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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. *
* *
*****************************************************************************/
#ifndef __XN_SENSOR_DEPTH_STREAM_H__
#define __XN_SENSOR_DEPTH_STREAM_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <DDK/XnDepthStream.h>
#include "XnDeviceSensorProtocol.h"
#include "XnSensorStreamHelper.h"
#include <DepthUtils.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#if (XN_PLATFORM == XN_PLATFORM_LINUX_ARM || XN_PLATFORM == XN_PLATFORM_ANDROID_ARM)
#define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_12_BIT
#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QQVGA
#else
#define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT
#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QVGA
#endif
#define XN_DEPTH_STREAM_DEFAULT_FPS 30
#define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT ONI_PIXEL_FORMAT_DEPTH_1_MM
#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION FALSE
#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_DONT_CARE
#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
#define XN_DEPTH_STREAM_DEFAULT_CLOSE_RANGE FALSE
#define XN_DEPTH_STREAM_DEFAULT_SHIFT_MAP_APPENDED TRUE
#define XN_DEPTH_STREAM_DEFAULT_GMC_DEBUG FALSE
#define XN_DEPTH_STREAM_DEFAULT_WAVELENGTH_CORRECTION FALSE
#define XN_DEPTH_STREAM_DEFAULT_WAVELENGTH_CORRECTION_DEBUG FALSE
//---------------------------------------------------------------------------
// XnSensorDepthStream class
//---------------------------------------------------------------------------
class XnSensorDepthStream : public XnDepthStream, public IXnSensorStream
{
public:
XnSensorDepthStream(const XnChar* strName, XnSensorObjects* pObjects);
~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;
friend class XnOniDepthStream;
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 CropImpl(OniFrame* pFrame, const OniCropping* pCropping);
XnStatus Mirror(OniFrame* pFrame) const;
XnStatus ConfigureStreamImpl();
XnStatus OpenStreamImpl();
XnStatus CloseStreamImpl();
XnStatus CreateDataProcessor(XnDataProcessor** ppProcessor);
XnStatus MapPropertiesToFirmware();
void GetFirmwareStreamConfig(XnResolutions* pnRes, XnUInt32* pnFPS) { *pnRes = GetResolution(); *pnFPS = GetFPS(); }
XnStatus ApplyRegistration(OniDepthPixel* pDetphmap);
OniStatus GetSensorCalibrationInfo(void* data, int* dataSize);
XnStatus PopulateSensorCalibrationInfo();
protected:
//---------------------------------------------------------------------------
// Setters
//---------------------------------------------------------------------------
XnStatus SetOutputFormat(OniPixelFormat 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 OniCropping* pCropping);
XnStatus SetActualRead(XnBool bRead);
virtual XnStatus SetGMCMode(XnBool bGMCMode);
virtual XnStatus SetCloseRange(XnBool bCloseRange);
virtual XnStatus SetCroppingMode(XnCroppingMode mode);
XnStatus GetImageCoordinatesOfDepthPixel(XnUInt32 x, XnUInt32 y, OniDepthPixel z, XnUInt32 imageXRes, XnUInt32 imageYRes, XnUInt32& imageX, XnUInt32& imageY);
virtual XnStatus SetGMCDebug(XnBool bGMCDebug);
virtual XnStatus SetWavelengthCorrection(XnBool bWavelengthCorrection);
virtual XnStatus SetWavelengthCorrectionDebug(XnBool bWavelengthCorrectionDebug);
private:
XnUInt32 CalculateExpectedSize();
XnStatus DecideFirmwareRegistration(XnBool bRegistration, XnProcessingType registrationType, XnResolutions nRes);
XnStatus DecidePixelSizeFactor();
XnStatus SetCroppingImpl(const OniCropping* pCropping, XnCroppingMode mode);
XnStatus CloseRangeControl(XnBool bEnabled);
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 OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetAGCBinCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& 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);
static XnStatus XN_CALLBACK_TYPE SetCloseRangeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetCroppingModeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE GetPixelRegistrationCallback(const XnGeneralProperty* pSender, const OniGeneralBuffer& gbValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetGMCDebugCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetWavelengthCorrectionCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
static XnStatus XN_CALLBACK_TYPE SetWavelengthCorrectionDebugCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);
//---------------------------------------------------------------------------
// Members
//---------------------------------------------------------------------------
XnSensorStreamHelper m_Helper;
XnActualIntProperty m_InputFormat;
XnActualIntProperty m_DepthRegistration;
XnActualIntProperty m_HoleFilter;
XnActualIntProperty m_WhiteBalance;
XnActualIntProperty m_Gain;
XnActualIntProperty m_RegistrationType;
XnActualIntProperty m_CroppingMode;
XnGeneralProperty m_AGCBin;
XnActualIntProperty m_FirmwareMirror;
XnActualIntProperty m_FirmwareRegistration;
XnActualIntProperty m_FirmwareCropSizeX;
XnActualIntProperty m_FirmwareCropSizeY;
XnActualIntProperty m_FirmwareCropOffsetX;
XnActualIntProperty m_FirmwareCropOffsetY;
XnActualIntProperty m_FirmwareCropMode;
XnActualIntProperty m_ActualRead;
XnActualIntProperty m_GMCMode;
XnActualIntProperty m_CloseRange;
XnGeneralProperty m_PixelRegistration;
XnActualRealProperty m_HorizontalFOV;
XnActualRealProperty m_VerticalFOV;
XnActualIntProperty m_GMCDebug;
XnActualIntProperty m_WavelengthCorrection;
XnActualIntProperty m_WavelengthCorrectionDebug;
DepthUtilsHandle m_depthUtilsHandle;
DepthUtilsSensorCalibrationInfo m_calibrationInfo;
XnCallbackHandle m_hReferenceSizeChangedCallback;
};
#endif //__XN_SENSOR_DEPTH_STREAM_H__
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