEPTH),
m_MaxDepth(XN_STREAM_PROPERTY_MAX_DEPTH, nDeviceMaxDepth),
m_ConstShift(XN_STREAM_PROPERTY_CONST_SHIFT),
m_PixelSizeFactor(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, 1),
m_MaxShift(XN_STREAM_PROPERTY_MAX_SHIFT, nDeviceMaxShift),
m_DeviceMaxDepth(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, nDeviceMaxDepth),
m_ParamCoefficient(XN_STREAM_PROPERTY_PARAM_COEFF),
m_ShiftScale(XN_STREAM_PROPERTY_SHIFT_SCALE),
m_ZeroPlaneDistance(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE),
m_ZeroPlanePixelSize(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE),
m_EmitterDCmosDistance(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE),
m_GetDCmosRCmosDistance(XN_STREAM_PROPERTY_DCMOS_RCMOS_DISTANCE),
m_NoDepthValue(XN_STREAM_PROPERTY_NO_SAMPLE),
m_ShadowValue(XN_STREAM_PROPERTY_SHADOW)
{
m_MinDepth.UpdateSetCallback(SetMinDepthCallback, this);
m_MaxDepth.UpdateSetCallback(SetMaxDepthCallback, this);
}
XnStatus XnDepthStream::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// init base
nRetVal = XnPixelStream::Init();
XN_IS_STATUS_OK(nRetVal);
// add properties
XN_VALIDATE_ADD_PROPERTIES(this, &m_MinDepth, &m_MaxDepth, &m_ConstShift, &m_PixelSizeFactor,
&m_MaxShift, &m_ParamCoefficient, &m_ShiftScale, &m_ZeroPlaneDistance, &m_ZeroPlanePixelSize,
&m_EmitterDCmosDistance, &m_GetDCmosRCmosDistance, &m_NoDepthValue, &m_ShadowValue, &m_DeviceMaxDepth);
nRetVal = m_S2DHelper.Init(this);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnDepthStream::Free()
{
XnPixelStream::Free();
return (XN_STATUS_OK);
}
XnStatus XnDepthStream::SetMinDepth(XnDepthPixel nMinDepth)
{
XnStatus nRetVal = XN_STATUS_OK;
if (nMinDepth > GetDeviceMaxDepth())
{
return XN_STATUS_DEVICE_BAD_PARAM;
}
nRetVal = m_MinDepth.UnsafeUpdateValue(nMinDepth);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnDepthStream::SetMaxDepth(XnDepthPixel nMaxDepth)
{
XnStatus nRetVal = XN_STATUS_OK;
if (nMaxDepth > GetDeviceMaxDepth())
{
return XN_STATUS_DEVICE_BAD_PARAM;
}
nRetVal = m_MaxDepth.UnsafeUpdateValue(nMaxDepth);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnDepthStream::ValidateDepthValue(XnDepthPixel nDepth)
{
if (nDepth > GetDeviceMaxDepth())
{
return XN_STATUS_DEVICE_BAD_PARAM;
}
return (XN_STATUS_OK);
}
XnStatus XnDepthStream::OnOutputFormatChanged()
{
XnStatus nRetVal = XN_STATUS_OK;
// update no-depth and shadow values
XnDepthPixel nNoValue;
XnDepthPixel nShadowValue;
switch (GetOutputFormat())
{
case XN_OUTPUT_FORMAT_SHIFT_VALUES:
nNoValue = 2047;
nShadowValue = 0;
break;
case XN_OUTPUT_FORMAT_DEPTH_VALUES:
nNoValue = 0;
nShadowValue = 1;
break;
default:
XN_LOG_ERROR_RETURN(XN_STATUS_ERROR, XN_MASK_DDK, "DepthStream: Unknown output format!")
}
nRetVal = m_NoDepthValue.UnsafeUpdateValue(nNoValue);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ShadowValue.UnsafeUpdateValue(nShadowValue);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XN_CALLBACK_TYPE XnDepthStream::SetMinDepthCallback(XnActualIntProperty* /*pSender*/, XnUInt64 nValue, void* pCookie)
{
XnDepthStream* pStream = (XnDepthStream*)pCookie;
return pStream->SetMinDepth((XnDepthPixel)nValue);
}
XnStatus XN_CALLBACK_TYPE XnDepthStream::SetMaxDepthCallback(XnActualIntProperty* /*pSender*/, XnUInt64 nValue, void* pCookie)
{
XnDepthStream* pStream = (XnDepthStream*)pCookie;
return pStream->SetMaxDepth((XnDepthPixel)nValue);
}
XnStatus XN_CALLBACK_TYPE XnDepthStream::OutputFormatValueChangedCallback(const XnProperty* /*pSender*/, void* pCookie)
{
XnDepthStream* pStream = (XnDepthStream*)pCookie;
return pStream->OnOutputFormatChanged();
}
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