XnStatus XnSensorDepthStream::DecidePixelSizeFactor()
{
XnStatus nRetVal = XN_STATUS_OK;
XnUInt32 nPixelSizeFactor;
switch (GetFirmwareParams()->m_ReferenceResolution.GetValue())
{
case XN_RESOLUTION_SXGA:
nPixelSizeFactor = 1;
break;
case XN_RESOLUTION_VGA:
nPixelSizeFactor = 2;
break;
default:
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Can't resolve pixel size for reference resolution %llu", GetFirmwareParams()->m_ReferenceResolution.GetValue());
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
// due to some weird bug (we don't know the reason), DevKits older than 3.0 uses
// a smaller pixel size, but const shift remains the same. To work around this bug,
// we will just update pixel size, instead of updating pixel size factor (so that const
// shift will not be updated)
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize() * nPixelSizeFactor);
XN_IS_STATUS_OK(nRetVal);
}
else
{
PixelSizeFactorProperty().UnsafeUpdateValue(nPixelSizeFactor);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = SetBufferPool(&m_BufferPool);
XN_IS_STATUS_OK(nRetVal);
// init base
nRetVal = XnDepthStream::Init();
XN_IS_STATUS_OK(nRetVal);
m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this);
m_DepthRegistration.UpdateSetCallback(SetRegistrationCallback, this);
m_HoleFilter.UpdateSetCallback(SetHoleFilterCallback, this);
m_WhiteBalance.UpdateSetCallback(SetWhiteBalanceCallback, this);
m_Gain.UpdateSetCallback(SetGainCallback, this);
m_RegistrationType.UpdateSetCallback(SetRegistrationTypeCallback, this);
m_AGCBin.UpdateSetCallback(SetAGCBinCallback, this);
m_AGCBin.UpdateGetCallback(GetAGCBinCallback, this);
m_GMCMode.UpdateSetCallback(SetGMCModeCallback, this);
XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_DepthRegistration, &m_HoleFilter,
&m_WhiteBalance, &m_Gain, &m_AGCBin, &m_SharedBufferName, &m_ActualRead, &m_GMCMode,
&m_RegistrationType);
if (m_Helper.GetPrivateData()->pSensor->IsLowBandwidth())
{
nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_DEPTH_FORMAT_COMPRESSED_PS);
XN_IS_STATUS_OK(nRetVal);
}
// set base properties default values
nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_RESOLUTION);
XN_IS_STATUS_OK(nRetVal);
nRetVal = FPSProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_FPS);
XN_IS_STATUS_OK(nRetVal);
nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);
XN_IS_STATUS_OK(nRetVal);
// read some data from firmware
XnDepthInformation DepthInformation;
nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());
XN_IS_STATUS_OK(nRetVal);
nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());
XN_IS_STATUS_OK(nRetVal);
// init helper
nRetVal = m_Helper.Init(this, this);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)
{
nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware
if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)
{
nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());
XN_IS_STATUS_OK(nRetVal);
}
// registration
XnCallbackHandle hCallbackDummy;
nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, &hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());
XN_IS_STATUS_OK(nRetVal);
// data processor
nRetVal = m_Helper.RegisterDataProcessorProperty(m_InputFormat);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty());
XN_IS_STATUS_OK(nRetVal);
// pixel size factor
nRetVal = GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Register(DecidePixelSizeFactorCallback, this, &m_hReferenceSizeChangedCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecidePixelSizeFactor();
XN_IS_STATUS_OK(nRetVal);
// register supported modes
XnCmosPreset aSupportedModes[] =
{
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_VGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_VGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 30 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 60 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_VGA, 30 },
};
nRetVal = AddSupportedModes(aSupportedModes, sizeof(aSupportedModes)/sizeof(aSupportedModes[0]));
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2)
{
XnCmosPreset aSupportedModes25[] =
{
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_COMPRESSED_PS, XN_RESOLUTION_VGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT, XN_RESOLUTION_VGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_QVGA, 25 },
{ XN_IO_DEPTH_FORMAT_UNCOMPRESSED_16_BIT, XN_RESOLUTION_VGA, 25 },
};
nRetVal = AddSupportedModes(aSupportedModes25, sizeof(aSupportedModes25)/sizeof(aSupportedModes25[0]));
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}
XnStatus XnSensorDepthStream::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// init base
nRetVal = XnDepthStream::Init();
XN_IS_STATUS_OK(nRetVal);
// start with no cut-off
