XnStatus XnSensor::InitSensor(const XnDeviceConfig* pDeviceConfig)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDevicePrivateData* pDevicePrivateData = GetDevicePrivateData();
pDevicePrivateData->pSensor = this;
pDevicePrivateData->nDepthFramePos = 0;
pDevicePrivateData->nImageFramePos = 0;
xnOSMemCopy(&pDevicePrivateData->DeviceConfig, pDeviceConfig, sizeof(XnDeviceConfig));
xnOSMemSet(pDevicePrivateData->cpSensorID, 0, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
switch (pDeviceConfig->DeviceMode)
{
case XN_DEVICE_MODE_READ:
break;
case XN_DEVICE_MODE_WRITE:
return (XN_STATUS_IO_DEVICE_MODE_NOT_SUPPORTED);
default:
return (XN_STATUS_IO_DEVICE_INVALID_MODE);
}
// Register USB event callback
#if WIN32
nRetVal = m_SensorIO.SetCallback(&USBEventCallback, this);
XN_IS_STATUS_OK(nRetVal);
#endif
// open IO
nRetVal = m_SensorIO.OpenDevice(pDeviceConfig->cpConnectionString, (XnBool)m_LeanInit.GetValue());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_USBPath.UnsafeUpdateValue(m_SensorIO.GetDevicePath());
XN_IS_STATUS_OK(nRetVal);
// initialize
nRetVal = XnDeviceSensorInit(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
// init firmware
nRetVal = m_Firmware.Init((XnBool)m_ResetSensorOnStartup.GetValue(), (XnBool)m_LeanInit.GetValue());
XN_IS_STATUS_OK(nRetVal);
m_bInitialized = TRUE;
m_ResetSensorOnStartup.UpdateSetCallback(NULL, NULL);
m_LeanInit.UpdateSetCallback(NULL, NULL);
// update device info properties
nRetVal = m_DeviceName.UnsafeUpdateValue(GetFixedParams()->GetDeviceName());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VendorSpecificData.UnsafeUpdateValue(GetFixedParams()->GetVendorData());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_ID.UnsafeUpdateValue(GetFixedParams()->GetSensorSerial());
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_PlatformString.UnsafeUpdateValue(GetFixedParams()->GetPlatformString());
XN_IS_STATUS_OK(nRetVal);
// Add supported streams
AddSupportedStream(XN_STREAM_TYPE_DEPTH);
AddSupportedStream(XN_STREAM_TYPE_IR);
if (GetFirmware()->GetInfo()->bImageSupported)
{
AddSupportedStream(XN_STREAM_TYPE_IMAGE);
}
if (GetFirmware()->GetInfo()->bAudioSupported)
{
AddSupportedStream(XN_STREAM_TYPE_AUDIO);
}
return XN_STATUS_OK;
}
XnStatus XnSensor::InitSensor(const XnDeviceConfig* pDeviceConfig)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDevicePrivateData* pDevicePrivateData = GetDevicePrivateData();
pDevicePrivateData->pSensor = this;
pDevicePrivateData->nDepthFramePos = 0;
pDevicePrivateData->nImageFramePos = 0;
xnOSMemCopy(&pDevicePrivateData->DeviceConfig, pDeviceConfig, sizeof(XnDeviceConfig));
xnOSMemSet(pDevicePrivateData->cpSensorID, 0, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
pDevicePrivateData->bSyncAudio = TRUE;
switch (pDeviceConfig->DeviceMode)
{
case XN_DEVICE_MODE_READ:
break;
case XN_DEVICE_MODE_WRITE:
return (XN_STATUS_IO_DEVICE_MODE_NOT_SUPPORTED);
default:
return (XN_STATUS_IO_DEVICE_INVALID_MODE);
}
// Register USB event callback
#if WIN32
nRetVal = m_SensorIO.SetCallback(&USBEventCallback, this);
XN_IS_STATUS_OK(nRetVal);
#endif
// open IO
nRetVal = m_SensorIO.OpenDevice(pDeviceConfig->cpConnectionString);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_USBPath.UnsafeUpdateValue(m_SensorIO.GetDevicePath());
