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cap_openni.cpp
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1409 lines (1207 loc) · 44.4 KB
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#ifdef HAVE_OPENNI
#if defined TBB_INTERFACE_VERSION && TBB_INTERFACE_VERSION < 5000
# undef HAVE_TBB
#endif
#include <iostream>
#include <queue>
#ifndef i386
# define i386 0
#endif
#ifndef __arm__
# define __arm__ 0
#endif
#ifndef _ARC
# define _ARC 0
#endif
#ifndef __APPLE__
# define __APPLE__ 0
#endif
#include "XnCppWrapper.h"
const std::string XMLConfig =
"<OpenNI>"
"<Licenses>"
"<License vendor=\"PrimeSense\" key=\"0KOIk2JeIBYClPWVnMoRKn5cdY4=\"/>"
"</Licenses>"
"<Log writeToConsole=\"false\" writeToFile=\"false\">"
"<LogLevel value=\"3\"/>"
"<Masks>"
"<Mask name=\"ALL\" on=\"true\"/>"
"</Masks>"
"<Dumps>"
"</Dumps>"
"</Log>"
"<ProductionNodes>"
"<Node type=\"Image\" name=\"Image1\" stopOnError=\"false\">"
"<Configuration>"
"<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
"<Mirror on=\"false\"/>"
"</Configuration>"
"</Node> "
"<Node type=\"Depth\" name=\"Depth1\">"
"<Configuration>"
"<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
"<Mirror on=\"false\"/>"
"</Configuration>"
"</Node>"
"</ProductionNodes>"
"</OpenNI>\n";
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class ApproximateSyncGrabber
{
public:
ApproximateSyncGrabber( xn::Context &_context,
xn::DepthGenerator &_depthGenerator,
xn::ImageGenerator &_imageGenerator,
int _maxBufferSize, bool _isCircleBuffer, int _maxTimeDuration ) :
context(_context), depthGenerator(_depthGenerator), imageGenerator(_imageGenerator),
maxBufferSize(_maxBufferSize), isCircleBuffer(_isCircleBuffer), maxTimeDuration(_maxTimeDuration)
{
task = 0;
CV_Assert( depthGenerator.IsValid() );
CV_Assert( imageGenerator.IsValid() );
}
void setMaxBufferSize( int _maxBufferSize )
{
maxBufferSize = _maxBufferSize;
#ifdef HAVE_TBB
task->setMaxBufferSize();
#endif
}
inline int getMaxBufferSize() const { return maxBufferSize; }
void setIsCircleBuffer( bool _isCircleBuffer ) { isCircleBuffer = _isCircleBuffer; }
bool getIsCircleBuffer() const { return isCircleBuffer; }
void setMaxTimeDuration( int _maxTimeDuration ) { maxTimeDuration = _maxTimeDuration; }
int getMaxTimeDuration() const { return maxTimeDuration; }
bool grab( xn::DepthMetaData& depthMetaData,
xn::ImageMetaData& imageMetaData )
{
CV_Assert( task );
while( task->grab(depthMetaData, imageMetaData) == false )
{
#ifndef HAVE_TBB
task->spin();
#endif
}
return true;
}
void start()
{
CV_Assert( depthGenerator.IsValid() );
CV_Assert( imageGenerator.IsValid() );
#ifdef HAVE_TBB
task = new( tbb::task::allocate_root() ) TBBApproximateSynchronizerTask( *this );
tbb::task::enqueue(*task);
#else
task = new ApproximateSynchronizer( *this );
#endif
}
void finish()
{
#ifdef HAVE_TBB
if( task )
tbb::task::destroy( *task );
#else
task.release();
#endif
}
bool isRun() const { return task != 0; }
xn::Context &context;
xn::DepthGenerator &depthGenerator;
xn::ImageGenerator &imageGenerator;
private:
ApproximateSyncGrabber(const ApproximateSyncGrabber&);
ApproximateSyncGrabber& operator=(ApproximateSyncGrabber&);
int maxBufferSize;
bool isCircleBuffer;
int maxTimeDuration;
class ApproximateSynchronizerBase
{
public:
