void changeRegistration(int nValue)
{
if (!g_Depth.IsValid() || !g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
{
return;
}
if (!nValue)
{
g_Depth.GetAlternativeViewPointCap().ResetViewPoint();
}
else if (g_Image.IsValid())
{
g_Depth.GetAlternativeViewPointCap().SetViewPoint(g_Image);
}
}
bool getImageCoordinatesForDepthPixel(int x, int y, int& imageX, int& imageY)
{
if (!g_Depth.IsValid())
return false; // no depth
if (!g_Image.IsValid())
return false; // no image
if (!g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
return false;
XnUInt32 altX;
XnUInt32 altY;
if (XN_STATUS_OK != g_Depth.GetAlternativeViewPointCap().GetPixelCoordinatesInViewPoint(g_Image, x, y, altX, altY))
return false;
imageX = (int)altX;
imageY = (int)altY;
return true;
}
int Init()
{
XnStatus rc;
//Make sure our image types are the same as the OpenNI image types.
assert(sizeof(XnRGB24Pixel) == sizeof(ColorPixel));
assert(sizeof(XnDepthPixel) == sizeof(DepthPixel));
assert(sizeof(XnStatus) == sizeof(int));
// Load OpenNI xml settings
char filePath[255];
int length = Util::Helpers::GetExeDirectory(filePath, sizeof(filePath));
filePath[length] = '\\';
strcpy(&filePath[length+1], SAMPLE_XML_PATH);
EnumerationErrors errors;
rc = deviceContext.InitFromXmlFile(filePath, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
//One reason would be if Microsoft SDK is installed beside PrimeSense. Device manager should say PrimeSense instead of Microsoft Kinect.
//XnChar strError[1024];
//errors.ToString(strError, 1024);
//LOGE("%s\n", strError);
return -1;
}
else if (rc != XN_STATUS_OK)
{
fprintf(stderr, "%s\n", xnGetStatusString(rc));
/*LOGE("Open failed: %s\n", xnGetStatusString(rc));*/
return (rc);
}
// Retrieve colour and depth nodes
rc = deviceContext.FindExistingNode(XN_NODE_TYPE_IMAGE, colorImageGenerator);
rc = deviceContext.FindExistingNode(XN_NODE_TYPE_DEPTH, depthImageGenerator);
// Set mirror mode to off
SetMirrorMode(false);
// Get a frame to perform checks on it
ImageMetaData colorImageMetaData;
DepthMetaData depthImageMetaData;
depthImageGenerator.GetMetaData(depthImageMetaData);
colorImageGenerator.GetMetaData(colorImageMetaData);
// Hybrid mode isn't supported in this sample
if (colorImageMetaData.FullXRes() != depthImageMetaData.FullXRes() || colorImageMetaData.FullYRes() != depthImageMetaData.FullYRes())
{
/*LOGE("The device depth and image resolution must be equal!\n");*/
return 1;
}
// RGB is the only image format supported.
if (colorImageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
/*LOGE("The device image format must be RGB24\n");*/
return 1;
}
// Need to make sure the automatic alignment of colour and depth images is supported.
XnBool isSupported = depthImageGenerator.IsCapabilitySupported("AlternativeViewPoint");
if(!isSupported)
{
/*LOGE("Cannot set AlternativeViewPoint!\n");*/
return 1;
}
// Set it to VGA maps at 30 FPS
/*XnMapOutputMode mapMode;
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 60;
rc = g_depth.SetMapOutputMode(mapMode);
if(rc)
{
LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc));
return 1;
}
mapMode.nFPS = 30;
rc = g_image.SetMapOutputMode(mapMode);
if(rc)
{
LOGE("Failed to set image map mode: %s\n", xnGetStatusString(rc));
return 1;
}*/
// Set automatic alignment of the colour and depth images.
rc = depthImageGenerator.GetAlternativeViewPointCap().SetViewPoint(colorImageGenerator);
if(rc)
{
/*LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc));*/
return 1;
}
return XN_STATUS_OK;
}
void OpenNIRecorder::start( uint64_t nodeTypeFlags, std::string& filename )
{
XnStatus result;
// Create recorder
result = mRecorder.Create( *mDevice->getContext() ); //->CreateAnyProductionTree( XN_NODE_TYPE_RECORDER, NULL, mRecorder, &mErrors );
CHECK_RC( result, "[Recorder] Create recorder" );
//CHECK_RC_ERR( result, "Create recorder", mErrors );
result = mRecorder.SetDestination(XN_RECORD_MEDIUM_FILE, filename.c_str() );
CHECK_RC( result, "[Recorder] Set destination" );
ImageGenerator* image = NULL;
IRGenerator* ir = NULL;
DepthGenerator* depth = NULL;
if( nodeTypeFlags & NODE_TYPE_IMAGE )
{
image = mDevice->getImageGenerator();
mRecorder.AddNodeToRecording( *image ); //, XN_CODEC_JPEG );
}
if( nodeTypeFlags & NODE_TYPE_IR )
{
ir = mDevice->getIRGenerator();
mRecorder.AddNodeToRecording( *ir ); //, XN_CODEC_JPEG );
}
if( nodeTypeFlags & NODE_TYPE_DEPTH )
{
depth = mDevice->getDepthGenerator();
mRecorder.AddNodeToRecording( *depth ); //, XN_CODEC_16Z_EMB_TABLES );
}
if( nodeTypeFlags & NODE_TYPE_USER )
{
}
// Check for frame synchronization
if( depth->IsCapabilitySupported( XN_CAPABILITY_FRAME_SYNC ) )
{
if( (mNodeFlags&NODE_TYPE_DEPTH) && (mNodeFlags&NODE_TYPE_IMAGE) )
{
if( depth->GetFrameSyncCap().CanFrameSyncWith( *image ) )
{
result = depth->GetFrameSyncCap().FrameSyncWith( *image );
CHECK_RC( result, "Enable frame sync");
}
}
else if( (mNodeFlags&NODE_TYPE_DEPTH) && (mNodeFlags&NODE_TYPE_IR) )
{
if( depth->GetFrameSyncCap().CanFrameSyncWith( *ir ) )
{
result = depth->GetFrameSyncCap().FrameSyncWith( *ir );
CHECK_RC( result, "Enable frame sync");
}
}
}
// If everything is ok, set to record.
mIsRecording = true;
mIsPaused = false;
}