XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
{
	XnStatus nRetVal = XN_STATUS_OK;

	// register to any shift-to-depth property (so tables can be updated if needed)
	const XnChar* propNames[] = 
	{
		XN_STREAM_PROPERTY_MIN_DEPTH,
		XN_STREAM_PROPERTY_MAX_DEPTH,
		XN_STREAM_PROPERTY_CONST_SHIFT,
		XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR,
		XN_STREAM_PROPERTY_PARAM_COEFF,
		XN_STREAM_PROPERTY_SHIFT_SCALE,
		XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
		XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
		XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE
	};

	XnUInt32 nPropCount = sizeof(propNames) / sizeof(const XnChar*);

	XnCallbackHandle hDummy;

	XnProperty* pProperty = NULL;
	for (XnUInt32 i = 0; i < nPropCount; ++i)
	{
		nRetVal = m_pModule->GetProperty(propNames[i], &pProperty);
		XN_IS_STATUS_OK(nRetVal);

		nRetVal = pProperty->OnChangeEvent().Register(ShiftToDepthPropertyValueChangedCallback, this, hDummy);
		XN_IS_STATUS_OK(nRetVal);
	}

	// register for tables size properties
	nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &pProperty);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &pProperty);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
	XN_IS_STATUS_OK(nRetVal);

	// now init the tables
	XnShiftToDepthConfig Config;
	nRetVal = GetShiftToDepthConfig(Config);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
	XN_IS_STATUS_OK(nRetVal);

	// replace tables buffers
	m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(XnDepthPixel));
	m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));

	return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnDeviceS2DTablesSizeChanged()
{
	XnStatus nRetVal = XN_STATUS_OK;

	// free the tables, and re-init them
	XnShiftToDepthFree(&m_ShiftToDepthTables);

	XnShiftToDepthConfig Config;
	nRetVal = GetShiftToDepthConfig(Config);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = RaiseChangeEvents();
	XN_IS_STATUS_OK(nRetVal);

	return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnDeviceS2DTablesSizeChanged()
{
	XnStatus nRetVal = XN_STATUS_OK;

	// free the tables, and re-init them
	XnShiftToDepthFree(&m_ShiftToDepthTables);

	XnShiftToDepthConfig Config;
	nRetVal = GetShiftToDepthConfig(Config);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
	XN_IS_STATUS_OK(nRetVal);

	// replace tables buffers
	m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
	m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));

	nRetVal = RaiseChangeEvents();
	XN_IS_STATUS_OK(nRetVal);

	return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
{
	XnStatus nRetVal = XN_STATUS_OK;

	xnLogVerbose("S2D", "test1");
	// register to any shift-to-depth property (so tables can be updated if needed)
	XnUInt32 propIds[] = 
	{
		XN_STREAM_PROPERTY_MIN_DEPTH,
		XN_STREAM_PROPERTY_MAX_DEPTH,
		XN_STREAM_PROPERTY_CONST_SHIFT,
		XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR,
		XN_STREAM_PROPERTY_PARAM_COEFF,
		XN_STREAM_PROPERTY_SHIFT_SCALE,
		XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
		XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
		XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE,
		XN_STREAM_PROPERTY_OUTPUT_FORMAT,
		XN_STREAM_PROPERTY_CUSTOM_S2D_TABLE_ID
	};

	xnLogVerbose("S2D", "test2");
	
	
	XnUInt32 nPropCount = sizeof(propIds) / sizeof(propIds[0]);

	xnLogVerbose("S2D", "test3");
	
	XnCallbackHandle hDummy;

	XnProperty* pProperty = NULL;
	for (XnUInt32 i = 0; i < nPropCount; ++i)
	{
	  xnLogVerbose("S2D", "test4");
		nRetVal = m_pModule->GetProperty(propIds[i], &pProperty);
		xnLogVerbose("S2D", "test5 %s", xnGetStatusString(nRetVal));
		XN_IS_STATUS_OK(nRetVal);
		
	  
		nRetVal = pProperty->OnChangeEvent().Register(ShiftToDepthPropertyValueChangedCallback, this, hDummy);
		XN_IS_STATUS_OK(nRetVal);
		xnLogVerbose("S2D", "test6");
	}

// 	XnUInt64 CustomTableID = ((XnActualIntProperty*)pProperty)->GetValue();
//    	xnLogVerbose("S2D", "S2D custom table ID: %d", CustomTableID);
	
	// register for tables size properties
	nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &pProperty);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &pProperty);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_OUTPUT_FORMAT, &pProperty);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
	XN_IS_STATUS_OK(nRetVal);
	
	// now init the tables
	XnShiftToDepthConfig Config;
	nRetVal = GetShiftToDepthConfig(Config);
	XN_IS_STATUS_OK(nRetVal);

	nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
	XN_IS_STATUS_OK(nRetVal);

	// replace tables buffers
	m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
	m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));

	return (XN_STATUS_OK);
}
Esempio n. 5
0
XnStatus XnFileDevice::UpdateS2DTables(const xn::DepthGenerator& depth)
{
    XnStatus nRetVal = XN_STATUS_OK;

    XnUInt64 nTemp;
    XnDouble dTemp;

    // get config
    XnShiftToDepthConfig config;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nZeroPlaneDistance = (XnDepthPixel)nTemp;

    nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, dTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.fZeroPlanePixelSize = (XnFloat)dTemp;

    nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, dTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.fEmitterDCmosDistance = (XnFloat)dTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_MAX_SHIFT, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nDeviceMaxShiftValue = (XnUInt32)nTemp;

    config.nDeviceMaxDepthValue = depth.GetDeviceMaxDepth();

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_CONST_SHIFT, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nConstShift = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nPixelSizeFactor = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PARAM_COEFF, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nParamCoeff = (XnUInt32)nTemp;

    nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, nTemp);
    XN_IS_STATUS_OK(nRetVal);
    config.nShiftScale = (XnUInt32)nTemp;

    config.nDepthMinCutOff = 0;
    config.nDepthMaxCutOff = (XnDepthPixel)config.nDeviceMaxDepthValue;

    if (!m_ShiftToDepth.bIsInitialized)
    {
        nRetVal = XnShiftToDepthInit(&m_ShiftToDepth, &config);
        XN_IS_STATUS_OK(nRetVal);
    }
    else
    {
        nRetVal = XnShiftToDepthUpdate(&m_ShiftToDepth, &config);
        XN_IS_STATUS_OK(nRetVal);
    }

    // notify
    nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_S2D_TABLE, m_ShiftToDepth.nShiftsCount * sizeof(XnDepthPixel), m_ShiftToDepth.pShiftToDepthTable);
    XN_IS_STATUS_OK(nRetVal);

    nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_D2S_TABLE, m_ShiftToDepth.nDepthsCount * sizeof(XnUInt16), m_ShiftToDepth.pDepthToShiftTable);
    XN_IS_STATUS_OK(nRetVal);

    return (XN_STATUS_OK);
}