ApproximateSynchronizerBase( ApproximateSyncGrabber& _approxSyncGrabber ) :
approxSyncGrabber(_approxSyncGrabber), isDepthFilled(false), isImageFilled(false)
{}
virtual ~ApproximateSynchronizerBase() {}
virtual bool isSpinContinue() const = 0;
virtual void pushDepthMetaData( xn::DepthMetaData& depthMetaData ) = 0;
virtual void pushImageMetaData( xn::ImageMetaData& imageMetaData ) = 0;
virtual bool popDepthMetaData( xn::DepthMetaData& depthMetaData ) = 0;
virtual bool popImageMetaData( xn::ImageMetaData& imageMetaData ) = 0;
void spin()
{
while(isSpinContinue() == true)
{
XnStatus status = approxSyncGrabber.context.WaitAnyUpdateAll();
if( status != XN_STATUS_OK )
continue;
//xn::DepthMetaData depth;
//xn::ImageMetaData image;
approxSyncGrabber.depthGenerator.GetMetaData(depth);
approxSyncGrabber.imageGenerator.GetMetaData(image);
if( depth.Data() && depth.IsDataNew() )
pushDepthMetaData( depth );
if( image.Data() && image.IsDataNew() )
pushImageMetaData( image );
}
}
virtual bool grab( xn::DepthMetaData& depthMetaData,
xn::ImageMetaData& imageMetaData )
{
for(;;)
{
if( !isDepthFilled )
isDepthFilled = popDepthMetaData(depth);
if( !isImageFilled )
isImageFilled = popImageMetaData(image);
if( !isDepthFilled || !isImageFilled )
break;
double timeDiff = 1e-3 * std::abs(static_cast<double>(depth.Timestamp()) - static_cast<double>(image.Timestamp()));
if( timeDiff <= approxSyncGrabber.maxTimeDuration )
{
depthMetaData.InitFrom(depth);
imageMetaData.InitFrom(image);
isDepthFilled = isImageFilled = false;
return true;
}
else
{
if( depth.Timestamp() < image.Timestamp() )
isDepthFilled = false;
else
isImageFilled = false;
}
}
return false;
}
protected:
ApproximateSyncGrabber& approxSyncGrabber;
xn::DepthMetaData depth;
xn::ImageMetaData image;
bool isDepthFilled;
bool isImageFilled;
};
// If there isn't TBB the synchronization will be executed in the main thread.
class ApproximateSynchronizer: public ApproximateSynchronizerBase
{
public:
ApproximateSynchronizer( ApproximateSyncGrabber& _approxSyncGrabber ) :
ApproximateSynchronizerBase(_approxSyncGrabber)
{}
virtual bool isSpinContinue() const
{
int maxBufferSize = approxSyncGrabber.getMaxBufferSize();
return (maxBufferSize <= 0) || (static_cast<int>(depthQueue.size()) < maxBufferSize &&
static_cast<int>(imageQueue.size()) < maxBufferSize); // "<" to may push
}
virtual inline void pushDepthMetaData( xn::DepthMetaData& depthMetaData )
{
cv::Ptr<xn::DepthMetaData> depthPtr = new xn::DepthMetaData;
depthPtr->CopyFrom(depthMetaData);
depthQueue.push(depthPtr);
}
virtual inline void pushImageMetaData( xn::ImageMetaData& imageMetaData )
{
cv::Ptr<xn::ImageMetaData> imagePtr = new xn::ImageMetaData;
imagePtr->CopyFrom(imageMetaData);
imageQueue.push(imagePtr);
}
virtual inline bool popDepthMetaData( xn::DepthMetaData& depthMetaData )
{
if( depthQueue.empty() )
return false;
depthMetaData.CopyFrom(*depthQueue.front());
depthQueue.pop();
return true;
}
virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
{
if( imageQueue.empty() )
return false;
imageMetaData.CopyFrom(*imageQueue.front());
imageQueue.pop();
return true;
}
private:
std::queue<cv::Ptr<xn::DepthMetaData> > depthQueue;
std::queue<cv::Ptr<xn::ImageMetaData> > imageQueue;
};
#ifdef HAVE_TBB
// If there is TBB the synchronization will be executed in own thread.
