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renamed property of openni camera

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pull/13383/head
Maria Dimashova 13 years ago
parent c9489a8bf3
commit baa81de122
4 changed files with 99 additions and 59 deletions
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  1. 2
      doc/user_guide/ug_highgui.rst
  2. 4
      modules/highgui/include/opencv2/highgui/highgui_c.h
  3. 148
      modules/highgui/src/cap_openni.cpp
  4. 4
      samples/cpp/openni_capture.cpp

2
doc/user_guide/ug_highgui.rst
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@ -92,7 +92,7 @@ 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.
Some depth sensors (for example XtionPRO) do not have image generator. In order to check it you can get ``CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT`` property.
::
bool isImageGeneratorPresent = capture.get( CV_CAP_PROP_OPENNI_IMAGE_GENERATOR_PRESENT ) != 0; // or == 1

4
modules/highgui/include/opencv2/highgui/highgui_c.h
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@ -388,7 +388,9 @@ enum
CV_CAP_PROP_OPENNI_REGISTRATION = CV_CAP_PROP_OPENNI_REGISTRATION_ON, // flag that synchronizes the remapping depth map to image map
// by changing depth generator's view point (if the flag is "on") or
// sets this view point to its normal one (if the flag is "off").
CV_CAP_PROP_OPENNI_IMAGE_GENERATOR_PRESENT = 105,
CV_CAP_PROP_OPENNI_GENERATOR_PRESENT = 105,
CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_GENERATOR_PRESENT,
CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE = CV_CAP_OPENNI_IMAGE_GENERATOR + CV_CAP_PROP_OPENNI_OUTPUT_MODE,
CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_BASELINE,
CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH = CV_CAP_OPENNI_DEPTH_GENERATOR + CV_CAP_PROP_OPENNI_FOCAL_LENGTH,

148
modules/highgui/src/cap_openni.cpp
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@ -127,8 +127,9 @@ protected:
// OpenNI context
xn::Context context;
bool m_isOpened;
bool m_isDepthGeneratorPresent;
bool m_isImageGeneratorPresent;
// Data generators with its metadata
xn::DepthGenerator depthGenerator;
xn::DepthMetaData depthMetaData;
@ -229,6 +230,21 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
}
// Associate generators with context.
// enumerate the nodes to find if depth generator is present
xn::NodeInfoList depthList;
status = context.EnumerateExistingNodes( depthList, XN_NODE_TYPE_DEPTH );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate depth generators: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
if( depthList.IsEmpty() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : The device doesn't have depth generator. Such devices aren't supported now." << std::endl;
return;
}
m_isDepthGeneratorPresent = true;
status = depthGenerator.Create( context );
if( status != XN_STATUS_OK )
{
@ -238,8 +254,8 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
}
// enumerate the nodes to find if image generator is present
xn::NodeInfoList Imagelist;
status = context.EnumerateExistingNodes( Imagelist, XN_NODE_TYPE_IMAGE );
xn::NodeInfoList imageList;
status = context.EnumerateExistingNodes( imageList, XN_NODE_TYPE_IMAGE );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate image generators: "
@ -247,10 +263,10 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
return;
}
if( !Imagelist.IsEmpty() )
if( !imageList.IsEmpty() )
{
m_isImageGeneratorPresent = true;
imageGenerator.Create( context );
status = imageGenerator.Create( context );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
@ -390,12 +406,18 @@ bool CvCapture_OpenNI::setProperty( int propIdx, double propValue )
double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
{
CV_Assert( depthGenerator.IsValid() );
double propValue = 0;
if( !m_isDepthGeneratorPresent )
return propValue;
CV_Assert( depthGenerator.IsValid() );
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_Assert( m_isDepthGeneratorPresent );
propValue = 1.;
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = depthOutputMode.nXRes;
break;
@ -417,7 +439,11 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
default :
CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for getting.\n");
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
@ -431,44 +457,48 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_REGISTRATION:
case CV_CAP_PROP_OPENNI_REGISTRATION:
{
if( propValue != 0.0 ) // "on"
{
if( propValue != 0.0 ) // "on"
// if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
// then the property isn't avaliable
if( m_isImageGeneratorPresent )
{
// 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() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
{
CV_Assert( imageGenerator.IsValid() );
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
{
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
isSet = true;
}
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
isSet = true;
}
else
isSet = true;
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
}
else // "off"
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
isSet = true;
}
}
break;
default:
CV_Error( CV_StsBadArg, "Unsupported depth generator property.\n");
else // "off"
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
isSet = true;
}
}
break;
default:
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for setting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return isSet;
@ -476,31 +506,35 @@ bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
{
double propValue = 0;
double propValue = 0.;
if( !m_isImageGeneratorPresent )
return propValue;
if( propIdx == CV_CAP_PROP_OPENNI_IMAGE_GENERATOR_PRESENT )
propValue = m_isImageGeneratorPresent ? 1. : 0.;
else
{
CV_Assert( imageGenerator.IsValid() );
CV_Assert( imageGenerator.IsValid() );
switch( propIdx )
{
case CV_CAP_PROP_FRAME_WIDTH :
propValue = imageOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = imageOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
propValue = imageOutputMode.nFPS;
break;
default :
CV_Error( CV_StsBadArg, "Image generator does not support such parameter for getting.\n");
}
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_Assert( m_isImageGeneratorPresent );
propValue = 1.;
break;
case CV_CAP_PROP_FRAME_WIDTH :
propValue = imageOutputMode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
propValue = imageOutputMode.nYRes;
break;
case CV_CAP_PROP_FPS :
propValue = imageOutputMode.nFPS;
break;
default :
{
std::stringstream ss;
ss << "Image generator does not support such parameter (propIdx=" << propIdx << ") for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
}
@ -550,7 +584,11 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
break;
}
default:
CV_Error( CV_StsBadArg, "Unsupported image generator property.\n");
{
std::stringstream ss;
ss << "Image generator does not support such parameter (propIdx=" << propIdx << ") for setting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return isSet;

4
samples/cpp/openni_capture.cpp
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@ -208,7 +208,7 @@ 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;
if( capture.get( CV_CAP_PROP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
if( capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) )
{
cout <<
"\nImage generator output mode:" << endl <<
@ -218,7 +218,7 @@ int main( int argc, char* argv[] )
}
else
{
cout << "\nDevice doesn't contain image generator" << endl;
cout << "\nDevice doesn't contain image generator." << endl;
if (!retrievedImageFlags[0] && !retrievedImageFlags[1] && !retrievedImageFlags[2])
return 0;
}

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