const AstraVideoMode astra_convert(const openni::VideoMode& input)
{
AstraVideoMode output;
output.x_resolution_ = input.getResolutionX();
output.y_resolution_ = input.getResolutionY();
output.frame_rate_ = input.getFps();
output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat());
return output;
}
static void dumpVM( const openni::VideoMode& vm ){
std::cout << "VideoMode: [" << vm.getResolutionX() << ", " << vm.getResolutionY() << "] @ " << vm.getFps();
switch( vm.getPixelFormat() ){
case openni::PIXEL_FORMAT_DEPTH_100_UM: std::cout << " DEPTH_100_UM" << std::endl; return;
case openni::PIXEL_FORMAT_DEPTH_1_MM: std::cout << " DEPTH_1_MM" << std::endl; return;
case openni::PIXEL_FORMAT_GRAY8: std::cout << " GRAY_U8" << std::endl; return;
case openni::PIXEL_FORMAT_GRAY16: std::cout << " GRAY_U16" << std::endl; return;
case openni::PIXEL_FORMAT_RGB888: std::cout << " RGB_888" << std::endl; return;
case openni::PIXEL_FORMAT_YUYV: std::cout << " YUYV" << std::endl; return;
case openni::PIXEL_FORMAT_YUV422: std::cout << " YUV422" << std::endl; return;
default:
std::cout << " unknown pxformat" << std::endl;
}
}
bool OpenNI2Interface::isModeSupported(const openni::VideoStream& stream,const openni::VideoMode& mode)
{
const auto& modes = stream.getSensorInfo().getSupportedVideoModes();
for(int i = 0; i < modes.getSize(); i++)
{
if(modes[i].getResolutionX() == mode.getResolutionX() &&
modes[i].getResolutionY() == mode.getResolutionY() &&
modes[i].getFps() == mode.getFps() &&
modes[i].getPixelFormat() == mode.getPixelFormat())
{
return true;
}
}
return false;
}
void OpenNI2Interface::printMode(const openni::VideoMode& mode)
{
std::map<int,std::string> formatNames;
formatNames[openni::PIXEL_FORMAT_DEPTH_1_MM] = "1mm";
formatNames[openni::PIXEL_FORMAT_DEPTH_100_UM] = "100um";
formatNames[openni::PIXEL_FORMAT_SHIFT_9_2] = "Shift 9 2";
formatNames[openni::PIXEL_FORMAT_SHIFT_9_3] = "Shift 9 3";
formatNames[openni::PIXEL_FORMAT_RGB888] = "RGB888";
formatNames[openni::PIXEL_FORMAT_YUV422] = "YUV422";
formatNames[openni::PIXEL_FORMAT_GRAY8] = "GRAY8";
formatNames[openni::PIXEL_FORMAT_GRAY16] = "GRAY16";
formatNames[openni::PIXEL_FORMAT_JPEG] = "JPEG";
cout << "(" << mode.getResolutionX() << "x" << mode.getResolutionY()
<< ", " << mode.getFps() << " fps, " << formatNames[mode.getPixelFormat()] << ")\n";
}
void KinectInterfacePrimesense::printMode(const openni::VideoMode& mode) {
std::cout << "Res: " << mode.getResolutionX() << "x";
std::cout << mode.getResolutionY() << ", fps = " << mode.getFps();
std::cout << ", format = " << formatToString(mode.getPixelFormat());
std::cout << std::endl;
}
bool NIModule::Initialize( const string& sDevice, const openni::VideoMode& rMode )
{
// initialize OpenNI
m_funcOnInfo( "Initialize OpenNI" );
if( OpenNI::initialize() != openni::STATUS_OK )
{
m_funcOnError( "Can't initialize OpenNI:\n " + string( OpenNI::getExtendedError() ) );
return false;
}
// Open OpenNI Device
m_funcOnInfo( "Open OpenNI Device" );
if( sDevice == "" )
{
if( m_Device.open( openni::ANY_DEVICE ) != openni::STATUS_OK )
{
m_funcOnError( "Can't open OpenNI Device:\n " + string( OpenNI::getExtendedError() ) );
return false;
}
}
else
{
if( m_Device.open( sDevice.c_str() ) != openni::STATUS_OK )
{
m_funcOnError( "Can't open OpenNI Device:\n " + string( OpenNI::getExtendedError() ) );
return false;
}
}
// create depth VideoStream
m_funcOnInfo( "Create OpenNI Depth VideoStream" );
if( m_DepthStream.create( m_Device, SENSOR_DEPTH ) != openni::STATUS_OK )
{
m_funcOnError( "Can't create OpenNI Depth VideoStream:\n " + string( OpenNI::getExtendedError() ) );
return false;
}
// Apply Video Mode
if( rMode.getFps() != 0 )
{
m_funcOnInfo( "Set OpenNI Depth VideoStream VideoMode" );
if( m_DepthStream.setVideoMode( rMode ) != openni::STATUS_OK )
{
m_funcOnError( "Can't apply OpenNI Depth VideoStream VideoMode:\n " + string( OpenNI::getExtendedError() ) );
return false;
}
}
m_DepthMode = m_DepthStream.getVideoMode();
// Initialize NiTE
m_funcOnInfo( "Initialize NiTE" );
if( NiTE::initialize() != nite::STATUS_OK )
{
m_funcOnError( "Can't initialize NiTE" );
return false;
}
// create UserTracker
m_funcOnInfo( "Cretae NiTE UserTracker" );
if( m_UserTracker.create( &m_Device ) != nite::STATUS_OK )
{
m_funcOnError( "Can't create NiTE User Tracker" );
return false;
}
return true;
}