class TBBApproximateSynchronizer: public ApproximateSynchronizerBase
{
public:
TBBApproximateSynchronizer( ApproximateSyncGrabber& _approxSyncGrabber ) :
ApproximateSynchronizerBase(_approxSyncGrabber)
{
setMaxBufferSize();
}
void setMaxBufferSize()
{
int maxBufferSize = approxSyncGrabber.getMaxBufferSize();
if( maxBufferSize >= 0 )
{
depthQueue.set_capacity( maxBufferSize );
imageQueue.set_capacity( maxBufferSize );
}
}
virtual inline bool isSpinContinue() const { return true; }
virtual inline void pushDepthMetaData( xn::DepthMetaData& depthMetaData )
{
cv::Ptr<xn::DepthMetaData> depthPtr = new xn::DepthMetaData, tmp;
depthPtr->CopyFrom(depthMetaData);
tbb::mutex mtx;
mtx.lock();
if( depthQueue.try_push(depthPtr) == false )
{
if( approxSyncGrabber.getIsCircleBuffer() )
{
CV_Assert( depthQueue.try_pop(tmp) );
CV_Assert( depthQueue.try_push(depthPtr) );
}
}
mtx.unlock();
}
virtual inline void pushImageMetaData( xn::ImageMetaData& imageMetaData )
{
cv::Ptr<xn::ImageMetaData> imagePtr = new xn::ImageMetaData, tmp;
imagePtr->CopyFrom(imageMetaData);
tbb::mutex mtx;
mtx.lock();
if( imageQueue.try_push(imagePtr) == false )
{
if( approxSyncGrabber.getIsCircleBuffer() )
{
CV_Assert( imageQueue.try_pop(tmp) );
CV_Assert( imageQueue.try_push(imagePtr) );
}
}
mtx.unlock();
}
virtual inline bool popDepthMetaData( xn::DepthMetaData& depthMetaData )
{
cv::Ptr<xn::DepthMetaData> depthPtr;
bool isPop = depthQueue.try_pop(depthPtr);
if( isPop )
depthMetaData.CopyFrom(*depthPtr);
return isPop;
}
virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
{
cv::Ptr<xn::ImageMetaData> imagePtr;
bool isPop = imageQueue.try_pop(imagePtr);
if( isPop )
imageMetaData.CopyFrom(*imagePtr);
return isPop;
}
private:
tbb::concurrent_bounded_queue<cv::Ptr<xn::DepthMetaData> > depthQueue;
tbb::concurrent_bounded_queue<cv::Ptr<xn::ImageMetaData> > imageQueue;
};
class TBBApproximateSynchronizerTask: public tbb::task
{
public:
TBBApproximateSynchronizerTask( ApproximateSyncGrabber& approxSyncGrabber ) :
synchronizer(approxSyncGrabber)
{}
void setMaxBufferSize()
{
synchronizer.setMaxBufferSize();
}
bool grab( xn::DepthMetaData& depthMetaData,
xn::ImageMetaData& imageMetaData )
{
return synchronizer.grab( depthMetaData, imageMetaData );
}
private:
tbb::task* execute()
{
synchronizer.spin();
return 0;
}
TBBApproximateSynchronizer synchronizer;
};
#endif // HAVE_TBB
#ifdef HAVE_TBB
TBBApproximateSynchronizerTask* task;
#else
cv::Ptr<ApproximateSynchronizer> task;
#endif
};
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class CvCapture_OpenNI : public CvCapture
{
public:
enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_MAX=1 };
static const int INVALID_PIXEL_VAL = 0;
static const int INVALID_COORDINATE_VAL = 0;
#ifdef HAVE_TBB
static const int DEFAULT_MAX_BUFFER_SIZE = 8;
#else
static const int DEFAULT_MAX_BUFFER_SIZE = 2;
#endif
static const int DEFAULT_IS_CIRCLE_BUFFER = 0;
static const int DEFAULT_MAX_TIME_DURATION = 20;
CvCapture_OpenNI(int index=0);
CvCapture_OpenNI(const char * filename);
virtual ~CvCapture_OpenNI();
virtual double getProperty(int propIdx);
virtual bool setProperty(int probIdx, double propVal);
virtual bool grabFrame();
virtual IplImage* retrieveFrame(int outputType);
bool isOpened() const;
protected:
struct OutputMap
{
public:
cv::Mat mat;
IplImage* getIplImagePtr();
private:
IplImage iplHeader;
};
