1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
|
/*****************************************************************************
* *
* 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 "LinkOniDepthStream.h"
//---------------------------------------------------------------------------
// LinkOniDepthStream class
//---------------------------------------------------------------------------
#define XN_MASK_LINK_STREAM "LinkDepthStream"
LinkOniDepthStream::LinkOniDepthStream(const char* configFile, xn::PrimeClient* pSensor, LinkOniDevice* pDevice) :
LinkOniMapStream(configFile, "Depth", pSensor, ONI_SENSOR_DEPTH, pDevice)
{
}
OniStatus LinkOniDepthStream::getProperty(int propertyId, void* data, int* pDataSize)
{
const XnShiftToDepthTables* pTables = NULL;
XnStatus nRetVal;
XnFloat fValue = 0;
XnUInt32 nTableSize;
switch (propertyId)
{
// int props
case ONI_STREAM_PROPERTY_MIN_VALUE:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, 0);
break;
case ONI_STREAM_PROPERTY_MAX_VALUE:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nDeviceMaxDepthValue);
break;
case LINK_PROP_MAX_SHIFT:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nDeviceMaxShiftValue);
break;
case LINK_PROP_ZERO_PLANE_DISTANCE:
ENSURE_PROP_SIZE(*pDataSize, OniDepthPixel);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nZeroPlaneDistance);
break;
case LINK_PROP_CONST_SHIFT:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nConstShift);
break;
case LINK_PROP_PARAM_COEFF:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nParamCoeff);
break;
case LINK_PROP_SHIFT_SCALE:
ENSURE_PROP_SIZE(*pDataSize, int);
ASSIGN_PROP_VALUE_INT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nShiftScale);
break;
// real props
//TODO: consider moving these two to MapStream
case ONI_STREAM_PROPERTY_HORIZONTAL_FOV:
ENSURE_PROP_SIZE(*pDataSize, XnFloat);
m_pInputStream->GetFieldOfView(&fValue, NULL);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, fValue);
break;
case ONI_STREAM_PROPERTY_VERTICAL_FOV:
ENSURE_PROP_SIZE(*pDataSize, XnFloat);
m_pInputStream->GetFieldOfView(NULL, &fValue);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, fValue);
break;
case LINK_PROP_ZERO_PLANE_PIXEL_SIZE:
ENSURE_PROP_SIZE(*pDataSize, XnFloat);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().fZeroPlanePixelSize);
break;
case LINK_PROP_ZERO_PLANE_OUTPUT_PIXEL_SIZE:
ENSURE_PROP_SIZE(*pDataSize, XnDouble);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().nZeroPlaneDistance / m_pInputStream->GetCameraIntrinsics().m_fEffectiveFocalLengthInPixels);
break;
case LINK_PROP_EMITTER_DEPTH_CMOS_DISTANCE:
ENSURE_PROP_SIZE(*pDataSize, XnFloat);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().fEmitterDCmosDistance);
break;
case LINK_PROP_DEPTH_SCALE:
ENSURE_PROP_SIZE(*pDataSize, XnDouble);
ASSIGN_PROP_VALUE_FLOAT(data, *pDataSize, m_pInputStream->GetShiftToDepthConfig().dDepthScale);
break;
// tables
case LINK_PROP_SHIFT_TO_DEPTH_TABLE:
nRetVal = m_pInputStream->GetShiftToDepthTables(pTables);
XN_IS_STATUS_OK_RET(nRetVal, ONI_STATUS_ERROR);
nTableSize = pTables->nShiftsCount * sizeof(OniDepthPixel);
if (*pDataSize < (int)nTableSize)
{
xnLogError(XN_MASK_LINK_STREAM, "Get S2D table - buffer too small (expected %d, got %d)", nTableSize, *pDataSize);
