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
00014  *     notice, this list of conditions and the following disclaimer.
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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 boost;
00043 
00044 namespace openni_wrapper
00045 {
00046 
00047 DeviceXtionPro::DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException)
00048 : OpenNIDevice (context, device_node, depth_node, ir_node)
00049 {
00050   // setup stream modes
00051   enumAvailableModes ();
00052   setDepthOutputMode (getDefaultDepthMode ());
00053   setIROutputMode (getDefaultIRMode ());
00054   
00055   lock_guard<mutex> depth_lock(depth_mutex_);
00056   XnStatus status = depth_generator_.SetIntProperty ("RegistrationType", 1);
00057   if (status != XN_STATUS_OK)
00058     THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
00059 }
00060 
00061 DeviceXtionPro::~DeviceXtionPro () throw ()
00062 {
00063   depth_mutex_.lock ();
00064   depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
00065   depth_mutex_.unlock ();
00066 }
00067 
00068 bool DeviceXtionPro::isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
00069 {
00070   return false;
00071 }
00072 
00073 void DeviceXtionPro::enumAvailableModes () throw (OpenNIException)
00074 {
00075   XnMapOutputMode output_mode;
00076   available_image_modes_.clear();
00077   available_depth_modes_.clear();
00078 
00079   // Depth Modes
00080   output_mode.nFPS = 30;
00081   output_mode.nXRes = XN_VGA_X_RES;
00082   output_mode.nYRes = XN_VGA_Y_RES;
00083   available_depth_modes_.push_back (output_mode);
00084 
00085   output_mode.nFPS = 25;
00086   output_mode.nXRes = XN_VGA_X_RES;
00087   output_mode.nYRes = XN_VGA_Y_RES;
00088   available_depth_modes_.push_back (output_mode);
00089 
00090   output_mode.nFPS = 25;
00091   output_mode.nXRes = XN_QVGA_X_RES;
00092   output_mode.nYRes = XN_QVGA_Y_RES;
00093   available_depth_modes_.push_back (output_mode);
00094 
00095   output_mode.nFPS = 30;
00096   output_mode.nXRes = XN_QVGA_X_RES;
00097   output_mode.nYRes = XN_QVGA_Y_RES;
00098   available_depth_modes_.push_back (output_mode);
00099 
00100   output_mode.nFPS = 60;
00101   output_mode.nXRes = XN_QVGA_X_RES;
00102   output_mode.nYRes = XN_QVGA_Y_RES;
00103   available_depth_modes_.push_back (output_mode);
00104 }
00105 
00106 boost::shared_ptr<Image> DeviceXtionPro::getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw ()
00107 {
00108   return boost::shared_ptr<Image> ((Image*)0);
00109 }
00110 
00111 void DeviceXtionPro::startDepthStream () throw (OpenNIException)
00112 {
00113   if (isDepthRegistered ())
00114   {
00115     // Reset the view point
00116     setDepthRegistration (false);
00117 
00118     // Start the stream
00119     OpenNIDevice::startDepthStream ();
00120 
00121     // Register the stream
00122     setDepthRegistration (true);
00123   }
00124   else
00125     // Start the stream
00126     OpenNIDevice::startDepthStream ();
00127 }
00128 
00129 } //namespace


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