XnStatus MapWatcher::NotifySupportedOutputModes()
{
XnUInt32 nOutputModes = m_mapGenerator.GetSupportedMapOutputModesCount();
if (nOutputModes == 0)
{
return XN_STATUS_ERROR;
}
XnStatus nRetVal = NotifyIntPropChanged(XN_PROP_SUPPORTED_MAP_OUTPUT_MODES_COUNT, nOutputModes);
XN_IS_STATUS_OK(nRetVal);
XnMapOutputMode *pOutputModes = XN_NEW_ARR(XnMapOutputMode, nOutputModes);
XN_VALIDATE_ALLOC_PTR(pOutputModes);
nRetVal = m_mapGenerator.GetSupportedMapOutputModes(pOutputModes, nOutputModes);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pOutputModes);
return nRetVal;
}
nRetVal = NotifyGeneralPropChanged(XN_PROP_SUPPORTED_MAP_OUTPUT_MODES, sizeof(pOutputModes[0]) * nOutputModes, pOutputModes);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pOutputModes);
return nRetVal;
}
XN_DELETE_ARR(pOutputModes);
return XN_STATUS_OK;
}
XnStatus AudioWatcher::NotifySupportedOutputModes()
{
XnUInt32 nModes = m_audioGenerator.GetSupportedWaveOutputModesCount();
if (nModes == 0)
{
return XN_STATUS_ERROR;
}
XnStatus nRetVal = NotifyIntPropChanged(XN_PROP_WAVE_SUPPORTED_OUTPUT_MODES_COUNT, nModes);
XN_IS_STATUS_OK(nRetVal);
XnWaveOutputMode *pSupportedModes = XN_NEW_ARR(XnWaveOutputMode, nModes);
XN_VALIDATE_ALLOC_PTR(pSupportedModes);
nRetVal = m_audioGenerator.GetSupportedWaveOutputModes(pSupportedModes, nModes);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pSupportedModes);
return nRetVal;
}
nRetVal = NotifyGeneralPropChanged(XN_PROP_WAVE_SUPPORTED_OUTPUT_MODES, nModes * sizeof(XnWaveOutputMode), pSupportedModes);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pSupportedModes);
return nRetVal;
}
XN_DELETE_ARR(pSupportedModes);
return XN_STATUS_OK;
}
XnStatus PlayerNode::Destroy()
{
CloseStream();
//Don't verify return value - proceed anyway
if (m_pNodeInfoMap != NULL)
{
for (XnUInt32 i = 0; i < m_nMaxNodes; i++)
{
RemovePlayerNodeInfo(i);
}
XN_DELETE_ARR(m_pNodeInfoMap);
m_pNodeInfoMap = NULL;
}
if (m_aSeekTempArray != NULL)
{
xnOSFree(m_aSeekTempArray);
m_aSeekTempArray = NULL;
}
XN_DELETE_ARR(m_pRecordBuffer);
m_pRecordBuffer = NULL;
XN_DELETE_ARR(m_pUncompressedData);
m_pUncompressedData = NULL;
return XN_STATUS_OK;
}
XnStatus DepthWatcher::NotifyUserPositions()
{
XnUInt32 nUserPositions = m_depthGenerator.GetUserPositionCap().GetSupportedUserPositionsCount();
if (nUserPositions == 0)
{
return XN_STATUS_NOT_IMPLEMENTED;
}
XnStatus nRetVal = NotifyIntPropChanged(XN_PROP_SUPPORTED_USER_POSITIONS_COUNT, nUserPositions);
XN_IS_STATUS_OK(nRetVal);
XnBoundingBox3D *pPositions = XN_NEW_ARR(XnBoundingBox3D, nUserPositions);
XN_VALIDATE_ALLOC_PTR(pPositions);
XnUInt32 i;
for (i = 0; i < nUserPositions; i++)
{
nRetVal = m_depthGenerator.GetUserPositionCap().GetUserPosition(i, pPositions[i]);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pPositions);
return nRetVal;
}
}
nRetVal = NotifyGeneralPropChanged(XN_PROP_USER_POSITIONS, sizeof(pPositions[0]) * nUserPositions, pPositions);
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(pPositions);
return nRetVal;
}
XN_DELETE_ARR(pPositions);
return XN_STATUS_OK;
}
XnStatus PlayerNode::OpenStream()
{
XN_VALIDATE_INPUT_PTR(m_pInputStream);
XnStatus nRetVal = m_pInputStream->Open(m_pStreamCookie);
XN_IS_STATUS_OK(nRetVal);
RecordingHeader header;
XnUInt32 nBytesRead = 0;
nRetVal = m_pInputStream->Read(m_pStreamCookie, &header, sizeof(header), &nBytesRead);
XN_IS_STATUS_OK(nRetVal);
if (nBytesRead < sizeof(header))
{
