openni_device_xtion.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00009  *  Redistribution and use in source and binary forms, with or without
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00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
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00037 #include <openni_camera/openni_device_xtion.h>
00038 #include <iostream>
00039 #include <sstream>
00040 #include <boost/thread/mutex.hpp>
00041 
00042 using namespace std;
00043 using namespace boost;
00044 
00045 namespace openni_wrapper
00046 {
00047 
00048 DeviceXtionPro::DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException)
00049 : OpenNIDevice (context, device_node, depth_node, ir_node)
00050 {
00051   // setup stream modes
00052   enumAvailableModes ();
00053   setDepthOutputMode (getDefaultDepthMode ());
00054   setIROutputMode (getDefaultIRMode ());
00055   
00056   lock_guard<mutex> depth_lock(depth_mutex_);
00057   XnStatus status = depth_generator_.SetIntProperty ("RegistrationType", 1);
00058   if (status != XN_STATUS_OK)
00059     THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
00060 }
00061 
00062 DeviceXtionPro::~DeviceXtionPro () throw ()
00063 {
00064   depth_mutex_.lock ();
00065   depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
00066   depth_mutex_.unlock ();
00067 }
00068 
00069 bool DeviceXtionPro::isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
00070 {
00071   return false;
00072 }
00073 
00074 void DeviceXtionPro::enumAvailableModes () throw (OpenNIException)
00075 {
00076   XnMapOutputMode output_mode;
00077   available_image_modes_.clear();
00078   available_depth_modes_.clear();
00079 
00080   // Depth Modes
00081   output_mode.nFPS = 30;
00082   output_mode.nXRes = XN_VGA_X_RES;
00083   output_mode.nYRes = XN_VGA_Y_RES;
00084   available_depth_modes_.push_back (output_mode);
00085 
00086   output_mode.nFPS = 25;
00087   output_mode.nXRes = XN_VGA_X_RES;
00088   output_mode.nYRes = XN_VGA_Y_RES;
00089   available_depth_modes_.push_back (output_mode);
00090 
00091   output_mode.nFPS = 25;
00092   output_mode.nXRes = XN_QVGA_X_RES;
00093   output_mode.nYRes = XN_QVGA_Y_RES;
00094   available_depth_modes_.push_back (output_mode);
00095 
00096   output_mode.nFPS = 30;
00097   output_mode.nXRes = XN_QVGA_X_RES;
00098   output_mode.nYRes = XN_QVGA_Y_RES;
00099   available_depth_modes_.push_back (output_mode);
00100 
00101   output_mode.nFPS = 60;
00102   output_mode.nXRes = XN_QVGA_X_RES;
00103   output_mode.nYRes = XN_QVGA_Y_RES;
00104   available_depth_modes_.push_back (output_mode);
00105 }
00106 
00107 boost::shared_ptr<Image> DeviceXtionPro::getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw ()
00108 {
00109   return boost::shared_ptr<Image> ((Image*)0);
00110 }
00111 
00112 void DeviceXtionPro::startDepthStream () throw (OpenNIException)
00113 {
00114   if (isDepthRegistered ())
00115   {
00116     // Reset the view point
00117     setDepthRegistration (false);
00118 
00119     // Start the stream
00120     OpenNIDevice::startDepthStream ();
00121 
00122     // Register the stream
00123     setDepthRegistration (true);
00124   }
00125   else
00126     // Start the stream
00127     OpenNIDevice::startDepthStream ();
00128 }
00129 
00130 } //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