DeviceKinect::DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
, debayering_method_ (ImageBayerGRBG::EdgeAwareWeighted)
{
// setup stream modes
enumAvailableModes ();
setDepthOutputMode (getDefaultDepthMode ());
setImageOutputMode (getDefaultImageMode ());
setIROutputMode (getDefaultIRMode ());
// device specific initialization
XnStatus status;
unique_lock<mutex> image_lock(image_mutex_);
// set kinect specific format. Thus input = uncompressed Bayer, output = grayscale = bypass = bayer
status = image_generator_.SetIntProperty ("InputFormat", 6);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed 8-bit BAYER. Reason: %s", xnGetStatusString (status));
// Grayscale: bypass debayering -> gives us bayer pattern!
status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_GRAYSCALE_8_BIT);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to 8bit-grayscale. Reason: %s", xnGetStatusString (status));
image_lock.unlock ();
lock_guard<mutex> depth_lock(depth_mutex_);
// RegistrationType should be 2 (software) for Kinect, 1 (hardware) for PS
status = depth_generator_.SetIntProperty ("RegistrationType", 2);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}
DevicePrimesense::DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
{
// setup stream modes
enumAvailableModes ();
setDepthOutputMode (getDefaultDepthMode ());
setImageOutputMode (getDefaultImageMode ());
setIROutputMode (getDefaultIRMode ());
unique_lock<mutex> image_lock(image_mutex_);
XnStatus status = image_generator_.SetIntProperty ("InputFormat", 5);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed YUV422. Reason: %s", xnGetStatusString (status));
status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_YUV422);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to YUV422. Reason: %s", xnGetStatusString (status));
image_lock.unlock ();
lock_guard<mutex> depth_lock(depth_mutex_);
status = depth_generator_.SetIntProperty ("RegistrationType", 1);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}