XN_LOG_ERROR_RETURN(XN_STATUS_CORRUPT_FILE, XN_MASK_OPEN_NI, "Not enough bytes read");
}
/* Check header */
if (xnOSMemCmp(header.headerMagic, DEFAULT_RECORDING_HEADER.headerMagic, sizeof(header.headerMagic)) != 0)
{
XN_LOG_ERROR_RETURN(XN_STATUS_CORRUPT_FILE, XN_MASK_OPEN_NI, "Invalid header magic");
}
if ((xnVersionCompare(&header.version, &OLDEST_SUPPORTED_FILE_FORMAT_VERSION) < 0) || //File format is too old
(xnVersionCompare(&header.version, &DEFAULT_RECORDING_HEADER.version) > 0)) //File format is too new
{
XN_LOG_ERROR_RETURN(XN_STATUS_UNSUPPORTED_VERSION, XN_MASK_OPEN_NI, "Unsupported file format version: %u.%u.%u.%u", header.version.nMajor, header.version.nMinor, header.version.nMaintenance, header.version.nBuild);
}
m_nGlobalMaxTimeStamp = header.nGlobalMaxTimeStamp;
m_nMaxNodes = header.nMaxNodeID + 1;
XN_ASSERT(m_nMaxNodes > 0);
XN_DELETE_ARR(m_pNodeInfoMap);
xnOSFree(m_aSeekTempArray);
m_pNodeInfoMap = XN_NEW_ARR(PlayerNodeInfo, m_nMaxNodes);
XN_VALIDATE_ALLOC_PTR(m_pNodeInfoMap);
XN_VALIDATE_CALLOC(m_aSeekTempArray, DataIndexEntry*, m_nMaxNodes);
m_bOpen = TRUE;
nRetVal = ProcessUntilFirstData();
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(m_pNodeInfoMap);
m_pNodeInfoMap = NULL;
xnOSFree(m_aSeekTempArray);
m_aSeekTempArray = NULL;
return nRetVal;
}
return XN_STATUS_OK;
}
PoseUserSelector::~PoseUserSelector()
{
m_pTrackingInitializer = NULL;
if(m_pUserGenerator != NULL)
{
if(m_pUserGenerator->IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
for(UserStateHash::Iterator iter = m_hUsersState.begin(); iter != m_hUsersState.end(); ++iter)
{
m_pUserGenerator->GetPoseDetectionCap().StopPoseDetection(iter.Key());
}
if(m_hPoseDetectCallback != NULL)
{
m_pUserGenerator->GetPoseDetectionCap().UnregisterFromPoseDetected(m_hPoseDetectCallback);
m_hPoseDetectCallback = NULL;
}
if(m_hPoseInProgressCallback != NULL)
{
m_pUserGenerator->GetPoseDetectionCap().UnregisterFromPoseInProgress(m_hPoseInProgressCallback);
m_hPoseInProgressCallback = NULL;
}
}
m_pUserGenerator = NULL;
}
if(m_strPoseToTrack != NULL)
{
XN_DELETE_ARR(m_strPoseToTrack);
m_strPoseToTrack = NULL;
}
}
// Stream
VideoStream::~VideoStream()
{
// Make sure stream is stopped.
stop();
m_device.clearStream(this);
// Detach all recorders from this stream.
xnl::LockGuard< Recorders > guard(m_recorders);
while (m_recorders.Begin() != m_recorders.End())
{
// NOTE: DetachStream has a side effect of modifying m_recorders.
m_recorders.Begin()->Value()->detachStream(*this);
}
// Try to close the thread properly, and forcibly terminate it if failed/timedout.
m_running = false;
xnOSSetEvent(m_newFrameInternalEvent);
xnOSSetEvent(m_newFrameInternalEventForFrameHolder);
XnStatus rc = xnOSWaitForThreadExit(m_newFrameThread, STREAM_DESTROY_THREAD_TIMEOUT);
if (rc != XN_STATUS_OK)
{
xnOSTerminateThread(&m_newFrameThread);
}
m_pFrameHolder->setStreamEnabled(this, FALSE);
m_driverHandler.deviceDestroyStream(m_device.getHandle(), m_streamHandle);
xnOSCloseEvent(&m_newFrameInternalEvent);
xnOSCloseEvent(&m_newFrameInternalEventForFrameHolder);
XN_DELETE_ARR(m_pSensorInfo->pSupportedVideoModes);
XN_DELETE(m_pSensorInfo);
}
RecordAssembler::~RecordAssembler()
{
if (NULL != m_pBuffer)
{
XN_DELETE_ARR(m_pBuffer);
}
}
void Recorder::onRecord(XnUInt32 nodeId, XnCodecBase* pCodec, const OniFrame* pFrame, XnUInt32 frameId, XnUInt64 timestamp)
{
if (0 == nodeId || NULL == pFrame)
{
return;
}
FIND_ATTACHED_STREAM_INFO(nodeId)
if (!pInfo) return;
Memento undoPoint(this);
