XnStatus XnExportedSensorImageGenerator::IsSupportedForDevice(xn::Context& context, xn::NodeInfo& sensorInfo, XnBool* pbSupported)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnExportedSensorGenerator::IsSupportedForDevice(context, sensorInfo, pbSupported);
XN_IS_STATUS_OK(nRetVal);
if (*pbSupported == FALSE)
{
return XN_STATUS_OK;
}
xn::Device sensor;
nRetVal = sensorInfo.GetInstance(sensor);
XN_IS_STATUS_OK(nRetVal);
XnUInt64 nImageSupported = FALSE;
if (sensor.IsValid())
{
nRetVal = sensor.GetIntProperty(XN_MODULE_PROPERTY_IMAGE_SUPPORTED, nImageSupported);
XN_IS_STATUS_OK(nRetVal);
}
else
{
// Don't create sensor through OpenNI. This will cause it to soft-reset.
// instead, "talk" directly to the sensor class
XnSensor lowLevelSensor(FALSE);
XnDeviceConfig config;
config.DeviceMode = XN_DEVICE_MODE_READ;
config.cpConnectionString = sensorInfo.GetCreationInfo();
config.SharingMode = XN_DEVICE_EXCLUSIVE;
config.pInitialValues = NULL;
nRetVal = lowLevelSensor.Init(&config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = lowLevelSensor.GetProperty(XN_MODULE_NAME_DEVICE, XN_MODULE_PROPERTY_IMAGE_SUPPORTED, &nImageSupported);
XN_IS_STATUS_OK(nRetVal);
}
if (nImageSupported != TRUE)
{
*pbSupported = FALSE;
}
return (XN_STATUS_OK);
}
openni_wrapper::OpenNIDevice::OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: context_ (context),
device_node_info_ (device_node)
{
// This magic value is taken from a calibration routine.
rgb_focal_length_SXGA_ = 1050;
// workaround for MAC from Alex Ichim
#ifdef __APPLE__
XnStatus rc;
xn::EnumerationErrors errors;
rc = context_.InitFromXmlFile ("/etc/openni/SamplesConfig.xml", &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf ("%s\n", strError);
}
else if (rc != XN_STATUS_OK)
{
printf ("Open failed: %s\n", xnGetStatusString(rc));
}
XnStatus status = context_.FindExistingNode(XN_NODE_TYPE_DEPTH, depth_generator_);
if (status != XN_STATUS_OK)
cerr << "node depth problems" << endl;
status = context_.FindExistingNode(XN_NODE_TYPE_IMAGE, image_generator_);
if (status != XN_STATUS_OK)
cerr << "node image problems" << endl;
status = context_.FindExistingNode(XN_NODE_TYPE_IR, ir_generator_);
if (status != XN_STATUS_OK)
cerr << "node ir problems" << endl;
#else
#if (XN_MINOR_VERSION >= 3)
// create the production nodes
XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node), depth_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node), image_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(ir_node), ir_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
#else
XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(ir_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
// get production node instances
status = depth_node.GetInstance (depth_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator instance failed. Reason: %s", xnGetStatusString (status));
status = image_node.GetInstance (image_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator instance failed. Reason: %s", xnGetStatusString (status));
status = ir_node.GetInstance (ir_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator instance failed. Reason: %s", xnGetStatusString (status));
#endif // (XN_MINOR_VERSION >= 3)
ir_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewIRDataAvailable, this, ir_callback_handle_);
#endif // __APPLE__
depth_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewDepthDataAvailable, this, depth_callback_handle_);
image_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewImageDataAvailable, this, image_callback_handle_);
Init ();
}