C++ Device::open方法代码示例

openni::Status openDevice(const char* uri, bool defaultRightColor)
{
	openni::Status nRetVal = openni::OpenNI::initialize();
	if (nRetVal != openni::STATUS_OK)
	{
		return nRetVal;
	}

	// Register to OpenNI events.
	static OpenNIDeviceListener deviceListener;
	
	openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
	openni::OpenNI::addDeviceStateChangedListener(&deviceListener);

	// Open the requested device.
	nRetVal = g_device.open(uri);
	if (nRetVal != openni::STATUS_OK)
	{
		return nRetVal;
	}

	g_pPlaybackControl = g_device.getPlaybackControl();

	openCommon(g_device, defaultRightColor);

	return openni::STATUS_OK;
}

openni::Status openDevice(const char* uri, DeviceConfig config)
{
    openni::Status nRetVal = openni::OpenNI::initialize();
    if (nRetVal != openni::STATUS_OK)
    {
        return nRetVal;
    }

    // Register to OpenNI events.
    static OpenNIDeviceListener deviceListener;

    openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
    openni::OpenNI::addDeviceStateChangedListener(&deviceListener);

    // Open the requested device.
    nRetVal = g_device.open(uri);
    if (nRetVal != openni::STATUS_OK)
    {
        return nRetVal;
    }

    if (0 != openCommon(g_device, config))
    {
        return openni::STATUS_ERROR;
    }

    return openni::STATUS_OK;
}

openni::Status openDevice(const char* uri, DeviceConfig config)
{
	openni::Status nRetVal = openni::OpenNI::initialize();
	if (nRetVal != openni::STATUS_OK)
	{
		return nRetVal;
	}

	// Register to OpenNI events.
	static OpenNIDeviceListener deviceListener;
	
	openni::OpenNI::addDeviceDisconnectedListener(&deviceListener);
	openni::OpenNI::addDeviceStateChangedListener(&deviceListener);

	// Open the requested device.
	nRetVal = g_device.open(uri);
	if (nRetVal != openni::STATUS_OK)
	{
		return nRetVal;
	}

	if (0 != openCommon(g_device, config))
	{
		return openni::STATUS_ERROR;
	}

	// If we are here, then the depth camera has been opened okay.
	// Now let's try the sixense, if requested
	if (config.b_captureSixense) {
		return openSixenseDevice();
	}

	return openni::STATUS_OK;
}

void KinectCamera::startcamera(void)
{
    openni::OpenNI::initialize();//初始化
    mDevice.open( openni::ANY_DEVICE );//打开设备（已在全局变量中声明设备mDevice）
    mColorStream.create( mDevice, openni::SENSOR_COLOR );// 创建数据流
    mColorStream.start();//开启数据流
    mDepthStream.create( mDevice, openni::SENSOR_DEPTH );// 创建数据流
    mDepthStream.start();//开启数据流
    fig=1;
}

openni::Status openDeviceFromList(DeviceConfig config)
{
    openni::Status rc = openni::OpenNI::initialize();
    if (rc != openni::STATUS_OK)
    {
        return rc;
    }

    openni::Array<openni::DeviceInfo> deviceList;
    openni::OpenNI::enumerateDevices(&deviceList);

    for (int i = 0; i < deviceList.getSize(); ++i)
    {
        printf("[%d] %s [%s] (%s)\n", i+1, deviceList[i].getName(), deviceList[i].getVendor(), deviceList[i].getUri());
    }

    printf("\n");
    int chosen = 1;

    do
    {
        printf("Choose device to open (1) [0 to exit]: ");

        int rc = scanf("%d", &chosen);

        if (rc <= 0 || chosen == 0)
        {
            return openni::STATUS_ERROR;
        }