if (NULL != pCodec)
{
XnUInt32 bufferSize_bytes32 = pFrame->dataSize * 2 + pCodec->GetOverheadSize();
XnUInt8* buffer = XN_NEW_ARR(XnUInt8, bufferSize_bytes32);
XnStatus status = pCodec->Compress(reinterpret_cast<const XnUChar*>(pFrame->data),
pFrame->dataSize, buffer, &bufferSize_bytes32);
XnSizeT bufferSize_bytes = bufferSize_bytes32;
if (XN_STATUS_OK == status)
{
EMIT(RECORD_NEW_DATA(
nodeId,
pInfo->lastNewDataRecordPosition,
timestamp,
frameId,
buffer,
bufferSize_bytes))
}
XN_DELETE_ARR(buffer);
}
LinkOniMapStream::~LinkOniMapStream()
{
if (m_aSupportedModes != NULL)
{
XN_DELETE_ARR(m_aSupportedModes);
m_aSupportedModes = NULL;
}
}
ClosestUserSelector::~ClosestUserSelector()
{
m_pTrackingInitializer=NULL;
if(m_pUsersList!=NULL)
{
XN_DELETE_ARR(m_pUsersList);
m_pUsersList=NULL;
}
}
XnStatus XnServerSensorInvoker::GetStreamMaxResolution(SensorInvokerStream* pStream, XnUInt32& nMaxNumPixels)
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt64 nCount = 0;
nRetVal = m_sensor.GetProperty(pStream->strType, XN_STREAM_PROPERTY_SUPPORT_MODES_COUNT, &nCount);
XN_IS_STATUS_OK(nRetVal);
XnCmosPreset* aPresets = XN_NEW_ARR(XnCmosPreset, nCount);
nRetVal = m_sensor.GetProperty(pStream->strType, XN_STREAM_PROPERTY_SUPPORT_MODES, XnGeneralBufferPack(aPresets, nCount * sizeof(XnCmosPreset)));
if (nRetVal != XN_STATUS_OK)
{
XN_DELETE_ARR(aPresets);
return nRetVal;
}
XnUInt32 nMaxPixels = 0;
for (XnUInt32 i = 0; i < nCount; ++i)
{
XnUInt32 nXRes;
XnUInt32 nYRes;
if (!XnDDKGetXYFromResolution((XnResolutions)aPresets[i].nResolution, &nXRes, &nYRes))
{
continue;
}
if (nXRes * nYRes > nMaxPixels)
{
nMaxPixels = nXRes * nYRes;
}
}
XN_ASSERT(nMaxPixels > 0);
XN_DELETE_ARR(aPresets);
nMaxNumPixels = nMaxPixels;
return (XN_STATUS_OK);
}
XnNodeManager::~XnNodeManager()
{
while (m_pAllNodes->begin() != m_pAllNodes->end())
{
XnValue RemovedValue;
m_pAllNodes->Remove(m_pAllNodes->rbegin(), RemovedValue);
XnNode* pNodes = (XnNode*)RemovedValue;
XN_DELETE_ARR(pNodes);
}
XN_DELETE(m_pAllNodes);
xnOSCloseCriticalSection(&m_hCriticalSection);
}
XnStatus MockDepthGenerator::SetGeneralProperty(const XnChar* strName, XnUInt32 nBufferSize, const void* pBuffer)
{
XN_VALIDATE_INPUT_PTR(strName);
XN_VALIDATE_INPUT_PTR(pBuffer);
XnStatus nRetVal = XN_STATUS_OK;
if (strcmp(strName, XN_PROP_FIELD_OF_VIEW) == 0)
{
if (nBufferSize != sizeof(XnFieldOfView))
{
XN_LOG_ERROR_RETURN(XN_STATUS_INVALID_BUFFER_SIZE, XN_MASK_OPEN_NI, "Cannot set XN_PROP_FIELD_OF_VIEW - buffer size is incorrect");
}
const XnFieldOfView* pFOV = (const XnFieldOfView*)pBuffer;
nRetVal = SetFieldOfView(*pFOV);
XN_IS_STATUS_OK(nRetVal);
}
else if (strcmp(strName, XN_PROP_USER_POSITIONS) == 0)
{
if (m_bSupportedUserPositionsCountReceived)
{
m_bSupportedUserPositionsCountReceived = FALSE;
if (nBufferSize != m_nSupportedUserPositionsCount * sizeof(XnBoundingBox3D))
{
XN_LOG_ERROR_RETURN(XN_STATUS_INVALID_BUFFER_SIZE, XN_MASK_OPEN_NI, "Cannot set XN_PROP_USER_POSITIONS - buffer size is incorrect");
}
XN_DELETE_ARR(m_pUserPositions);
m_pUserPositions = XN_NEW_ARR(XnBoundingBox3D, m_nSupportedUserPositionsCount);
XN_VALIDATE_ALLOC_PTR(m_pUserPositions);
xnOSMemCopy(m_pUserPositions, pBuffer, nBufferSize);
}
else
{
/*We got XN_PROP_USER_POSITIONS without
XN_PROP_SUPPORTED_USER_POSITIONS_COUNT before it - that's an error*/
XN_ASSERT(FALSE);
XN_LOG_ERROR_RETURN(XN_STATUS_ERROR, XN_MASK_OPEN_NI, "got XN_PROP_USER_POSITIONS without XN_PROP_SUPPORTED_USER_POSITIONS_COUNT before it.")
