tResult cXtionCamera::Init(tInitStage eStage, __exception )
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
//create the output pins of the filter
RETURN_IF_FAILED(m_oRGBVideo.Create("Video_RGB", adtf::IPin::PD_Output, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oRGBVideo));
RETURN_IF_FAILED(m_oDepthImage.Create("Depth_Image", adtf::IPin::PD_Output, static_cast<IPinEventSink*> (this)));
RETURN_IF_FAILED(RegisterPin(&m_oDepthImage));
}
else if (eStage == StageNormal)
{
//load the configuration file for the settings of xtion camera
tResult nResult;
nResult = LoadConfiguration();
if (IS_FAILED(nResult))
THROW_ERROR_DESC(nResult,"Failed to load the configuration file for the xtion");
//set the videoformat of the rgb video pin
m_sBitmapFormat.nWidth = m_nWidthVideo;
m_sBitmapFormat.nHeight = m_nHeightVideo;
m_sBitmapFormat.nBitsPerPixel = 24;
m_sBitmapFormat.nPixelFormat = cImage::PF_RGB_888;
m_sBitmapFormat.nBytesPerLine = m_nWidthVideo * 3;
m_sBitmapFormat.nSize = m_sBitmapFormat.nBytesPerLine * m_nHeightVideo;
m_sBitmapFormat.nPaletteSize = 0;
m_oRGBVideo.SetFormat(&m_sBitmapFormat, NULL);
//set the videoformat of the depth video pin
m_sBitmapFormatDepth.nWidth = m_nWidthDepth;
m_sBitmapFormatDepth.nHeight = m_nHeightDepth;
m_sBitmapFormatDepth.nBitsPerPixel = 16;
m_sBitmapFormatDepth.nPixelFormat = cImage::PF_GREYSCALE_16;
m_sBitmapFormatDepth.nBytesPerLine = m_nWidthDepth * 2;
m_sBitmapFormatDepth.nSize = m_sBitmapFormatDepth.nBytesPerLine * m_nHeightDepth;
m_sBitmapFormatDepth.nPaletteSize = 0;
m_oDepthImage.SetFormat(&m_sBitmapFormatDepth, NULL);
}
else if (eStage == StageGraphReady)
{
//check which streams has to be enabled in th xtion
tBool videoEnabled = m_oRGBVideo.IsConnected();
tBool depthEnabled = m_oDepthImage.IsConnected();
// if no output pin is connected the depth image is enabled because one stream must be set to tTrue;
if (videoEnabled==tFalse && depthEnabled==tFalse) depthEnabled = tTrue;
// initialize the grabber with the videoformats, which streams has the be enabled, the framerates and some more options
if (!(m_xtionGrabber.initialize(m_nWidthDepth,m_nHeightDepth,m_FPSDepth,m_nWidthVideo,m_nHeightVideo,m_FPSVideo,depthEnabled,videoEnabled,m_setDepthInMillimeter,m_setRegistration,m_setDepthColorSync,m_setAutoExposure,m_setAutoWhiteBalance)))
THROW_ERROR_DESC(ERR_DEVICE_NOT_READY,"Failed to initialize Xtion!")
else
LOG_INFO(cString::Format("Xtion Capture Device: Grabber is now initialized. Depth mode: %d Video mode: %d",depthEnabled,videoEnabled));
// creates the thread for the reading of data from the xtion
tResult nResult;
nResult = m_oWorker.Create(cKernelThread::TF_Suspended, static_cast<adtf::IKernelThreadFunc*>(this));
if (IS_FAILED(nResult))
THROW_ERROR_DESC(nResult,"Failed to create thread for xtion");
}
tResult ROI::Init(tInitStage eStage, __exception)
{
RETURN_IF_FAILED(cFilter::Init(eStage, __exception_ptr));
if (eStage == StageFirst)
{
RETURN_IF_FAILED(InitDescriptions(__exception_ptr));
RETURN_IF_FAILED(CreateInputPins(__exception_ptr));
RETURN_IF_FAILED(CreateOutputPins(__exception_ptr));
}
else if (eStage == StageNormal)
{
hoodScanLineNumber = GetPropertyInt(HOOD_SCANLINE_NUMBER_PROPERTY);
roomScanLineNumber = GetPropertyInt(ROOM_SCANLINE_NUMBER_PROPERTY);
maxHoodDetectionCount = GetPropertyInt(MAX_HOOD_DETECTION_COUNT_PROPERTY);
rgbVideoManipulation = GetPropertyInt(RGB_VIDEO_MANIPULATION_PROPERTY);
depthVideoManipulation = GetPropertyInt(DEPTH_VIDEO_MANIPULATION_PROPERTY);
isHoodDetectionEnabled = GetPropertyBool(DETECT_HOOD_PROPERTY);
isRoomDetectionEnabled = GetPropertyBool(DETECT_ROOM_PROPERTY);
roomHeightManipulation = GetPropertyFloat(ROOM_HEIGHT_MANIPULATION_PROPERTY);
