openni::Status openDevice(const char* uri, bool defaultRightColor)
{
openni::Status nRetVal = openni::OpenNI::initialize();
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
// Register to OpenNI events.
static OpenNIDeviceListener deviceListener;
openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
openni::OpenNI::addDeviceStateChangedListener(&deviceListener);
// Open the requested device.
nRetVal = g_device.open(uri);
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
g_pPlaybackControl = g_device.getPlaybackControl();
openCommon(g_device, defaultRightColor);
return openni::STATUS_OK;
}
openni::Status openDevice(const char* uri, DeviceConfig config)
{
openni::Status nRetVal = openni::OpenNI::initialize();
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
// Register to OpenNI events.
static OpenNIDeviceListener deviceListener;
openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
openni::OpenNI::addDeviceStateChangedListener(&deviceListener);
// Open the requested device.
nRetVal = g_device.open(uri);
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
if (0 != openCommon(g_device, config))
{
return openni::STATUS_ERROR;
}
return openni::STATUS_OK;
}
openni::Status openDevice(const char* uri, DeviceConfig config)
{
openni::Status nRetVal = openni::OpenNI::initialize();
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
// Register to OpenNI events.
static OpenNIDeviceListener deviceListener;
openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
openni::OpenNI::addDeviceStateChangedListener(&deviceListener);
// Open the requested device.
nRetVal = g_device.open(uri);
if (nRetVal != openni::STATUS_OK)
{
return nRetVal;
}
if (0 != openCommon(g_device, config))
{
return openni::STATUS_ERROR;
}
// If we are here, then the depth camera has been opened okay.
// Now let's try the sixense, if requested
if (config.b_captureSixense) {
return openSixenseDevice();
}
return openni::STATUS_OK;
}
void KinectCamera::startcamera(void)
{
openni::OpenNI::initialize();//初始化
mDevice.open( openni::ANY_DEVICE );//打开设备（已在全局变量中声明设备mDevice）
mColorStream.create( mDevice, openni::SENSOR_COLOR );// 创建数据流
mColorStream.start();//开启数据流
mDepthStream.create( mDevice, openni::SENSOR_DEPTH );// 创建数据流
mDepthStream.start();//开启数据流
fig=1;
}
openni::Status openDeviceFromList(DeviceConfig config)
{
openni::Status rc = openni::OpenNI::initialize();
if (rc != openni::STATUS_OK)
{
return rc;
}
openni::Array<openni::DeviceInfo> deviceList;
openni::OpenNI::enumerateDevices(&deviceList);
for (int i = 0; i < deviceList.getSize(); ++i)
{
printf("[%d] %s [%s] (%s)\n", i+1, deviceList[i].getName(), deviceList[i].getVendor(), deviceList[i].getUri());
}
printf("\n");
int chosen = 1;
do
{
printf("Choose device to open (1) [0 to exit]: ");
int rc = scanf("%d", &chosen);
if (rc <= 0 || chosen == 0)
{
return openni::STATUS_ERROR;
}
} while (chosen < 1 || chosen > deviceList.getSize());
g_device.open(deviceList[chosen-1].getUri());
if (rc != openni::STATUS_OK)
{
return rc;
}
if (0 != openCommon(g_device, config))
{
return openni::STATUS_ERROR;
}
return openni::STATUS_OK;
}
void open(const char* uri) {
if (device.open(uri) != openni::STATUS_OK)
BOOST_THROW_EXCEPTION(GrabberException("Failed to open device")
<< GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));
if (color_stream.create(device, openni::SENSOR_COLOR) != openni::STATUS_OK)
BOOST_THROW_EXCEPTION(GrabberException("Failed to create color stream")
<< GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));
openni::VideoMode color_mode;
color_mode.setFps(30);
color_mode.setResolution(color_image_resolution.width, color_image_resolution.height);
color_mode.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
color_stream.setVideoMode(color_mode);
color_image_size = color_image_resolution.width * color_image_resolution.height * 3;
color_stream.setMirroringEnabled(false);
if (color_stream.start() != openni::STATUS_OK) {
color_stream.destroy();
BOOST_THROW_EXCEPTION(GrabberException("Failed to start color stream")
<< GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));
}
streams.push_back(&color_stream);
auto control = device.getPlaybackControl();
if (control != nullptr) {
// This is a file, make sure we get every frame
control->setSpeed(-1.0f);
control->setRepeatEnabled(false);
num_frames = control->getNumberOfFrames(color_stream);
is_file = true;
if (num_frames == -1)
BOOST_THROW_EXCEPTION(GrabberException("Unable to determine number of frames in ONI file"));
}
}
int SensorOpenNI::initialize()
{
LOG(INFO) << "Initializing OpenNI";
///< force shutdown before starting!!
