/**
* @brief Initializes the Scene Analyzer (_scene_analyzer).
*
* @retval true if the Scene Analyzer was successfully created.
* @retval false if some error occurred.
*/
bool NIKinect::init_scene_analyzer(int index){
static xn::NodeInfoList depth_nodes;
XnStatus rc;
rc = this->_context->EnumerateProductionTrees (XN_NODE_TYPE_SCENE, NULL, depth_nodes, NULL);
int counter = 0;
for (xn::NodeInfoList::Iterator nodeIt =depth_nodes.Begin(); nodeIt != depth_nodes.End(); ++nodeIt, counter++) {
if(counter == 0){
xn::NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
rc = this->_context->CreateProductionTree (info);
rc = info.GetInstance (this->_scene_analyzer);
if (rc != XN_STATUS_OK)
{
printf("The Depth Node could not be created.%s\n",xnGetStatusString(rc));
this->_flags[NIKinect::SCENE_A] = false;
}
else{
this->_flags[NIKinect::SCENE_A] = true;
}
break;
}
}
if(this->_flags[NIKinect::SCENE_A]){
this->_scene_analyzer.GetMetaData(this->_scene_md);
}
//XnStatus rc = 1;
////rc = _context->FindExistingNode(XN_NODE_TYPE_SCENE,this->_scene_analyzer);
////If the generator was already created, don't create it again.
//if (rc != XN_STATUS_OK)
//{
// rc = _scene_analyzer.Create(_context);
// if (rc != XN_STATUS_OK)
// {
// printf("The Scene Analyzer Node could not be created.%s\n",xnGetStatusString(rc));
// this->_flags[NIKinect::SCENE_A] = false;
// }
// else{
// this->_flags[NIKinect::SCENE_A] = true;
// }
//}
//else{
// this->_flags[NIKinect::SCENE_A] = true;
//}
return this->_flags[NIKinect::SCENE_A];
}
XnStatus XnExportedSensorGenerator::EnumerateProductionTrees(xn::Context& context, xn::NodeInfoList& TreesList, xn::EnumerationErrors* pErrors)
{
XnStatus nRetVal = XN_STATUS_OK;
XnProductionNodeDescription Description;
GetDescription(&Description);
// perform a query to be sure the device we'll find is the same one exported from this DLL.
xn::Query query;
query.SetVendor(XN_VENDOR_PRIMESENSE);
query.SetName(XN_DEVICE_NAME);
query.SetMinVersion(Description.Version);
query.SetMaxVersion(Description.Version);
nRetVal = context.AutoEnumerateOverSingleInput(TreesList, Description, NULL, XN_NODE_TYPE_DEVICE, pErrors, &query);
XN_IS_STATUS_OK(nRetVal);
if (!m_bIsAvailableInLowBand)
{
xn::NodeInfoList::Iterator it = TreesList.Begin();
while (it != TreesList.End())
{
xn::NodeInfoList::Iterator curr = it;
it++;
xn::NodeInfo node = *curr;
// take sensor node
xn::NodeInfo sensorNode = *node.GetNeededNodes().Begin();
XnBool bIsLowBand;
nRetVal = XnSensorIO::IsSensorLowBandwidth(sensorNode.GetCreationInfo(), &bIsLowBand);
XN_IS_STATUS_OK(nRetVal);
if (bIsLowBand)
{
// sensor is low band
nRetVal = TreesList.Remove(curr);
XN_IS_STATUS_OK(nRetVal);
}
}
if (TreesList.IsEmpty())
{
return XN_STATUS_NO_NODE_PRESENT;
}
}
return (XN_STATUS_OK);
}
int userTracker::enumerate(xn::Context context, XnPredefinedProductionNodeType type, xn::NodeInfoList& list, std::string infoMsg) {
//std::cout << "Enumerating " << infoMsg << endl;
XnStatus status = context.EnumerateProductionTrees (type, NULL, list, NULL);
if (status != XN_STATUS_OK && list.Begin () != list.End ()) {
std::cout << "Enumerating " << infoMsg << " failed. Reason: " << xnGetStatusString (status) << std::endl;
return -1;
}
else if (list.Begin () == list.End ()) {
std::cout << "No " << infoMsg << " found." << std::endl;
return -1;
}
int numNodes = 0;
for (xn::NodeInfoList::Iterator nodeIt = list.Begin (); nodeIt != list.End (); ++nodeIt, numNodes++) {
const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
