C++ VideoStream::getVideoMode方法代码示例

  virtual bool tryConfigureVideoMode(VideoMode& mode)
  {
    bool result = true;
    VideoMode old = stream_.getVideoMode();

    if(stream_.setVideoMode(mode) != STATUS_OK)
    {
      ROS_ERROR_STREAM_COND(stream_.setVideoMode(old) != STATUS_OK, "Failed to recover old video mode!");
      result = false;
    }

    return result;
  }

// Copy basic properties between VideoStream
void CopyGeneralProperties( const VideoStream& rSource, VideoStream& rTarget )
{
	rTarget.setVideoMode( rSource.getVideoMode() );

	// assign basic properties
	rTarget.setProperty( ONI_STREAM_PROPERTY_VERTICAL_FOV,		rSource.getVerticalFieldOfView() );
	rTarget.setProperty( ONI_STREAM_PROPERTY_HORIZONTAL_FOV,	rSource.getHorizontalFieldOfView() );
	rTarget.setProperty( ONI_STREAM_PROPERTY_MIRRORING,			rSource.getMirroringEnabled() );

	// assign dpeth only properties
	rTarget.setProperty( ONI_STREAM_PROPERTY_MIN_VALUE,			rSource.getMinPixelValue() );
	rTarget.setProperty( ONI_STREAM_PROPERTY_MAX_VALUE,			rSource.getMaxPixelValue() );
}

int
main (int argc, char** argv)
{
    Status rc = OpenNI::initialize();
    if (rc != STATUS_OK)
    {
        std::cout << "Initialize failed: " << OpenNI::getExtendedError() << std::endl;
        return 1;
    }

    Device device;
    rc = device.open(ANY_DEVICE);
    if (rc != STATUS_OK)
    {
        std::cout << "Couldn't open device: " << OpenNI::getExtendedError() << std::endl;
        return 2;
    }

    VideoStream stream;
    if (device.getSensorInfo(currentSensor) != NULL)
    {
        rc = stream.create(device, currentSensor);
        if (rc != STATUS_OK)
        {
            std::cout << "Couldn't create stream: " << OpenNI::getExtendedError() << std::endl;
            return 3;
        }
    }

    rc = stream.start();
    if (rc != STATUS_OK)
    {
        std::cout << "Couldn't start the stream: " << OpenNI::getExtendedError() << std::endl;
        return 4;
    }

    VideoFrameRef frame;

    //now open the video writer
    Size S = Size(stream.getVideoMode().getResolutionX(),
                  stream.getVideoMode().getResolutionY());
    VideoWriter outputVideo;
    std::string fileName = "out.avi";
    outputVideo.open(fileName, -1, stream.getVideoMode().getFps(), S, currentSensor == SENSOR_COLOR ? true : false);
    if (!outputVideo.isOpened())
    {
        std::cout  << "Could not open the output video for write: " << fileName << std::endl;
        return -1;
    }

    while (waitKey(50) == -1)
    {
        int changedStreamDummy;
        VideoStream* pStream = &stream;
        rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
        if (rc != STATUS_OK)
        {
            std::cout << "Wait failed! (timeout is " << SAMPLE_READ_WAIT_TIMEOUT << "ms): " << OpenNI::getExtendedError() << std::endl;
            continue;
        }

        rc = stream.readFrame(&frame);
        if (rc != STATUS_OK)
        {
            std::cout << "Read failed:" << OpenNI::getExtendedError() << std::endl;
            continue;
        }

        Mat image;
        switch (currentSensor)
        {
        case SENSOR_COLOR:
            image = Mat(frame.getHeight(), frame.getWidth(), CV_8UC3, (void*)frame.getData());
            break;
        case SENSOR_DEPTH:
            image = Mat(frame.getHeight(), frame.getWidth(), DataType<DepthPixel>::type, (void*)frame.getData());
            break;
        case SENSOR_IR:
            image = Mat(frame.getHeight(), frame.getWidth(), CV_8U, (void*)frame.getData());
            break;
        default:
            break;
        }

        namedWindow( "Display window", WINDOW_AUTOSIZE );    // Create a window for display.
        imshow( "Display window", image );                   // Show our image inside it.

        outputVideo << image;
    }

    stream.stop();
    stream.destroy();
    device.close();
    OpenNI::shutdown();

    return 0;
}

int main()
{
	// 2. initialize OpenNI
	Status rc = OpenNI::initialize();
	if (rc != STATUS_OK)
	{
		printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
		return 1;
	}

	// 3. open a device
	Device device;
	rc = device.open(ANY_DEVICE);
	if (rc != STATUS_OK)
	{
		printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
		return 2;
	}

	// 4. create depth stream
	VideoStream depth;
	if (device.getSensorInfo(SENSOR_DEPTH) != NULL){
		rc = depth.create(device, SENSOR_DEPTH);
		if (rc != STATUS_OK){
			printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
			return 3;
		}
	}
	VideoStream color;
	if (device.getSensorInfo(SENSOR_COLOR) != NULL){
		rc = color.create(device, SENSOR_COLOR);
		if (rc != STATUS_OK){
			printf("Couldn't create color stream\n%s\n", OpenNI::getExtendedError());
			return 4;
		}
	}

	// 5. create OpenCV Window
	cv::namedWindow("Depth Image", CV_WINDOW_AUTOSIZE);
	cv::namedWindow("Color Image", CV_WINDOW_AUTOSIZE);

	// 6. start
	rc = depth.start();
	if (rc != STATUS_OK)
	{
		printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
		return 5;
	}
	rc = color.start();
	if (rc != STATUS_OK){
		printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
		return 6;
	}
	