XN_IS_STATUS_OK(nRetVal);
// initialize
nRetVal = XnDeviceSensorInit(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
// init firmware
nRetVal = m_Firmware.Init((XnBool)m_ResetSensorOnStartup.GetValue());
XN_IS_STATUS_OK(nRetVal);
m_bInitialized = TRUE;
m_ResetSensorOnStartup.UpdateSetCallback(NULL, NULL);
// Init modules
nRetVal = m_FixedParams.Init();
XN_IS_STATUS_OK(nRetVal);
XnDeviceInformation deviceInfo;
strcpy(deviceInfo.strDeviceName, "PrimeSense Sensor");
strcpy(deviceInfo.strVendorData, "");
// try to take device information (only supported from 5.3.25)
if (pDevicePrivateData->Version.nMajor > 5 ||
(pDevicePrivateData->Version.nMajor == 5 && pDevicePrivateData->Version.nMinor > 3) ||
(pDevicePrivateData->Version.nMajor == 5 && pDevicePrivateData->Version.nMinor == 3 && pDevicePrivateData->Version.nBuild >= 25))
{
nRetVal = XnHostProtocolAlgorithmParams(pDevicePrivateData, XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO,
&deviceInfo, sizeof(deviceInfo), (XnResolutions)0, 0);
XN_IS_STATUS_OK(nRetVal);
}
nRetVal = m_DeviceName.UnsafeUpdateValue(deviceInfo.strDeviceName);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VendorSpecificData.UnsafeUpdateValue(deviceInfo.strVendorData);
XN_IS_STATUS_OK(nRetVal);
// update serial number
nRetVal = m_ID.UnsafeUpdateValue(m_FixedParams.GetSensorSerial());
XN_IS_STATUS_OK(nRetVal);
AddSupportedStream(XN_STREAM_TYPE_DEPTH);
AddSupportedStream(XN_STREAM_TYPE_IMAGE);
AddSupportedStream(XN_STREAM_TYPE_IR);
AddSupportedStream(XN_STREAM_TYPE_AUDIO);
return XN_STATUS_OK;
}
XnStatus XnSensor::InitSensor(const XnDeviceConfig* pDeviceConfig)
{
XnStatus nRetVal = XN_STATUS_OK;
XnDevicePrivateData* pDevicePrivateData = GetDevicePrivateData();
pDevicePrivateData->pSensor = this;
pDevicePrivateData->nDepthFramePos = 0;
pDevicePrivateData->nImageFramePos = 0;
xnOSMemCopy(&pDevicePrivateData->DeviceConfig, pDeviceConfig, sizeof(XnDeviceConfig));
xnOSMemSet(pDevicePrivateData->cpSensorID, 0, XN_SENSOR_PROTOCOL_SENSOR_ID_LENGTH);
pDevicePrivateData->bSyncAudio = TRUE;
switch (pDeviceConfig->DeviceMode)
{
case XN_DEVICE_MODE_READ:
break;
case XN_DEVICE_MODE_WRITE:
return (XN_STATUS_IO_DEVICE_MODE_NOT_SUPPORTED);
default:
return (XN_STATUS_IO_DEVICE_INVALID_MODE);
}
// Register USB event callback
#if WIN32
nRetVal = m_SensorIO.SetCallback(&USBEventCallback, this);
XN_IS_STATUS_OK(nRetVal);
#endif
// open IO
nRetVal = m_SensorIO.OpenDevice(pDeviceConfig->cpConnectionString);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_USBPath.UnsafeUpdateValue(m_SensorIO.GetDevicePath());
XN_IS_STATUS_OK(nRetVal);
// initialize
nRetVal = XnDeviceSensorInit(pDevicePrivateData);
XN_IS_STATUS_OK(nRetVal);
// init firmware
nRetVal = m_Firmware.Init((XnBool)m_ResetSensorOnStartup.GetValue());
XN_IS_STATUS_OK(nRetVal);
m_bInitialized = TRUE;
m_ResetSensorOnStartup.UpdateSetCallback(NULL, NULL);
// Init modules
nRetVal = m_FixedParams.Init();
XN_IS_STATUS_OK(nRetVal);
// update serial number
nRetVal = m_ID.UnsafeUpdateValue(m_FixedParams.GetSensorSerial());
XN_IS_STATUS_OK(nRetVal);
AddSupportedStream(XN_STREAM_TYPE_DEPTH);
AddSupportedStream(XN_STREAM_TYPE_IMAGE);
AddSupportedStream(XN_STREAM_TYPE_IR);
AddSupportedStream(XN_STREAM_TYPE_AUDIO);
return XN_STATUS_OK;
}
