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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_SENSOR_DEPTH_STREAM_H__
#define __XN_SENSOR_DEPTH_STREAM_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnDDK/XnDepthStream.h>
#include "XnDeviceSensorProtocol.h"
#include "Registration.h"
#include "XnSensorStreamHelper.h"
#include "XnSharedMemoryBufferPool.h"
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT
#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA
#define XN_DEPTH_STREAM_DEFAULT_FPS 30
#define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_DEPTH_VALUES
#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION FALSE
#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_SOFTWARE
#define XN_DEPTH_STREAM_DEFAULT_HOLE_FILLER TRUE
#define XN_DEPTH_STREAM_DEFAULT_WHITE_BALANCE TRUE
#define XN_DEPTH_STREAM_DEFAULT_GAIN_OLD 50
#define XN_DEPTH_STREAM_DEFAULT_GMC_MODE TRUE
//---------------------------------------------------------------------------
// XnSensorDepthStream class
//---------------------------------------------------------------------------
class XnSensorDepthStream : public XnDepthStream, public IXnSensorStream
{
public:
XnSensorDepthStream(const XnChar* strDeviceName, const XnChar* strName, XnSensorObjects* pObjects, XnUInt32 nBufferCount, XnBool bAllowOtherUsers);
~XnSensorDepthStream() { Free(); }
//---------------------------------------------------------------------------
// Overridden Methods
//---------------------------------------------------------------------------
XnStatus Init();
XnStatus Free();
XnStatus BatchConfig(const XnActualPropertiesHash& props) { return m_Helper.BatchConfig(props); }
inline XnSensorStreamHelper* GetHelper() { return &m_Helper; }
friend class XnDepthProcessor;
protected:
inline XnSensorFirmwareParams* GetFirmwareParams() const { return m_Helper.GetFirmware()->GetParams(); }
//---------------------------------------------------------------------------
// Overridden Methods
//---------------------------------------------------------------------------
XnStatus Open() { return m_Helper.Open(); }
XnStatus Close() { return m_Helper.Close(); }
XnStatus PostProcessFrame(XnStreamData* pFrameData);
XnStatus ReallocTripleFrameBuffer();
XnStatus CropImpl(XnStreamData* pStreamOutput, const XnCropping* pCropping);
XnStatus Mirror(XnStreamData* pStreamOutput) const;
XnStatus ConfigureStreamImpl();
XnStatus OpenStreamImpl();
XnStatus CloseStreamImpl();
XnStatus CreateDataProcessor(XnDataProcessor** ppProcessor);
XnStatus MapPropertiesToFirmware();
void GetFirmwareStreamConfig(XnResolutions* pnRes, XnUInt32* pnFPS) { *pnRes = GetResolution(); *pnFPS = GetFPS(); }
XnStatus WriteImpl(XnStreamData* /*pStreamData*/) { return XN_STATUS_DEVICE_UNSUPPORTED_MODE; }
XnSharedMemoryBufferPool* GetSharedMemoryBuffer() { return &m_BufferPool; }
protected:
//---------------------------------------------------------------------------
// Setters
//---------------------------------------------------------------------------
XnStatus SetOutputFormat(XnOutputFormats nOutputFormat);
XnStatus SetMirror(XnBool bIsMirrored);
XnStatus SetResolution(XnResolutions nResolution);
XnStatus SetFPS(XnUInt32 nFPS);
virtual XnStatus SetInputFormat(XnIODepthFormats nInputFormat);
virtual XnStatus SetRegistration(XnBool bRegistration);
virtual XnStatus SetHoleFilter(XnBool bHoleFilter);
virtual XnStatus SetWhiteBalance(XnBool bWhiteBalance);
virtual XnStatus SetGain(XnUInt32 nGain);
virtual XnStatus SetRegistrationType(XnProcessingType type);
virtual XnStatus SetAGCBin(const XnDepthAGCBin* pBin);
virtual XnStatus GetAGCBin(XnDepthAGCBin* pBin);
XnStatus SetCropping(const XnCropping* pCropping);
XnStatus SetActualRead(XnBool bRead);
virtual XnStatus SetGMCMode(XnBool bGMCMode);
private:
XnUInt32 CalculateExpectedSize();
XnStatus DecideFirmwareRegistration(XnBool bRegistration, XnProcessingType registrationType, XnResolutions nRes);
XnStatus DecidePixelSizeFactor();
static XnStatus XN_CALLBACK_TYPE SetInputFormatCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetRegistrationCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetHoleFilterCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetWhiteBalanceCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetGainCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetRegistrationTypeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetAGCBinCallback(XnGeneralProperty* pSender, const XnGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetAGCBinCallback(const XnGeneralProperty* pSender, const XnGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetActualReadCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE DecideFirmwareRegistrationCallback(const XnProperty* pSender, void* pCookie);
static XnStatus XN_CALLBACK_TYPE DecidePixelSizeFactorCallback(const XnProperty* pSender, void* pCookie);
static XnStatus XN_CALLBACK_TYPE ReadAGCBinsFromFile(XnGeneralProperty* pSender, const XnChar* csINIFile, const XnChar* csSection);
static XnStatus XN_CALLBACK_TYPE SetGMCModeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
//---------------------------------------------------------------------------
// Members
//---------------------------------------------------------------------------
XnSensorStreamHelper m_Helper;
XnSharedMemoryBufferPool m_BufferPool;
XnActualStringProperty m_SharedBufferName;
XnActualIntProperty m_InputFormat;
XnActualIntProperty m_DepthRegistration;
XnActualIntProperty m_HoleFilter;
XnActualIntProperty m_WhiteBalance;
XnActualIntProperty m_Gain;
XnActualIntProperty m_RegistrationType;
XnGeneralProperty m_AGCBin;
XnActualIntProperty m_FirmwareMirror;
XnActualIntProperty m_FirmwareRegistration;
XnActualIntProperty m_FirmwareCropSizeX;
XnActualIntProperty m_FirmwareCropSizeY;
XnActualIntProperty m_FirmwareCropOffsetX;
XnActualIntProperty m_FirmwareCropOffsetY;
XnActualIntProperty m_FirmwareCropEnabled;
XnActualIntProperty m_ActualRead;
XnActualIntProperty m_GMCMode;
XnRegistration m_Registration;
XnCallbackHandle m_hReferenceSizeChangedCallback;
};
#endif //__XN_SENSOR_DEPTH_STREAM_H__
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