logger.Log(cString::Format("roomHeightManipulation: %d", roomHeightManipulation).GetPtr(), false);
logger.Log(cString::Format("hoodScanLineNumber: %d", hoodScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("roomScanLineNumber: %d", roomScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("processingWidthPercentage: %d", processingWidthPercentage).GetPtr(), false);
logger.Log(cString::Format("maxHoodDetectionCount: %d", maxHoodDetectionCount).GetPtr(), false);
logger.Log(cString::Format("rgbVideoManipulation: %d", rgbVideoManipulation).GetPtr(), false);
logger.Log(cString::Format("depthVideoManipulation: %d", depthVideoManipulation).GetPtr(), false);
logger.Log(cString::Format("isHoodDetectionEnabled: %d", isHoodDetectionEnabled).GetPtr(), false);
logger.Log(cString::Format("isRoomDetectionEnabled: %d", isRoomDetectionEnabled).GetPtr(), false);
}
else if (eStage == StageGraphReady)
{
// init RGB Video
cObjectPtr<IMediaType> rgbMediaType;
RETURN_IF_FAILED(rgbVideoInputPin.GetMediaType(&rgbMediaType));
cObjectPtr<IMediaTypeVideo> rgbVideoType;
RETURN_IF_FAILED(rgbMediaType->GetInterface(IID_ADTF_MEDIA_TYPE_VIDEO, (tVoid **) &rgbVideoType));
rgbVideoInputFormat = *(rgbVideoType->GetFormat());
rgbVideoOutputFormat = *(rgbVideoType->GetFormat());
rgbVideoOutputPin.SetFormat(&rgbVideoOutputFormat, NULL);
// init Depth Video
cObjectPtr<IMediaType> depthMediaType;
RETURN_IF_FAILED(depthVideoInputPin.GetMediaType(&depthMediaType));
cObjectPtr<IMediaTypeVideo> depthVideoType;
RETURN_IF_FAILED(depthMediaType->GetInterface(IID_ADTF_MEDIA_TYPE_VIDEO, (tVoid **) &depthVideoType));
depthVideoInputFormat = *(depthVideoType->GetFormat());
depthVideoOutputFormat = *(depthVideoType->GetFormat());
depthVideoOutputPin.SetFormat(&depthVideoOutputFormat, NULL);
logger.Log(cString::Format("RGB Input format: %d x %d @ %d Bit", rgbVideoInputFormat.nWidth, rgbVideoInputFormat.nHeight,
rgbVideoInputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("RGB Output format: %d x %d @ %d Bit", rgbVideoOutputFormat.nWidth, rgbVideoOutputFormat.nHeight,
rgbVideoOutputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("Depth Input format: %d x %d @ %d Bit", depthVideoInputFormat.nWidth, depthVideoInputFormat.nHeight,
depthVideoInputFormat.nBitsPerPixel).GetPtr(), false);
logger.Log(cString::Format("Depth Output format: %d x %d @ %d Bit", depthVideoOutputFormat.nWidth, depthVideoOutputFormat.nHeight,
depthVideoOutputFormat.nBitsPerPixel).GetPtr(), false);
if (depthVideoOutputFormat.nBitsPerPixel != 8)
{
THROW_ERROR_DESC(depthVideoOutputFormat.nBitsPerPixel, "Wrong depth video format. Use HTWK_Grayscale in front of this filter.");
}
// init processing parameters
processingData.processingWidth = depthVideoInputFormat.nWidth * (processingWidthPercentage / 100.0);
processingData.startOffset = (depthVideoInputFormat.nWidth - processingData.processingWidth) / 2;
processingData.hoodScanLineStepWidth = processingData.processingWidth / (hoodScanLineNumber - 1);
processingData.roomScanLineStepWidth = processingData.processingWidth / (roomScanLineNumber - 1);
logger.Log(cString::Format("hoodScanLineNumber: %d", hoodScanLineNumber).GetPtr(), false);
logger.Log(cString::Format("processingWidthPercentage: %d", processingWidthPercentage).GetPtr(), false);
logger.Log(cString::Format("processingWidth: %d", processingData.processingWidth).GetPtr(), false);
logger.Log(cString::Format("startOffset: %d", processingData.startOffset).GetPtr(), false);
logger.Log(cString::Format("hoodScanLineStepWidth: %d", processingData.hoodScanLineStepWidth).GetPtr(), false);
logger.Log(cString::Format("roomScanLineStepWidth: %d", processingData.roomScanLineStepWidth).GetPtr(), false);
}
RETURN_NOERROR;
}