kinect::OpenNI::shutdown();
kinect::Status rc;
rc = kinect::STATUS_OK;
/// Fetch the device URI to pass to Device::open()
const char* deviceURI = kinect::ANY_DEVICE;
/// Initialize the device
rc = kinect::OpenNI::initialize();
if(rc!=kinect::STATUS_OK)
{
mDebug()<<"Initialization Errors (if any): "<< kinect::OpenNI::getExtendedError();
kinect::OpenNI::shutdown();
exit(0);
}
/// Open the device using the previously fetched device URI
rc = device.open(deviceURI);
if (rc != kinect::STATUS_OK)
{
mDebug()<<"Device open failed: "<<kinect::OpenNI::getExtendedError();
kinect::OpenNI::shutdown();
exit(0);
}
/// Create the depth stream
rc = g_depthStream.create(device, kinect::SENSOR_DEPTH);
if (rc == kinect::STATUS_OK)
{
/// start the depth stream, if its creation was successful
rc = g_depthStream.start();
if (rc != kinect::STATUS_OK)
{
mDebug()<<"Couldn't start depth stream: "<<kinect::OpenNI::getExtendedError();
g_depthStream.destroy();
exit(0);
}
}
else
{
mDebug()<<"Couldn't find depth stream: "<<kinect::OpenNI::getExtendedError();
exit(0);
}
if (!g_depthStream.isValid())
{
mDebug()<<"No valid depth streams. Exiting";
kinect::OpenNI::shutdown();
exit(0);
}
/// Create the color stream
rc = g_colorStream.create(device, kinect::SENSOR_COLOR);
if (rc == kinect::STATUS_OK)
{
/// start the color stream, if its creation was successful
rc = g_colorStream.start();
if (rc != kinect::STATUS_OK)
{
mDebug()<<"Couldn't start color stream: "<<kinect::OpenNI::getExtendedError();
g_colorStream.destroy();
exit(0);
}
}
else
{
mDebug()<<"Couldn't find color stream: "<<kinect::OpenNI::getExtendedError();
exit(0);
}
if (!g_colorStream.isValid())
{
mDebug()<<"No valid color streams. Exiting";
kinect::OpenNI::shutdown();
exit(0);
}
/// Configure resolutions
{
/// Attempt to set for depth
{
kinect::VideoMode mode = g_depthStream.getVideoMode();
if(((int)camera->FPS())==60)
mode.setFps(60);
else
mode.setFps(30);
mode.setResolution(camera->width(), camera->height());
rc = g_depthStream.setVideoMode(mode);
if (rc != kinect::STATUS_OK)
std::cerr << "error setting video mode (depth)" << std::endl;
}
/// Attempt to set for color
{
kinect::VideoMode mode = g_colorStream.getVideoMode();
if(((int)camera->FPS())==60)
mode.setFps(60);
else
mode.setFps(30);
mode.setFps(30); ///< @todo check!!!
mode.setResolution(camera->width(), camera->height());
rc = g_colorStream.setVideoMode(mode);
if (rc != kinect::STATUS_OK)
std::cerr << "error setting video mode (color)" << std::endl;
}
}
#ifdef THIS_CAUSES_INIT_STALLS
/// Enable depth/color frame synchronization
rc = device.setDepthColorSyncEnabled(true);
if (rc != kinect::STATUS_OK)
{
qDebug()<<"Could not synchronise device";
// VGA Kinect always seems to shut down here
kinect::OpenNI::shutdown();
exit(0);
}
#endif
/// Camera settings
kinect::CameraSettings* settings = g_colorStream.getCameraSettings();
settings->setAutoExposureEnabled(true);
settings->setAutoWhiteBalanceEnabled(true);
/// Fetch the camera intrinsics
#if 0
float w = g_depthStream.getVideoMode().getResolutionX();protected: