C++ openni::VideoStream类代码示例

void readFrame()
{
	openni::Status rc = openni::STATUS_OK;

	openni::VideoStream* streams[] = {&g_depthStream, &g_colorStream, &g_irStream};

	int changedIndex = -1;
	while (rc == openni::STATUS_OK)
	{
		rc = openni::OpenNI::waitForAnyStream(streams, 3, &changedIndex, 0);
		if (rc == openni::STATUS_OK)
		{
			switch (changedIndex)
			{
			case 0:
				g_depthStream.readFrame(&g_depthFrame); break;
			case 1:
				g_colorStream.readFrame(&g_colorFrame); break;
			case 2:
				g_irStream.readFrame(&g_irFrame); break;
			default:
				printf("Error in wait\n");
			}
		}
	}
}

/*
void openni::VideoMode::setResolution()
Setter function for the resolution of this VideoMode. Application use of this function is not recommended.
Instead, use SensorInfo::getSupportedVideoModes() to obtain a list of valid video modes

-- cited from OpenNI2 help. setResolution() is not recommended.
*/
bool setONI2StreamMode(openni::VideoStream& stream, int w, int h, int fps, openni::PixelFormat format){
	//std::cout << "Ask mode: " << w << "x" << h << " " << fps << " fps. format " << format << std::endl;
	bool found = false;
	const openni::Array<openni::VideoMode>& modes = stream.getSensorInfo().getSupportedVideoModes();
	for(int i = 0, i_end = modes.getSize();i < i_end;++i){
		// std::cout << "Mode: " << modes[i].getResolutionX() << "x" << modes[i].getResolutionY() << " " << modes[i].getFps() << " fps. format " << modes[i].getPixelFormat() << std::endl;
		if(modes[i].getResolutionX() != w){
			continue;
		}
		if(modes[i].getResolutionY() != h){
			continue;
		}
		if(modes[i].getFps() != fps){
			continue;
		}
		if(modes[i].getPixelFormat() != format){
			continue;
		}
		openni::Status rc = stream.setVideoMode(modes[i]);
		if(rc != openni::STATUS_OK){
			return false;
		}
		return true;
	}
	return false;
}

bool initONI2Stream(openni::Device& device, openni::SensorType sensorType, openni::VideoStream& stream, int w, int h, int fps, openni::PixelFormat format){
  openni::Status rc = openni::STATUS_OK;
  const char* strSensor;
  if(sensorType == openni::SENSOR_COLOR){
    strSensor = "openni::SENSOR_COLOR";
  }else if(sensorType == openni::SENSOR_DEPTH){
    strSensor = "openni::SENSOR_DEPTH";
  }else{
	printf("%s:Unknown SensorType -> %d\n", __FUNCTION__, sensorType);
    return false;
  }
  rc = stream.create(device, sensorType);
  if(rc != openni::STATUS_OK){
    printf("%s:Couldn't find sensor %s: %s\n", __FUNCTION__, strSensor, openni::OpenNI::getExtendedError());
    return false;
  }
  openni::VideoMode options = stream.getVideoMode();
  printf("%s:Initial resolution %s (%d, %d) FPS %d Format %d\n", __FUNCTION__, strSensor, options.getResolutionX(), options.getResolutionY(), options.getFps(), options.getPixelFormat());
  if(setONI2StreamMode(stream, w, h, fps, format) == false){
    printf("%s:Can't find desired mode in the %s\n", __FUNCTION__, strSensor);
    return false;
  }
  options = stream.getVideoMode();
  printf("  -> (%d, %d) FPS %d Format %d\n", options.getResolutionX(), options.getResolutionY(), options.getFps(), options.getPixelFormat());
  return true;
}

void toggleStreamState(openni::VideoStream& stream, openni::VideoFrameRef& frame, bool& isOn, openni::SensorType type, const char* name)
{
    openni::Status nRetVal = openni::STATUS_OK;

    if (!stream.isValid())
    {
        nRetVal = stream.create(g_device, type);
        if (nRetVal != openni::STATUS_OK)
        {
            displayError("Failed to create %s stream:\n%s", name, openni::OpenNI::getExtendedError());
            return;
        }
    }

    if (isOn)
    {
        stream.stop();
        frame.release();
    }
    else
    {
        nRetVal = stream.start();
        if (nRetVal != openni::STATUS_OK)
        {
            displayError("Failed to start %s stream:\n%s", name, openni::OpenNI::getExtendedError());
            return;
        }
    }

    isOn = !isOn;
}

bool setONI2StreamMode(openni::VideoStream& stream, int w, int h, int fps, openni::PixelFormat format){
	/*
  void openni::VideoMode::setResolution()
	Setter function for the resolution of this VideoMode. Application use of this function is not recommended.
	Instead, use SensorInfo::getSupportedVideoModes() to obtain a list of valid video modes