    } while (chosen < 1 || chosen > deviceList.getSize());

    g_device.open(deviceList[chosen-1].getUri());

    if (rc != openni::STATUS_OK)
    {
        return rc;
    }

    if (0 != openCommon(g_device, config))
    {
        return openni::STATUS_ERROR;
    }

    return openni::STATUS_OK;
}

  void open(const char* uri) {
    if (device.open(uri) != openni::STATUS_OK)
      BOOST_THROW_EXCEPTION(GrabberException("Failed to open device")
                            << GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));

    if (color_stream.create(device, openni::SENSOR_COLOR) != openni::STATUS_OK)
      BOOST_THROW_EXCEPTION(GrabberException("Failed to create color stream")
                            << GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));

    openni::VideoMode color_mode;
    color_mode.setFps(30);
    color_mode.setResolution(color_image_resolution.width, color_image_resolution.height);
    color_mode.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
    color_stream.setVideoMode(color_mode);
    color_image_size = color_image_resolution.width * color_image_resolution.height * 3;
    color_stream.setMirroringEnabled(false);

    if (color_stream.start() != openni::STATUS_OK) {
      color_stream.destroy();
      BOOST_THROW_EXCEPTION(GrabberException("Failed to start color stream")
                            << GrabberException::ErrorInfo(openni::OpenNI::getExtendedError()));
    }

    streams.push_back(&color_stream);

    auto control = device.getPlaybackControl();
    if (control != nullptr) {
      // This is a file, make sure we get every frame
      control->setSpeed(-1.0f);
      control->setRepeatEnabled(false);
      num_frames = control->getNumberOfFrames(color_stream);
      is_file = true;
      if (num_frames == -1)
        BOOST_THROW_EXCEPTION(GrabberException("Unable to determine number of frames in ONI file"));
    }
  }

int SensorOpenNI::initialize()
{
    LOG(INFO) << "Initializing OpenNI";
    ///< force shutdown before starting!!
    kinect::OpenNI::shutdown();

    kinect::Status rc;
    rc = kinect::STATUS_OK;

    /// Fetch the device URI to pass to Device::open()
    const char* deviceURI = kinect::ANY_DEVICE;

    /// Initialize the device
    rc = kinect::OpenNI::initialize();
    if(rc!=kinect::STATUS_OK)
    {
        mDebug()<<"Initialization Errors (if any): "<< kinect::OpenNI::getExtendedError();
        kinect::OpenNI::shutdown();
        exit(0);
    }

    /// Open the device using the previously fetched device URI
    rc = device.open(deviceURI);
    if (rc != kinect::STATUS_OK)
    {
        mDebug()<<"Device open failed: "<<kinect::OpenNI::getExtendedError();
        kinect::OpenNI::shutdown();
        exit(0);
    }

    /// Create the depth stream
    rc = g_depthStream.create(device, kinect::SENSOR_DEPTH);
    if (rc == kinect::STATUS_OK)
    {
        /// start the depth stream, if its creation was successful
        rc = g_depthStream.start();

        if (rc != kinect::STATUS_OK)
        {
            mDebug()<<"Couldn't start depth stream: "<<kinect::OpenNI::getExtendedError();
            g_depthStream.destroy();
            exit(0);
        }
    }
    else
    {
        mDebug()<<"Couldn't find depth stream: "<<kinect::OpenNI::getExtendedError();
        exit(0);
    }

    if (!g_depthStream.isValid())
    {
        mDebug()<<"No valid depth streams. Exiting";
        kinect::OpenNI::shutdown();
        exit(0);
    }

    /// Create the color stream
    rc = g_colorStream.create(device, kinect::SENSOR_COLOR);

    if (rc == kinect::STATUS_OK)
    {
        /// start the color stream, if its creation was successful
        rc = g_colorStream.start();

        if (rc != kinect::STATUS_OK)
        {
            mDebug()<<"Couldn't start color stream: "<<kinect::OpenNI::getExtendedError();
            g_colorStream.destroy();
            exit(0);
        }
    }
    else
    {
        mDebug()<<"Couldn't find color stream: "<<kinect::OpenNI::getExtendedError();
        exit(0);
    }

    if (!g_colorStream.isValid())
    {
        mDebug()<<"No valid color streams. Exiting";
        kinect::OpenNI::shutdown();
        exit(0);
    }

    /// Configure resolutions
    {
        /// Attempt to set for depth
        {
            kinect::VideoMode mode = g_depthStream.getVideoMode();
            if(((int)camera->FPS())==60)
                mode.setFps(60);
            else
                mode.setFps(30);
            mode.setResolution(camera->width(), camera->height());
            rc = g_depthStream.setVideoMode(mode);
            if (rc != kinect::STATUS_OK)
                std::cerr << "error setting video mode (depth)" << std::endl;
        }
        /// Attempt to set for color
//.........这里部分代码省略.........