openni_device_kinect.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00037 #include <openni_camera/openni_device_kinect.h>
00038 #include <openni_camera/openni_image_bayer_grbg.h>
00039 #include <iostream>
00040 #include <sstream>
00041 #include <boost/thread/mutex.hpp>
00042 
00043 using namespace std;
00044 using namespace boost;
00045 
00046 namespace openni_wrapper
00047 {
00048 
00049 DeviceKinect::DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException)
00050 : OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
00051 , debayering_method_ (ImageBayerGRBG::EdgeAwareWeighted)
00052 {
00053   // setup stream modes
00054   enumAvailableModes ();
00055   setDepthOutputMode (getDefaultDepthMode ());
00056   setImageOutputMode (getDefaultImageMode ());
00057   setIROutputMode (getDefaultIRMode ());
00058   
00059   // device specific initialization
00060   XnStatus status;
00061 
00062   unique_lock<mutex> image_lock(image_mutex_);
00063   // set kinect specific format. Thus input = uncompressed Bayer, output = grayscale = bypass = bayer
00064   status = image_generator_.SetIntProperty ("InputFormat", 6);
00065   if (status != XN_STATUS_OK)
00066     THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed 8-bit BAYER. Reason: %s", xnGetStatusString (status));
00067 
00068   // Grayscale: bypass debayering -> gives us bayer pattern!
00069   status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_GRAYSCALE_8_BIT);
00070   if (status != XN_STATUS_OK)
00071     THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to 8bit-grayscale. Reason: %s", xnGetStatusString (status));
00072   image_lock.unlock ();
00073   
00074   lock_guard<mutex> depth_lock(depth_mutex_);
00075   // RegistrationType should be 2 (software) for Kinect, 1 (hardware) for PS
00076   status = depth_generator_.SetIntProperty ("RegistrationType", 2);
00077   if (status != XN_STATUS_OK)
00078     THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
00079 }
00080 
00081 DeviceKinect::~DeviceKinect () throw ()
00082 {
00083   depth_mutex_.lock ();
00084   depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
00085   depth_mutex_.unlock ();
00086 
00087   image_mutex_.lock ();
00088   image_generator_.UnregisterFromNewDataAvailable (image_callback_handle_);
00089   image_mutex_.unlock ();
00090 }
00091 
00092 bool DeviceKinect::isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
00093 {
00094   return ImageBayerGRBG::resizingSupported (input_width, input_height, output_width, output_height);
00095 }
00096 
00097 void DeviceKinect::enumAvailableModes () throw (OpenNIException)
00098 {
00099   XnMapOutputMode output_mode;
00100   available_image_modes_.clear();
00101   available_depth_modes_.clear();
00102 
00103   output_mode.nFPS = 30;
00104   output_mode.nXRes = XN_VGA_X_RES;
00105   output_mode.nYRes = XN_VGA_Y_RES;
00106   available_image_modes_.push_back (output_mode);
00107   available_depth_modes_.push_back (output_mode);
00108 
00109   output_mode.nFPS = 15;
00110   output_mode.nXRes = XN_SXGA_X_RES;
00111   output_mode.nYRes = XN_SXGA_Y_RES;
00112   available_image_modes_.push_back (output_mode);
00113 }
00114 
00115 boost::shared_ptr<Image> DeviceKinect::getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw ()
00116 {
00117   return boost::shared_ptr<Image> (new ImageBayerGRBG (image_data, debayering_method_));
00118 }
00119 
00120 void DeviceKinect::setSynchronization (bool on_off) throw (OpenNIException)
00121 {
00122   if (on_off)
00123     THROW_OPENNI_EXCEPTION ("Microsoft Kinect does not support Hardware synchronization.");
00124 }
00125 
00126 bool DeviceKinect::isSynchronized () const throw (OpenNIException)
00127 {
00128   return false;
00129 }
00130 
00131 bool DeviceKinect::isSynchronizationSupported () const throw ()
00132 {
00133   return false;
00134 }
00135 
00136 bool DeviceKinect::isDepthCropped () const throw (OpenNIException)
00137 {
00138   return false;
00139 }
00140 
00141 void DeviceKinect::setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException)
00142 {
00143   if (width != 0 && height != 0)
00144     THROW_OPENNI_EXCEPTION ("Microsoft Kinect does not support cropping for the depth stream.");
00145 }
00146 
00147 bool DeviceKinect::isDepthCroppingSupported () const throw ()
00148 {
00149   return false;
00150 }
00151 
00152 } //namespace
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openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Thu Aug 15 2013 10:49:03