const std::vector<AstraVideoMode> astra_convert(const openni::Array<openni::VideoMode>& input)
{
std::vector<AstraVideoMode> output;
int size = input.getSize();
output.reserve(size);
for (int i=0; i<size; ++i)
output.push_back(astra_convert(input[i]));
return output;
}
DepthVideoIn::DepthVideoIn(int device_number) {
openni::Status rc;
num_frames=-1;
m_device=NULL;
m_depth=NULL;
m_depthFrame=NULL;
last_requested_n=-1;
last_requested_output=NULL;
if (!initialized) {
rc=openni::OpenNI::initialize();
if (rc!=openni::STATUS_OK) {
printf("OpenNI-> init error:\n%s\n", openni::OpenNI::getExtendedError());
return;
}
initialized=true;
}
// Enumerate devices
if (deviceInfoList.getSize()==0) openni::OpenNI::enumerateDevices(&deviceInfoList);
if (device_number>=deviceInfoList.getSize()) return;
m_device = new openni::Device;
m_depth = new openni::VideoStream;
m_depthFrame = new openni::VideoFrameRef;
openni::Device *device = static_cast<openni::Device*>(m_device);
openni::VideoStream *depth = static_cast<openni::VideoStream*>(m_depth);
const char *deviceURI=deviceInfoList[device_number].getUri();
rc=device->open(deviceURI);
if (rc!=openni::STATUS_OK) {
printf("OpenNI-> Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
return;
}
rc=depth->create(*device,openni::SENSOR_DEPTH);
if (rc==openni::STATUS_OK) {
rc=depth->start();
if (rc!=openni::STATUS_OK) {
printf("OpenNI-> Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
}
} else {
printf("OpenNI-> Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
}
/*rc=color.create(device, openni::SENSOR_COLOR);
if (rc==openni::STATUS_OK) {
rc=color.start();
if (rc!=openni::STATUS_OK) {
printf("SimpleViewer: Couldn't start color stream:\n%s\n", openni::OpenNI::getExtendedError());
color.destroy();
}
} else {
printf("SimpleViewer: Couldn't find color stream:\n%s\n", openni::OpenNI::getExtendedError());
}*/
if (!depth->isValid()) {
printf("OpenNI-> No valid streams.\n");
return;
}
openni::VideoMode depthVideoMode = depth->getVideoMode();
width = depthVideoMode.getResolutionX();
height = depthVideoMode.getResolutionY();
bpp = 32;
fps = 30.0; // TODO***
num_frames=0;
}