static const int outputMapsTypesCount = 7;
static XnMapOutputMode defaultMapOutputMode();
IplImage* retrieveDepthMap();
IplImage* retrievePointCloudMap();
IplImage* retrieveDisparityMap();
IplImage* retrieveDisparityMap_32F();
IplImage* retrieveValidDepthMask();
IplImage* retrieveBGRImage();
IplImage* retrieveGrayImage();
bool readCamerasParams();
double getDepthGeneratorProperty(int propIdx);
bool setDepthGeneratorProperty(int propIdx, double propVal);
double getImageGeneratorProperty(int propIdx);
bool setImageGeneratorProperty(int propIdx, double propVal);
double getCommonProperty(int propIdx);
bool setCommonProperty(int propIdx, double propVal);
// OpenNI context
xn::Context context;
bool isContextOpened;
xn::ProductionNode productionNode;
// Data generators with its metadata
xn::DepthGenerator depthGenerator;
xn::DepthMetaData depthMetaData;
xn::ImageGenerator imageGenerator;
xn::ImageMetaData imageMetaData;
int maxBufferSize, maxTimeDuration; // for approx sync
bool isCircleBuffer;
cv::Ptr<ApproximateSyncGrabber> approxSyncGrabber;
// Cameras settings:
// TODO find in OpenNI function to convert z->disparity and remove fields "baseline" and depthFocalLength_VGA
// Distance between IR projector and IR camera (in meters)
XnDouble baseline;
// Focal length for the IR camera in VGA resolution (in pixels)
XnUInt64 depthFocalLength_VGA;
// The value for shadow (occluded pixels)
XnUInt64 shadowValue;
// The value for pixels without a valid disparity measurement
XnUInt64 noSampleValue;
std::vector<OutputMap> outputMaps;
};
IplImage* CvCapture_OpenNI::OutputMap::getIplImagePtr()
{
if( mat.empty() )
return 0;
iplHeader = IplImage(mat);
return &iplHeader;
}
bool CvCapture_OpenNI::isOpened() const
{
return isContextOpened;
}
XnMapOutputMode CvCapture_OpenNI::defaultMapOutputMode()
{
XnMapOutputMode mode;
mode.nXRes = XN_VGA_X_RES;
mode.nYRes = XN_VGA_Y_RES;
mode.nFPS = 30;
return mode;
}
CvCapture_OpenNI::CvCapture_OpenNI( int index )
{
int deviceType = DEVICE_DEFAULT;
XnStatus status;
isContextOpened = false;
maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
maxTimeDuration = DEFAULT_MAX_TIME_DURATION;
if( index >= 10 )
{
deviceType = index / 10;
index %= 10;
}
if( deviceType > DEVICE_MAX )
return;
// Initialize and configure the context.
status = context.Init();
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to initialize the context: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Find devices
xn::NodeInfoList devicesList;
status = context.EnumerateProductionTrees( XN_NODE_TYPE_DEVICE, NULL, devicesList, 0 );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Chose device according to index
xn::NodeInfoList::Iterator it = devicesList.Begin();
for( int i = 0; i < index && it!=devicesList.End(); ++i ) it++;
if ( it == devicesList.End() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed device with index " << index << std::endl;
return;
}
xn::NodeInfo deviceNode = *it;
status = context.CreateProductionTree( deviceNode, productionNode );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create production tree: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
xn::ScriptNode scriptNode;
status = context.RunXmlScript( XMLConfig.c_str(), scriptNode );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to run xml script: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Associate generators with context.
