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added ability to reset view point of depth generator to normal one (#1195)

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This commit is contained in:
Maria Dimashova 2011-07-13 17:05:57 +00:00
parent 4d8a261d99
commit b64bb95860
2 changed files with 50 additions and 23 deletions
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5
modules/highgui/include/opencv2/highgui/highgui_c.h
View File

@ -360,7 +360,10 @@ enum
CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH = 101, // in mm
CV_CAP_PROP_OPENNI_BASELINE = 102, // in mm
CV_CAP_PROP_OPENNI_FOCAL_LENGTH = 103, // in pixels
CV_CAP_PROP_OPENNI_REGISTRATION_ON = 104, // flag
CV_CAP_PROP_OPENNI_REGISTRATION_ON = 104, // flag
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_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,

68
modules/highgui/src/cap_openni.cpp
View File

@ -228,7 +228,7 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
// 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( depthGenerator.GetAlternativeViewPointCap().SetViewPoint( imageGenerator ) == XN_STATUS_OK );
CV_Assert( setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0) );
// Start generating data.
status = context.StartGeneratingAll();
@ -360,30 +360,48 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
{
bool res = false;
CV_Assert( depthGenerator.IsValid() );
switch(propIdx)
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_REGISTRATION_ON:
case CV_CAP_PROP_OPENNI_REGISTRATION:
{
CV_Assert( imageGenerator.IsValid() );
if (!depthGenerator.GetAlternativeViewPointCap ().IsViewPointAs (imageGenerator))
if( propValue != 0.0 ) // "on"
{
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)
CV_Error( CV_StsError, std::string("turning registration on failed. Reason: ") + xnGetStatusString (status));
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
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
CV_Error( CV_StsError, "turning registration on failed. Reason: unsupported viewpoint");
res = true;
}
else // "off"
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
res = true;
}
}
return true;
break;
default:
CV_Error( CV_StsBadArg, "Depth generator does not support such parameter for setting.\n");
CV_Error( CV_StsBadArg, "Unsupported depth generator property.\n");
}
return false;
return res;
}
double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
@ -414,10 +432,13 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
bool res = false;
CV_Assert( imageGenerator.IsValid() );
XnMapOutputMode newImageOutputMode = imageOutputMode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_OUTPUT_MODE :
{
XnMapOutputMode newImageOutputMode = imageOutputMode;
switch( cvRound(propValue) )
{
case CV_CAP_OPENNI_VGA_30HZ :
@ -433,16 +454,19 @@ bool CvCapture_OpenNI::setImageGeneratorProperty( int propIdx, double propValue
default :
CV_Error( CV_StsBadArg, "Unsupported image generator output mode.\n");
}
XnStatus status = imageGenerator.SetMapOutputMode( newImageOutputMode );
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setImageGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
{
imageOutputMode = newImageOutputMode;
res = true;
}
break;
default:
CV_Error( CV_StsBadArg, "Image generator does not support such parameter for setting.\n");
}
if( imageGenerator.SetMapOutputMode( newImageOutputMode ) == XN_STATUS_OK )
{
imageOutputMode = newImageOutputMode;
res = true;
default:
CV_Error( CV_StsBadArg, "Unsupported image generator property.\n");
}
return res;