return ONI_STATUS_BAD_PARAMETER;
}
xnOSMemCopy(data, pTables->pShiftToDepthTable, nTableSize);
break;
case LINK_PROP_DEPTH_TO_SHIFT_TABLE:
nRetVal = m_pInputStream->GetShiftToDepthTables(pTables);
XN_IS_STATUS_OK_RET(nRetVal, ONI_STATUS_ERROR);
nTableSize = pTables->nDepthsCount * sizeof(XnUInt16);
if (*pDataSize < (int)nTableSize)
{
xnLogError(XN_MASK_LINK_STREAM, "Get D2S table - buffer too small (expected %d, got %d)", nTableSize, *pDataSize);
return ONI_STATUS_BAD_PARAMETER;
}
xnOSMemCopy(data, pTables->pDepthToShiftTable, nTableSize);
break;
default:
return LinkOniMapStream::getProperty(propertyId, data, pDataSize);
}
return ONI_STATUS_OK;
}
OniBool LinkOniDepthStream::isPropertySupported(int propertyId)
{
switch(propertyId)
{
// int props
case ONI_STREAM_PROPERTY_MIN_VALUE:
case ONI_STREAM_PROPERTY_MAX_VALUE:
case LINK_PROP_MAX_SHIFT:
case LINK_PROP_ZERO_PLANE_DISTANCE:
case LINK_PROP_CONST_SHIFT:
case LINK_PROP_PARAM_COEFF:
case LINK_PROP_SHIFT_SCALE:
// real props
//TODO: consider moving these two to MapStream
case ONI_STREAM_PROPERTY_HORIZONTAL_FOV:
case ONI_STREAM_PROPERTY_VERTICAL_FOV:
case LINK_PROP_ZERO_PLANE_PIXEL_SIZE:
case LINK_PROP_ZERO_PLANE_OUTPUT_PIXEL_SIZE:
case LINK_PROP_EMITTER_DEPTH_CMOS_DISTANCE:
case LINK_PROP_DEPTH_SCALE:
// tables
case LINK_PROP_SHIFT_TO_DEPTH_TABLE:
case LINK_PROP_DEPTH_TO_SHIFT_TABLE:
return true;
default:
return LinkOniMapStream::isPropertySupported(propertyId);
}
}
void LinkOniDepthStream::notifyAllProperties()
{
LinkOniMapStream::notifyAllProperties();
// int props
int nValue;
int size = sizeof(nValue);
getProperty(LINK_PROP_MAX_SHIFT, &nValue, &size);
raisePropertyChanged(LINK_PROP_MAX_SHIFT, &nValue, size);
getProperty(LINK_PROP_ZERO_PLANE_DISTANCE, &nValue, &size);
raisePropertyChanged(LINK_PROP_ZERO_PLANE_DISTANCE, &nValue, size);
getProperty(LINK_PROP_CONST_SHIFT, &nValue, &size);
raisePropertyChanged(LINK_PROP_CONST_SHIFT, &nValue, size);
getProperty(LINK_PROP_PARAM_COEFF, &nValue, &size);
raisePropertyChanged(LINK_PROP_PARAM_COEFF, &nValue, size);
getProperty(LINK_PROP_SHIFT_SCALE, &nValue, &size);
raisePropertyChanged(LINK_PROP_SHIFT_SCALE, &nValue, size);
// real props
XnDouble dValue;
size = sizeof(dValue);
//TODO: consider moving these two to MapStream
getProperty(ONI_STREAM_PROPERTY_VERTICAL_FOV, &dValue, &size);
raisePropertyChanged(ONI_STREAM_PROPERTY_VERTICAL_FOV, &dValue, size);
getProperty(LINK_PROP_ZERO_PLANE_PIXEL_SIZE, &dValue, &size);
raisePropertyChanged(LINK_PROP_ZERO_PLANE_PIXEL_SIZE, &dValue, size);
getProperty(LINK_PROP_ZERO_PLANE_OUTPUT_PIXEL_SIZE, &dValue, &size);
raisePropertyChanged(LINK_PROP_ZERO_PLANE_OUTPUT_PIXEL_SIZE, &dValue, size);
getProperty(LINK_PROP_EMITTER_DEPTH_CMOS_DISTANCE, &dValue, &size);
raisePropertyChanged(LINK_PROP_EMITTER_DEPTH_CMOS_DISTANCE, &dValue, size);
getProperty(LINK_PROP_DEPTH_SCALE, &dValue, &size);
raisePropertyChanged(LINK_PROP_DEPTH_SCALE, &dValue, size);
// tables
const XnShiftToDepthTables* pTables = NULL;
m_pInputStream->GetShiftToDepthTables(pTables);
raisePropertyChanged(LINK_PROP_SHIFT_TO_DEPTH_TABLE, pTables->pShiftToDepthTable, pTables->nShiftsCount * sizeof(OniDepthPixel));
raisePropertyChanged(LINK_PROP_DEPTH_TO_SHIFT_TABLE, pTables->pDepthToShiftTable, pTables->nDepthsCount * sizeof(XnUInt16));
}
|