nRetVal = MaxDepthProperty().UnsafeUpdateValue(XN_DEVICE_SENSOR_MAX_DEPTH_100_UM);
XN_IS_STATUS_OK(nRetVal);
m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this);
m_DepthRegistration.UpdateSetCallback(SetRegistrationCallback, this);
m_HoleFilter.UpdateSetCallback(SetHoleFilterCallback, this);
m_WhiteBalance.UpdateSetCallback(SetWhiteBalanceCallback, this);
m_Gain.UpdateSetCallback(SetGainCallback, this);
m_RegistrationType.UpdateSetCallback(SetRegistrationTypeCallback, this);
m_AGCBin.UpdateSetCallback(SetAGCBinCallback, this);
m_AGCBin.UpdateGetCallback(GetAGCBinCallback, this);
m_GMCMode.UpdateSetCallback(SetGMCModeCallback, this);
m_CloseRange.UpdateSetCallback(SetCloseRangeCallback, this);
m_CroppingMode.UpdateSetCallback(SetCroppingModeCallback, this);
m_PixelRegistration.UpdateGetCallback(GetPixelRegistrationCallback, this);
m_GMCDebug.UpdateSetCallback(SetGMCDebugCallback, this);
m_WavelengthCorrection.UpdateSetCallback(SetWavelengthCorrectionCallback, this);
m_WavelengthCorrectionDebug.UpdateSetCallback(SetWavelengthCorrectionDebugCallback, this);
XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_DepthRegistration, &m_HoleFilter,
&m_WhiteBalance, &m_Gain, &m_AGCBin, &m_ActualRead, &m_GMCMode,
&m_CloseRange, &m_CroppingMode, &m_RegistrationType, &m_PixelRegistration,
&m_HorizontalFOV, &m_VerticalFOV, &m_GMCDebug, &m_WavelengthCorrection, &m_WavelengthCorrectionDebug,
);
// register supported modes
XnCmosPreset* pSupportedModes = m_Helper.GetPrivateData()->FWInfo.depthModes.GetData();
XnUInt32 nSupportedModes = m_Helper.GetPrivateData()->FWInfo.depthModes.GetSize();
nRetVal = AddSupportedModes(pSupportedModes, nSupportedModes);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetPrivateData()->pSensor->IsLowBandwidth())
{
nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_DEPTH_FORMAT_COMPRESSED_PS);
XN_IS_STATUS_OK(nRetVal);
}
// make sure default resolution is supported
XnBool bResSupported = FALSE;
for (XnUInt8 i = 0; i < nSupportedModes; ++i)
{
if (pSupportedModes[i].nResolution == XN_DEPTH_STREAM_DEFAULT_RESOLUTION)
{
bResSupported = TRUE;
break;
}
}
XnUInt64 nDefaultResolution = XN_DEPTH_STREAM_DEFAULT_RESOLUTION;
if (!bResSupported)
{
// QVGA was always supported
nDefaultResolution = XN_RESOLUTION_QVGA;
}
nRetVal = ResolutionProperty().UnsafeUpdateValue(nDefaultResolution);
XN_IS_STATUS_OK(nRetVal);
// set other properties default values
nRetVal = FPSProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_FPS);
XN_IS_STATUS_OK(nRetVal);
nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);
XN_IS_STATUS_OK(nRetVal);
// read some data from firmware
XnDepthInformation DepthInformation;
nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());
XN_IS_STATUS_OK(nRetVal);
nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());
XN_IS_STATUS_OK(nRetVal);
XnDouble fZPPS = m_Helper.GetFixedParams()->GetZeroPlanePixelSize();
XnInt nZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();
nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/nZPD));
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/nZPD));
XN_IS_STATUS_OK(nRetVal);
// init helper
nRetVal = m_Helper.Init(this, this);
XN_IS_STATUS_OK(nRetVal);
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)
{
nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_5_2)
{
nRetVal = m_WavelengthCorrection.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)
{
nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);
XN_IS_STATUS_OK(nRetVal);
}
// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware
if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)
{
nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());
XN_IS_STATUS_OK(nRetVal);
}
// registration
XnCallbackHandle hCallbackDummy;
nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, hCallbackDummy);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());
XN_IS_STATUS_OK(nRetVal);
// data processor
nRetVal = m_Helper.RegisterDataProcessorProperty(m_InputFormat);
XN_IS_STATUS_OK(nRetVal);
nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty());
XN_IS_STATUS_OK(nRetVal);
// pixel size factor
nRetVal = GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Register(DecidePixelSizeFactorCallback, this, m_hReferenceSizeChangedCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DecidePixelSizeFactor();
XN_IS_STATUS_OK(nRetVal);
// initialize registration
if (m_Helper.GetFirmwareVersion() > XN_SENSOR_FW_VER_5_3)
{
nRetVal = PopulateSensorCalibrationInfo();
XN_IS_STATUS_OK(nRetVal);
nRetVal = DepthUtilsInitialize(&m_calibrationInfo, &m_depthUtilsHandle);
XN_IS_STATUS_OK(nRetVal);
nRetVal = DepthUtilsSetDepthConfiguration(m_depthUtilsHandle, GetXRes(), GetYRes(), GetOutputFormat(), IsMirrored());
XN_IS_STATUS_OK(nRetVal);
}
return (XN_STATUS_OK);
}