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/*****************************************************************************
* *
* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnOniDepthStream.h"
#include "../Sensor/XnSensorDepthStream.h"
//---------------------------------------------------------------------------
// XnOniDepthStream class
//---------------------------------------------------------------------------
XnOniDepthStream::XnOniDepthStream(XnSensor* pSensor, XnOniDevice* pDevice) :
XnOniMapStream(pSensor, XN_STREAM_TYPE_DEPTH, ONI_SENSOR_DEPTH, pDevice)
{
}
OniStatus XnOniDepthStream::getProperty(int propertyId, void* data, int* pDataSize)
{
switch (propertyId)
{
case ONI_STREAM_PROPERTY_MAX_VALUE:
if (*pDataSize != sizeof(int))
{
return ONI_STATUS_BAD_PARAMETER;
}
XnUInt64 nValue;
m_pSensor->GetProperty(m_strType, XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &nValue);
*(int*)data = (int)nValue;
return ONI_STATUS_OK;
case ONI_STREAM_PROPERTY_MIN_VALUE:
if (*pDataSize != sizeof(int))
{
return ONI_STATUS_BAD_PARAMETER;
}
*(int*)data = 0;
return ONI_STATUS_OK;
case XN_STREAM_PROPERTY_DEPTH_SENSOR_CALIBRATION_INFO:
return ((XnSensorDepthStream*)m_pDeviceStream)->GetSensorCalibrationInfo(data, pDataSize);
default:
return XnOniMapStream::getProperty(propertyId, data, pDataSize);
}
}
OniBool XnOniDepthStream::isPropertySupported(int propertyId)
{
return (
propertyId == ONI_STREAM_PROPERTY_MAX_VALUE ||
propertyId == ONI_STREAM_PROPERTY_MIN_VALUE ||
propertyId == XN_STREAM_PROPERTY_DEPTH_SENSOR_CALIBRATION_INFO ||
XnOniMapStream::isPropertySupported(propertyId));
}
void XnOniDepthStream::notifyAllProperties()
{
XnOniMapStream::notifyAllProperties();
XnUInt32 nValue;
int size = sizeof(nValue);
// white balance
getProperty(XN_STREAM_PROPERTY_WHITE_BALANCE_ENABLED, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_WHITE_BALANCE_ENABLED, &nValue, size);
// gain
getProperty(XN_STREAM_PROPERTY_GAIN, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_GAIN, &nValue, size);
// hole filter
getProperty(XN_STREAM_PROPERTY_HOLE_FILTER, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_HOLE_FILTER, &nValue, size);
// registration type
getProperty(XN_STREAM_PROPERTY_REGISTRATION_TYPE, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_REGISTRATION_TYPE, &nValue, size);
// const shift
getProperty(XN_STREAM_PROPERTY_CONST_SHIFT, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_CONST_SHIFT, &nValue, size);
// pixel size factor
getProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, &nValue, size);
// max shift
getProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_MAX_SHIFT, &nValue, size);
// param coeff
getProperty(XN_STREAM_PROPERTY_PARAM_COEFF, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_PARAM_COEFF, &nValue, size);
// shift scale
getProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_SHIFT_SCALE, &nValue, size);
// zero plane distance
getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nValue, size);
XnDouble dValue;
size = sizeof(dValue);
// zero plane pixel size
getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dValue, size);
// emitter/depth-cmos distance
getProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &dValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &dValue, size);
// depth-cmos/RGB-cmos distance
getProperty(XN_STREAM_PROPERTY_DCMOS_RCMOS_DISTANCE, &dValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_DCMOS_RCMOS_DISTANCE, &dValue, size);
XnSensorDepthStream* pDepthStream = (XnSensorDepthStream*)m_pDeviceStream;
// shift-to-depth table
raisePropertyChanged(XN_STREAM_PROPERTY_S2D_TABLE, pDepthStream->GetShiftToDepthTable(), sizeof(OniDepthPixel)*(pDepthStream->GetMaxShift()+1));
// depth-to-shift table
raisePropertyChanged(XN_STREAM_PROPERTY_D2S_TABLE, pDepthStream->GetDepthToShiftTable(), sizeof(XnUInt16)*(pDepthStream->GetDeviceMaxDepth()+1));
DepthUtilsSensorCalibrationInfo calibrationInfo;
size = sizeof(DepthUtilsSensorCalibrationInfo);
((XnSensorDepthStream*)m_pDeviceStream)->GetSensorCalibrationInfo(&calibrationInfo, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_DEPTH_SENSOR_CALIBRATION_INFO, &calibrationInfo, size);
}
OniStatus XnOniDepthStream::convertDepthToColorCoordinates(StreamBase* colorStream, int depthX, int depthY, OniDepthPixel depthZ, int* pColorX, int* pColorY)
{
// take video mode from the color stream
XnOniMapStream* pColorStream = (XnOniMapStream*)colorStream;
OniVideoMode videoMode;
XnStatus retVal = pColorStream->GetVideoMode(&videoMode);
if (retVal != XN_STATUS_OK)
{
XN_ASSERT(FALSE);
return ONI_STATUS_ERROR;
}
// translate it to the internal property
XnPixelRegistration pixelArgs;
pixelArgs.nDepthX = depthX;
pixelArgs.nDepthY = depthY;
pixelArgs.nDepthValue = depthZ;
pixelArgs.nImageXRes = videoMode.resolutionX;
pixelArgs.nImageYRes = videoMode.resolutionY;
int pixelArgsSize = sizeof(pixelArgs);
if (ONI_STATUS_OK != getProperty(XN_STREAM_PROPERTY_PIXEL_REGISTRATION, &pixelArgs, &pixelArgsSize))
{
return ONI_STATUS_ERROR;
}
// take output
*pColorX = pixelArgs.nImageX;
*pColorY = pixelArgs.nImageY;
return ONI_STATUS_OK;
}
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