CV_CAP_PROP_GUID =29,
CV_CAP_PROP_ISO_SPEED =30,
CV_CAP_PROP_MAX_DC1394 =31,
+ CV_CAP_PROP_IMAGE_GENERATOR_PRESENT = 32,
CV_CAP_PROP_AUTOGRAB =1024, // property for highgui class CvCapture_Android only
CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed
CV_CAP_PROP_PREVIEW_FORMAT=1026, // readonly, tricky property, returns cpnst char* indeed
CV_CAP_OPENNI_DEPTH_GENERATOR = 0,
CV_CAP_OPENNI_IMAGE_GENERATOR = 1 << 31,
CV_CAP_OPENNI_GENERATORS_MASK = 1 << 31,
+ CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_IMAGE_GENERATOR_PRESENT,
// Properties of cameras available through OpenNI interfaces
CV_CAP_PROP_OPENNI_OUTPUT_MODE = 100,
enum
{
CV_CAP_OPENNI_VGA_30HZ = 0,
- CV_CAP_OPENNI_SXGA_15HZ = 1
+ CV_CAP_OPENNI_SXGA_15HZ = 1,
+ CV_CAP_OPENNI_SXGA_30HZ = 2
};
//supported by Android camera output formats
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
-
#include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
"</Dumps>"
"</Log>"
"<ProductionNodes>"
- "<Node type=\"Image\" name=\"Image1\">"
+ "<Node type=\"Image\" name=\"Image1\" stopOnError=\"false\">"
"<Configuration>"
"<MapOutputMode xRes=\"640\" yRes=\"480\" FPS=\"30\"/>"
"<Mirror on=\"false\"/>"
xn::DepthMetaData depthMetaData;
XnMapOutputMode depthOutputMode;
+ bool m_isImageGeneratorPresent;
xn::ImageGenerator imageGenerator;
xn::ImageMetaData imageMetaData;
XnMapOutputMode imageOutputMode;
return;
}
- imageGenerator.Create( context );
+ // enumerate the nodes to find if image generator is present
+ xn::NodeInfoList Imagelist;
+ status = context.EnumerateExistingNodes( Imagelist, XN_NODE_TYPE_IMAGE );
if( status != XN_STATUS_OK )
{
- std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
- << std::string(xnGetStatusString(status)) << std::endl;
+ std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate Image Generators: "
+ << std::string(xnGetStatusString(status)) << std::endl;
return;
}
+ if(Imagelist.IsEmpty())
+ {
+ m_isImageGeneratorPresent = FALSE;
+ }
+ else
+ {
+ m_isImageGeneratorPresent = TRUE;
+ imageGenerator.Create( context);
+ if( status != XN_STATUS_OK )
+ {
+ std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
+ << std::string(xnGetStatusString(status)) << std::endl;
+ return;
+ }
+ }
// Set map output mode.
CV_Assert( depthGenerator.SetMapOutputMode( depthOutputMode ) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
- CV_Assert( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK );
+ CV_Assert( m_isImageGeneratorPresent ? ( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK ) : TRUE);
// Start generating data.
status = context.StartGeneratingAll();
{
if( propValue != 0.0 ) // "on"
{
- CV_Assert( imageGenerator.IsValid() );
- if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
+ // if no Image Generator is present i.e. ASUS XtionPro the imageGenerator cannot be used
+ if( m_isImageGeneratorPresent )
{
- if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
+ CV_Assert( imageGenerator.IsValid() );
+ if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
{
- XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
- if( status != XN_STATUS_OK )
- std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
+ if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
+ {
+ XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
+ if( status != XN_STATUS_OK )
+ std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
+ else
+ res = true;
+ }
else
- res = true;
+ std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
- std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
+ res = true;
}
else
- res = true;
+ res = false;
}
else // "off"
{
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
{
- CV_Assert( imageGenerator.IsValid() );
-
double res = 0;
- switch( propIdx )
+
+ if (propIdx == CV_CAP_PROP_IMAGE_GENERATOR_PRESENT)
+ res = m_isImageGeneratorPresent ? 1 : -1;
+ else
{
- case CV_CAP_PROP_FRAME_WIDTH :
- res = imageOutputMode.nXRes;
- break;
- case CV_CAP_PROP_FRAME_HEIGHT :
- res = imageOutputMode.nYRes;
- break;
- case CV_CAP_PROP_FPS :
- res = imageOutputMode.nFPS;
- break;
- default :
- CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
- }
+ if (!m_isImageGeneratorPresent)
+ return res;
+ CV_Assert( imageGenerator.IsValid() );
+
+ switch( propIdx )
+ {
+ case CV_CAP_PROP_FRAME_WIDTH :
+ res = imageOutputMode.nXRes;
+ break;
+ case CV_CAP_PROP_FRAME_HEIGHT :
+ res = imageOutputMode.nYRes;
+ break;
+ case CV_CAP_PROP_FPS :
+ res = imageOutputMode.nFPS;
+ break;
+ default :
+ CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
+ }
+ }
return res;
}
bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue )
{
bool res = false;
+ if(!m_isImageGeneratorPresent)
+ return res;
CV_Assert( imageGenerator.IsValid() );
newImageOutputMode.nYRes = XN_SXGA_Y_RES;
newImageOutputMode.nFPS = 15;
break;
+ case CV_CAP_OPENNI_SXGA_30HZ :
+ newImageOutputMode.nXRes = XN_SXGA_X_RES;