// enumerate the nodes to find if depth generator is present
xn::NodeInfoList depthList;
status = context.EnumerateExistingNodes( depthList, XN_NODE_TYPE_DEPTH );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate depth generators: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if( depthList.IsEmpty() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : The device doesn't have depth generator. Such devices aren't supported now." << std::endl;
return;
}
status = depthGenerator.Create( context );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create depth generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// enumerate the nodes to find if image generator is present
xn::NodeInfoList imageList;
status = context.EnumerateExistingNodes( imageList, XN_NODE_TYPE_IMAGE );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate image generators: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if( !imageList.IsEmpty() )
{
status = imageGenerator.Create( context );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
}
// Set map output mode.
if( depthGenerator.IsValid() )
{
CV_DbgAssert( depthGenerator.SetMapOutputMode(defaultMapOutputMode()) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
}
if( imageGenerator.IsValid() )
{
CV_DbgAssert( imageGenerator.SetMapOutputMode(defaultMapOutputMode()) == XN_STATUS_OK );
}
if( deviceType == DEVICE_ASUS_XTION )
{
//ps/asus specific
imageGenerator.SetIntProperty("InputFormat", 1 /*XN_IO_IMAGE_FORMAT_YUV422*/);
imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/);
}
// Start generating data.
status = context.StartGeneratingAll();
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to start generating OpenNI data: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if( !readCamerasParams() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Could not read cameras parameters" << std::endl;
return;
}
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
}
CvCapture_OpenNI::CvCapture_OpenNI(const char * filename)
{
XnStatus status;
isContextOpened = false;
maxBufferSize = DEFAULT_MAX_BUFFER_SIZE;
isCircleBuffer = DEFAULT_IS_CIRCLE_BUFFER;
maxTimeDuration = DEFAULT_MAX_TIME_DURATION;
// Initialize and configure the context.
status = context.Init();
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to initialize the context: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Open file
status = context.OpenFileRecording( filename, productionNode );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to open input file (" << filename << "): "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
context.FindExistingNode( XN_NODE_TYPE_DEPTH, depthGenerator );
context.FindExistingNode( XN_NODE_TYPE_IMAGE, imageGenerator );
if( !readCamerasParams() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Could not read cameras parameters" << std::endl;
return;
}
outputMaps.resize( outputMapsTypesCount );
isContextOpened = true;
}
CvCapture_OpenNI::~CvCapture_OpenNI()
{
context.StopGeneratingAll();
context.Release();
}
bool CvCapture_OpenNI::readCamerasParams()
{
XnDouble pixelSize = 0;
if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read pixel size!" << std::endl;
return false;
}
// pixel size @ VGA = pixel size @ SXGA x 2
pixelSize *= 2.0; // in mm
// focal length of IR camera in pixels for VGA resolution
XnUInt64 zeroPlanDistance; // in mm
if( depthGenerator.GetIntProperty( "ZPD", zeroPlanDistance ) != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read virtual plane distance!" << std::endl;
return false;
}
if( depthGenerator.GetRealProperty( "LDDIS", baseline ) != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read base line!" << std::endl;
return false;
}
// baseline from cm -> mm
baseline *= 10;
// focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (XnUInt64)((double)zeroPlanDistance / (double)pixelSize);
if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read property \"ShadowValue\"!" << std::endl;
return false;
}
if( depthGenerator.GetIntProperty("NoSampleValue", noSampleValue ) != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read property \"NoSampleValue\"!" <<std::endl;
return false;
}
return true;
}
double CvCapture_OpenNI::getProperty( int propIdx )
{
double propValue = 0;
if( isOpened() )
{
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
propValue = getImageGeneratorProperty( purePropIdx );
}
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
propValue = getDepthGeneratorProperty( purePropIdx );
}
else
{
propValue = getCommonProperty( purePropIdx );
}
}
return propValue;
}
bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
{
bool isSet = false;
if( isOpened() )
{
int purePropIdx = propIdx & ~CV_CAP_OPENNI_GENERATORS_MASK;
if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_IMAGE_GENERATOR )
{
isSet = setImageGeneratorProperty( purePropIdx, propValue );
}
else if( (propIdx & CV_CAP_OPENNI_GENERATORS_MASK) == CV_CAP_OPENNI_DEPTH_GENERATOR )
{
isSet = setDepthGeneratorProperty( purePropIdx, propValue );
}
else
{
isSet = setCommonProperty( purePropIdx, propValue );
}
}
return isSet;
}
double CvCapture_OpenNI::getCommonProperty( int propIdx )
{
double propValue = 0;
switch( propIdx )
{
// There is a set of properties that correspond to depth generator by default
// (is they are pass without particular generator flag). Two reasons of this:
// 1) We can assume that depth generator is the main one for depth sensor.
