XnStatus XnSensorAudioStream::MapPropertiesToFirmware()
{
XnStatus nRetVal = XN_STATUS_OK;
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(SampleRateProperty(), GetFirmwareParams()->m_AudioSampleRate, FALSE, ConvertSampleRateToFirmwareRate));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(NumberOfChannelsProperty(), GetFirmwareParams()->m_AudioStereo, FALSE, ConvertNumberOfChannelsToStereo));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_LeftChannelVolume, GetFirmwareParams()->m_AudioLeftChannelGain, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_RightChannelVolume, GetFirmwareParams()->m_AudioRightChannelGain, TRUE));
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::OpenStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = GetFirmwareParams()->m_Stream1Mode.SetValue(XN_VIDEO_STREAM_DEPTH);
XN_IS_STATUS_OK(nRetVal);
// Cropping
if (m_FirmwareCropEnabled.GetValue() == TRUE)
{
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);
XN_IS_STATUS_OK(nRetVal);;
}
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropEnabled);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = XnDepthStream::Open();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::DecidePixelSizeFactor()
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt32 nPixelSizeFactor;
switch (GetFirmwareParams()->m_ReferenceResolution.GetValue())
{
case XN_RESOLUTION_SXGA:
nPixelSizeFactor = 1;
break;
case XN_RESOLUTION_VGA:
nPixelSizeFactor = 2;
break;
default:
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Can't resolve pixel size for reference resolution %llu", GetFirmwareParams()->m_ReferenceResolution.GetValue());
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
// due to some weird bug (we don't know the reason), DevKits older than 3.0 uses
// a smaller pixel size, but const shift remains the same. To work around this bug,
// we will just update pixel size, instead of updating pixel size factor (so that const
// shift will not be updated)
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize() * nPixelSizeFactor);
XN_IS_STATUS_OK(nRetVal);
}
else
{
PixelSizeFactorProperty().UnsafeUpdateValue(nPixelSizeFactor);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::ConfigureStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificDepthUsb->pUsbConnection->UsbEp);
nRetVal = SetActualRead(TRUE);
XN_IS_STATUS_OK(nRetVal);
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_InputFormat));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(ResolutionProperty()));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(FPSProperty()));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_HoleFilter));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_Gain));
// we need to turn decimation on when resolution is QVGA, and FPS is different than 60
// NOTE: this is ugly as hell. This logic should be moved to firmware.
XnBool bDecimation = (GetResolution() == XN_RESOLUTION_QVGA && GetFPS() != 60);
nRetVal = GetFirmwareParams()->m_DepthDecimation.SetValue(bDecimation);
XN_IS_STATUS_OK(nRetVal);
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareRegistration));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareMirror));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_GMCMode));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_WhiteBalance));
nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());
XN_IS_STATUS_OK(nRetVal);
return XN_STATUS_OK;
}
XnStatus XnSensorIRStream::OpenStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = GetFirmwareParams()->m_Stream0Mode.SetValue(XN_VIDEO_STREAM_IR);
XN_IS_STATUS_OK(nRetVal);
// Cropping
if (m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)
{
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);
XN_IS_STATUS_OK(nRetVal);;
}
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropMode);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = XnIRStream::Open();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorIRStream::ConfigureStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificImageUsb->pUsbConnection->UsbEp);
nRetVal = SetActualRead(TRUE);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Helper.ConfigureFirmware(ResolutionProperty());
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(FPSProperty());
XN_IS_STATUS_OK(nRetVal);;
// IR mirror is always off in firmware
nRetVal = GetFirmwareParams()->m_IRMirror.SetValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
// CMOS
if (GetResolution() != XN_RESOLUTION_SXGA)
{
nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorAudioStream::OpenStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = GetFirmwareParams()->m_Stream2Mode.SetValue(XN_AUDIO_STREAM_ON);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnAudioStream::Open();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorAudioStream::CloseStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = GetFirmwareParams()->m_Stream2Mode.SetValue(XN_AUDIO_STREAM_OFF);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnAudioStream::Close();
XN_IS_STATUS_OK(nRetVal);
nRetVal = SetActualRead(FALSE);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorIRStream::MapPropertiesToFirmware()
{
XnStatus nRetVal = XN_STATUS_OK;
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_IRResolution, FALSE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_IRFPS, FALSE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_IRCropSizeX, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_IRCropSizeY, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_IRCropOffsetX, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_IRCropOffsetY, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_IRCropEnabled, TRUE));
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::Free()
{
DepthUtilsShutdown(&m_depthUtilsHandle);
// unregister from external properties (internal ones will be destroyed anyway...)
