1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
|
/****************************************************************************
* *
* 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 "XnExportedSensorGenerator.h"
#include "XnExportedSensorDevice.h"
#include <XnOpenNI.h>
#include "XnSensorGenerator.h"
#include <XnCommon/XnCommon.h>
//---------------------------------------------------------------------------
// XnExportedSensorGenerator class
//---------------------------------------------------------------------------
XnExportedSensorGenerator::XnExportedSensorGenerator(XnProductionNodeType Type, const XnChar* strStreamType, XnBool isAvailbaleInLowBand /* = TRUE */) :
m_Type(Type),
m_bIsAvailableInLowBand(isAvailbaleInLowBand)
{
strcpy(m_strStreamType, strStreamType);
}
void XnExportedSensorGenerator::GetDescription(XnProductionNodeDescription* pDescription)
{
XnExportedSensorDevice::FillCommonDescriptionFields(pDescription);
pDescription->Type = m_Type;
}
XnStatus XnExportedSensorGenerator::EnumerateProductionTrees(xn::Context& context, xn::NodeInfoList& TreesList, xn::EnumerationErrors* pErrors)
{
XnStatus nRetVal = XN_STATUS_OK;
XnProductionNodeDescription Description;
GetDescription(&Description);
// perform a query to be sure the device we'll find is the same one exported from this DLL.
xn::Query query;
query.SetVendor(XN_VENDOR_PRIMESENSE);
query.SetName(XN_DEVICE_NAME);
query.SetMinVersion(Description.Version);
query.SetMaxVersion(Description.Version);
// check which devices are currently connected
xn::NodeInfoList devices;
nRetVal = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, &query, devices, pErrors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
// the error was already added to the EnumerationErrors object
return XN_STATUS_OK;
}
XN_IS_STATUS_OK(nRetVal);
// now check each one, to find out if it supports our generator
for (xn::NodeInfoList::Iterator it = devices.Begin(); it != devices.End(); ++it)
{
xn::NodeInfo deviceInfo = *it;
XnBool bIsGeneratorSupported = TRUE;
nRetVal = IsSupportedForDevice(context, deviceInfo, &bIsGeneratorSupported);
XN_IS_STATUS_OK(nRetVal);
if (bIsGeneratorSupported)
{
xn::NodeInfoList neededNodes;
nRetVal = neededNodes.AddNode(deviceInfo);
XN_IS_STATUS_OK(nRetVal);
nRetVal = TreesList.Add(Description, NULL, &neededNodes);
XN_IS_STATUS_OK(nRetVal);
}
}
if (TreesList.IsEmpty())
{
return XN_STATUS_NO_NODE_PRESENT;
}
return (XN_STATUS_OK);
}
XnStatus XnExportedSensorGenerator::Create(xn::Context& context, const XnChar* strInstanceName, const XnChar* /*strCreationInfo*/, xn::NodeInfoList* pNeededTrees, const XnChar* /*strConfigurationDir*/, xn::ModuleProductionNode** ppInstance)
{
XnStatus nRetVal = XN_STATUS_OK;
// needed trees should contain a device node
if (pNeededTrees == NULL || pNeededTrees->Begin() == pNeededTrees->End())
{
return XN_STATUS_MISSING_NEEDED_TREE;
}
xn::NodeInfo deviceInfo = *(pNeededTrees->Begin());
if (deviceInfo.GetDescription().Type != XN_NODE_TYPE_DEVICE)
{
return XN_STATUS_MISSING_NEEDED_TREE;
}
// Get the sensor instance
xn::Device device;
nRetVal = deviceInfo.GetInstance(device);
XN_IS_STATUS_OK(nRetVal);
XnDeviceBase* pSensor = NULL;
nRetVal = device.GetGeneralProperty(XN_SENSOR_PROPERTY_INSTANCE_POINTER, sizeof(XnDeviceBase*), &pSensor);
XN_IS_STATUS_OK(nRetVal);
// create stream
nRetVal = pSensor->CreateStream(m_strStreamType, strInstanceName);
XN_IS_STATUS_OK(nRetVal);
// create generator
XnSensorGenerator* pGenerator = CreateGenerator(context, device, pSensor, strInstanceName);
if (pGenerator == NULL)
{
pSensor->DestroyStream(strInstanceName);
return (XN_STATUS_ALLOC_FAILED);
}
// and initialize it
nRetVal = pGenerator->Init();
if (nRetVal != XN_STATUS_OK)
{
pSensor->DestroyStream(strInstanceName);
XN_DELETE(pGenerator);
return (nRetVal);
}
*ppInstance = pGenerator;
return (XN_STATUS_OK);
}
void XnExportedSensorGenerator::Destroy(xn::ModuleProductionNode* pInstance)
{
XnSensorGenerator* pGenerator = dynamic_cast<XnSensorGenerator*>(pInstance);
pGenerator->GetSensor()->DestroyStream(pGenerator->GetModuleName());
XN_DELETE(pGenerator);
}
XnStatus XnExportedSensorGenerator::IsSupportedForDevice(xn::Context& context, xn::NodeInfo& sensorInfo, XnBool* pbSupported)
{
XnStatus nRetVal = XN_STATUS_OK;
*pbSupported = FALSE;
// first of all, make sure there isn't already a generator of that type from this device (not supported)
// Do this by searching in OpenNI
xn::Device sensor;
nRetVal = sensorInfo.GetInstance(sensor);
XN_IS_STATUS_OK(nRetVal);
if (sensor.IsValid())
{
xn::NodeInfoList existingGenerators;
nRetVal = context.EnumerateExistingNodes(existingGenerators, m_Type);
XN_IS_STATUS_OK(nRetVal);
// now leave only the ones needing our device
xn::Query query;
nRetVal = query.AddNeededNode(sensorInfo.GetInstanceName());
XN_IS_STATUS_OK(nRetVal);
nRetVal = existingGenerators.FilterList(context, query);
XN_IS_STATUS_OK(nRetVal);
// if there's anything left, then this device already has that generator
if (!existingGenerators.IsEmpty())
{
*pbSupported = FALSE;
return XN_STATUS_OK;
}
}
// now, check if this is a low-bandwidth device
if (!m_bIsAvailableInLowBand)
{
XnBool bIsLowBand;
nRetVal = XnSensorIO::IsSensorLowBandwidth(sensorInfo.GetCreationInfo(), &bIsLowBand);
XN_IS_STATUS_OK(nRetVal);
if (bIsLowBand)
{
*pbSupported = FALSE;
return XN_STATUS_OK;
}
}
*pbSupported = TRUE;
return (XN_STATUS_OK);
}
|
