OpenNIDevice::OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node,
const xn::NodeInfo& depth_node) throw (OpenNIException)
: device_node_info_ (device_node)
, context_ (context)
, running_ (true) // Must be initialized before the threads!
, image_thread_ (&OpenNIDevice::ImageDataThreadFunction, this)
, depth_thread_ (&OpenNIDevice::DepthDataThreadFunction, this)
{
// create the production nodes
XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
// get production node instances
status = depth_node.GetInstance (depth_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator instance failed. Reason: %s", xnGetStatusString (status));
status = image_node.GetInstance (image_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator instance failed. Reason: %s", xnGetStatusString (status));
}
XnMNodeInfo::XnMNodeInfo(xn::NodeInfo nodeInfo)
{
m_InstanceName = XnMHelper::CreateString(nodeInfo.GetInstanceName());
m_CreationInfo = XnMHelper::CreateString(nodeInfo.GetCreationInfo());
XnProductionNodeDescription desc = nodeInfo.GetDescription();
m_Vendor = XnMHelper::CreateString(desc.strVendor);
m_Name = XnMHelper::CreateString(desc.strName);
m_Type = (XnMProductionNodeType)desc.Type;
}
//----------------------------------------------
bool myDepthGenerator::setup(xn::NodeInfo const& node, int num){
if ( thisNum == 0) bDraw[thisNum] = true;
depthMAX = 8000;
depthMIN = 0;
thisNum = num;
XnStatus result = XN_STATUS_OK;
result = node.GetInstance(depth_generator);
if (result != XN_STATUS_OK) {
ofLogError("myDepthGenerator.setup()", xnGetStatusString(result));
return false;
} else {
depth_generator.SetMapOutputMode(out_put_modes);
return true;
}
for (int i = 0; i < TOTAL_PIXEL; i++) {
bgDepth[i] = depthMAX;
bgDepthChar[i] = 0;
}
bgImg.allocate(CAPTURE_WIDTH, CAPTURE_HEIGHT, OF_IMAGE_GRAYSCALE);
depthBgPixel.allocate(CAPTURE_WIDTH, CAPTURE_HEIGHT, 1);
loadBgImage();
vboMesh.setMode(OF_PRIMITIVE_POINTS);
vboMesh.disableNormals();
}
XnStatus XnExportedSensorImageGenerator::IsSupportedForDevice(xn::Context& context, xn::NodeInfo& sensorInfo, XnBool* pbSupported)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnExportedSensorGenerator::IsSupportedForDevice(context, sensorInfo, pbSupported);
XN_IS_STATUS_OK(nRetVal);
if (*pbSupported == FALSE)
{
return XN_STATUS_OK;
}
xn::Device sensor;
nRetVal = sensorInfo.GetInstance(sensor);
XN_IS_STATUS_OK(nRetVal);
XnUInt64 nImageSupported = FALSE;
if (sensor.IsValid())
{
nRetVal = sensor.GetIntProperty(XN_MODULE_PROPERTY_IMAGE_SUPPORTED, nImageSupported);
XN_IS_STATUS_OK(nRetVal);
}
else
{
// Don't create sensor through OpenNI. This will cause it to soft-reset.
// instead, "talk" directly to the sensor class
XnSensor lowLevelSensor(FALSE);
XnDeviceConfig config;
config.DeviceMode = XN_DEVICE_MODE_READ;
config.cpConnectionString = sensorInfo.GetCreationInfo();
config.SharingMode = XN_DEVICE_EXCLUSIVE;
config.pInitialValues = NULL;
nRetVal = lowLevelSensor.Init(&config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = lowLevelSensor.GetProperty(XN_MODULE_NAME_DEVICE, XN_MODULE_PROPERTY_IMAGE_SUPPORTED, &nImageSupported);
XN_IS_STATUS_OK(nRetVal);
}
if (nImageSupported != TRUE)
{
*pbSupported = FALSE;
}
return (XN_STATUS_OK);
}
//----------------------------------------------
bool myDepthGenerator::setup(xn::NodeInfo const& node, int num) {
depthMIN = 10000;
depthMAX = 0;
xtionNum = num;
XnStatus result = XN_STATUS_OK;
result = node.GetInstance(depth_generator);
if (result != XN_STATUS_OK) {
ofLogError("myDepthGenerator.setup()", xnGetStatusString(result));
return false;
} else {
depth_generator.SetMapOutputMode(out_put_modes);
return true;
}
}
openni_wrapper::OpenNIDevice::OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: context_ (context),
device_node_info_ (device_node)
{
// This magic value is taken from a calibration routine.
rgb_focal_length_SXGA_ = 1050;
// workaround for MAC from Alex Ichim
#ifdef __APPLE__
XnStatus rc;
xn::EnumerationErrors errors;
rc = context_.InitFromXmlFile ("/etc/openni/SamplesConfig.xml", &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf ("%s\n", strError);
}
else if (rc != XN_STATUS_OK)
{
printf ("Open failed: %s\n", xnGetStatusString(rc));
}
XnStatus status = context_.FindExistingNode(XN_NODE_TYPE_DEPTH, depth_generator_);
if (status != XN_STATUS_OK)
cerr << "node depth problems" << endl;
status = context_.FindExistingNode(XN_NODE_TYPE_IMAGE, image_generator_);
if (status != XN_STATUS_OK)
cerr << "node image problems" << endl;
status = context_.FindExistingNode(XN_NODE_TYPE_IR, ir_generator_);
if (status != XN_STATUS_OK)
cerr << "node ir problems" << endl;
#else
#if (XN_MINOR_VERSION >= 3)
// create the production nodes
XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node), depth_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node), image_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(ir_node), ir_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
#else
XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(ir_node));
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
// get production node instances
status = depth_node.GetInstance (depth_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating depth generator instance failed. Reason: %s", xnGetStatusString (status));
status = image_node.GetInstance (image_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating image generator instance failed. Reason: %s", xnGetStatusString (status));
status = ir_node.GetInstance (ir_generator_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("creating IR generator instance failed. Reason: %s", xnGetStatusString (status));
#endif // (XN_MINOR_VERSION >= 3)
ir_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewIRDataAvailable, this, ir_callback_handle_);
#endif // __APPLE__
depth_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewDepthDataAvailable, this, depth_callback_handle_);
image_generator_.RegisterToNewDataAvailable ((xn::StateChangedHandler)NewImageDataAvailable, this, image_callback_handle_);
Init ();
}
std::string NodeInfo_GetCreationInfo_wrapped(xn::NodeInfo& self){
return std::string(self.GetCreationInfo());
}
std::string NodeInfo_GetInstanceName_wrapped(xn::NodeInfo& self){
return std::string(self.GetInstanceName());
}
XnVersion NodeInfo_GetVersion_wrapped(xn::NodeInfo& self){
return self.GetDescription().Version;
}
std::string NodeInfo_GetName_wrapped(xn::NodeInfo& self){
return std::string(self.GetDescription().strName);
}
std::string NodeInfo_GetVendor_wrapped(xn::NodeInfo& self){
return std::string(self.GetDescription().strVendor);
}
XnProductionNodeType NodeInfo_GetNodeType_wrapped(xn::NodeInfo& self){
return self.GetDescription().Type;
}