}
}
else
{
OniStatus Context::releaseDeviceList(OniDeviceInfo* pDevices)
{
XN_DELETE_ARR(pDevices);
return ONI_STATUS_OK;
}
MockDepthGenerator::~MockDepthGenerator()
{
XN_DELETE_ARR(m_pUserPositions);
}
// Start recording (once per recorder)
//----------------------------------------
bool ofxOpenNIRecorder::startRecord(string sName) {
// make sure we don't re-instantiate if we're already recording in stream mode
if(is_recording && config.record_type == ONI_STREAMING) {
return false;
}
xn::MockDepthGenerator m_depth;
xn::MockImageGenerator m_image;
xn::MockIRGenerator m_ir;
// reset dropped frame counting variables
nLastDepthTime = 0;
nLastImageTime = 0;
nMissedDepthFrames = 0;
nMissedImageFrames = 0;
nDepthFrames = 0;
nImageFrames = 0;
XnStatus result;
// set the record file name
config.record_name = ofToDataPath(sName, false);
bool do_init = false;
// by using this do_init method the interface
// is transparent to users whichever way we are recording
// the second call to startRecording when ONI_CYCLING
// dumps the buffer to file (see below stopRecord()
if (config.record_type == ONI_CYCLIC && !is_recording) {
printf("Start cyclic recording: %s\n", config.record_name.c_str());
// reset cyclic recording variables
m_nNextWrite = 0;
m_nBufferCount = 0;
is_recording = true;
} else do_init = true;
if (do_init) {
// recorder init
result = recorder.Create(context->getXnContext());
CHECK_RC(result, "Recorder create");
result = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, config.record_name.c_str());
CHECK_RC(result, "Recorder set destination");
if (config.record_depth) {
if (config.record_type == ONI_STREAMING) {
// just use the depth generator as the node to record
result = recorder.AddNodeToRecording(depth_generator, XN_CODEC_16Z); // XN_CODEC_16Z_EMB_TABLES is smaller, but seems XN_CODEC_16Z is smoother
CHECK_RC(result, "Recorder add depth node");
} else if (config.record_type == ONI_CYCLIC) {
// create a mock node based on the depth generator to record
result = context->getXnContext().CreateMockNodeBasedOn(depth_generator, NULL, m_depth);
CHECK_RC(result, "Create depth node");
result = recorder.AddNodeToRecording(m_depth, XN_CODEC_16Z); // XN_CODEC_16Z_EMB_TABLES is smaller, but seems XN_CODEC_16Z is smoother
CHECK_RC(result, "Recorder add depth node");
}
}
// create image node
if (config.record_image) {
if (config.record_type == ONI_STREAMING) {
// just use the image generator as the node to record
result = recorder.AddNodeToRecording(image_generator, XN_CODEC_NULL); // XN_CODEC_NULL appears to give least frame drops and size not much > JPEG
CHECK_RC(result, "Recorder add image node");
} else if (config.record_type == ONI_CYCLIC) {
// create a mock node based on the image generator to record
result = context->getXnContext().CreateMockNodeBasedOn(image_generator, NULL, m_image);
CHECK_RC(result, "Create image node");
result = recorder.AddNodeToRecording(m_image, XN_CODEC_NULL); // XN_CODEC_NULL appears to give least frame drops and size not much > JPEG
CHECK_RC(result, "Recorder add image node");
}
}
// create ir node
if (config.record_ir) {
if (config.record_type == ONI_STREAMING) {
// just use the image generator as the node to record
result = recorder.AddNodeToRecording(ir_generator, XN_CODEC_NULL); // XN_CODEC_NULL appears to give least frame drops and size not much > JPEG
CHECK_RC(result, "Recorder add ir node");
} else if (config.record_type == ONI_CYCLIC) {
// create a mock node based on the image generator to record
result = context->getXnContext().CreateMockNodeBasedOn(ir_generator, NULL, m_ir);
CHECK_RC(result, "Create ir node");
result = recorder.AddNodeToRecording(m_ir, XN_CODEC_NULL); // XN_CODEC_NULL appears to give least frame drops and size not much > JPEG
CHECK_RC(result, "Recorder add ir node");
}
}
// Frame sync is currently not possible with Kinect cameras!!
// if we try to frame sync then recording fails
#ifndef USINGKINECT
// Frame Sync
if(xn_depth.IsCapabilitySupported(XN_CAPABILITY_FRAME_SYNC)) {
if(depth_generator.GetFrameSyncCap().CanFrameSyncWith(image_generator)) {
result = depth_generator.GetFrameSyncCap().FrameSyncWith(image_generator);
CHECK_RC(result, "Enable frame sync");
}
}
#endif
if (config.record_type == ONI_STREAMING) {
printf("Start streaming recording: %s\n", config.record_name.c_str());
is_recording = true;
} else if (config.record_type == ONI_CYCLIC && is_recording) {
// Record frames from current position in cyclic buffer loop through to the end
if (m_nNextWrite < m_nBufferCount) {
// Not first loop, right till end
for (XnUInt32 i = m_nNextWrite; i < m_nBufferSize; ++i) {
if (config.record_depth) m_depth.SetData(frames[i].depth_frame);
if (config.record_image) m_image.SetData(frames[i].image_frame);
if (config.record_ir) m_ir.SetData(frames[i].ir_frame);
recorder.Record();
}
}
// Write frames from the beginning of the buffer to the last one written
for (XnUInt32 i = 0; i < m_nNextWrite; ++i) {
if (config.record_depth) m_depth.SetData(frames[i].depth_frame);
if (config.record_image) m_image.SetData(frames[i].image_frame);
if (config.record_ir) m_ir.SetData(frames[i].ir_frame);
recorder.Record();
}
// cleanup
recorder.Release();
m_ir.Release();
m_image.Release();
m_depth.Release();
XN_DELETE_ARR(frames);
}
}
return true;
}
// Shutdown
//----------------------------------------
ofxOpenNIRecorder::~ofxOpenNIRecorder() {
XN_DELETE_ARR(frames);
stopRecord(); // just to be sure.