printf("device %d vendor %s name %s, instance %s\n", numNodes, description.strVendor, description.strName, info.GetInstanceName());
}
//std::cout << "Finishing enumerating: " << infoMsg << endl;
return numNodes;
}
unsigned
openni_wrapper::OpenNIDriver::updateDeviceList ()
{
// clear current list of devices
device_context_.clear ();
// clear maps
bus_map_.clear ();
serial_map_.clear ();
connection_string_map_.clear ();
// enumerate all devices
static xn::NodeInfoList node_info_list;
XnStatus status = context_.EnumerateProductionTrees (XN_NODE_TYPE_DEVICE, NULL, node_info_list);
if (status != XN_STATUS_OK && node_info_list.Begin () != node_info_list.End ())
THROW_OPENNI_EXCEPTION ("enumerating devices failed. Reason: %s", xnGetStatusString (status));
else if (node_info_list.Begin () == node_info_list.End ())
return 0; // no exception
for (xn::NodeInfoList::Iterator nodeIt = node_info_list.Begin (); nodeIt != node_info_list.End (); ++nodeIt)
{
connection_string_map_[(*nodeIt).GetCreationInfo ()] = static_cast<unsigned int> (device_context_.size ());
device_context_.emplace_back(*nodeIt);
}
// enumerate depth nodes
static xn::NodeInfoList depth_nodes;
status = context_.EnumerateProductionTrees (XN_NODE_TYPE_DEPTH, NULL, depth_nodes, NULL);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("enumerating depth generators failed. Reason: %s", xnGetStatusString (status));
for (xn::NodeInfoList::Iterator nodeIt = depth_nodes.Begin (); nodeIt != depth_nodes.End (); ++nodeIt)
{
// check if to which device this node is assigned to
for (xn::NodeInfoList::Iterator neededIt = (*nodeIt).GetNeededNodes ().Begin (); neededIt != (*nodeIt).GetNeededNodes ().End (); ++neededIt)
{
if ( connection_string_map_.count ((*neededIt).GetCreationInfo ()) )
{
unsigned device_index = connection_string_map_[(*neededIt).GetCreationInfo ()];
device_context_[device_index].depth_node.reset (new xn::NodeInfo(*nodeIt));
}
}
}
// enumerate image nodes
static xn::NodeInfoList image_nodes;
status = context_.EnumerateProductionTrees (XN_NODE_TYPE_IMAGE, NULL, image_nodes, NULL);
// Suat: This is an ugly ASUS Xtion workaround.
if (status == XN_STATUS_OK)
{
//THROW_OPENNI_EXCEPTION ("enumerating image generators failed. Reason: %s", xnGetStatusString (status));
for (xn::NodeInfoList::Iterator nodeIt = image_nodes.Begin (); nodeIt != image_nodes.End (); ++nodeIt)
{
// check to which device this node is assigned to
for (xn::NodeInfoList::Iterator neededIt = (*nodeIt).GetNeededNodes ().Begin (); neededIt != (*nodeIt).GetNeededNodes ().End (); ++neededIt)
{
if ( connection_string_map_.count ((*neededIt).GetCreationInfo ()) )
{
unsigned device_index = connection_string_map_[(*neededIt).GetCreationInfo ()];
device_context_[device_index].image_node.reset (new xn::NodeInfo(*nodeIt));
}
}
}
}
// enumerate IR nodes
static xn::NodeInfoList ir_nodes;
status = context_.EnumerateProductionTrees (XN_NODE_TYPE_IR, NULL, ir_nodes, NULL);
if (status != XN_STATUS_OK)
THROW_OPENNI_EXCEPTION ("enumerating IR generators failed. Reason: %s", xnGetStatusString (status));
for (xn::NodeInfoList::Iterator nodeIt = ir_nodes.Begin (); nodeIt != ir_nodes.End (); ++nodeIt)
{
// check if to which device this node is assigned to
for (xn::NodeInfoList::Iterator neededIt = (*nodeIt).GetNeededNodes ().Begin (); neededIt != (*nodeIt).GetNeededNodes ().End (); ++neededIt)
{
if ( connection_string_map_.count ((*neededIt).GetCreationInfo ()) )
{
unsigned device_index = connection_string_map_[(*neededIt).GetCreationInfo ()];
device_context_[device_index].ir_node.reset (new xn::NodeInfo(*nodeIt));
}
}
}
#ifndef _WIN32
// add context object for each found device
