void OpenNi2Video::UpdateProperties()
{
json::value& jsopenni = device_properties["openni"];
json::value& jsdevices = jsopenni["devices"];
jsdevices = json::value(json::array_type,false);
jsdevices.get<json::array>().resize(numDevices);
for (size_t i=0; i<numDevices; ++i) {
json::value& jsdevice = jsdevices[i];
#define SET_PARAM(param_type, param) \
{ \
param_type val; \
if(devices[i].getProperty(param, &val) == openni::STATUS_OK) { \
jsdevice[#param] = val; \
} \
}
SET_PARAM( unsigned long long, XN_MODULE_PROPERTY_USB_INTERFACE );
SET_PARAM( bool, XN_MODULE_PROPERTY_MIRROR );
char serialNumber[1024];
devices[i].getProperty(ONI_DEVICE_PROPERTY_SERIAL_NUMBER, &serialNumber);
jsdevice["ONI_DEVICE_PROPERTY_SERIAL_NUMBER"] = std::string(serialNumber);
#undef SET_PARAM
}
json::value& stream = jsopenni["streams"];
stream = json::value(json::array_type,false);
stream.get<json::array>().resize(Streams().size());
for(unsigned int i=0; i<Streams().size(); ++i) {
if(sensor_type[i].sensor_type != OpenNiUnassigned)
{
#define SET_PARAM(param_type, param) \
{\
param_type val; \
if(video_stream[i].getProperty(param, &val) == openni::STATUS_OK) { \
jsstream[#param] = val; \
} \
}
json::value& jsstream = stream[i];
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_INPUT_FORMAT );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_CROPPING_MODE );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_CLOSE_RANGE );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_WHITE_BALANCE_ENABLED );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_GAIN );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_HOLE_FILTER );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_REGISTRATION_TYPE );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_CONST_SHIFT );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_MAX_SHIFT );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_PARAM_COEFF );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_SHIFT_SCALE );
SET_PARAM( unsigned long long, XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE );
SET_PARAM( double, XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE );
SET_PARAM( double, XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE );
SET_PARAM( double, XN_STREAM_PROPERTY_DCMOS_RCMOS_DISTANCE );
#undef SET_PARAM
}
}
}
PerforceDepotView::Streams PerforceDepotView::GetStreams()
{
std::string cmd = "streams";
auto results = RunCommand(cmd);
if (!results || results->hasErrors())
return Streams();
std::string output = results->output();
if (output.empty())
return Streams();
size_t start = 0;
std::string token = "\n\n";
auto end = output.find(token);
Streams streams;
while (start != output.length() && end != std::string::npos)
{
auto chunk = output.substr(start, end - start);
if (!chunk.empty())
{
auto info = ParseResults(chunk);
if (info.find("Stream") != info.end())
{
streams[info["Stream"]] = (std::move(info));
}
}
start = end + token.size();
end = output.find("\n\n", start);
}
return streams;
}
void OpenNi2Video::SetDepthCloseRange(bool enable)
{
// Set this property on all streams. It doesn't matter if it fails.
for(unsigned int i=0; i<Streams().size(); ++i) {
video_stream[i].setProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, enable);
}
}
void OpenNi2Video::SetMirroring(bool enable)
{
// Set this property on all streams. It doesn't matter if it fails.
for(unsigned int i=0; i<Streams().size(); ++i) {
video_stream[i].setMirroringEnabled(enable);
}
}
void OpenNi2Video::SetDepthHoleFilter(bool enable)
{
// Set this property on all streams. It doesn't matter if it fails.
for(unsigned int i=0; i<Streams().size(); ++i) {
video_stream[i].setProperty(XN_STREAM_PROPERTY_HOLE_FILTER, enable);
video_stream[i].setProperty(XN_STREAM_PROPERTY_GAIN,50);
}
}
void OpenNi2Video::SetAutoWhiteBalance(bool enable)
{
// Set this property on all streams exposing CameraSettings
for(unsigned int i=0; i<Streams().size(); ++i) {
openni::CameraSettings* cam = video_stream[i].getCameraSettings();
if(cam) cam->setAutoWhiteBalanceEnabled(enable);
}
}
void DebayerVideo::ProcessStreams(unsigned char* out, const unsigned char *in)
{
for(size_t s=0; s<streams.size(); ++s) {
const StreamInfo& stin = videoin[0]->Streams()[s];
if(stin.PixFormat().bpp == 8) {
Image<unsigned char> img_in = stin.StreamImage(in);
Image<unsigned char> img_out = Streams()[s].StreamImage(out);
ProcessImage(img_out, img_in, methods[s], tile);