}
XnStatus Context::loadLibraries(const char* directoryName)
{
XnStatus nRetVal;
// Get a file list of Xiron devices
XnInt32 nFileCount = 0;
typedef XnChar FileName[XN_FILE_MAX_PATH];
FileName* acsFileList = NULL;
#if (ONI_PLATFORM != ONI_PLATFORM_ANDROID_ARM)
XnChar cpSearchString[XN_FILE_MAX_PATH] = "";
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Looking for drivers in drivers repository '%s'", directoryName);
// Build the search pattern string
XN_VALIDATE_STR_APPEND(cpSearchString, directoryName, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_DIR_SEP, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_PREFIX, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_FILE_ALL_WILDCARD, XN_FILE_MAX_PATH, nRetVal);
XN_VALIDATE_STR_APPEND(cpSearchString, XN_SHARED_LIBRARY_POSTFIX, XN_FILE_MAX_PATH, nRetVal);
nRetVal = xnOSCountFiles(cpSearchString, &nFileCount);
if (nRetVal != XN_STATUS_OK || nFileCount == 0)
{
xnLogError(XN_MASK_ONI_CONTEXT, "Found no drivers matching '%s'", cpSearchString);
m_errorLogger.Append("Found no files matching '%s'", cpSearchString);
return XN_STATUS_NO_MODULES_FOUND;
}
acsFileList = XN_NEW_ARR(FileName, nFileCount);
nRetVal = xnOSGetFileList(cpSearchString, NULL, acsFileList, nFileCount, &nFileCount);
#else
// Android
nFileCount = 3;
acsFileList = XN_NEW_ARR(FileName, nFileCount);
strcpy(acsFileList[0], "libPS1080.so");
strcpy(acsFileList[1], "libOniFile.so");
strcpy(acsFileList[2], "libPSLink.so");
#endif
// Save directory
XnChar workingDir[XN_FILE_MAX_PATH];
xnOSGetCurrentDir(workingDir, XN_FILE_MAX_PATH);
// Change directory
xnOSSetCurrentDir(directoryName);
for (int i = 0; i < nFileCount; ++i)
{
DeviceDriver* pDeviceDriver = XN_NEW(DeviceDriver, acsFileList[i], m_frameManager, m_errorLogger);
if (pDeviceDriver == NULL || !pDeviceDriver->isValid())
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Couldn't use file '%s' as a device driver", acsFileList[i]);
m_errorLogger.Append("Couldn't understand file '%s' as a device driver", acsFileList[i]);
XN_DELETE(pDeviceDriver);
continue;
}
OniCallbackHandle dummy;
pDeviceDriver->registerDeviceConnectedCallback(deviceDriver_DeviceConnected, this, dummy);
pDeviceDriver->registerDeviceDisconnectedCallback(deviceDriver_DeviceDisconnected, this, dummy);
pDeviceDriver->registerDeviceStateChangedCallback(deviceDriver_DeviceStateChanged, this, dummy);
if (!pDeviceDriver->initialize())
{
xnLogVerbose(XN_MASK_ONI_CONTEXT, "Couldn't use file '%s' as a device driver", acsFileList[i]);
m_errorLogger.Append("Couldn't initialize device driver from file '%s'", acsFileList[i]);
XN_DELETE(pDeviceDriver);
continue;
}
m_cs.Lock();
m_deviceDrivers.AddLast(pDeviceDriver);
m_cs.Unlock();
}
// Return to directory
xnOSSetCurrentDir(workingDir);
if (m_deviceDrivers.Size() == 0)
{
xnLogError(XN_MASK_ONI_CONTEXT, "Found no valid drivers");
m_errorLogger.Append("Found no valid drivers in '%s'", directoryName);
return XN_STATUS_NO_MODULES_FOUND;
}
XN_DELETE_ARR(acsFileList);
return XN_STATUS_OK;
}
XnStatus XnServerSensorInvoker::SetStreamSharedMemory(SensorInvokerStream* pStream)
{
XnStatus nRetVal = XN_STATUS_OK;
// give shared memory a name (to make the name unique, we'll add process ID)
XN_PROCESS_ID procID;
xnOSGetCurrentProcessID(&procID);
XnChar strSharedMemoryName[XN_FILE_MAX_PATH];
sprintf(strSharedMemoryName, "%u_%s_%s", (XnUInt32)procID, m_sensor.GetUSBPath(), pStream->strType);
nRetVal = pStream->pSharedMemoryName->UnsafeUpdateValue(strSharedMemoryName);
XN_IS_STATUS_OK(nRetVal);
XnUInt32 nBufferSize = 0;
XnUInt32 nPixelSize = 0;
