XnStatus XnSensorIRStream::Init() { XnStatus nRetVal = XN_STATUS_OK; // nRetVal = SetBufferPool(&m_BufferPool); // XN_IS_STATUS_OK(nRetVal); // init base nRetVal = XnIRStream::Init(); XN_IS_STATUS_OK(nRetVal); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_ActualRead, &m_CroppingMode); // set base properties default values nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_RESOLUTION); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_FPS); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_OUTPUT_FORMAT); XN_IS_STATUS_OK(nRetVal); // init helper nRetVal = m_Helper.Init(this, this); XN_IS_STATUS_OK(nRetVal); // register supported modes XnCmosPreset* pSupportedModes = m_Helper.GetPrivateData()->FWInfo.irModes.GetData(); XnUInt32 nSupportedModes = m_Helper.GetPrivateData()->FWInfo.irModes.GetSize(); nRetVal = AddSupportedModes(pSupportedModes, nSupportedModes); XN_IS_STATUS_OK(nRetVal); // data processor nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty()); XN_IS_STATUS_OK(nRetVal); // register for mirror XnCallbackHandle hCallbackDummy; nRetVal = IsMirroredProperty().OnChangeEvent().Register(IsMirroredChangedCallback, this, hCallbackDummy); XN_IS_STATUS_OK(nRetVal); return (XN_STATUS_OK); }
XnStatus XnSensorImageStream::Init() { XnStatus nRetVal = XN_STATUS_OK; nRetVal = SetBufferPool(&m_BufferPool); XN_IS_STATUS_OK(nRetVal); // init base nRetVal = XnImageStream::Init(); XN_IS_STATUS_OK(nRetVal); m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this); m_AntiFlicker.UpdateSetCallback(SetAntiFlickerCallback, this); m_ImageQuality.UpdateSetCallback(SetImageQualityCallback, this); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_AntiFlicker, &m_ImageQuality, &m_SharedBufferName, &m_ActualRead); // set base properties default values nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_RESOLUTION); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_FPS); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_OUTPUT_FORMAT); XN_IS_STATUS_OK(nRetVal); // init helper nRetVal = m_Helper.Init(this, this); 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); nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty()); XN_IS_STATUS_OK(nRetVal); return (XN_STATUS_OK); }
XnStatus XnPixelStream::Init() { XnStatus nRetVal = XN_STATUS_OK; // init base nRetVal = XnFrameStream::Init(); XN_IS_STATUS_OK(nRetVal); // update set callbacks m_Resolution.UpdateSetCallback(SetResolutionCallback, this); m_XRes.UpdateSetCallback(SetXResCallback, this); m_YRes.UpdateSetCallback(SetYResCallback, this); m_Cropping.UpdateSetCallback(SetCroppingCallback, this); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_IsPixelStream, &m_Resolution, &m_XRes, &m_YRes, &m_BytesPerPixel, &m_Cropping, &m_SupportedModesCount, &m_SupportedModes); // register required size properties nRetVal = RegisterRequiredSizeProperty(&m_XRes); XN_IS_STATUS_OK(nRetVal); nRetVal = RegisterRequiredSizeProperty(&m_YRes); XN_IS_STATUS_OK(nRetVal); nRetVal = RegisterRequiredSizeProperty(&m_BytesPerPixel); XN_IS_STATUS_OK(nRetVal); // register for important properties XnCallbackHandle hDummyCallback; nRetVal = m_Resolution.OnChangeEvent().Register(ResolutionValueChangedCallback, this, &hDummyCallback); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().OnChangeEvent().Register(OutputFormatValueChangedCallback, this, &hDummyCallback); XN_IS_STATUS_OK(nRetVal); nRetVal = m_XRes.OnChangeEvent().Register(FixCroppingCallback, this, &hDummyCallback); XN_IS_STATUS_OK(nRetVal); nRetVal = m_YRes.OnChangeEvent().Register(FixCroppingCallback, this, &hDummyCallback); XN_IS_STATUS_OK(nRetVal); return (XN_STATUS_OK); }
XnStatus XnDepthStream::Init() { XnStatus nRetVal = XN_STATUS_OK; // init base nRetVal = XnPixelStream::Init(); XN_IS_STATUS_OK(nRetVal); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_MinDepth, &m_MaxDepth, &m_ConstShift, &m_PixelSizeFactor, &m_MaxShift, &m_ParamCoefficient, &m_ShiftScale, &m_ZeroPlaneDistance, &m_ZeroPlanePixelSize, &m_EmitterDCmosDistance, &m_GetDCmosRCmosDistance, &m_DeviceMaxDepth); nRetVal = OutputFormatProperty().UnsafeUpdateValue(ONI_PIXEL_FORMAT_DEPTH_1_MM); XN_IS_STATUS_OK(nRetVal); nRetVal = m_S2DHelper.Init(this); XN_IS_STATUS_OK(nRetVal); return (XN_STATUS_OK); }
