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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 "XnSensorFixedParams.h"
#include "XnHostProtocol.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnSensorFixedParams::XnSensorFixedParams(XnDevicePrivateData* pDevicePrivateData) :
m_pDevicePrivateData(pDevicePrivateData),
m_nSensorDepthCMOSI2CBus(0),
m_nSensorDepthCMOSI2CSlaveAddress(0),
m_nSensorImageCMOSI2CBus(0),
m_nSensorImageCMOSI2CSlaveAddress(0),
m_nZeroPlaneDistance(0),
m_dZeroPlanePixelSize(0),
m_dEmitterDCmosDistance(0),
m_dDCmosRCmosDistance(0),
m_nImageCmosType(0),
m_nDepthCmosType(0)
{
m_strSensorSerial[0] = '\0';
m_deviceInfo.strDeviceName[0] = '\0';
m_deviceInfo.strVendorData[0] = '\0';
m_strPlatformString[0] = '\0';
}
XnStatus XnSensorFixedParams::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// get fixed params
XnFixedParams FixedParams;
nRetVal = XnHostProtocolGetFixedParams(m_pDevicePrivateData, FixedParams);
if (nRetVal != XN_STATUS_OK)
{
// Ugly patch since get param is not supported in maintenance mode!
if (nRetVal != XN_STATUS_DEVICE_PROTOCOL_INVALID_COMMAND)
{
return nRetVal;
}
return nRetVal;
}
if (m_pDevicePrivateData->FWInfo.nFWVer < XN_SENSOR_FW_VER_5_4)
{
sprintf(m_strSensorSerial, "%d", FixedParams.nSerialNumber);
}
else
{
nRetVal = XnHostProtocolGetSerialNumber(m_pDevicePrivateData, m_strSensorSerial);
if (nRetVal != XN_STATUS_OK)
{
return nRetVal;
}
}
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Sensor serial number: %s", m_strSensorSerial);
// fill in properties
m_nZeroPlaneDistance = (OniDepthPixel)FixedParams.fReferenceDistance;
m_dZeroPlanePixelSize = FixedParams.fReferencePixelSize;
m_dEmitterDCmosDistance = FixedParams.fDCmosEmitterDistance;
m_dDCmosRCmosDistance = FixedParams.fDCmosRCmosDistance;
m_nSensorDepthCMOSI2CBus = (XnUInt16)FixedParams.nDepthCmosI2CBus;
m_nSensorDepthCMOSI2CSlaveAddress = (XnUInt16)FixedParams.nDepthCmosI2CAddress;
m_nSensorImageCMOSI2CBus = (XnUInt16)FixedParams.nImageCmosI2CBus;
m_nSensorImageCMOSI2CSlaveAddress = (XnUInt16)FixedParams.nImageCmosI2CAddress;
m_nImageCmosType = (XnUInt32)FixedParams.nImageCmosType;
m_nDepthCmosType = (XnUInt32)FixedParams.nDepthCmosType;
nRetVal = XnHostProtocolAlgorithmParams(m_pDevicePrivateData, XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO,
&m_deviceInfo, sizeof(m_deviceInfo), (XnResolutions)0, 0);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnHostProtocolGetPlatformString(m_pDevicePrivateData, m_strPlatformString);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
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