for (size_t deviceIdx = 0; deviceIdx < device_context_.size (); ++deviceIdx)
{
// register bus@address to the corresponding context object
unsigned short vendor_id;
unsigned short product_id;
unsigned char bus;
unsigned char address;
sscanf (device_context_[deviceIdx].device_node.GetCreationInfo (), "%hx/%hx@%hhu/%hhu", &vendor_id, &product_id, &bus, &address);
bus_map_ [bus][address] = deviceIdx;
}
// get additional info about connected devices like serial number, vendor name and prduct name
getDeviceInfos ();
#endif
// build serial number -> device index map
for (size_t deviceIdx = 0; deviceIdx < device_context_.size (); ++deviceIdx)
{
std::string serial_number = getSerialNumber (deviceIdx);
if (!serial_number.empty ())
serial_map_[serial_number] = deviceIdx;
}
// redundant, but needed for Windows right now and also for Xtion
for (const auto &device : device_context_)
{
unsigned short product_id;
unsigned short vendor_id;
getDeviceType(device.device_node.GetCreationInfo (), vendor_id, product_id );
#if _WIN32
if (vendor_id == 0x45e)
{
strcpy (const_cast<char*> (device_context_[device].device_node.GetDescription ().strVendor), "Microsoft");
strcpy (const_cast<char*> (device_context_[device].device_node.GetDescription ().strName), "Xbox NUI Camera");
}
else
#endif
if (vendor_id == 0x1d27 && device.image_node.get () == 0)
{
strcpy (const_cast<char*> (device.device_node.GetDescription ().strVendor), "ASUS");
strcpy (const_cast<char*> (device.device_node.GetDescription ().strName), "Xtion Pro");
}
}
return (static_cast<unsigned int> (device_context_.size ()));
}
XnStatus XnExportedSensorImageGenerator::EnumerateProductionTrees(xn::Context& context, xn::NodeInfoList& TreesList, xn::EnumerationErrors* pErrors)
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnExportedSensorGenerator::EnumerateProductionTrees(context, TreesList, pErrors);
XN_IS_STATUS_OK(nRetVal);
XnStringToBoolHash Devices;
// make sure device has image CMOS
xn::NodeInfoList::Iterator it = TreesList.Begin();
while (it != TreesList.End())
{
xn::NodeInfoList::Iterator curr = it;
it++;
xn::NodeInfo node = *curr;
// take sensor node
xn::NodeInfo sensorNode = *node.GetNeededNodes().Begin();
XnBool bHasImageCMOS = TRUE;
if (XN_STATUS_OK != Devices.Get(sensorNode.GetCreationInfo(), bHasImageCMOS))
{
// wasn't checked yet. check it now
xn::Device sensor;
nRetVal = sensorNode.GetInstance(sensor);
XN_IS_STATUS_OK(nRetVal);
XnBool bShouldCreated = (!sensor.IsValid());
if (bShouldCreated)
{
nRetVal = context.CreateProductionTree(sensorNode);
XN_IS_STATUS_OK(nRetVal);
nRetVal = sensorNode.GetInstance(sensor);
XN_IS_STATUS_OK(nRetVal);
}
// This is an ugly patch to find out if this sensor has an image CMOS. It will be fixed
// in future firmwares so we can just ask.
XnCmosBlankingUnits units;
units.nCmosID = XN_CMOS_TYPE_IMAGE;
nRetVal = sensor.GetGeneralProperty(XN_MODULE_PROPERTY_CMOS_BLANKING_UNITS, sizeof(units), &units);
if (nRetVal != XN_STATUS_OK || units.nUnits == 0)
{
// Failed. this means no image CMOS
bHasImageCMOS = FALSE;
}
if (bShouldCreated)
{
sensor.Release();
}
// add to checked list
Devices.Set(sensorNode.GetCreationInfo(), bHasImageCMOS);
}
if (!bHasImageCMOS)
{
// remove it from enumeration
nRetVal = TreesList.Remove(curr);
XN_IS_STATUS_OK(nRetVal);
}
}
if (TreesList.IsEmpty())
{
return XN_STATUS_NO_NODE_PRESENT;
}
return (XN_STATUS_OK);
}
/**
* @brief Initializes the Image Generator (_image_generator).
*
* @retval true if the generator was successfully created.
* @retval false if some error occurred.
