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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. *
* *
*****************************************************************************/
#include "XnShiftToDepthStreamHelper.h"
#include <XnCore.h>
XnShiftToDepthStreamHelper::XnShiftToDepthStreamHelper() :
m_ShiftToDepthTable(XN_STREAM_PROPERTY_S2D_TABLE, "S2D", NULL, 0, NULL),
m_DepthToShiftTable(XN_STREAM_PROPERTY_D2S_TABLE, "D2S", NULL, 0, NULL),
m_pModule(NULL),
m_bPropertiesAdded(FALSE)
{
m_ShiftToDepthTable.UpdateGetCallback(GetShiftToDepthTableCallback, this);
m_DepthToShiftTable.UpdateGetCallback(GetDepthToShiftTableCallback, this);
xnOSMemSet(&m_ShiftToDepthTables, 0, sizeof(XnShiftToDepthTables));
}
XnShiftToDepthStreamHelper::~XnShiftToDepthStreamHelper()
{
XnShiftToDepthStreamHelper::Free();
}
XnStatus XnShiftToDepthStreamHelper::Init(XnDeviceModule* pModule)
{
XnStatus nRetVal = XN_STATUS_OK;
XN_VALIDATE_INPUT_PTR(pModule);
m_pModule = pModule;
// old depth streams did not have S2D tables as actual properties. Add these properties
XnBool bDoesExist = FALSE;
nRetVal = m_pModule->DoesPropertyExist(XN_STREAM_PROPERTY_S2D_TABLE, &bDoesExist);
XN_IS_STATUS_OK(nRetVal);
if (!bDoesExist)
{
// add properties to the module
XN_VALIDATE_ADD_PROPERTIES(m_pModule, &m_ShiftToDepthTable, &m_DepthToShiftTable);
m_bPropertiesAdded = TRUE;
// now create tables and register to properties
nRetVal = InitShiftToDepth();
XN_IS_STATUS_OK(nRetVal);
}
else
{
m_ShiftToDepthTables.pShiftToDepthTable = (OniDepthPixel*)m_ShiftToDepthTable.GetValue().data;
m_ShiftToDepthTables.pDepthToShiftTable = (XnUInt16*)m_DepthToShiftTable.GetValue().data;
}
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::Free()
{
XnShiftToDepthFree(&m_ShiftToDepthTables);
return XN_STATUS_OK;
}
XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
{
XnStatus nRetVal = XN_STATUS_OK;
// register to any shift-to-depth property (so tables can be updated if needed)
XnUInt32 propIds[] =
{
XN_STREAM_PROPERTY_MIN_DEPTH,
XN_STREAM_PROPERTY_MAX_DEPTH,
XN_STREAM_PROPERTY_CONST_SHIFT,
XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR,
XN_STREAM_PROPERTY_PARAM_COEFF,
XN_STREAM_PROPERTY_SHIFT_SCALE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE,
XN_STREAM_PROPERTY_OUTPUT_FORMAT,
};
XnUInt32 nPropCount = sizeof(propIds) / sizeof(propIds[0]);
XnCallbackHandle hDummy;
XnProperty* pProperty = NULL;
for (XnUInt32 i = 0; i < nPropCount; ++i)
{
nRetVal = m_pModule->GetProperty(propIds[i], &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(ShiftToDepthPropertyValueChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
}
// register for tables size properties
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_OUTPUT_FORMAT, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
// now init the tables
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
// replace tables buffers
m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::GetShiftToDepthConfig(XnShiftToDepthConfig& Config)
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt64 nTemp;
XnDouble dTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nZeroPlaneDistance = (XnUInt16)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dTemp);
XN_IS_STATUS_OK(nRetVal);
Config.fZeroPlanePixelSize = (XnFloat)dTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &dTemp);
XN_IS_STATUS_OK(nRetVal);
Config.fEmitterDCmosDistance = (XnFloat)dTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nDeviceMaxShiftValue = (XnUInt32)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nDeviceMaxDepthValue = (XnUInt32)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_CONST_SHIFT, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nConstShift = (XnUInt32)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nPixelSizeFactor = (XnUInt32)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_PARAM_COEFF, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nParamCoeff = (XnUInt32)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nShiftScale = (XnUInt32)nTemp;
