openni_device_xtion.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 2011 Willow Garage, Inc.
 *    Suat Gedikli <gedikli@willowgarage.com>
 *
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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#include <pcl/io/openni_camera/openni_device_xtion.h>
//#include <iostream>
#include <sstream>
#include <boost/thread/mutex.hpp>

using namespace std;
using namespace boost;

namespace openni_wrapper
{

DeviceXtionPro::DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node)
: OpenNIDevice (context, device_node, depth_node, ir_node)
{
  // setup stream modes
  enumAvailableModes ();
  setDepthOutputMode (getDefaultDepthMode ());
  setIROutputMode (getDefaultIRMode ());

  lock_guard<mutex> depth_lock(depth_mutex_);
  XnStatus status = depth_generator_.SetIntProperty ("RegistrationType", 1);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}

DeviceXtionPro::~DeviceXtionPro () throw ()
{
  depth_mutex_.lock ();
  depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
  depth_mutex_.unlock ();
}

bool DeviceXtionPro::isImageResizeSupported (unsigned, unsigned, unsigned, unsigned) const throw ()
{
  return false;
}

void DeviceXtionPro::enumAvailableModes () throw ()
{
  XnMapOutputMode output_mode;
  available_image_modes_.clear();
  available_depth_modes_.clear();

  // Depth Modes
  output_mode.nFPS = 30;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_VGA_X_RES;
  output_mode.nYRes = XN_VGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 25;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 30;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);

  output_mode.nFPS = 60;
  output_mode.nXRes = XN_QVGA_X_RES;
  output_mode.nYRes = XN_QVGA_Y_RES;
  available_depth_modes_.push_back (output_mode);
}

boost::shared_ptr<Image> DeviceXtionPro::getCurrentImage (boost::shared_ptr<xn::ImageMetaData>) const throw ()
{
  return boost::shared_ptr<Image> (reinterpret_cast<Image*> (0));
}

void DeviceXtionPro::startDepthStream ()
{
  if (isDepthRegistered ())
  {
    // Reset the view point
    setDepthRegistration (false);

    // Start the stream
    OpenNIDevice::startDepthStream ();

    // Register the stream
    setDepthRegistration (true);
  }
  else
    // Start the stream
    OpenNIDevice::startDepthStream ();
}

}//namespace
#endif