*/
bool NIKinect::init_image_generator(int index){
static xn::NodeInfoList image_nodes;
XnStatus rc;
rc = this->_context->EnumerateProductionTrees (XN_NODE_TYPE_IMAGE, NULL, image_nodes, NULL);
int counter = 0;
for (xn::NodeInfoList::Iterator nodeIt =image_nodes.Begin(); nodeIt != image_nodes.End(); ++nodeIt, counter++) {
if(counter == 0){
xn::NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
rc = this->_context->CreateProductionTree (info);
this->_image_generator = new xn::ImageGenerator();
rc = info.GetInstance (*this->_image_generator);
if (rc != XN_STATUS_OK)
{
printf("The Depth Node could not be created.%s\n",xnGetStatusString(rc));
this->_flags[NIKinect::IMAGE_G] = false;
this->_flags_processing[NIKinect::IMAGE_P] = false;
}
else{
this->_flags[NIKinect::IMAGE_G] = true;
this->_flags_processing[NIKinect::IMAGE_P] = true;
}
this->_image_generator->SetMapOutputMode(_image_mode);
//this->_image_generator->GetMetaData(this->_image_md);
this->_image_generator->StartGenerating();
break;
}
}
if(this->_flags[NIKinect::IMAGE_G]){
this->_image_generator->GetMetaData(this->_image_md);
//if(this->_flags[NIKinect::DEPTH_G]){
// this->_depth_generator->GetAlternativeViewPointCap().SetViewPoint(*this->_image_generator);
//}
}
//XnStatus rc;
//rc = _context->FindExistingNode(XN_NODE_TYPE_IMAGE,this->_image_generator);
////If the generator was already created, don't create it again.
//if (rc != XN_STATUS_OK)
//{
// rc = _image_generator->Create(_context);
// if (rc != XN_STATUS_OK)
// {
// printf("The Image Node could not be created.%s\n",xnGetStatusString(rc));
// this->_flags[NIKinect::IMAGE_G] = false;
// this->_flags_processing[NIKinect::IMAGE_P] = false;
// }
// else{
// this->_flags[NIKinect::IMAGE_G] = true;
// this->_flags_processing[NIKinect::IMAGE_P] = true;
// }
//}
//else{
// this->_flags[NIKinect::IMAGE_G] = true;
// this->_flags_processing[NIKinect::IMAGE_P] = true;
//}
//if(this->_flags[NIKinect::IMAGE_G]){
// this->_image_generator->GetMetaData(this->_image_md);
// this->_depth_generator->GetAlternativeViewPointCap().SetViewPoint(this->_image_generator);
//}
return this->_flags[NIKinect::IMAGE_G];
}
/**
* @brief Initializes the Depth Generator (_depth_generator).
*
* @retval true if the generator was successfully created.
* @retval false if some error occurred.
*/
bool NIKinect::init_depth_generator(int index){
static xn::NodeInfoList depth_nodes;
XnStatus rc;
rc = this->_context->EnumerateProductionTrees (XN_NODE_TYPE_DEPTH, NULL, depth_nodes, NULL);
int counter = 0;
for (xn::NodeInfoList::Iterator nodeIt =depth_nodes.Begin(); nodeIt != depth_nodes.End(); ++nodeIt, counter++) {
if(counter == index){
xn::NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
XnMapOutputMode mode;
mode.nXRes = 640;
mode.nYRes = 480;
mode.nFPS = 30;
rc = this->_context->CreateProductionTree (info);
this->_depth_generator = new xn::DepthGenerator();
//DepthMetaData* g_depthMD = new DepthMetaData();
rc = info.GetInstance (*this->_depth_generator);
if (rc != XN_STATUS_OK)
{
printf("The Depth Node could not be created.%s\n",xnGetStatusString(rc));
this->_flags[NIKinect::DEPTH_G] = false;
this->_flags_processing[NIKinect::DEPTH_P] = false;
this->_flags_processing[NIKinect::MASK_P] = false;
}
else{
this->_flags[NIKinect::DEPTH_G] = true;
this->_flags_processing[NIKinect::DEPTH_P] = true;
this->_flags_processing[NIKinect::MASK_P] = true;
}
this->_depth_generator->SetMapOutputMode(mode);
//this->_depth_generator->GetMetaData(this->_depth_md);
this->_depth_generator->StartGenerating();
break;
}
}
if(this->_flags[NIKinect::DEPTH_G]){
this->_depth_generator->GetMetaData(this->_depth_md);
}
//rc = _context->FindExistingNode(XN_NODE_TYPE_DEPTH,this->_depth_generator);
////If the generator was already created, don't create it again.