}else if(stin.PixFormat().bpp == 16){
Image<uint16_t> img_in = stin.StreamImage(in).Reinterpret<uint16_t>();
Image<uint16_t> img_out = Streams()[s].StreamImage(out).Reinterpret<uint16_t>();
ProcessImage(img_out, img_in, methods[s], tile);
}else{
throw std::runtime_error("debayer: unhandled format combination: " + stin.PixFormat().format );
}
}
}
void MergeVideo::CopyBuffer(unsigned char* dst_bytes, unsigned char* src_bytes)
{
Image<unsigned char> dst_image = Streams()[0].StreamImage(dst_bytes);
const size_t dst_pix_bytes = Streams()[0].PixFormat().bpp / 8;
for(size_t i=0; i < stream_pos.size(); ++i) {
const StreamInfo& src_stream = src->Streams()[i];
const Image<unsigned char> src_image = src_stream.StreamImage(src_bytes);
const Point& p = stream_pos[i];
for(size_t y=0; y < src_stream.Height(); ++y) {
// Copy row from src to dst
std::memcpy(
dst_image.RowPtr(y + p.y) + p.x * dst_pix_bytes,
src_image.RowPtr(y), src_stream.RowBytes()
);
}
}
}
bool OpenNi2Video::GrabNext( unsigned char* image, bool /*wait*/ )
{
unsigned char* out_img = image;
openni::Status rc = openni::STATUS_OK;
for(unsigned int i=0; i<Streams().size(); ++i) {
if(sensor_type[i].sensor_type == OpenNiUnassigned) {
rc = openni::STATUS_OK;
continue;
}
if(!video_stream[i].isValid()) {
rc = openni::STATUS_NO_DEVICE;
continue;
}
if(use_ir_and_rgb) video_stream[i].start();
rc = video_stream[i].readFrame(&video_frame[i]);
video_frame[0].getFrameIndex();
if(rc != openni::STATUS_OK) {
pango_print_error("Error reading frame:\n%s", openni::OpenNI::getExtendedError() );
}
const bool toGreyscale = false;
if(toGreyscale) {
const int w = streams[i].Width();
const int h = streams[i].Height();
openni::RGB888Pixel* pColour = (openni::RGB888Pixel*)video_frame[i].getData();
for(int i = 0 ; i < w*h;i++){
openni::RGB888Pixel rgb = pColour[i];
int grey = ((int)(rgb.r&0xFF) + (int)(rgb.g&0xFF) + (int)(rgb.b&0xFF))/3;
grey = std::min(255,std::max(0,grey));
out_img[i] = grey;
}
}else{
memcpy(out_img, video_frame[i].getData(), streams[i].SizeBytes());
}
// update frame properties
(*streams_properties)[i]["devtime_us"] = video_frame[i].getTimestamp();
if(use_ir_and_rgb) video_stream[i].stop();
out_img += streams[i].SizeBytes();
}
current_frame_index = video_frame[0].getFrameIndex();
return rc == openni::STATUS_OK;
}
bool VideoInput::Grab( unsigned char* buffer, std::vector<Image<unsigned char> >& images, bool wait, bool newest)
{
if( !video_src ) throw VideoException("No video source open");
bool success;
if(newest) {
success = GrabNewest(buffer, wait);
}else{
success = GrabNext(buffer, wait);
}
if(success) {
images.clear();
for(size_t s=0; s < Streams().size(); ++s) {
images.push_back(Streams()[s].StreamImage(buffer));
}
}
return success;
}
//! Implement VideoInput::GrabNext()
bool DebayerVideo::GrabNext( unsigned char* image, bool wait )
{
if(videoin[0]->GrabNext(buffer,wait)) {
for(size_t s=0; s<streams.size(); ++s) {
Image<unsigned char> img_in = videoin[0]->Streams()[s].StreamImage(buffer);
Image<unsigned char> img_out = Streams()[s].StreamImage(image);
#ifdef HAVE_DC1394
dc1394_bayer_decoding_8bit(
img_in.ptr, img_out.ptr, img_in.w, img_in.h,
(dc1394color_filter_t)tile, (dc1394bayer_method_t)method
);
#else
// use our simple debayering instead
DownsampleDebayer(img_out, img_in, tile);
#endif
}
return true;
}else{
return false;
}
}
void DebayerVideo::ProcessStreams(unsigned char* out, const unsigned char *in)
{
for(size_t s=0; s<streams.size(); ++s) {
const StreamInfo& stin = videoin[0]->Streams()[s];
Image<unsigned char> img_in = stin.StreamImage(in);
Image<unsigned char> img_out = Streams()[s].StreamImage(out);
if(methods[s] == BAYER_METHOD_NONE) {
const size_t num_bytes = std::min(img_in.w, img_out.w) * stin.PixFormat().bpp / 8;
for(size_t y=0; y < img_out.h; ++y) {
std::memcpy(img_out.RowPtr((int)y), img_in.RowPtr((int)y), num_bytes);
}
}else if(stin.PixFormat().bpp == 8) {
ProcessImage(img_out, img_in, methods[s], tile);
}else if(stin.PixFormat().bpp == 16){
Image<uint16_t> img_in16 = img_in.UnsafeReinterpret<uint16_t>();
Image<uint16_t> img_out16 = img_out.UnsafeReinterpret<uint16_t>();
ProcessImage(img_out16, img_in16, methods[s], tile);
}else {
throw std::runtime_error("debayer: unhandled format combination: " + stin.PixFormat().format );
}
}
}
void OpenNi2Video::Stop()
{
for(unsigned int i=0; i<Streams().size(); ++i) {
video_stream[i].stop();
}
}
