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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/>.*
* *
****************************************************************************/
#ifndef __XN_DEPTH_STREAM_H__
#define __XN_DEPTH_STREAM_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnDDK/XnPixelStream.h>
#include <XnDDK/XnActualRealProperty.h>
#include <XnDDK/XnShiftToDepthStreamHelper.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
class XN_DDK_CPP_API XnDepthStream : public XnPixelStream
{
public:
XnDepthStream(const XnChar* csName, XnBool bAllowCustomResolutions, XnDepthPixel nDeviceMaxDepth, XnUInt16 nDeviceMaxShift);
~XnDepthStream() { Free(); }
//---------------------------------------------------------------------------
// Overridden Methods
//---------------------------------------------------------------------------
XnStatus Init();
XnStatus Free();
//---------------------------------------------------------------------------
// Getters
//---------------------------------------------------------------------------
inline XnDepthPixel GetMinDepth() const { return (XnDepthPixel)m_MinDepth.GetValue(); }
inline XnDepthPixel GetMaxDepth() const { return (XnDepthPixel)m_MaxDepth.GetValue(); }
inline XnUInt32 GetConstShift() const { return (XnUInt32)m_ConstShift.GetValue(); }
inline XnUInt32 GetPixelSizeFactor() const { return (XnUInt32)m_PixelSizeFactor.GetValue(); }
inline XnUInt16 GetMaxShift() const { return (XnUInt16)m_MaxShift.GetValue(); }
inline XnDepthPixel GetDeviceMaxDepth() const { return (XnDepthPixel)m_DeviceMaxDepth.GetValue(); }
inline XnUInt32 GetParamCoefficient() const { return (XnUInt32)m_ParamCoefficient.GetValue(); }
inline XnUInt32 GetShiftScale() const { return (XnUInt32)m_ShiftScale.GetValue(); }
inline XnDepthPixel GetZeroPlaneDistance() const { return (XnDepthPixel)m_ZeroPlaneDistance.GetValue(); }
inline XnDouble GetZeroPlanePixelSize() const { return m_ZeroPlanePixelSize.GetValue(); }
inline XnDouble GetEmitterDCmosDistance() const { return m_EmitterDCmosDistance.GetValue(); }
inline XnDouble GetDCmosRCmosDistance() const { return m_GetDCmosRCmosDistance.GetValue(); }
inline XnDepthPixel GetNoDepthValue() const { return (XnDepthPixel)m_NoDepthValue.GetValue(); }
inline XnDepthPixel GetShadowValue() const { return (XnDepthPixel)m_ShadowValue.GetValue(); }
inline XnDepthPixel* GetShiftToDepthTable() const { return m_S2DHelper.GetShiftToDepthTable(); }
inline XnUInt16* GetDepthToShiftTable() const { return m_S2DHelper.GetDepthToShiftTable(); }
protected:
//---------------------------------------------------------------------------
// Properties Getters
//---------------------------------------------------------------------------
inline XnActualIntProperty& MinDepthProperty() { return m_MinDepth; }
inline XnActualIntProperty& MaxDepthProperty() { return m_MaxDepth; }
inline XnActualIntProperty& ConstShiftProperty() { return m_ConstShift; }
inline XnActualIntProperty& PixelSizeFactorProperty() { return m_PixelSizeFactor; }
inline XnActualIntProperty& MaxShiftProperty() { return m_MaxShift; }
inline XnActualIntProperty& DeviceMaxDepthProperty() { return m_DeviceMaxDepth; }
inline XnActualIntProperty& ParamCoefficientProperty() { return m_ParamCoefficient; }
inline XnActualIntProperty& ShiftScaleProperty() { return m_ShiftScale; }
inline XnActualIntProperty& ZeroPlaneDistanceProperty() { return m_ZeroPlaneDistance; }
inline XnActualRealProperty& ZeroPlanePixelSizeProperty() { return m_ZeroPlanePixelSize; }
inline XnActualRealProperty& EmitterDCmosDistanceProperty() { return m_EmitterDCmosDistance; }
inline XnActualRealProperty& GetDCmosRCmosDistanceProperty() { return m_GetDCmosRCmosDistance; }
inline XnActualIntProperty& NoDepthValueProperty() { return m_NoDepthValue; }
inline XnActualIntProperty& ShadowValueProperty() { return m_ShadowValue; }
//---------------------------------------------------------------------------
// Setters
//---------------------------------------------------------------------------
virtual XnStatus SetMinDepth(XnDepthPixel nMinDepth);
virtual XnStatus SetMaxDepth(XnDepthPixel nMaxDepth);
protected:
//---------------------------------------------------------------------------
// Helper functions
//---------------------------------------------------------------------------
XnStatus ValidateDepthValue(XnDepthPixel nDepth);
private:
XnStatus OnOutputFormatChanged();
// callbacks
static XnStatus XN_CALLBACK_TYPE SetMinDepthCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetMaxDepthCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE OutputFormatValueChangedCallback(const XnProperty* pSender, void* pCookie);
//---------------------------------------------------------------------------
// Members
//---------------------------------------------------------------------------
XnActualIntProperty m_MinDepth;
XnActualIntProperty m_MaxDepth;
XnActualIntProperty m_ConstShift;
XnActualIntProperty m_PixelSizeFactor;
XnActualIntProperty m_MaxShift;
XnActualIntProperty m_DeviceMaxDepth;
XnActualIntProperty m_ParamCoefficient;
XnActualIntProperty m_ShiftScale;
XnActualIntProperty m_ZeroPlaneDistance;
XnActualRealProperty m_ZeroPlanePixelSize;
XnActualRealProperty m_EmitterDCmosDistance;
XnActualRealProperty m_GetDCmosRCmosDistance;
XnActualIntProperty m_NoDepthValue;
XnActualIntProperty m_ShadowValue;
XnShiftToDepthStreamHelper m_S2DHelper;
};
#endif //__XN_DEPTH_STREAM_H__
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