if (m_hReferenceSizeChangedCallback != NULL)
{
GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Unregister(m_hReferenceSizeChangedCallback);
m_hReferenceSizeChangedCallback = NULL;
}
m_Helper.Free();
XnDepthStream::Free();
return (XN_STATUS_OK);
}
XnStatus XnSensorImageStream::OpenStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = GetFirmwareParams()->m_Stream0Mode.SetValue(XN_VIDEO_STREAM_COLOR);
XN_IS_STATUS_OK(nRetVal);
// Cropping
if (m_FirmwareCropEnabled.GetValue() == TRUE)
{
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropSizeX));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropSizeY));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY));
}
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropEnabled));
nRetVal = XnImageStream::Open();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::OpenStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
// Turn stream on
nRetVal = GetFirmwareParams()->m_Stream1Mode.SetValue(XN_VIDEO_STREAM_DEPTH);
XN_IS_STATUS_OK(nRetVal);
// CloseRange
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_5_6)
{
CloseRangeControl((XnBool)m_CloseRange.GetValue());
}
else
{
nRetVal = m_Helper.ConfigureFirmware(m_CloseRange);
XN_IS_STATUS_OK(nRetVal);
}
// Cropping
if (m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)
{
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);
XN_IS_STATUS_OK(nRetVal);;
}
nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropMode);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = XnDepthStream::Open();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::ConfigureStreamImpl()
{
XnStatus nRetVal = XN_STATUS_OK;
xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificDepthUsb->pUsbConnection->UsbEp);
nRetVal = SetActualRead(TRUE);
XN_IS_STATUS_OK(nRetVal);
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_InputFormat));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(ResolutionProperty()));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(FPSProperty()));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_HoleFilter));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_Gain));
// we need to turn decimation on when resolution is QVGA, and FPS is different than 60
// NOTE: this is ugly as hell. This logic should be moved to firmware.
XnBool bDecimation = (GetResolution() == XN_RESOLUTION_QVGA && GetFPS() != 60);
nRetVal = GetFirmwareParams()->m_DepthDecimation.SetValue(bDecimation);
XN_IS_STATUS_OK(nRetVal);
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareRegistration));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareMirror));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_GMCMode));
XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_WhiteBalance));
nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());
XN_IS_STATUS_OK(nRetVal);
// --avin mod--
//Turn off the IR projector anti-cover thingy. I find it annoying and It's off on the XBox360 so it must be safe :-)
//This is probably not the best way to do it, but adding it as a real param is too much work for me at the moment...
XnHostProtocolSetParam(GetHelper()->GetPrivateData(), 0x105, 0);
return XN_STATUS_OK;
}
XnStatus XnSensorDepthStream::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// init base
nRetVal = XnDepthStream::Init();
XN_IS_STATUS_OK(nRetVal);
// start with no cut-off
nRetVal = MaxDepthProperty().UnsafeUpdateValue(XN_DEVICE_SENSOR_MAX_DEPTH_100_UM);
XN_IS_STATUS_OK(nRetVal);
m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this);
m_DepthRegistration.UpdateSetCallback(SetRegistrationCallback, this);
m_HoleFilter.UpdateSetCallback(SetHoleFilterCallback, this);
m_WhiteBalance.UpdateSetCallback(SetWhiteBalanceCallback, this);
m_Gain.UpdateSetCallback(SetGainCallback, this);
m_RegistrationType.UpdateSetCallback(SetRegistrationTypeCallback, this);
m_AGCBin.UpdateSetCallback(SetAGCBinCallback, this);
m_AGCBin.UpdateGetCallback(GetAGCBinCallback, this);
m_GMCMode.UpdateSetCallback(SetGMCModeCallback, this);
m_CloseRange.UpdateSetCallback(SetCloseRangeCallback, this);
m_CroppingMode.UpdateSetCallback(SetCroppingModeCallback, this);
m_PixelRegistration.UpdateGetCallback(GetPixelRegistrationCallback, this);
m_GMCDebug.UpdateSetCallback(SetGMCDebugCallback, this);
m_WavelengthCorrection.UpdateSetCallback(SetWavelengthCorrectionCallback, this);
m_WavelengthCorrectionDebug.UpdateSetCallback(SetWavelengthCorrectionDebugCallback, this);
XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_DepthRegistration, &m_HoleFilter,
&m_WhiteBalance, &m_Gain, &m_AGCBin, &m_ActualRead, &m_GMCMode,
&m_CloseRange, &m_CroppingMode, &m_RegistrationType, &m_PixelRegistration,
&m_HorizontalFOV, &m_VerticalFOV, &m_GMCDebug, &m_WavelengthCorrection, &m_WavelengthCorrectionDebug,
);
// register supported modes
XnCmosPreset* pSupportedModes = m_Helper.GetPrivateData()->FWInfo.depthModes.GetData();
XnUInt32 nSupportedModes = m_Helper.GetPrivateData()->FWInfo.depthModes.GetSize();
nRetVal = AddSupportedModes(pSupportedModes, nSupportedModes);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetPrivateData()->pSensor->IsLowBandwidth())
{
nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_DEPTH_FORMAT_COMPRESSED_PS);