if (strcmp(pStream->strType, XN_STREAM_TYPE_DEPTH) == 0)
{
// have space for depth and shift values
nPixelSize = sizeof(XnDepthPixel) + sizeof(XnUInt16);
}
else if (strcmp(pStream->strType, XN_STREAM_TYPE_IMAGE) == 0)
{
// biggest pixel size is the RGB24
nPixelSize = sizeof(XnRGB24Pixel);
}
else if (strcmp(pStream->strType, XN_STREAM_TYPE_IR) == 0)
{
// biggest pixel size is the RGB24
nPixelSize = sizeof(XnIRPixel);
}
else
{
XN_ASSERT(FALSE);
return XN_STATUS_ERROR;
}
// find out max resolution
XnUInt32 nMaxNumPixels = 0;
nRetVal = GetStreamMaxResolution(pStream, nMaxNumPixels);
XN_IS_STATUS_OK(nRetVal);
nBufferSize = (XnUInt32)(nMaxNumPixels * nPixelSize * m_numberOfBuffers.GetValue());
// allocate shared memory
nRetVal = xnOSCreateSharedMemoryEx(strSharedMemoryName, nBufferSize, XN_OS_FILE_READ | XN_OS_FILE_WRITE, m_allowOtherUsers.GetValue() == TRUE, &pStream->hSharedMemory);
XN_IS_STATUS_OK(nRetVal);
nRetVal = xnOSSharedMemoryGetAddress(pStream->hSharedMemory, (void**)&pStream->pSharedMemoryAddress);
XN_IS_STATUS_OK(nRetVal);
// Set buffer pool for this stream
XnGeneralBuffer* aBuffers = XN_NEW_ARR(XnGeneralBuffer, m_numberOfBuffers.GetValue());
XnUInt32 nSingleBufferSize = nBufferSize / m_numberOfBuffers.GetValue();
for (XnUInt32 i = 0; i < m_numberOfBuffers.GetValue(); ++i)
{
aBuffers[i].pData = pStream->pSharedMemoryAddress + (i * nSingleBufferSize);
aBuffers[i].nDataSize = nSingleBufferSize;
}
nRetVal = m_sensor.SetProperty(pStream->strType, XN_STREAM_PROPERTY_EXTERNAL_BUFFER_POOL, XnGeneralBufferPack(aBuffers, m_numberOfBuffers.GetValue() * sizeof(XnGeneralBuffer)));
XN_DELETE_ARR(aBuffers);
XN_IS_STATUS_OK(nRetVal);
return (XN_STATUS_OK);
}
XnStatus MockMapGenerator::SetGeneralProperty(const XnChar* strName, XnUInt32 nBufferSize, const void* pBuffer)
{
XN_VALIDATE_INPUT_PTR(strName);
XN_VALIDATE_INPUT_PTR(pBuffer);
XnStatus nRetVal = XN_STATUS_OK;
if (strcmp(strName, XN_PROP_MAP_OUTPUT_MODE) == 0)
{
if (nBufferSize != sizeof(m_mapOutputMode))
{
XN_LOG_ERROR_RETURN(XN_STATUS_INVALID_BUFFER_SIZE, XN_MASK_OPEN_NI, "Cannot set XN_PROP_MAP_OUTPUT_MODE - buffer size is incorrect");
}
const XnMapOutputMode* pOutputMode = (const XnMapOutputMode*)pBuffer;
nRetVal = SetMapOutputMode(*pOutputMode);
XN_IS_STATUS_OK(nRetVal);
}
else if (strcmp(strName, XN_PROP_SUPPORTED_MAP_OUTPUT_MODES) == 0)
{
if (m_bSupportedMapOutputModesCountReceived)
{
m_bSupportedMapOutputModesCountReceived = FALSE; //For next time
if (nBufferSize != m_nSupportedMapOutputModesCount * sizeof(XnMapOutputMode))
{
XN_LOG_ERROR_RETURN(XN_STATUS_INVALID_BUFFER_SIZE, XN_MASK_OPEN_NI, "Cannot set XN_PROP_SUPPORTED_MAP_OUTPUT_MODES - buffer size is incorrect");
}
XN_DELETE_ARR(m_pSupportedMapOutputModes);
m_pSupportedMapOutputModes = XN_NEW_ARR(XnMapOutputMode, m_nSupportedMapOutputModesCount);
XN_VALIDATE_ALLOC_PTR(m_pSupportedMapOutputModes);
xnOSMemCopy(m_pSupportedMapOutputModes, pBuffer, nBufferSize);
}
else
{
XN_ASSERT(FALSE);
XN_LOG_ERROR_RETURN(XN_STATUS_CORRUPT_FILE, XN_MASK_OPEN_NI, "Got XN_PROP_SUPPORTED_MAP_OUTPUT_MODES without XN_PROP_SUPPORTED_MAP_OUTPUT_MODES_COUNT before it");
}
}
else if (strcmp(strName, XN_PROP_CROPPING) == 0)
{
if (nBufferSize != sizeof(m_cropping))
{
XN_LOG_ERROR_RETURN(XN_STATUS_INVALID_BUFFER_SIZE, XN_MASK_OPEN_NI, "Cannot set XN_PROP_CROPPING - buffer size is incorrect");
}
const XnCropping* pCropping = (const XnCropping*)pBuffer;
nRetVal = SetCropping(*pCropping);
XN_IS_STATUS_OK(nRetVal);
}
else if (strcmp(strName, XN_PROP_NEWDATA) == 0)
{
XnUInt32 nExpectedSize = GetExpectedBufferSize();
if (nBufferSize != nExpectedSize)
{
