void CVideoSourceKinect::initPlayer(std::string& strPathFileName_){
init();
_nMode = PLAYING_BACK;
PRINTSTR("Initialize OpenNI Player...");
//inizialization
Status nRetVal = openni::OpenNI::initialize();
printf("After initialization:\n%s\n", openni::OpenNI::getExtendedError());
nRetVal = _device.open(strPathFileName_.c_str()); CHECK_RC_(nRetVal, "Open oni file");
nRetVal = _depth.create(_device, openni::SENSOR_DEPTH); CHECK_RC_(nRetVal, "Initialize _cContext");
nRetVal = _color.create(_device, openni::SENSOR_COLOR); CHECK_RC_(nRetVal, "Initialize _cContext");
nRetVal = _depth.start(); CHECK_RC_(nRetVal, "Create depth video stream fail");
nRetVal = _color.start(); CHECK_RC_(nRetVal, "Create color video stream fail");
if (_depth.isValid() && _color.isValid())
{
VideoMode depthVideoMode = _depth.getVideoMode();
VideoMode colorVideoMode = _color.getVideoMode();
int depthWidth = depthVideoMode.getResolutionX();
int depthHeight = depthVideoMode.getResolutionY();
int colorWidth = colorVideoMode.getResolutionX();
int colorHeight = colorVideoMode.getResolutionY();
if (depthWidth != colorWidth || depthHeight != colorHeight)
{
printf("Warning - expect color and depth to be in same resolution: D: %dx%d, C: %dx%d\n",
depthWidth, depthHeight,
colorWidth, colorHeight);
//return ;
}
}
_streams = new VideoStream*[2];
_streams[0] = &_depth;
_streams[1] = &_color;
// set as the highest resolution 0 for 480x640
//register the depth generator with the image generator
if ( _nRawDataProcessingMethod == BIFILTER_IN_ORIGINAL || _nRawDataProcessingMethod == BIFILTER_IN_DISPARITY ){
nRetVal = _device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR);
//nRetVal = _depth.GetAlternativeViewPointCap().getGLModelViewMatrixPoint ( _color ); CHECK_RC_ ( nRetVal, "Getting and setting AlternativeViewPoint failed: " );
// Set Hole Filter
_device.setDepthColorSyncEnabled(TRUE);
}//if (_bUseNIRegistration)
PRINTSTR(" Done.");
return;
}//initPlayer()
void DeviceController::printVideoMode(VideoMode mode)
{
PixelFormat pixelFormat = mode.getPixelFormat();
string pixelFormatName;
switch (pixelFormat)
{
case PIXEL_FORMAT_DEPTH_1_MM:
{
pixelFormatName = "PIXEL_FORMAT_DEPTH_1_MM";
break;
}
case PIXEL_FORMAT_DEPTH_100_UM:
{
pixelFormatName = "PIXEL_FORMAT_DEPTH_100_UM";
break;
}
case PIXEL_FORMAT_SHIFT_9_2:
{
pixelFormatName = "PIXEL_FORMAT_SHIFT_9_2";
break;
}
case PIXEL_FORMAT_SHIFT_9_3:
{
pixelFormatName = "PIXEL_FORMAT_SHIFT_9_3";
break;
}
case PIXEL_FORMAT_RGB888:
{
pixelFormatName = "PIXEL_FORMAT_RGB888";
break;
}
case PIXEL_FORMAT_YUV422:
{
pixelFormatName = "PIXEL_FORMAT_YUV422";
break;
}
case PIXEL_FORMAT_GRAY8:
{
pixelFormatName = "PIXEL_FORMAT_GRAY8";
break;
}
case PIXEL_FORMAT_GRAY16:
{
pixelFormatName = "PIXEL_FORMAT_GRAY16";
break;
}
case PIXEL_FORMAT_JPEG:
{
pixelFormatName = "PIXEL_FORMAT_JPEG";
break;
}
}
ofLogVerbose() << "PixelFormat: " << pixelFormatName;
ofLogVerbose() << "ResolutionX: " << mode.getResolutionX();
ofLogVerbose() << "ResolutionY: " << mode.getResolutionY();
ofLogVerbose() << "FPS: " << mode.getFps();
}
DepthResolution XtionDepthDriverImpl::depthCameraResolution() const
{
const VideoMode mode = _stream.getVideoMode();
int res_x = mode.getResolutionX();
int res_y = mode.getResolutionY();
if((res_x == 320) && (res_y = 240)) {
return DEPTH_RESOLUTION_320_240;
} else if((res_x == 640) && (res_y = 480)) {
return DEPTH_RESOLUTION_640_480;
}
return DEPTH_INVALID_RESOLUTION;
}
void VideoSourceKinect::initKinect()
{
init();
cout<<("Initialize RGBD camera...");
//inizialization
Status nRetVal = openni::OpenNI::initialize();
printf("After initialization:\n%s\n", openni::OpenNI::getExtendedError());
nRetVal = _device.open(openni::ANY_DEVICE);
nRetVal = _depth.create(_device, openni::SENSOR_DEPTH);
_depth.setMirroringEnabled(false);
nRetVal = _color.create(_device, openni::SENSOR_COLOR);
_color.setMirroringEnabled(false);
_colorSensorInfo = _device.getSensorInfo(openni::SENSOR_COLOR);
if( setVideoMode(_uResolution) == STATUS_OK )
{
nRetVal = _depth.start();
nRetVal = _color.start();
}
if (_depth.isValid() && _color.isValid())
{
VideoMode depthVideoMode = _depth.getVideoMode();
VideoMode colorVideoMode = _color.getVideoMode();
int depthWidth = depthVideoMode.getResolutionX();
int depthHeight = depthVideoMode.getResolutionY();
int colorWidth = colorVideoMode.getResolutionX();
int colorHeight = colorVideoMode.getResolutionY();
if (depthWidth != colorWidth || depthHeight != colorHeight)
{
printf("Warning - expect color and depth to be in same resolution: D: %dx%d, C: %dx%d\n",
depthWidth, depthHeight,
colorWidth, colorHeight);
//return ;
}
}
_streams = new VideoStream*[2];
_streams[0] = &_depth;
_streams[1] = &_color;
// set as the highest resolution 0 for 480x640
char _serial[100];
int size = sizeof(_serial);
_device.getProperty(openni::DEVICE_PROPERTY_SERIAL_NUMBER, &_serial, &size);
_serial_number = string(_serial);
cout << _serial_number << endl;
boost::filesystem::path dir("..//" + _serial_number);
if (boost::filesystem::create_directory(dir))
std::cout << "Success" << "\n";
else
std::cout << "Fail" << "\n";
boost::filesystem::path dir_dep("..//" + _serial_number +"//depth//");
if (boost::filesystem::create_directory(dir_dep))
std::cout << "Success" << "\n";
else
std::cout << "Fail" << "\n";
Mat cpuClibXYxZ0, cpuMask0;
if (true){
_color.getCameraSettings()->setAutoExposureEnabled(false);
_color.getCameraSettings()->setAutoWhiteBalanceEnabled(false);
_color.getCameraSettings()->setExposure(_exposure);
_color.getCameraSettings()->setGain(_gain);
}
cout<<(" Done.");
return;
}