//if (rc != XN_STATUS_OK)
//{
// rc = _depth_generator->Create(_context);
// if (rc != XN_STATUS_OK)
// {
// printf("The Depth Node could not be created.%s\n",xnGetStatusString(rc));
// this->_flags[NIKinect::DEPTH_G] = false;
// this->_flags_processing[NIKinect::DEPTH_P] = false;
// this->_flags_processing[NIKinect::MASK_P] = false;
// }
// else{
// this->_flags[NIKinect::DEPTH_G] = true;
// this->_flags_processing[NIKinect::DEPTH_P] = true;
// this->_flags_processing[NIKinect::MASK_P] = true;
// }
//}
//else{
// this->_flags[NIKinect::DEPTH_G] = true;
// this->_flags_processing[NIKinect::DEPTH_P] = true;
// this->_flags_processing[NIKinect::MASK_P] = true;
//}
return this->_flags[NIKinect::DEPTH_G];
}
// most code came from: http://groups.google.com/group/openni-dev/browse_thread/thread/cde3217c242a3687/3c1463337f6f2951?lnk=gst&q=multiple#3c1463337f6f2951
void MultipleKinects::init() {
printf("MultipleKinects.init()\n");
XnStatus returnCode;
printf("Initializing context ...\n");
returnCode = this->context.Init();
if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Initialisation failed!", returnCode); }
printf("Looking for connected devices...\n");
static xn::NodeInfoList deviceInfoList;
returnCode = this->context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, deviceInfoList);
if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Enumerating device nodes failed!", returnCode); }
if(deviceInfoList.Begin() == deviceInfoList.End()) {
std::string errorMsg = "Device node list is empty! (Probably no devices connected?!)";
throw errorMsg;
}
std::vector<xn::NodeInfo> deviceInfos;
int c = 0; // i'd like to have a "c++" ;)
for (xn::NodeInfoList::Iterator it = deviceInfoList.Begin(); it != deviceInfoList.End(); ++it) {
deviceInfos.push_back(*it);
c++; // yeah!!! :)))
}
printf("Connected devices: %i\n", c);
// printf("Looking for available depth generators...\n");
// static xn::NodeInfoList depth_nodes;
// status = context_.EnumerateProductionTrees (XN_NODE_TYPE_DEPTH, NULL, depth_nodes, NULL);
// if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Enumerating depth generator nodes failed!", returnCode); }
// vector<xn::NodeInfo> depth_info;
// for (xn::NodeInfoList::Iterator nodeIt = depth_nodes.Begin (); nodeIt != depth_nodes.End (); ++nodeIt) {
// depth_info.push_back (*nodeIt);
// }
printf("Looking for available image generators...\n");
static xn::NodeInfoList imageInfoList;
returnCode = this->context.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL,imageInfoList, NULL);
if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Enumerating image nodes failed!", returnCode); }
std::vector<xn::NodeInfo> imageInfos;
for (xn::NodeInfoList::Iterator it = imageInfoList.Begin(); it != imageInfoList.End(); ++it) {
imageInfos.push_back(*it);
}
if(deviceInfos.size() != imageInfos.size() /* || dev.size != depth.size */) {
std::string errorMsg = "Number of devices does not match number of image streams!";
throw errorMsg;
}
for (unsigned i = 0; i < deviceInfos.size(); i++) {
printf("Processing device number %i#.\n", (i+1));
xn::NodeInfo deviceInfo = deviceInfos[i];
xn::NodeInfo imageInfo = imageInfos[i];
// returnCode = this->context.CreateProductionTree(const_cast<xn::NodeInfo&>(deviceInfo));
// if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Creating depth generator failed!", returnCode); }
printf("Creating image generator production node...\n");
returnCode = this->context.CreateProductionTree(const_cast<xn::NodeInfo&>(imageInfo));
if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Creating image generator instance failed!", returnCode); }
// get production node instances
// returnCode = depth_node.GetInstance(depth_generator_);
// if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Creating depth generator instance failed!", returnCode); }
xn::ImageGenerator imageGenerator;
returnCode = imageInfo.GetInstance (imageGenerator);
if(returnCode != XN_STATUS_OK) { THROW_XN_EXCEPTION("Creating image generator instance failed!", returnCode); }
NiDevice* device = new NiDevice(deviceInfo, imageInfo, imageGenerator, this->imageSaver);
device->printToString();
device->init();
this->devices.push_back(device);
}
}