xnLogWarning(XN_MASK_OPEN_NI, "%s: Got new data with illegal buffer size (%u) - ignoring.", m_strName, nBufferSize);
}
else
{
//Send it to be handled by our base class
nRetVal = MockGenerator::SetGeneralProperty(strName, nBufferSize, pBuffer);
XN_IS_STATUS_OK(nRetVal);
}
}
else
{
nRetVal = MockGenerator::SetGeneralProperty(strName, nBufferSize, pBuffer);
XN_IS_STATUS_OK(nRetVal);
}
return XN_STATUS_OK;
}
void Recorder::onAttach(XnUInt32 nodeId, VideoStream* pStream)
{
if (nodeId == 0 || pStream == NULL)
{
return;
}
const OniSensorInfo* pSensorInfo = pStream->getSensorInfo();
if (pSensorInfo == NULL)
{
return;
}
// Assume we'll be using uncompressed codec.
XnUInt32 codecId = ONI_CODEC_UNCOMPRESSED;
// Applicable for depth streams only.
int maxDepth = XN_MAX_UINT16;
OniVideoMode curVideoMode;
int size = sizeof(OniVideoMode);
pStream->getProperty(ONI_STREAM_PROPERTY_VIDEO_MODE, &curVideoMode, &size);
// Guess codec type from video mode format.
switch (curVideoMode.pixelFormat)
{
case ONI_PIXEL_FORMAT_DEPTH_100_UM:
case ONI_PIXEL_FORMAT_DEPTH_1_MM:
{
size = int(sizeof(maxDepth));
pStream->getProperty(
ONI_STREAM_PROPERTY_MAX_VALUE, &maxDepth, &size);
m_streams[pStream].pCodec = XN_NEW(
Xn16zEmbTablesCodec, static_cast<XnUInt16>(maxDepth));
codecId = ONI_CODEC_16Z_EMB_TABLES;
}
break;
case ONI_PIXEL_FORMAT_RGB888:
{
if (m_streams[pStream].allowLossyCompression)
{
m_streams[pStream].pCodec = XN_NEW(
XnJpegCodec,
/* bRGB = */ TRUE,
curVideoMode.resolutionX,
curVideoMode.resolutionY);
codecId = ONI_CODEC_JPEG;
}
else
{
m_streams[pStream].pCodec = XN_NEW(XnUncompressedCodec);
}
}
break;
default:
m_streams[pStream].pCodec = XN_NEW(XnUncompressedCodec);
break;
}
// If anything went wrong - fall back to uncompressed format.
if (XN_STATUS_OK != m_streams[pStream].pCodec->Init())
{
XN_DELETE(m_streams[pStream].pCodec);
m_streams[pStream].pCodec = NULL;
codecId = ONI_CODEC_UNCOMPRESSED;
}
Memento undoPoint(this);
// save the position of this record so we can override it upon detaching
m_streams[pStream].nodeAddedRecordPosition = undoPoint.GetPosition();
EMIT(RECORD_NODE_ADDED(
m_streams[pStream].nodeType = AsNodeType(pSensorInfo->sensorType),
nodeId,
m_streams[pStream].codecId = codecId,
/* numberOfFrames = */ XN_MAX_UINT32,
/* minTimeStamp = */ XN_UINT64_C(0),
/* maxTimeStamp = */ XN_MAX_UINT64,
/* seekTablePosition = */ XN_UINT64_C(0)
))
undoPoint.Reuse();
// isGenerating (needed for OpenNI 1.x playback)
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnIsGenerating", undoPoint.GetPosition()),
"xnIsGenerating",
TRUE
));
undoPoint.Reuse();
// xnDeviceMaxDepth
if (curVideoMode.pixelFormat == ONI_PIXEL_FORMAT_DEPTH_1_MM ||
curVideoMode.pixelFormat == ONI_PIXEL_FORMAT_DEPTH_100_UM)
{
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnDeviceMaxDepth", undoPoint.GetPosition()),
"xnDeviceMaxDepth",
maxDepth
))
}
undoPoint.Reuse();
// xnSupportedMapOutputModesCount
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnSupportedMapOutputModesCount", undoPoint.GetPosition()),
"xnSupportedMapOutputModesCount",
pSensorInfo->numSupportedVideoModes
))
undoPoint.Reuse();
// xnSupportedMapOutputModes
VideoModeData* pVideoModes = XN_NEW_ARR(
VideoModeData, pSensorInfo->numSupportedVideoModes);
for (int i = 0; i < pSensorInfo->numSupportedVideoModes; ++i)
{
const OniVideoMode& videoMode = pSensorInfo->pSupportedVideoModes[i];
pVideoModes[i].width = videoMode.resolutionX;
pVideoModes[i].height = videoMode.resolutionY;
pVideoModes[i].fps = videoMode.fps;
}
EMIT(RECORD_GENERAL_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnSupportedMapOutputModes", undoPoint.GetPosition()),
