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Added better OpenNI2 support to the Asus Xtion and Occipital Structure

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sensors which do not have image generators.
This commit is contained in:
vincentweb
2014-12-14 20:52:24 +01:00
parent 50c9367d7a
commit 4d12beb723
2 changed files with 21 additions and 13 deletions
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3
modules/videoio/include/opencv2/videoio.hpp
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@@ -76,7 +76,8 @@ enum { CAP_ANY = 0, // autodetect
CAP_GIGANETIX = 1300, // Smartek Giganetix GigEVisionSDK CAP_GIGANETIX = 1300, // Smartek Giganetix GigEVisionSDK
CAP_MSMF = 1400, // Microsoft Media Foundation (via videoInput) CAP_MSMF = 1400, // Microsoft Media Foundation (via videoInput)
CAP_INTELPERC = 1500, // Intel Perceptual Computing SDK CAP_INTELPERC = 1500, // Intel Perceptual Computing SDK
CAP_OPENNI2 = 1600 // OpenNI2 (for Kinect) CAP_OPENNI2 = 1600, // OpenNI2 (for Kinect)
CAP_OPENNI2_ASUS = 1610 // OpenNI2 (for Asus Xtion and Occipital Structure sensors)
}; };
// generic properties (based on DC1394 properties) // generic properties (based on DC1394 properties)

31
modules/videoio/src/cap_openni2.cpp
View File

@@ -68,8 +68,6 @@
#define CV_DEPTH_STREAM 0 #define CV_DEPTH_STREAM 0
#define CV_COLOR_STREAM 1 #define CV_COLOR_STREAM 1
#define CV_NUM_STREAMS 2
#include "OpenNI.h" #include "OpenNI.h"
#include "PS1080.h" #include "PS1080.h"
@@ -161,6 +159,7 @@ protected:
int currentStream; int currentStream;
int numStream;
std::vector<OutputMap> outputMaps; std::vector<OutputMap> outputMaps;
}; };
@@ -198,6 +197,7 @@ openni::VideoMode CvCapture_OpenNI2::defaultDepthOutputMode()
CvCapture_OpenNI2::CvCapture_OpenNI2( int index ) CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
{ {
numStream = 2;
const char* deviceURI = openni::ANY_DEVICE; const char* deviceURI = openni::ANY_DEVICE;
openni::Status status; openni::Status status;
int deviceType = DEVICE_DEFAULT; int deviceType = DEVICE_DEFAULT;
@@ -215,6 +215,10 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
index %= 10; index %= 10;
} }
// Asus XTION and Occipital Structure Sensor do not have an image generator
if (deviceType == DEVICE_ASUS_XTION)
numStream = 1;
if( deviceType > DEVICE_MAX ) if( deviceType > DEVICE_MAX )
return; return;
@@ -259,6 +263,10 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find depth stream:: %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find depth stream:: %s\n", openni::OpenNI::getExtendedError()));
return; return;
} }
streams = new openni::VideoStream*[numStream];
streams[CV_DEPTH_STREAM] = &depth;
// create a color object // create a color object
status = color.create(device, openni::SENSOR_COLOR); status = color.create(device, openni::SENSOR_COLOR);
if (status == openni::STATUS_OK) if (status == openni::STATUS_OK)
@@ -275,13 +283,19 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
color.destroy(); color.destroy();
return; return;
} }
streams[CV_COLOR_STREAM] = &color;
} }
else else if (numStream == 2)
{ {
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find color stream: %s\n", openni::OpenNI::getExtendedError())); CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Couldn't find color stream: %s\n", openni::OpenNI::getExtendedError()));
return; return;
} }
if( !readCamerasParams() )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
return;
}
// if( deviceType == DEVICE_ASUS_XTION ) // if( deviceType == DEVICE_ASUS_XTION )
// { // {
@@ -291,14 +305,6 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
// depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/); // depthGenerator.SetIntProperty("RegistrationType", 1 /*XN_PROCESSING_HARDWARE*/);
// } // }
if( !readCamerasParams() )
{
CV_Error(CV_StsError, cv::format("CvCapture_OpenNI2::CvCapture_OpenNI2 : Could not read cameras parameters\n"));
return;
}
streams = new openni::VideoStream*[CV_NUM_STREAMS];
streams[CV_DEPTH_STREAM] = &depth;
streams[CV_COLOR_STREAM] = &color;
outputMaps.resize( outputMapsTypesCount ); outputMaps.resize( outputMapsTypesCount );
@@ -309,6 +315,7 @@ CvCapture_OpenNI2::CvCapture_OpenNI2( int index )
CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename) CvCapture_OpenNI2::CvCapture_OpenNI2(const char * filename)
{ {
numStream = 2;
openni::Status status; openni::Status status;
isContextOpened = false; isContextOpened = false;
@@ -695,7 +702,7 @@ bool CvCapture_OpenNI2::grabFrame()
bool isGrabbed = false; bool isGrabbed = false;
openni::Status status = openni::OpenNI::waitForAnyStream(streams, CV_NUM_STREAMS, &currentStream, CV_STREAM_TIMEOUT); openni::Status status = openni::OpenNI::waitForAnyStream(streams, numStream, &currentStream, CV_STREAM_TIMEOUT);
if( status != openni::STATUS_OK ) if( status != openni::STATUS_OK )
return false; return false;