+ newImageOutputMode.nYRes = XN_SXGA_Y_RES;
+ newImageOutputMode.nFPS = 30;
+ break;
default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
}
return false;
depthGenerator.GetMetaData( depthMetaData );
- imageGenerator.GetMetaData( imageMetaData );
+ if(m_isImageGeneratorPresent)
+ imageGenerator.GetMetaData( imageMetaData );
return true;
}
void help()
{
- cout << "\nThis program demonstrates usage of Kinect sensor.\n"
+ cout << "\nThis program demonstrates usage of depth sensors(Kinect,XtionPRO,...).\n"
"The user gets some of the supported output images.\n"
"\nAll supported output map types:\n"
"1.) Data given from depth generator\n"
{
cout << "-cd Colorized disparity? (0 or 1; 1 by default) Ignored if disparity map is not selected to show." << endl;
cout << "-fmd Fixed max disparity? (0 or 1; 0 by default) Ignored if disparity map is not colorized (-cd 0)." << endl;
- cout << "-sxga SXGA resolution of image? (0 or 1; 0 by default) Ignored if rgb image or gray image are not selected to show." << endl;
- cout << " If -sxga is 0 then vga resolution will be set by default." << endl;
+ cout << "-mode image mode: resolution and fps, supported three values: 0 - CV_CAP_OPENNI_VGA_30HZ, 1 - CV_CAP_OPENNI_SXGA_15HZ," << endl;
+ cout << " 2 - CV_CAP_OPENNI_SXGA_30HZ (0 by default). Ignored if rgb image or gray image are not selected to show." << endl;
cout << "-m Mask to set which output images are need. It is a string of size 5. Each element of this is '0' or '1' and" << endl;
cout << " determine: is depth map, disparity map, valid pixels mask, rgb image, gray image need or not (correspondently)?" << endl ;
cout << " By default -m 01010 i.e. disparity map and rgb image will be shown." << endl ;
}
-void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, bool& isSetSXGA, bool retrievedImageFlags[] )
+void parseCommandLine( int argc, char* argv[], bool& isColorizeDisp, bool& isFixedMaxDisp, int& imageMode, bool retrievedImageFlags[] )
{
// set defaut values
isColorizeDisp = true;
isFixedMaxDisp = false;
- isSetSXGA = false;
+ imageMode = 0;
retrievedImageFlags[0] = false;
retrievedImageFlags[1] = true;
{
isFixedMaxDisp = atoi(argv[++i]) == 0 ? false : true;
}
- else if( !strcmp( argv[i], "-sxga" ) )
+ else if( !strcmp( argv[i], "-mode" ) )
{
- isSetSXGA = atoi(argv[++i]) == 0 ? false : true;
+ imageMode = atoi(argv[++i]);
}
else if( !strcmp( argv[i], "-m" ) )
{
}
/*
- * To work with Kinect the user must install OpenNI library and PrimeSensorModule for OpenNI and
+ * To work with Kinect or XtionPRO the user must install OpenNI library and PrimeSensorModule for OpenNI and
* configure OpenCV with WITH_OPENNI flag is ON (using CMake).
*/
int main( int argc, char* argv[] )
{
- bool isColorizeDisp, isFixedMaxDisp, isSetSXGA;
+ bool isColorizeDisp, isFixedMaxDisp;
+ int imageMode;
bool retrievedImageFlags[5];
- parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, isSetSXGA, retrievedImageFlags );
+ parseCommandLine( argc, argv, isColorizeDisp, isFixedMaxDisp, imageMode, retrievedImageFlags );
- cout << "Kinect opening ..." << endl;
+ cout << "Device opening ..." << endl;
VideoCapture capture( CV_CAP_OPENNI );
cout << "done." << endl;
return -1;
}
- if( isSetSXGA )
- capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
- else
- capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // default
+ bool modeRes;
+ switch ( imageMode )
+ {
+ case 0:
+ modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ );
+ break;
+ case 1:
+ modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_15HZ );
+ break;
+ case 2:
+ modeRes = capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_SXGA_30HZ );
+ break;
+ default:
+ CV_Error( CV_StsBadArg, "Unsupported image mode property.\n");
+ }
+ if (!modeRes)
+ cout << "\nThis image mode is not supported by the device, the default value (CV_CAP_OPENNI_SXGA_15HZ) will be used.\n" << endl;
- // Print some avalible Kinect settings.
+ // Print some avalible device settings.
cout << "\nDepth generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FRAME_MAX_DEPTH " << capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH ) << " mm" << endl <<
"FPS " << capture.get( CV_CAP_PROP_FPS ) << endl;
-
+ bool isImageGeneratorPresent = capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) > 0;
+ if (isImageGeneratorPresent)
cout << "\nImage generator output mode:" << endl <<
"FRAME_WIDTH " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH ) << endl <<
"FRAME_HEIGHT " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT ) << endl <<
"FPS " << capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS ) << endl;
+ else
+ {
+ cout << "\nDevice doesn't contain image generator" << endl;
+ if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
+ return 0;
+ }
for(;;)
{
projects / platform / upstream / opencv.git / commitdiff