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
|
#include "ColorKinectStream.h"
#include <Shlobj.h>
#include "XnHash.h"
#include "XnEvent.h"
#include "XnPlatform.h"
#include "KinectStreamImpl.h"
#include "NuiApi.h"
using namespace oni::driver;
using namespace kinect_device;
#define DEFAULT_FPS 30
ColorKinectStream::ColorKinectStream(KinectStreamImpl* pStreamImpl):
BaseKinectStream(pStreamImpl)
{
m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;
m_videoMode.fps = DEFAULT_FPS;
m_videoMode.resolutionX = KINECT_RESOLUTION_X_640;
m_videoMode.resolutionY = KINECT_RESOLUTION_Y_480;
}
OniStatus ColorKinectStream::start()
{
OniStatus status = ONI_STATUS_ERROR;
if (m_pStreamImpl->getSensorType() == ONI_SENSOR_COLOR || m_pStreamImpl->isRunning() == false)
{
m_pStreamImpl->setSensorType(ONI_SENSOR_COLOR);
status = m_pStreamImpl->start();
if (status == ONI_STATUS_OK)
m_running = TRUE;
}
return status;
}
void ColorKinectStream::frameReceived(NUI_IMAGE_FRAME& imageFrame, NUI_LOCKED_RECT &LockedRect)
{
OniFrame* pFrame = getServices().acquireFrame();
if (m_videoMode.pixelFormat == ONI_PIXEL_FORMAT_RGB888)
{
struct Rgba { unsigned char b, g, r, a; };
struct Rgb { unsigned char r, g, b; };
if (!m_cropping.enabled)
{
Rgba* data_in = reinterpret_cast<Rgba*>(LockedRect.pBits);
Rgb* data_out = reinterpret_cast<Rgb*>(pFrame->data);
pFrame->dataSize = m_videoMode.resolutionY * m_videoMode.resolutionX * 3;
Rgba * data_in_end = data_in + (m_videoMode.resolutionY * m_videoMode.resolutionX);
while (data_in < data_in_end)
{
data_out->b = data_in->b;
data_out->r = data_in->r;
data_out->g = data_in->g;
++data_in;
++data_out;
}
pFrame->stride = m_videoMode.resolutionX * 3;
}
else
{
Rgba* data_in = reinterpret_cast<Rgba*>(LockedRect.pBits);
Rgb* data_out = reinterpret_cast<Rgb*>(pFrame->data);
pFrame->dataSize = m_cropping.height * m_cropping.width * 3;
int cropX = m_cropping.originX;
int cropY = m_cropping.originY;
while (cropY < m_cropping.originY + m_cropping.height)
{
while (cropX < m_cropping.originX + m_cropping.width)
{
Rgba* iter = data_in + (cropX + m_videoMode.resolutionX * cropY);
unsigned char c = iter->b;
data_out->b = c;
data_out->r = iter->r;
data_out->g = iter->g;
++data_out;
++cropX;
}
++cropY;
cropX = m_cropping.originX;
}
pFrame->stride = m_cropping.width * 3;
}
}
else
{
if (!m_cropping.enabled)
{
xnOSMemCopy(pFrame->data, LockedRect.pBits, LockedRect.size);
pFrame->dataSize = LockedRect.size;
pFrame->stride = m_videoMode.resolutionX * 2;
}
else
{
unsigned short* data_in = reinterpret_cast<unsigned short*>(LockedRect.pBits);
unsigned short* data_out = reinterpret_cast<unsigned short*>(pFrame->data);
pFrame->dataSize = m_cropping.height * m_cropping.width * 2;
int cropX = m_cropping.originX;
int cropY = m_cropping.originY;
while (cropY < m_cropping.originY + m_cropping.height)
{
while (cropX < m_cropping.originX + m_cropping.width)
{
unsigned short* iter = data_in + (cropX + m_videoMode.resolutionX * cropY);
*data_out = *iter;
++data_out;
++cropX;
}
cropY++;
cropX = m_cropping.originX;
}
pFrame->stride = m_cropping.width * 2;
}
}
pFrame->videoMode.resolutionX = m_videoMode.resolutionX;
pFrame->videoMode.resolutionY = m_videoMode.resolutionY;
if (m_cropping.enabled)
{
pFrame->width = m_cropping.width;
pFrame->height = m_cropping.height;
pFrame->cropOriginX = m_cropping.originX;
pFrame->cropOriginY = m_cropping.originY;
pFrame->croppingEnabled = m_cropping.enabled;
}
else
{
pFrame->cropOriginX = 0;
pFrame->cropOriginY = 0;
pFrame->croppingEnabled = m_cropping.enabled;
pFrame->width = m_videoMode.resolutionX;
pFrame->height = m_videoMode.resolutionY;
}
pFrame->videoMode.pixelFormat = m_videoMode.pixelFormat;
pFrame->videoMode.fps = m_videoMode.fps;
pFrame->sensorType = ONI_SENSOR_COLOR;
pFrame->frameIndex = imageFrame.dwFrameNumber;
pFrame->timestamp = imageFrame.liTimeStamp.QuadPart*1000;
raiseNewFrame(pFrame);
getServices().releaseFrame(pFrame);
}
OniStatus ColorKinectStream::getProperty(int propertyId, void* data, int* pDataSize)
{
OniStatus status = ONI_STATUS_NOT_IMPLEMENTED;
switch (propertyId)
{
case ONI_STREAM_PROPERTY_AUTO_WHITE_BALANCE:
status = m_pStreamImpl->getAutoWhitBalance((BOOL*)data);
break;
case ONI_STREAM_PROPERTY_AUTO_EXPOSURE:
status = m_pStreamImpl->getAutoExposure((BOOL*)data);
break;
default:
status = BaseKinectStream::getProperty(propertyId, data, pDataSize);
}
return status;
}
OniStatus ColorKinectStream::setProperty(int propertyId, const void* data, int pDataSize)
{
OniStatus status = ONI_STATUS_NOT_IMPLEMENTED;
switch (propertyId)
{
case ONI_STREAM_PROPERTY_AUTO_WHITE_BALANCE:
status = m_pStreamImpl->setAutoWhiteBalance(*((BOOL*)data));
break;
case ONI_STREAM_PROPERTY_AUTO_EXPOSURE:
status = m_pStreamImpl->setAutoExposure(*((BOOL*)data));
break;
default:
status = BaseKinectStream::setProperty(propertyId, data, pDataSize);
}
return status;
}
OniBool ColorKinectStream::isPropertySupported(int propertyId)
{
OniBool status = FALSE;
switch (propertyId)
{
case ONI_STREAM_PROPERTY_AUTO_WHITE_BALANCE:
case ONI_STREAM_PROPERTY_AUTO_EXPOSURE:
status = TRUE;
break;
default:
status = BaseKinectStream::isPropertySupported(propertyId);
}
return status;
}
|
