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#include "KinectDevice.h"
#include "DepthKinectStream.h"
#include "ColorKinectStream.h"
#include "IRKinectStream.h"
#include <Shlobj.h>
#include "NuiApi.h"
#include "XnLog.h"
using namespace kinect_device;
using namespace oni::driver;
#define DEFAULT_FPS 30
KinectDevice::KinectDevice(INuiSensor * pNuiSensor):m_pDepthStream(NULL), m_pColorStream(NULL),m_pNuiSensor(pNuiSensor)
{
m_numSensors = 3;
m_sensors[0].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 3);
m_sensors[0].sensorType = ONI_SENSOR_DEPTH;
m_sensors[0].numSupportedVideoModes = 3;
m_sensors[0].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
m_sensors[0].pSupportedVideoModes[0].fps = DEFAULT_FPS;
m_sensors[0].pSupportedVideoModes[0].resolutionX = 640;
m_sensors[0].pSupportedVideoModes[0].resolutionY = 480;
m_sensors[0].pSupportedVideoModes[1].pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
m_sensors[0].pSupportedVideoModes[1].fps = DEFAULT_FPS;
m_sensors[0].pSupportedVideoModes[1].resolutionX = 320;
m_sensors[0].pSupportedVideoModes[1].resolutionY = 240;
m_sensors[0].pSupportedVideoModes[2].pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
m_sensors[0].pSupportedVideoModes[2].fps = DEFAULT_FPS;
m_sensors[0].pSupportedVideoModes[2].resolutionX = 80;
m_sensors[0].pSupportedVideoModes[2].resolutionY = 60;
m_sensors[1].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 3);
m_sensors[1].sensorType = ONI_SENSOR_COLOR;
m_sensors[1].numSupportedVideoModes = 3;
m_sensors[1].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
m_sensors[1].pSupportedVideoModes[0].fps = 12;
m_sensors[1].pSupportedVideoModes[0].resolutionX = 1280;
m_sensors[1].pSupportedVideoModes[0].resolutionY = 960;
m_sensors[1].pSupportedVideoModes[1].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
m_sensors[1].pSupportedVideoModes[1].fps = DEFAULT_FPS;
m_sensors[1].pSupportedVideoModes[1].resolutionX = 640;
m_sensors[1].pSupportedVideoModes[1].resolutionY = 480;
m_sensors[1].pSupportedVideoModes[2].pixelFormat = ONI_PIXEL_FORMAT_YUV422;
m_sensors[1].pSupportedVideoModes[2].fps = 15;
m_sensors[1].pSupportedVideoModes[2].resolutionX = 640;
m_sensors[1].pSupportedVideoModes[2].resolutionY = 480;
m_sensors[2].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 3);
m_sensors[2].sensorType = ONI_SENSOR_IR;
m_sensors[2].numSupportedVideoModes = 3;
m_sensors[2].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
m_sensors[2].pSupportedVideoModes[0].fps = DEFAULT_FPS;
m_sensors[2].pSupportedVideoModes[0].resolutionX = 640;
m_sensors[2].pSupportedVideoModes[0].resolutionY = 480;
m_sensors[2].pSupportedVideoModes[1].pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
m_sensors[2].pSupportedVideoModes[1].fps = DEFAULT_FPS;
m_sensors[2].pSupportedVideoModes[1].resolutionX = 640;
m_sensors[2].pSupportedVideoModes[1].resolutionY = 480;
m_sensors[2].pSupportedVideoModes[2].pixelFormat = ONI_PIXEL_FORMAT_GRAY8;
m_sensors[2].pSupportedVideoModes[2].fps = DEFAULT_FPS;
m_sensors[2].pSupportedVideoModes[2].resolutionX = 640;
m_sensors[2].pSupportedVideoModes[2].resolutionY = 480;
}
KinectDevice::~KinectDevice()
{
if (m_pNuiSensor)
m_pNuiSensor->NuiShutdown();
if (m_pDepthStream != NULL)
XN_DELETE(m_pDepthStream);
if (m_pColorStream!= NULL)
XN_DELETE(m_pColorStream);
if (m_pNuiSensor)
m_pNuiSensor->Release();
}
OniStatus KinectDevice::getSensorInfoList(OniSensorInfo** pSensors, int* numSensors)
{
*numSensors = m_numSensors;
*pSensors = m_sensors;
return ONI_STATUS_OK;
}
StreamBase* KinectDevice::createStream(OniSensorType sensorType)
{
BaseKinectStream* pImage = NULL;
if (sensorType == ONI_SENSOR_COLOR )
{
if (m_pColorStream == NULL)
{
m_pColorStream = XN_NEW(KinectStreamImpl, m_pNuiSensor, sensorType);
}
pImage = XN_NEW(ColorKinectStream, m_pColorStream);
}
else if (sensorType == ONI_SENSOR_DEPTH )
{
if (m_pDepthStream == NULL)
{
m_pDepthStream = XN_NEW(KinectStreamImpl, m_pNuiSensor, sensorType);
}
pImage = XN_NEW(DepthKinectStream, m_pDepthStream);
}
if (sensorType == ONI_SENSOR_IR )
{
if (m_pColorStream == NULL)
{
m_pColorStream = XN_NEW(KinectStreamImpl, m_pNuiSensor, sensorType);
}
pImage = XN_NEW(IRKinectStream, m_pColorStream);
}
return pImage;
}
void kinect_device::KinectDevice::destroyStream(oni::driver::StreamBase* pStream)
{
XN_DELETE(pStream);
}
OniStatus KinectDevice::setProperty(int propertyId, const void* data, int dataSize)
{
switch (propertyId) {
case ONI_DEVICE_PROPERTY_IMAGE_REGISTRATION:
{
// FIXME data size validation
if (m_pDepthStream) {
OniImageRegistrationMode* pMode = (OniImageRegistrationMode*)data;
m_pDepthStream->setImageRegistrationMode(*pMode);
return ONI_STATUS_OK;
} else {
return ONI_STATUS_ERROR;
}
}
}
return ONI_STATUS_NOT_IMPLEMENTED;
}
OniStatus KinectDevice::getProperty(int propertyId, void* data, int* pDataSize)
{
switch (propertyId) {
case ONI_DEVICE_PROPERTY_IMAGE_REGISTRATION:
{
// FIXME data size validation
if (m_pDepthStream) {
OniImageRegistrationMode* pMode = (OniImageRegistrationMode*)data;
*pMode = m_pDepthStream->getImageRegistrationMode();
return ONI_STATUS_OK;
} else {
return ONI_STATUS_ERROR;
}
}
}
return ONI_STATUS_NOT_IMPLEMENTED;
}
OniBool KinectDevice::isPropertySupported(int propertyId)
{
return (propertyId == ONI_DEVICE_PROPERTY_IMAGE_REGISTRATION);
}
OniBool KinectDevice::isCommandSupported(int commandId)
{
return ONI_STATUS_NOT_IMPLEMENTED;
}
OniStatus KinectDevice::tryManualTrigger()
{
return ONI_STATUS_NOT_IMPLEMENTED;
}
OniBool KinectDevice::isImageRegistrationModeSupported(OniImageRegistrationMode mode)
{
return (mode == ONI_IMAGE_REGISTRATION_DEPTH_TO_COLOR || mode == ONI_IMAGE_REGISTRATION_OFF);
}
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