DeviceKinect::DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
, debayering_method_ (ImageBayerGRBG::EdgeAwareWeighted)
{
// setup stream modes
enumAvailableModes ();
setDepthOutputMode (getDefaultDepthMode ());
setImageOutputMode (getDefaultImageMode ());
setIROutputMode (getDefaultIRMode ());
// device specific initialization
XnStatus status;
unique_lock<mutex> image_lock(image_mutex_);
// set kinect specific format. Thus input = uncompressed Bayer, output = grayscale = bypass = bayer
status = image_generator_.SetIntProperty ("InputFormat", 6);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed 8-bit BAYER. Reason: %s", xnGetStatusString (status));
// Grayscale: bypass debayering -> gives us bayer pattern!
status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_GRAYSCALE_8_BIT);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to 8bit-grayscale. Reason: %s", xnGetStatusString (status));
image_lock.unlock ();
lock_guard<mutex> depth_lock(depth_mutex_);
// RegistrationType should be 2 (software) for Kinect, 1 (hardware) for PS
status = depth_generator_.SetIntProperty ("RegistrationType", 2);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}
DevicePrimesense::DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
{
// setup stream modes
enumAvailableModes ();
setDepthOutputMode (getDefaultDepthMode ());
setImageOutputMode (getDefaultImageMode ());
setIROutputMode (getDefaultIRMode ());
unique_lock<mutex> image_lock(image_mutex_);
XnStatus status = image_generator_.SetIntProperty ("InputFormat", 5);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed YUV422. Reason: %s", xnGetStatusString (status));
status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_YUV422);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to YUV422. Reason: %s", xnGetStatusString (status));
image_lock.unlock ();
lock_guard<mutex> depth_lock(depth_mutex_);
status = depth_generator_.SetIntProperty ("RegistrationType", 1);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}
void OpenNIDevice::Init () throw (OpenNIException)
{
// call virtual function to find available modes specifically for each device type
this->getAvailableModes ();
// set Depth resolution here only once... since no other mode for kinect is available -> deactivating setDepthResolution method!
setDepthOutputMode (getDefaultDepthMode ());
setImageOutputMode (getDefaultImageMode ());
XnDouble pixel_size;
unique_lock<mutex> depth_lock (depth_mutex_);
XnStatus status = depth_generator_.GetRealProperty ("ZPPS", pixel_size);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("reading the pixel size of IR camera failed. Reason: %s", xnGetStatusString (status));
XnUInt64 depth_focal_length_SXGA;
status = depth_generator_.GetIntProperty ("ZPD", depth_focal_length_SXGA);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("reading the focal length of IR camera failed. Reason: %s", xnGetStatusString (status));
XnDouble baseline;
status = depth_generator_.GetRealProperty ("LDDIS", baseline);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("reading the baseline failed. Reason: %s", xnGetStatusString (status));
status = depth_generator_.GetIntProperty ("ShadowValue", shadow_value_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("reading the value for pixels in shadow regions failed. Reason: %s", xnGetStatusString (status));
status = depth_generator_.GetIntProperty ("NoSampleValue", no_sample_value_);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("reading the value for pixels with no depth estimation failed. Reason: %s", xnGetStatusString (status));
// baseline from cm -> meters
baseline_ = (float)(baseline * 0.01);
//focal length from mm -> pixels (valid for 1280x1024)
depth_focal_length_SXGA_ = (float)depth_focal_length_SXGA / pixel_size;
//register callback functions
depth_generator_.RegisterToNewDataAvailable (OpenNIDevice::NewDepthDataAvailable, this, depth_callback_handle_);
depth_lock.unlock ();
lock_guard<mutex> image_lock (image_mutex_);
image_generator_.RegisterToNewDataAvailable (OpenNIDevice::NewImageDataAvailable, this, image_callback_handle_);
}