// 2) In the initial vertions of OpenNI integration to OpenCV the value of
// flag CV_CAP_OPENNI_DEPTH_GENERATOR was 0 (it isn't zero now).
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
case CV_CAP_PROP_FRAME_WIDTH :
case CV_CAP_PROP_FRAME_HEIGHT :
case CV_CAP_PROP_FPS :
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
case CV_CAP_PROP_OPENNI_BASELINE :
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = getDepthGeneratorProperty( propIdx );
break;
case CV_CAP_PROP_OPENNI_APPROX_FRAME_SYNC :
propValue = !approxSyncGrabber.empty() && approxSyncGrabber->isRun() ? 1. : 0.;
break;
case CV_CAP_PROP_OPENNI_MAX_BUFFER_SIZE :
propValue = maxBufferSize;
break;
case CV_CAP_PROP_OPENNI_CIRCLE_BUFFER :
propValue = isCircleBuffer ? 1. : 0.;
break;
case CV_CAP_PROP_OPENNI_MAX_TIME_DURATION :
propValue = maxTimeDuration;
break;
default :
{
std::stringstream ss;
ss << "Such parameter (propIdx=" << propIdx << ") isn't supported for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
}
bool CvCapture_OpenNI::setCommonProperty( int propIdx, double propValue )
{
bool isSet = false;
switch( propIdx )
{
// There is a set of properties that correspond to depth generator by default
// (is they are pass without particular generator flag).
case CV_CAP_PROP_OPENNI_REGISTRATION:
isSet = setDepthGeneratorProperty( propIdx, propValue );
break;
case CV_CAP_PROP_OPENNI_APPROX_FRAME_SYNC :
if( propValue && depthGenerator.IsValid() && imageGenerator.IsValid() )
{
// start synchronization
if( approxSyncGrabber.empty() )
{
approxSyncGrabber = new ApproximateSyncGrabber( context, depthGenerator, imageGenerator, maxBufferSize, isCircleBuffer, maxTimeDuration );
}
else
{
approxSyncGrabber->finish();
// update params
approxSyncGrabber->setMaxBufferSize(maxBufferSize);
approxSyncGrabber->setIsCircleBuffer(isCircleBuffer);
approxSyncGrabber->setMaxTimeDuration(maxTimeDuration);
}
approxSyncGrabber->start();
}
else if( !propValue && !approxSyncGrabber.empty() )
{
// finish synchronization
approxSyncGrabber->finish();
}
break;
case CV_CAP_PROP_OPENNI_MAX_BUFFER_SIZE :
maxBufferSize = cvRound(propValue);
if( !approxSyncGrabber.empty() )
approxSyncGrabber->setMaxBufferSize(maxBufferSize);
break;
case CV_CAP_PROP_OPENNI_CIRCLE_BUFFER :
if( !approxSyncGrabber.empty() )
approxSyncGrabber->setIsCircleBuffer(isCircleBuffer);
break;
case CV_CAP_PROP_OPENNI_MAX_TIME_DURATION :
maxTimeDuration = cvRound(propValue);
if( !approxSyncGrabber.empty() )
approxSyncGrabber->setMaxTimeDuration(maxTimeDuration);
break;
default:
{
std::stringstream ss;
ss << "Such parameter (propIdx=" << propIdx << ") isn't supported for setting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return isSet;
}
double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
{
double propValue = 0;
if( !depthGenerator.IsValid() )
return propValue;
XnMapOutputMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_DbgAssert( depthGenerator.IsValid() );
propValue = 1.;
break;
case CV_CAP_PROP_FRAME_WIDTH :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nYRes;
break;
case CV_CAP_PROP_FPS :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nFPS;
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
propValue = depthGenerator.GetDeviceMaxDepth();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
break;
case CV_CAP_PROP_POS_MSEC :
propValue = (double)depthGenerator.GetTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = depthGenerator.GetFrameID();
break;
default :
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
}
bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
{
bool isSet = false;
CV_Assert( depthGenerator.IsValid() );
switch( propIdx )
{