bool CvCapture_OpenNI::grabFrame()
{
if( !isOpened() )
return false;
bool isGrabbed = false;
if( !approxSyncGrabber.empty() && approxSyncGrabber->isRun() )
{
isGrabbed = approxSyncGrabber->grab( depthMetaData, imageMetaData );
}
else
{
XnStatus status = context.WaitAndUpdateAll();
if( status != XN_STATUS_OK )
return false;
if( depthGenerator.IsValid() )
depthGenerator.GetMetaData( depthMetaData );
if( imageGenerator.IsValid() )
imageGenerator.GetMetaData( imageMetaData );
isGrabbed = true;
}
return isGrabbed;
}
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;
}