XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
{
XnStatus nRetVal = XN_STATUS_OK;
// register to any shift-to-depth property (so tables can be updated if needed)
const XnChar* propNames[] =
{
XN_STREAM_PROPERTY_MIN_DEPTH,
XN_STREAM_PROPERTY_MAX_DEPTH,
XN_STREAM_PROPERTY_CONST_SHIFT,
XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR,
XN_STREAM_PROPERTY_PARAM_COEFF,
XN_STREAM_PROPERTY_SHIFT_SCALE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE
};
XnUInt32 nPropCount = sizeof(propNames) / sizeof(const XnChar*);
XnCallbackHandle hDummy;
XnProperty* pProperty = NULL;
for (XnUInt32 i = 0; i < nPropCount; ++i)
{
nRetVal = m_pModule->GetProperty(propNames[i], &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(ShiftToDepthPropertyValueChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
}
// register for tables size properties
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
// now init the tables
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
// replace tables buffers
m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(XnDepthPixel));
m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnDeviceS2DTablesSizeChanged()
{
XnStatus nRetVal = XN_STATUS_OK;
// free the tables, and re-init them
XnShiftToDepthFree(&m_ShiftToDepthTables);
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = RaiseChangeEvents();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::OnDeviceS2DTablesSizeChanged()
{
XnStatus nRetVal = XN_STATUS_OK;
// free the tables, and re-init them
XnShiftToDepthFree(&m_ShiftToDepthTables);
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
// replace tables buffers
m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));
nRetVal = RaiseChangeEvents();
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
{
XnStatus nRetVal = XN_STATUS_OK;
xnLogVerbose("S2D", "test1");
// register to any shift-to-depth property (so tables can be updated if needed)
XnUInt32 propIds[] =
{
XN_STREAM_PROPERTY_MIN_DEPTH,
XN_STREAM_PROPERTY_MAX_DEPTH,
XN_STREAM_PROPERTY_CONST_SHIFT,
XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR,
XN_STREAM_PROPERTY_PARAM_COEFF,
XN_STREAM_PROPERTY_SHIFT_SCALE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE,
XN_STREAM_PROPERTY_OUTPUT_FORMAT,
XN_STREAM_PROPERTY_CUSTOM_S2D_TABLE_ID
};
xnLogVerbose("S2D", "test2");
XnUInt32 nPropCount = sizeof(propIds) / sizeof(propIds[0]);
xnLogVerbose("S2D", "test3");
XnCallbackHandle hDummy;
XnProperty* pProperty = NULL;
for (XnUInt32 i = 0; i < nPropCount; ++i)
{
xnLogVerbose("S2D", "test4");
nRetVal = m_pModule->GetProperty(propIds[i], &pProperty);
xnLogVerbose("S2D", "test5 %s", xnGetStatusString(nRetVal));
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(ShiftToDepthPropertyValueChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
xnLogVerbose("S2D", "test6");
}
// XnUInt64 CustomTableID = ((XnActualIntProperty*)pProperty)->GetValue();
// xnLogVerbose("S2D", "S2D custom table ID: %d", CustomTableID);
// register for tables size properties
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_MAX_SHIFT, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_DEVICE_MAX_DEPTH, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_OUTPUT_FORMAT, &pProperty);
XN_IS_STATUS_OK(nRetVal);
nRetVal = pProperty->OnChangeEvent().Register(DeviceS2DTablesSizeChangedCallback, this, hDummy);
XN_IS_STATUS_OK(nRetVal);
// now init the tables
XnShiftToDepthConfig Config;
nRetVal = GetShiftToDepthConfig(Config);
XN_IS_STATUS_OK(nRetVal);
nRetVal = XnShiftToDepthInit(&m_ShiftToDepthTables, &Config);
XN_IS_STATUS_OK(nRetVal);
// replace tables buffers
m_ShiftToDepthTable.ReplaceBuffer(m_ShiftToDepthTables.pShiftToDepthTable, m_ShiftToDepthTables.nShiftsCount * sizeof(OniDepthPixel));
m_DepthToShiftTable.ReplaceBuffer(m_ShiftToDepthTables.pDepthToShiftTable, m_ShiftToDepthTables.nDepthsCount * sizeof(XnUInt16));
return (XN_STATUS_OK);
}
XnStatus XnFileDevice::UpdateS2DTables(const xn::DepthGenerator& depth)
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt64 nTemp;
XnDouble dTemp;
// get config
XnShiftToDepthConfig config;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nZeroPlaneDistance = (XnDepthPixel)nTemp;
nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, dTemp);
XN_IS_STATUS_OK(nRetVal);
config.fZeroPlanePixelSize = (XnFloat)dTemp;
nRetVal = depth.GetRealProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, dTemp);
XN_IS_STATUS_OK(nRetVal);
config.fEmitterDCmosDistance = (XnFloat)dTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_MAX_SHIFT, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nDeviceMaxShiftValue = (XnUInt32)nTemp;
config.nDeviceMaxDepthValue = depth.GetDeviceMaxDepth();
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_CONST_SHIFT, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nConstShift = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PIXEL_SIZE_FACTOR, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nPixelSizeFactor = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_PARAM_COEFF, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nParamCoeff = (XnUInt32)nTemp;
nRetVal = depth.GetIntProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, nTemp);
XN_IS_STATUS_OK(nRetVal);
config.nShiftScale = (XnUInt32)nTemp;
config.nDepthMinCutOff = 0;
config.nDepthMaxCutOff = (XnDepthPixel)config.nDeviceMaxDepthValue;
if (!m_ShiftToDepth.bIsInitialized)
{
nRetVal = XnShiftToDepthInit(&m_ShiftToDepth, &config);
XN_IS_STATUS_OK(nRetVal);
}
else
{
nRetVal = XnShiftToDepthUpdate(&m_ShiftToDepth, &config);
XN_IS_STATUS_OK(nRetVal);
}
// notify
nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_S2D_TABLE, m_ShiftToDepth.nShiftsCount * sizeof(XnDepthPixel), m_ShiftToDepth.pShiftToDepthTable);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_pNotifications->OnNodeGeneralPropChanged(m_pNotificationsCookie, depth.GetName(), XN_STREAM_PROPERTY_D2S_TABLE, m_ShiftToDepth.nDepthsCount * sizeof(XnUInt16), m_ShiftToDepth.pDepthToShiftTable);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