// change scale according to output format
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_OUTPUT_FORMAT, &nTemp);
XN_IS_STATUS_OK(nRetVal);
switch (nTemp)
{
case ONI_PIXEL_FORMAT_DEPTH_1_MM:
case ONI_PIXEL_FORMAT_SHIFT_9_2:
break;
case ONI_PIXEL_FORMAT_DEPTH_100_UM:
Config.nShiftScale *= 10;
break;
default:
XN_ASSERT(FALSE);
}
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MIN_DEPTH, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nDepthMinCutOff = (OniDepthPixel)nTemp;
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_DEPTH, &nTemp);
XN_IS_STATUS_OK(nRetVal);
Config.nDepthMaxCutOff = (OniDepthPixel)nTemp;
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::RaiseChangeEvents()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = m_ShiftToDepthTable.UnsafeUpdateValue(XnGeneralBufferPack(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel)));
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_DepthToShiftTable.UnsafeUpdateValue(XnGeneralBufferPack(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16)));
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnShiftToDepthPropertyValueChanged()
{
XnStatus nRetVal = XN_STATUS_OK;
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthUpdate(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = RaiseChangeEvents();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnDeviceS2DTablesSizeChanged()
{
XnStatus nRetVal = XN_STATUS_OK;
// free the tables, and re-init them
XnShiftToDepthFree(&m_ShiftToDepthTables);
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
// replace tables buffers
m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));
nRetVal = RaiseChangeEvents();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::GetShiftToDepthTableImpl(const OniGeneralBuffer& gbValue) const
{
XnInt32 nTableSize = m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel);
if (gbValue.dataSize < nTableSize)
{
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
xnOSMemCopy(gbValue.data, m_ShiftToDepthTables.pShiftToDepthTable, nTableSize);
return XN_STATUS_OK;
}
XnStatus XnShiftToDepthStreamHelper::GetDepthToShiftTableImpl(const OniGeneralBuffer& gbValue) const
{
XnInt32 nTableSize = m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16);
if (gbValue.dataSize < nTableSize)
{
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
xnOSMemCopy(gbValue.data, m_ShiftToDepthTables.pDepthToShiftTable, nTableSize);
return XN_STATUS_OK;
}
XnStatus XN_CALLBACK_TYPE XnShiftToDepthStreamHelper::GetShiftToDepthTableCallback(const XnActualGeneralProperty* /*pSender*/, const OniGeneralBuffer& gbValue, void* pCookie)
{
XnShiftToDepthStreamHelper* pStream = (XnShiftToDepthStreamHelper*)pCookie;
return pStream->GetShiftToDepthTableImpl(gbValue);
}
XnStatus XN_CALLBACK_TYPE XnShiftToDepthStreamHelper::GetDepthToShiftTableCallback(const XnActualGeneralProperty* /*pSender*/, const OniGeneralBuffer& gbValue, void* pCookie)
{
XnShiftToDepthStreamHelper* pStream = (XnShiftToDepthStreamHelper*)pCookie;
return pStream->GetDepthToShiftTableImpl(gbValue);
}
XnStatus XN_CALLBACK_TYPE XnShiftToDepthStreamHelper::ShiftToDepthPropertyValueChangedCallback(const XnProperty* /*pSender*/, void* pCookie)
{
XnShiftToDepthStreamHelper* pStream = (XnShiftToDepthStreamHelper*)pCookie;
return pStream->OnShiftToDepthPropertyValueChanged();
}
XnStatus XN_CALLBACK_TYPE XnShiftToDepthStreamHelper::DeviceS2DTablesSizeChangedCallback(const XnProperty* /*pSender*/, void* pCookie)
{
XnShiftToDepthStreamHelper* pStream = (XnShiftToDepthStreamHelper*)pCookie;
return pStream->OnDeviceS2DTablesSizeChanged();
}
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