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


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Thu Jun 6 2019 20:16:13