C++ (Cpp) XnShiftToDepthUpdate Beispiele

Beispiel #1

Datei: DepthPanasonic.cpp Projekt: danielpq/OpenNI-Module-to-TOF-Panasonic-DImager-camera

XnStatus DepthPanasonic::Init()
{
	// Aloca o mapa de profundidade
	m_pDepthMap = new XnDepthPixel[SUPPORTED_X_RES * SUPPORTED_Y_RES];

	if (m_pDepthMap == NULL)
	{
		return XN_STATUS_ALLOC_FAILED;
	}

	// Inicializa a câmera
	if  (InitImageDriver() != 0) {
		return XN_STATUS_DEVICE_NOT_CONNECTED;
	}

	// Define a taxa de captura
	if (Speedmode () != SUPPORTED_FPS){
		ChangeSpeed (SUPPORTED_FPS);
	}

	// Define a frequência da luz (evitar interferênia com outras)
	if (Freqmode () != 1){
		ChangeFreq (1);
	}

	// Acorda a câmera
	if (Sleepmode () == 0){
		ChangeSleep (1);
	}

	// Aloca memória para os vetores retornados pela câmera (160*120*2 bytes = 38400 bytes)
	kdat = (unsigned short*) malloc(38400);
	ndat = (unsigned short*) malloc(38400);

	// Inicialização das matrizes que convertem os valores de profundidade para mm (e vice versa)
	XN_VALIDATE_INPUT_PTR(&m_ShiftToDepthTables);
	XN_VALIDATE_INPUT_PTR(&m_s2dConfig);

	XN_VALIDATE_ALIGNED_CALLOC(m_ShiftToDepthTables.pShiftToDepthTable, XnDepthPixel, m_s2dConfig.nDeviceMaxShiftValue+1, XN_DEFAULT_MEM_ALIGN);
	XN_VALIDATE_ALIGNED_CALLOC(m_ShiftToDepthTables.pDepthToShiftTable, XnUInt16, m_s2dConfig.nDeviceMaxDepthValue+1, XN_DEFAULT_MEM_ALIGN);
	m_ShiftToDepthTables.bIsInitialized = TRUE;

	// store allocation sizes
	m_ShiftToDepthTables.nShiftsCount = m_s2dConfig.nDeviceMaxShiftValue + 1;
	m_ShiftToDepthTables.nDepthsCount = m_s2dConfig.nDeviceMaxDepthValue + 1;

	// Gera a matriz
	XnShiftToDepthUpdate(&m_ShiftToDepthTables, &m_s2dConfig);

	return (XN_STATUS_OK);
}

Beispiel #2

Datei: XnShiftToDepth.cpp Projekt: 0pascal0/SensorKinect

//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XN_DDK_API XnStatus XnShiftToDepthInit(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig)
{
	XN_VALIDATE_INPUT_PTR(pShiftToDepth);
	XN_VALIDATE_INPUT_PTR(pConfig);

	XN_VALIDATE_ALIGNED_CALLOC(pShiftToDepth->pShiftToDepthTable, XnDepthPixel, pConfig->nDeviceMaxShiftValue+1, XN_DEFAULT_MEM_ALIGN);
	XN_VALIDATE_ALIGNED_CALLOC(pShiftToDepth->pDepthToShiftTable, XnUInt16, pConfig->nDeviceMaxDepthValue+1, XN_DEFAULT_MEM_ALIGN);
	pShiftToDepth->bIsInitialized = TRUE;

	// store allocation sizes
	pShiftToDepth->nShiftsCount = pConfig->nDeviceMaxShiftValue + 1;
	pShiftToDepth->nDepthsCount = pConfig->nDeviceMaxDepthValue + 1;

	return XnShiftToDepthUpdate(pShiftToDepth, pConfig);
}

Beispiel #3

Datei: XnShiftToDepthStreamHelper.cpp Projekt: jan-vitek/OpenNI2

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);
}

Beispiel #4

Datei: XnFileDevice.cpp Projekt: RikeshThapa/VirtueX

XnStatus XnFileDevice::UpdateS2DTables(const xn::DepthGenerator& depth)
{
    XnStatus nRetVal = XN_STATUS_OK;

    XnUInt64 nTemp;
    XnDouble dTemp;

    // get config
    XnShiftToDepthConfig config;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nZeroPlaneDistance = (XnDepthPixel)nTemp;

    nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, dTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.fZeroPlanePixelSize = (XnFloat)dTemp;

    nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, dTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.fEmitterDCmosDistance = (XnFloat)dTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_MAX_SHIFT, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nDeviceMaxShiftValue = (XnUInt32)nTemp;

    config.nDeviceMaxDepthValue = depth.GetDeviceMaxDepth();

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_CONST_SHIFT, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nConstShift = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nPixelSizeFactor = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PARAM_COEFF, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nParamCoeff = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nShiftScale = (XnUInt32)nTemp;

    config.nDepthMinCutOff = 0;
    config.nDepthMaxCutOff = (XnDepthPixel)config.nDeviceMaxDepthValue;

    if (!m_ShiftToDepth.bIsInitialized)
    {
        nRetVal = XnShiftToDepthInit(&m_ShiftToDepth, &config);
        XN_IS_STATUS_OK(nRetVal);
    }
    else
    {
        nRetVal = XnShiftToDepthUpdate(&m_ShiftToDepth, &config);
        XN_IS_STATUS_OK(nRetVal);
    }

    // notify
    nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_S2D_TABLE, m_ShiftToDepth.nShiftsCount * sizeof(XnDepthPixel), m_ShiftToDepth.pShiftToDepthTable);
    XN_IS_STATUS_OK(nRetVal);

    nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_D2S_TABLE, m_ShiftToDepth.nDepthsCount * sizeof(XnUInt16), m_ShiftToDepth.pDepthToShiftTable);
    XN_IS_STATUS_OK(nRetVal);

    return (XN_STATUS_OK);
}