"xnSupportedMapOutputModes",
pVideoModes,
sizeof(*pVideoModes) * pSensorInfo->numSupportedVideoModes
))
undoPoint.Reuse();
// xnSupportedPixelFormats
XnSupportedPixelFormats supportedPixelFormats;
fillXnSupportedPixelFormats(supportedPixelFormats, curVideoMode.pixelFormat);
EMIT(RECORD_GENERAL_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnSupportedPixelFormats", undoPoint.GetPosition()),
"xnSupportedPixelFormats",
&supportedPixelFormats,
sizeof(supportedPixelFormats)
))
undoPoint.Reuse();
// xnMapOutputMode
VideoModeData curVMD;
curVMD.width = curVideoMode.resolutionX;
curVMD.height = curVideoMode.resolutionY;
curVMD.fps = curVideoMode.fps;
EMIT(RECORD_GENERAL_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnMapOutputMode", undoPoint.GetPosition()),
"xnMapOutputMode",
&curVMD,
sizeof(curVMD)
))
undoPoint.Reuse();
// xnPixelFormat
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnPixelFormat", undoPoint.GetPosition()),
"xnPixelFormat",
toXnPixelFormat(curVideoMode.pixelFormat)
))
undoPoint.Reuse();
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "oniPixelFormat", undoPoint.GetPosition()),
"oniPixelFormat",
curVideoMode.pixelFormat
))
undoPoint.Reuse();
XN_DELETE_ARR(pVideoModes);
size = sizeof(XnFloat);
float vdummy, hdummy;
if ( pStream->getProperty(ONI_STREAM_PROPERTY_HORIZONTAL_FOV, &hdummy, &size) == ONI_STATUS_OK &&
pStream->getProperty(ONI_STREAM_PROPERTY_VERTICAL_FOV, &vdummy, &size) == ONI_STATUS_OK )
{
// xnFOV
struct XnFieldOfView
{
/** Horizontal Field Of View, in radians. */
XnDouble fHFOV;
/** Vertical Field Of View, in radians. */
XnDouble fVFOV;
} fov = {hdummy, vdummy};
EMIT(RECORD_GENERAL_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnFOV", undoPoint.GetPosition()),
"xnFOV",
&fov,
sizeof(fov)
))
undoPoint.Reuse();
}
// xnCropping
struct XnCropping
{
/** TRUE if cropping is turned on, FALSE otherwise. */
XnBool bEnabled;
/** Offset in the X-axis, in pixels. */
XnUInt16 nXOffset;
/** Offset in the Y-axis, in pixels. */
XnUInt16 nYOffset;
/** Number of pixels in the X-axis. */
XnUInt16 nXSize;
/** Number of pixels in the Y-axis. */
XnUInt16 nYSize;
} xncropping = {0};
OniCropping cropping;
size = sizeof(OniCropping);
if (pStream->getProperty(ONI_STREAM_PROPERTY_CROPPING, &cropping, &size) == ONI_STATUS_OK)
{
// we support cropping capability
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "Cropping", undoPoint.GetPosition()),
"Cropping",
TRUE
));
undoPoint.Reuse();
xncropping.bEnabled = cropping.enabled;
xncropping.nXOffset = (XnUInt16)cropping.originX;
xncropping.nYOffset = (XnUInt16)cropping.originY;
xncropping.nXSize = (XnUInt16)cropping.width;
xncropping.nYSize = (XnUInt16)cropping.height;
EMIT(RECORD_GENERAL_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnCropping", undoPoint.GetPosition()),
"xnCropping",
&xncropping,
sizeof(xncropping)
))
undoPoint.Reuse();
}
OniBool bMirror = FALSE;
size = sizeof(bMirror);
if (pStream->getProperty(ONI_STREAM_PROPERTY_MIRRORING, &bMirror, &size) == ONI_STATUS_OK)
{
// we support mirroring capability
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "Mirror", undoPoint.GetPosition()),
"Mirror",
TRUE
));
undoPoint.Reuse();
// and now tell the mirror state
EMIT(RECORD_INT_PROPERTY(
nodeId,
getLastPropertyRecordPos(nodeId, "xnMirror", undoPoint.GetPosition()),
"xnMirror",
bMirror
))
undoPoint.Reuse();
}
m_propertyPriority = ms_priorityHigh;
pStream->notifyAllProperties();
m_propertyPriority = ms_priorityNormal;
undoPoint.Release();
}
MockMapGenerator::~MockMapGenerator()
{
XN_DELETE_ARR(m_pSupportedMapOutputModes);
}
