OpenNI2CameraImpl::OpenNI2CameraImpl(
const std::vector< StreamConfig >& streamConfig, const char* uri )
{
// TODO: do more validation: you can't have RGB and IR at the same
// time, etc.
// Then move it into a function and re-introduce const.
for( int i = 0; i < static_cast< int >( streamConfig.size() ); ++i )
{
if( streamConfig[ i ].type == StreamType::COLOR )
{
m_colorConfig = streamConfig[ i ];
break;
}
}
for( int i = 0; i < static_cast< int >( streamConfig.size() ); ++i )
{
if( streamConfig[ i ].type == StreamType::DEPTH )
{
m_depthConfig = streamConfig[ i ];
break;
}
}
for( int i = 0; i < static_cast< int >( streamConfig.size() ); ++i )
{
if( streamConfig[ i ].type == StreamType::INFRARED )
{
m_infraredConfig = streamConfig[ i ];
break;
}
}
const bool enableSync = true;
if( !OpenNI2CameraImpl::s_isOpenNIInitialized )
{
Status rc = OpenNI::initialize();
if( rc == STATUS_OK )
{
OpenNI2CameraImpl::s_isOpenNIInitialized = true;
}
}
if( OpenNI2CameraImpl::s_isOpenNIInitialized )
{
Status rc = m_device.open( uri );
if( rc == STATUS_OK )
{
rc = m_device.setDepthColorSyncEnabled( enableSync );
if( rc == STATUS_OK )
{
m_isValid = initializeStreams();
}
}
}
}
SpecificWorker::SpecificWorker(MapPrx& mprx) : GenericWorker(mprx)
{
openDevice();
initializeStreams();
///INICIALIZACION ATRIBUTOS GENERALES
registration=RoboCompRGBD::None; //A QUE INICIALIZO REGISTRATION????
///INICIALIZACION MUTEX
usersMutex = new QMutex();
RGBMutex = new QMutex();
depthMutex = new QMutex();
pointsMutex = new QMutex();
///INICIALIZACION ATRIBUTOS PARA PINTAR
mColor = new uint16_t [IMAGE_WIDTH*IMAGE_HEIGHT*3];
auxDepth = new uint8_t [IMAGE_WIDTH*IMAGE_HEIGHT*3];
qImgDepth = new QImage(IMAGE_WIDTH,IMAGE_HEIGHT,QImage::Format_Indexed8);
printf("\nStart moving around to get detected...\n(PSI pose may be required for skeleton calibration, depending on the configuration)\n");
setPeriod(15);
}