XnStatus XnSensorIRStream::Init() { XnStatus nRetVal = XN_STATUS_OK; nRetVal = SetBufferPool(&m_BufferPool); XN_IS_STATUS_OK(nRetVal); // init base nRetVal = XnIRStream::Init(); XN_IS_STATUS_OK(nRetVal); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_SharedBufferName, &m_ActualRead); // set base properties default values nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_RESOLUTION); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_FPS); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_OUTPUT_FORMAT); XN_IS_STATUS_OK(nRetVal); // init helper nRetVal = m_Helper.Init(this, this); XN_IS_STATUS_OK(nRetVal); // data processor nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty()); XN_IS_STATUS_OK(nRetVal); // register for mirror XnCallbackHandle hCallbackDummy; nRetVal = IsMirroredProperty().OnChangeEvent().Register(IsMirroredChangedCallback, this, &hCallbackDummy); XN_IS_STATUS_OK(nRetVal); 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 XnSensorIRStream::Init() { XnStatus nRetVal = XN_STATUS_OK; nRetVal = SetBufferPool(&m_BufferPool); XN_IS_STATUS_OK(nRetVal); // init base nRetVal = XnIRStream::Init(); XN_IS_STATUS_OK(nRetVal); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_SharedBufferName, &m_ActualRead); // set base properties default values nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_RESOLUTION); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_FPS); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_IR_STREAM_DEFAULT_OUTPUT_FORMAT); XN_IS_STATUS_OK(nRetVal); // init helper nRetVal = m_Helper.Init(this, this); XN_IS_STATUS_OK(nRetVal); // register supported modes XnCmosPreset aSupportedModes[] = { { 0, XN_RESOLUTION_QVGA, 30 }, { 0, XN_RESOLUTION_QVGA, 60 }, { 0, XN_RESOLUTION_VGA, 30 }, { 0, XN_RESOLUTION_SXGA, 30 }, }; nRetVal = AddSupportedModes(aSupportedModes, sizeof(aSupportedModes)/sizeof(aSupportedModes[0])); XN_IS_STATUS_OK(nRetVal); if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_1) { XnCmosPreset aSupportedModesSXGA[] = { { 0, XN_RESOLUTION_SXGA, 30 }, }; nRetVal = AddSupportedModes(aSupportedModesSXGA, sizeof(aSupportedModesSXGA)/sizeof(aSupportedModesSXGA[0])); XN_IS_STATUS_OK(nRetVal); } if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2) { XnCmosPreset aSupportedModes25[] = { { 0, XN_RESOLUTION_QVGA, 25 }, { 0, XN_RESOLUTION_VGA, 25 }, }; nRetVal = AddSupportedModes(aSupportedModes25, sizeof(aSupportedModes25)/sizeof(aSupportedModes25[0])); XN_IS_STATUS_OK(nRetVal); } // data processor nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty()); XN_IS_STATUS_OK(nRetVal); // register for mirror XnCallbackHandle hCallbackDummy; nRetVal = IsMirroredProperty().OnChangeEvent().Register(IsMirroredChangedCallback, this, &hCallbackDummy); XN_IS_STATUS_OK(nRetVal); return (XN_STATUS_OK); }
XnStatus XnSensorImageStream::Init() { XnStatus nRetVal = XN_STATUS_OK; nRetVal = SetBufferPool(&m_BufferPool); XN_IS_STATUS_OK(nRetVal); // init base nRetVal = XnImageStream::Init(); XN_IS_STATUS_OK(nRetVal); m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this); m_AntiFlicker.UpdateSetCallback(SetAntiFlickerCallback, this); m_ImageQuality.UpdateSetCallback(SetImageQualityCallback, this); m_Brightness.UpdateSetCallbackToDefault(); m_Contrast.UpdateSetCallbackToDefault(); m_Saturation.UpdateSetCallbackToDefault(); m_Zoom.UpdateSetCallbackToDefault(); m_Pan.UpdateSetCallbackToDefault(); m_Tilt.UpdateSetCallbackToDefault(); m_Sharpness.UpdateSetCallback(SetSharpnessCallback, this); m_ColorTemperature.UpdateSetCallback(SetColorTemperatureCallback, this); m_BackLightCompensation.UpdateSetCallback(SetBacklightCompensationCallback, this); m_Gain.UpdateSetCallback(SetGainCallback, this); m_Exposure.UpdateSetCallback(SetExposureCallback, this); m_LowLightCompensation.UpdateSetCallback(SetLowLightCompensationCallback, this); // add properties XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_AntiFlicker, &m_ImageQuality, &m_Brightness, &m_Contrast, &m_Saturation, &m_Sharpness, &m_ColorTemperature, &m_BackLightCompensation, &m_Gain, &m_Zoom, &m_Exposure, &m_Pan, &m_Tilt, &m_LowLightCompensation, &m_SharedBufferName, &m_ActualRead); // set base properties default values nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_RESOLUTION); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_FPS); XN_IS_STATUS_OK(nRetVal); nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_IMAGE_STREAM_DEFAULT_OUTPUT_FORMAT); XN_IS_STATUS_OK(nRetVal); // init helper nRetVal = m_Helper.Init(this, this); 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); nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty()); XN_IS_STATUS_OK(nRetVal); // register