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minor refactoring CvCapture_OpenNI

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pull/13383/head
Maria Dimashova 13 years ago
parent 538eeeab1d
commit 930c7bf20e
3 changed files with 44 additions and 42 deletions
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  1. 8
      doc/user_guide/ug_highgui.rst
  2. 70
      modules/highgui/src/cap_openni.cpp
  3. 8
      samples/cpp/openni_capture.cpp

8
doc/user_guide/ug_highgui.rst
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@ -4,8 +4,8 @@ HighGUI
.. highlight:: cpp
Using depth sensors
===================
Using Kinect and other OpenNI compatible depth sensors
======================================================
Depth sensors compatible with OpenNI (Kinect, XtionPRO, ...) are supported through ``VideoCapture`` class. Depth map, RGB image and some other formats of output can be retrieved by using familiar interface of ``VideoCapture``.
@ -92,10 +92,10 @@ Since two types of sensor's data generators are supported (image generator and d
* CV_CAP_OPENNI_DEPTH_GENERATOR -- A flag for access to the depth generator properties. This flag value is assumed by default if neither of the two possible values of the property is not set.
Some depth sensors (for example XtionPRO) do not have image generator. In order to check it you can get ``CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT`` property. If returned value greater than zero sensor has image generator.
Some depth sensors (for example XtionPRO) do not have image generator. In order to check it you can get ``CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT`` property.
::
bool isImageGeneratorPresent = capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) > 0;
bool isImageGeneratorPresent = capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) != 0; // or == 1
Flags specifing the needed generator type must be used in combination with particular generator property. The following properties of cameras available through OpenNI interfaces are supported:

70
modules/highgui/src/cap_openni.cpp
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@ -395,39 +395,40 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
{
CV_Assert( depthGenerator.IsValid() );
double res = 0;
double propValue = 0;
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
res = depthOutputMode.nXRes;
propValue = depthOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
res = depthOutputMode.nYRes;
propValue = depthOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
res = depthOutputMode.nFPS;
propValue = depthOutputMode.nFPS;
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
res = depthGenerator.GetDeviceMaxDepth();
propValue = depthGenerator.GetDeviceMaxDepth();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
res = baseline;
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
res = (double)depthFocalLength_VGA;
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
res = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
default :
CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for getting.\n");
}
return res;
return propValue;
}
bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
{
bool res = false;
bool isSet = false;
CV_Assert( depthGenerator.IsValid() );
@ -437,7 +438,8 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
{
if( propValue != 0.0 ) // "on"
{
// if no Image Generator is present i.e. ASUS XtionPro the imageGenerator cannot be used
// if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
// then the property isn't avaliable
if( m_isImageGeneratorPresent )
{
CV_Assert( imageGenerator.IsValid() );
@ -449,16 +451,14 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
res = true;
isSet = true;
}
else
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
res = true;
isSet = true;
}
else
res = false;
}
else // "off"
{
@ -466,7 +466,7 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
res = true;
isSet = true;
}
}
break;
@ -474,46 +474,45 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
CV_Error( CV_StsBadArg, "Unsupported depth generator property.\n");
}
return res;
return isSet;
}
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
{
double res = 0;
double propValue = 0;
if( !m_isImageGeneratorPresent )
return propValue;
if (propIdx == CV_CAP_PROP_IMAGE_GENERATOR_PRESENT)
res = m_isImageGeneratorPresent ? 1 : -1;
if( propIdx == CV_CAP_PROP_IMAGE_GENERATOR_PRESENT )
propValue = m_isImageGeneratorPresent ? 1. : 0.;
else
{
if (!m_isImageGeneratorPresent)
return res;
{
CV_Assert( imageGenerator.IsValid() );
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
res = imageOutputMode.nXRes;
propValue = imageOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
res = imageOutputMode.nYRes;
propValue = imageOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
res = imageOutputMode.nFPS;
propValue = imageOutputMode.nFPS;
break;
default :
CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
}
}
return res;
return propValue;
}
bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue )
{
bool res = false;
if(!m_isImageGeneratorPresent)
return res;
bool isSet = false;
if( !m_isImageGeneratorPresent )
return isSet;
CV_Assert( imageGenerator.IsValid() );
switch( propIdx )
@ -549,7 +548,7 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
else
{
imageOutputMode = newImageOutputMode;
res = true;
isSet = true;
}
break;
}
@ -557,7 +556,7 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
CV_Error( CV_StsBadArg, "Unsupported image generator property.\n");
}
return res;
return isSet;
}
bool CvCapture_OpenNI::grabFrame()
@ -570,8 +569,9 @@ bool CvCapture_OpenNI::grabFrame()
return false;
depthGenerator.GetMetaData( depthMetaData );
if(m_isImageGeneratorPresent)
if( m_isImageGeneratorPresent )
imageGenerator.GetMetaData( imageMetaData );
return true;
}

8
samples/cpp/openni_capture.cpp
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@ -208,12 +208,14 @@ int main( int argc, char* argv[] )
"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 <<
if( capture.get( CV_CAP_OPENNI_PROP_IMAGE_GENERATOR_PRESENT ) )
{
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;

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