	VideoFrameRef colorframe;
	VideoFrameRef depthframe;
	int iMaxDepth = depth.getMaxPixelValue();
	int iColorFps = color.getVideoMode().getFps();
	cv::Size iColorFrameSize = cv::Size(color.getVideoMode().getResolutionX(), color.getVideoMode().getResolutionY());

	cv::Mat colorimageRGB;
	cv::Mat colorimageBGR;
	cv::Mat depthimage;
	cv::Mat depthimageScaled;

#ifdef F_RECORDVIDEO

	cv::VideoWriter outputvideo_color;
	cv::FileStorage outputfile_depth;
	
	time_t timenow = time(0);
	tm ltime;
	localtime_s(&ltime, &timenow);
	int tyear = 1900 + ltime.tm_year;
	int tmouth = 1 + ltime.tm_mon;
	int tday = ltime.tm_mday;
	int thour = ltime.tm_hour;
	int tmin = ltime.tm_min;
	int tsecond = ltime.tm_sec;

	string filename_rgb = "RGB/rgb_" + to_string(tyear) + "_" + to_string(tmouth) + "_" + to_string(tday)
		+ "_" + to_string(thour) + "_" + to_string(tmin) + "_" + to_string(tsecond) + ".avi";
	string filename_d = "D/d_" + to_string(tyear) + "_" + to_string(tmouth) + "_" + to_string(tday)
		+ "_" + to_string(thour) + "_" + to_string(tmin) + "_" + to_string(tsecond) + ".yml";

	outputvideo_color.open(filename_rgb, CV_FOURCC('I', '4', '2', '0'), iColorFps, iColorFrameSize, true);
	if (!outputvideo_color.isOpened()){
		cout << "Could not open the output color video for write: " << endl;
		return 7;
	}
	outputfile_depth.open(filename_d, cv::FileStorage::WRITE);
	if (!outputfile_depth.isOpened()){
		cout << "Could not open the output depth file for write: " << endl;
		return 8;
	}

#endif // F_RECORDVIDEO


	// 7. main loop, continue read
//.........这里部分代码省略.........

int initializeOpenNIDevice(int deviceID ,const  char * deviceName  , Device &device , VideoStream &color , VideoStream &depth ,unsigned int width ,unsigned int height , unsigned int fps)
{
   unsigned int openMode=OPENNI2_OPEN_REGULAR_ENUM; /* 0 = regular deviceID and enumeration*/
   if (deviceName!=0)
   {
      //If our deviceName contains a .oni we assume that we have an oni file to open
      if (strstr(deviceName,".oni")!=0)
         {
           fprintf(stderr,"Found an .ONI filename , trying to open it..\n");
           openMode=OPENNI2_OPEN_USING_STRING;
         } else
      if (strlen(deviceName)>7)
        {
           fprintf(stderr,"deviceName is too long (%lu chars) , assuming it is a Device URI ..\n",strlen(deviceName));
           openMode=OPENNI2_OPEN_USING_STRING;
        }

   }

   switch (openMode)
   {
     //-------------------------------------------------------------------------------------
     //If we have an ONI file to open just pass it as an argument to device.open(deviceName)
     case OPENNI2_OPEN_USING_STRING :
      if (device.open(deviceName) != STATUS_OK)
      {
        fprintf(stderr,"Could not open using given string ( %s ) : %s \n",deviceName,OpenNI::getExtendedError());
        return 0;
      }
     break;
     //-------------------------------------------------------------------------------------
     //If we don't have a deviceName we assume deviceID points to the device we want to open so we will try to use
     //the openNI enumerator to get the specific device URI for device with number deviceID and use this to device.open( devURI )
     case OPENNI2_OPEN_REGULAR_ENUM :
     default :
      //We have to supply our own buffer to hold the uri device string , so we make one here
      char devURIBuffer[512]={0};
      if (device.open(getURIForDeviceNumber(deviceID,devURIBuffer,512)) != STATUS_OK)
      {
        fprintf(stderr,"Could not open an OpenNI device : %s \n",OpenNI::getExtendedError());
        return 0;
      }
     break;
   }

if (device.getSensorInfo(SENSOR_DEPTH)  != NULL)
    {
        Status rc = depth.create(device, SENSOR_DEPTH);
        if (rc == STATUS_OK)
        {
            VideoMode depthMode = depth.getVideoMode();
            depthMode.setResolution(width,height);
            depthMode.setFps(fps);
            Status rc = depth.setVideoMode(depthMode);
            if (rc != STATUS_OK) { fprintf(stderr,"Error getting color at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }

            if(depth.start()!= STATUS_OK)
            {
                fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
                return 0;
            }
        }
        else
        {
            fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
            return 0;
        }
    }

    if (device.getSensorInfo(SENSOR_COLOR) != NULL)
    {
        Status rc = color.create(device, SENSOR_COLOR);
        if (rc == STATUS_OK)
        {
            VideoMode colorMode = color.getVideoMode();
            colorMode.setResolution(width,height);
            colorMode.setFps(fps);
            Status rc = color.setVideoMode(colorMode);
            if (rc != STATUS_OK) { fprintf(stderr,"Error getting depth at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }

            if(color.start() != STATUS_OK)
            {
                fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
                return 0;
            }
        }
        else
        {
            fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
            OpenNI::getExtendedError();
            return 0;
        }
    }


  #if MOD_IR
    if(device.getSensorInfo(SENSOR_IR) != NULL)
    {
        Status rc = ir.create(device, SENSOR_IR);    // Create the VideoStream for IR
        if (rc == STATUS_OK)
//.........这里部分代码省略.........