supported modes if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_4) { // ask the firmware const XnUInt32 nAllocSize = 100; XnUInt32 nCount = nAllocSize; XnCmosPreset aSupportedModes[nAllocSize]; nRetVal = XnHostProtocolGetCmosPresets(m_Helper.GetPrivateData(), XN_CMOS_TYPE_IMAGE, aSupportedModes, nCount); XN_IS_STATUS_OK(nRetVal); if (nCount == 0) { xnLogError(XN_MASK_DEVICE_SENSOR, "Device does not support any image mode!"); return XN_STATUS_DEVICE_UNSUPPORTED_PARAMETER; } // check if our current (default) configuration is valid XnUInt16 nValidInputFormat = XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT; XnBool bModeFound = FALSE; for (XnUInt32 i = 0; i < nCount; ++i) { if (aSupportedModes[i].nResolution == XN_IMAGE_STREAM_DEFAULT_RESOLUTION && aSupportedModes[i].nFPS == XN_IMAGE_STREAM_DEFAULT_FPS) { // found if (!bModeFound) { bModeFound = TRUE; nValidInputFormat = aSupportedModes[i].nFormat; } if (aSupportedModes[i].nFormat == XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT) { nValidInputFormat = XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT; break; } } } if (!bModeFound) { xnLogWarning(XN_MASK_DEVICE_SENSOR, "Default mode (res + FPS) is not supported by device. Changing defaults..."); nRetVal = ResolutionProperty().UnsafeUpdateValue(aSupportedModes[0].nResolution); XN_IS_STATUS_OK(nRetVal); nRetVal = FPSProperty().UnsafeUpdateValue(aSupportedModes[0].nFPS); XN_IS_STATUS_OK(nRetVal); nRetVal = m_InputFormat.UnsafeUpdateValue(aSupportedModes[0].nFormat); XN_IS_STATUS_OK(nRetVal); } else { // just update input format nRetVal = m_InputFormat.UnsafeUpdateValue(nValidInputFormat); XN_IS_STATUS_OK(nRetVal); } nRetVal = AddSupportedModes(aSupportedModes, nCount); XN_IS_STATUS_OK(nRetVal); } else { XnArray<XnCmosPreset> supportedModes(30); // Uncompressed modes are only supported in ISO (not BULK) XnBool bUncompressedAllowed = m_Helper.GetPrivateData()->pSpecificImageUsb->pUsbConnection->bIsISO; // start with common modes supported by all nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 30); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 60); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 30); XN_IS_STATUS_OK(nRetVal); // --avin mod-- nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_SXGA, 15); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 30); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 60); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_VGA, 30); XN_IS_STATUS_OK(nRetVal); // add uncompressed ones if (bUncompressedAllowed) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 30); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 60); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 30); XN_IS_STATUS_OK(nRetVal); } // starting with FW 5.2, 25 FPS is also supported if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 25); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 25); XN_IS_STATUS_OK(nRetVal); if (bUncompressedAllowed) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 25); XN_IS_STATUS_OK(nRetVal); nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 25); XN_IS_STATUS_OK(nRetVal); } } // high-res if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_3) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_SXGA, 30); XN_IS_STATUS_OK(nRetVal); // starting with 5.3.28, YUV is also supported in high-res if (m_Helper.GetPrivateData()->Version.nMajor > 5 || (m_Helper.GetPrivateData()->Version.nMajor == 5 && m_Helper.GetPrivateData()->Version.nMinor > 3) || (m_Helper.GetPrivateData()->Version.nMajor == 5 && m_Helper.GetPrivateData()->Version.nMinor == 3 && m_Helper.GetPrivateData()->Version.nBuild >= 28)) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_SXGA, 30); XN_IS_STATUS_OK(nRetVal); if (bUncompressedAllowed) { nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_SXGA, 30); XN_IS_STATUS_OK(nRetVal); } } } else if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2) { // on 5.2, high-res was UXGA nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_UXGA, 30); XN_IS_STATUS_OK(nRetVal); } // Add all supported modes to the stream nRetVal = AddSupportedModes(supportedModes.GetData(), supportedModes.GetSize()); XN_IS_STATUS_OK(nRetVal); if (!bUncompressedAllowed) { // update default input format nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_IMAGE_FORMAT_YUV422); 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); }