XN_IS_STATUS_OK(nRetVal);
}
// make sure default resolution is supported
XnBool bResSupported = FALSE;
for (XnUInt8 i = 0; i < nSupportedModes; ++i)
{
if (pSupportedModes[i].nResolution == XN_DEPTH_STREAM_DEFAULT_RESOLUTION)
{
bResSupported = TRUE;
break;
}
}
XnUInt64 nDefaultResolution = XN_DEPTH_STREAM_DEFAULT_RESOLUTION;
if (!bResSupported)
{
// QVGA was always supported
nDefaultResolution = XN_RESOLUTION_QVGA;
}
nRetVal = ResolutionProperty().UnsafeUpdateValue(nDefaultResolution);
XN_IS_STATUS_OK(nRetVal);
// set other properties default values
nRetVal = FPSProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_FPS);
XN_IS_STATUS_OK(nRetVal);
nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);
XN_IS_STATUS_OK(nRetVal);
// read some data from firmware
XnDepthInformation DepthInformation;
nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());
XN_IS_STATUS_OK(nRetVal);
nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());
XN_IS_STATUS_OK(nRetVal);
XnDouble fZPPS = m_Helper.GetFixedParams()->GetZeroPlanePixelSize();
XnInt nZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();
nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/nZPD));
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/nZPD));
XN_IS_STATUS_OK(nRetVal);
// init helper
nRetVal = m_Helper.Init(this, this);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_5_2)
{
nRetVal = m_WavelengthCorrection.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)
{
nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware
if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)
{
nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());
XN_IS_STATUS_OK(nRetVal);
}
// registration
XnCallbackHandle hCallbackDummy;
nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());
XN_IS_STATUS_OK(nRetVal);
// data processor
nRetVal = m_Helper.RegisterDataProcessorProperty(m_InputFormat);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty());
XN_IS_STATUS_OK(nRetVal);
// pixel size factor
nRetVal = GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Register(DecidePixelSizeFactorCallback, this, m_hReferenceSizeChangedCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecidePixelSizeFactor();
XN_IS_STATUS_OK(nRetVal);
// initialize registration
if (m_Helper.GetFirmwareVersion() > XN_SENSOR_FW_VER_5_3)
{
nRetVal = PopulateSensorCalibrationInfo();
XN_IS_STATUS_OK(nRetVal);
nRetVal = DepthUtilsInitialize(&m_calibrationInfo, &m_depthUtilsHandle);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DepthUtilsSetDepthConfiguration(m_depthUtilsHandle, GetXRes(), GetYRes(), GetOutputFormat(), IsMirrored());
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorImageStream::MapPropertiesToFirmware()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = m_Helper.MapFirmwareProperty(m_InputFormat, GetFirmwareParams()->m_ImageFormat, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_ImageResolution, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_ImageFPS, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_AntiFlicker, GetFirmwareParams()->m_ImageFlickerDetection, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_ImageQuality, GetFirmwareParams()->m_ImageQuality, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareMirror, GetFirmwareParams()->m_ImageMirror, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_ImageCropSizeX, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_ImageCropSizeY, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_ImageCropOffsetX, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_ImageCropOffsetY, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_ImageCropEnabled, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_Sharpness, GetFirmwareParams()->m_ImageSharpness, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareAutoWhiteBalance, GetFirmwareParams()->m_ImageAutoWhiteBalance, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareColorTemperature, GetFirmwareParams()->m_ImageColorTemperature, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_BackLightCompensation, GetFirmwareParams()->m_ImageBacklightCompensation, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_Gain, GetFirmwareParams()->m_ImageGain, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareExposure, GetFirmwareParams()->m_ImageExposureBar, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareAutoExposure, GetFirmwareParams()->m_ImageAutoExposure, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_LowLightCompensation, GetFirmwareParams()->m_ImageLowLightCompensation, TRUE);
XN_IS_STATUS_OK(nRetVal);;
return (XN_STATUS_OK);
}
XnStatus XnSensorImageStream::MapPropertiesToFirmware()
{
XnStatus nRetVal = XN_STATUS_OK;
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_InputFormat, GetFirmwareParams()->m_ImageFormat, FALSE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_ImageResolution, FALSE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_ImageFPS, FALSE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_AntiFlicker, GetFirmwareParams()->m_ImageFlickerDetection, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_ImageQuality, GetFirmwareParams()->m_ImageQuality, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareMirror, GetFirmwareParams()->m_ImageMirror, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_ImageCropSizeX, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_ImageCropSizeY, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_ImageCropOffsetX, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_ImageCropOffsetY, TRUE));
XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_ImageCropEnabled, TRUE));
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = SetBufferPool(&m_BufferPool);
XN_IS_STATUS_OK(nRetVal);
// init base
nRetVal = XnDepthStream::Init();
XN_IS_STATUS_OK(nRetVal);
m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this);
m_DepthRegistration.UpdateSetCallback(SetRegistrationCallback, this);
m_HoleFilter.UpdateSetCallback(SetHoleFilterCallback, this);
m_WhiteBalance.UpdateSetCallback(SetWhiteBalanceCallback, this);
m_Gain.UpdateSetCallback(SetGainCallback, this);
m_RegistrationType.UpdateSetCallback(SetRegistrationTypeCallback, this);
m_AGCBin.UpdateSetCallback(SetAGCBinCallback, this);
m_AGCBin.UpdateGetCallback(GetAGCBinCallback, this);
m_GMCMode.UpdateSetCallback(SetGMCModeCallback, this);
XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_DepthRegistration, &m_HoleFilter,
&m_WhiteBalance, &m_Gain, &m_AGCBin, &m_SharedBufferName, &m_ActualRead, &m_GMCMode,
&m_RegistrationType);
if (m_Helper.GetPrivateData()->pSensor->IsLowBandwidth())
{
nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_DEPTH_FORMAT_COMPRESSED_PS);
XN_IS_STATUS_OK(nRetVal);
}
// set base properties default values
nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_RESOLUTION);
XN_IS_STATUS_OK(nRetVal);
nRetVal = FPSProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_FPS);
XN_IS_STATUS_OK(nRetVal);
nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);
XN_IS_STATUS_OK(nRetVal);
// read some data from firmware
XnDepthInformation DepthInformation;
nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());
XN_IS_STATUS_OK(nRetVal);
nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());
XN_IS_STATUS_OK(nRetVal);
// init helper
nRetVal = m_Helper.Init(this, this);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)
{
nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware
if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)
{
nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());
XN_IS_STATUS_OK(nRetVal);
}
// registration
XnCallbackHandle hCallbackDummy;
nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, &hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());
XN_IS_STATUS_OK(nRetVal);
// data processor
nRetVal = m_Helper.RegisterDataProcessorProperty(m_InputFormat);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty());
XN_IS_STATUS_OK(nRetVal);
// pixel size factor
nRetVal = GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Register(DecidePixelSizeFactorCallback, this, &m_hReferenceSizeChangedCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecidePixelSizeFactor();
XN_IS_STATUS_OK(nRetVal);
// register supported modes
XnCmosPreset aSupportedModes[] =
{
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_VGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_VGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_VGA, 30 },
};
nRetVal = AddSupportedModes(aSupportedModes, sizeof(aSupportedModes)/sizeof(aSupportedModes[0]));
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2)
{
XnCmosPreset aSupportedModes25[] =
{
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_VGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_VGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_VGA, 25 },
};
nRetVal = AddSupportedModes(aSupportedModes25, sizeof(aSupportedModes25)/sizeof(aSupportedModes25[0]));
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::MapPropertiesToFirmware()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = m_Helper.MapFirmwareProperty(m_InputFormat, GetFirmwareParams()->m_DepthFormat, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_DepthResolution, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_DepthFPS, FALSE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_HoleFilter, GetFirmwareParams()->m_DepthHoleFilter, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_Gain, GetFirmwareParams()->m_DepthGain, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_WhiteBalance, GetFirmwareParams()->m_DepthWhiteBalance, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareMirror, GetFirmwareParams()->m_DepthMirror, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareRegistration, GetFirmwareParams()->m_RegistrationEnabled, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_DepthCropSizeX, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_DepthCropSizeY, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_DepthCropOffsetX, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_DepthCropOffsetY, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_DepthCropEnabled, TRUE);
XN_IS_STATUS_OK(nRetVal);;
nRetVal = m_Helper.MapFirmwareProperty(m_GMCMode, GetFirmwareParams()->m_GMCMode, TRUE);
XN_IS_STATUS_OK(nRetVal);;
return (XN_STATUS_OK);
}