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added support of Asus XtionPRO (thanks to Gustav Karlsson for his patches) #1657

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This commit is contained in:
Alexander Shishkov
2012-03-12 16:07:42 +00:00
parent 1252671c9d
commit 6051e27a09
3 changed files with 113 additions and 50 deletions
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modules/highgui/src/cap_openni.cpp
+71 -32
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@@ -38,7 +38,6 @@
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
@@ -67,7 +66,7 @@ const std::string XMLConfig =
"</Dumps>"
"</Log>"
"<ProductionNodes>"
"<Node type=\"Image\" name=\"Image1\">"
"<Node type=\"Image\" name=\"Image1\" stopOnError=\"false\">"
"<Configuration>"
"<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
"<Mirror on=\"false\"/>"
@@ -134,6 +133,7 @@ protected:
xn::DepthMetaData depthMetaData;
XnMapOutputMode depthOutputMode;
bool m_isImageGeneratorPresent;
xn::ImageGenerator imageGenerator;
xn::ImageMetaData imageMetaData;
XnMapOutputMode imageOutputMode;
@@ -241,17 +241,34 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
return;
}
imageGenerator.Create( context );
// enumerate the nodes to find if image generator is present
xn::NodeInfoList Imagelist;
status = context.EnumerateExistingNodes( Imagelist, XN_NODE_TYPE_IMAGE );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate Image Generators: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if(Imagelist.IsEmpty())
{
m_isImageGeneratorPresent = FALSE;
}
else
{
m_isImageGeneratorPresent = TRUE;
imageGenerator.Create( context);
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
}
// Set map output mode.
CV_Assert( depthGenerator.SetMapOutputMode( depthOutputMode ) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
CV_Assert( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK );
CV_Assert( m_isImageGeneratorPresent ? ( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK ) : TRUE);
// Start generating data.
status = context.StartGeneratingAll();
@@ -424,22 +441,28 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
{
if( propValue != 0.0 ) // "on"
{
CV_Assert( imageGenerator.IsValid() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
// if no Image Generator is present i.e. ASUS XtionPro the imageGenerator cannot be used
if( m_isImageGeneratorPresent )
{
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
CV_Assert( imageGenerator.IsValid() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
res = true;
}
else
res = true;
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
res = true;
}
else
res = true;
res = false;
}
else // "off"
{
@@ -460,30 +483,40 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
{
CV_Assert( imageGenerator.IsValid() );
double res = 0;
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
res = imageOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
res = imageOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
res = imageOutputMode.nFPS;
break;
default :
CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
}
if (propIdx == CV_CAP_PROP_IMAGE_GENERATOR_PRESENT)
res = m_isImageGeneratorPresent ? 1 : -1;
else
{
if (!m_isImageGeneratorPresent)
return res;
CV_Assert( imageGenerator.IsValid() );
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
res = imageOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
res = imageOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
res = imageOutputMode.nFPS;
break;
default :
CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
}
}
return res;
}
bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue )
{
bool res = false;
if(!m_isImageGeneratorPresent)
return res;
CV_Assert( imageGenerator.IsValid() );
@@ -505,6 +538,11 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 15;
break;
case CV_CAP_OPENNI_SXGA_30HZ :
newImageOutputMode.nXRes = XN_SXGA_X_RES;
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 30;
break;
default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
}
@@ -536,7 +574,8 @@ bool CvCapture_OpenNI::grabFrame()
return false;
depthGenerator.GetMetaData( depthMetaData );
imageGenerator.GetMetaData( imageMetaData );
if(m_isImageGeneratorPresent)
imageGenerator.GetMetaData( imageMetaData );
return true;
}