  -- cited from OpenNI2 help. setResolution() is not recommended.
  */
	bool found = false;
	const openni::Array<openni::VideoMode>& modes = stream.getSensorInfo().getSupportedVideoModes();
	for(int i = 0, i_end = modes.getSize();i < i_end;++i){
		if(modes[i].getResolutionX() != w){
			continue;
		}
		if(modes[i].getResolutionY() != h){
			continue;
		}
		if(modes[i].getPixelFormat() != format){
			continue;
		}
		openni::Status rc = stream.setVideoMode(modes[i]);
		if(rc != openni::STATUS_OK){
			printf("%s:Couldn't find RGB stream:\n%s\n", __FUNCTION__, openni::OpenNI::getExtendedError());
			return false;
		}
		return true;
	}
	return false;
}

int openStream(openni::Device& device, const char* name, openni::SensorType sensorType, SensorOpenType openType, openni::VideoStream& stream, const openni::SensorInfo** ppSensorInfo, bool* pbIsStreamOn)
{
    *ppSensorInfo = device.getSensorInfo(sensorType);
    *pbIsStreamOn = false;

    if (openType == SENSOR_OFF)
    {
        return 0;
    }

    if (*ppSensorInfo == NULL)
    {
        if (openType == SENSOR_ON)
        {
            printf("No %s sensor available\n", name);
            return -1;
        }
        else
        {
            return 0;
        }
    }

    openni::Status nRetVal = stream.create(device, sensorType);
    if (nRetVal != openni::STATUS_OK)
    {
        if (openType == SENSOR_ON)
        {
            printf("Failed to create %s stream:\n%s\n", openni::OpenNI::getExtendedError(), name);
            return -2;
        }
        else
        {
            return 0;
        }
    }

    nRetVal = stream.start();
    if (nRetVal != openni::STATUS_OK)
    {
        stream.destroy();

        if (openType == SENSOR_ON)
        {
            printf("Failed to start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
            return -3;
        }
        else
        {
            return 0;
        }
    }

    *pbIsStreamOn = true;

    return 0;
}

void ColorListener::onNewFrame(openni::VideoStream& vs)
{
    openni::VideoFrameRef frame;
    vs.readFrame(&frame);
    frames->push_back(frame);
    if(isUpdate) w->update();
}

void streamFrameListener::onNewFrame(openni::VideoStream& stream)
{
    LockGuard guard(mutex);
    stream.readFrame(&frameRef);

    if (!frameRef.isValid() || !frameRef.getData())
    {
        yInfo() << "frame lost";
        return;
    }

    int pixC;

    pixF     = stream.getVideoMode().getPixelFormat();
    pixC     = depthCameraDriver::pixFormatToCode(pixF);
    w        = frameRef.getWidth();
    h        = frameRef.getHeight();
    dataSize = frameRef.getDataSize();

    if (isReady == false)
    {
        isReady = true;
    }

    if(pixC == VOCAB_PIXEL_INVALID)
    {
        yError() << "depthCameraDriver: Pixel Format not recognized";
        return;
    }

    image.setPixelCode(pixC);
    image.resize(w, h);

    if(image.getRawImageSize() != frameRef.getDataSize())
    {
        yError() << "depthCameraDriver:device and local copy data size doesn't match";
        return;
    }

    memcpy((void*)image.getRawImage(), (void*)frameRef.getData(), frameRef.getDataSize());
    stamp.update();
    return;
}

void KinectCamera::closecamera(void)
{
    mColorStream.destroy();
    mDepthStream.destroy();
    mDevice.close();
    openni:: OpenNI::shutdown();
}

bool convertDepthPointToColor(int depthX, int depthY, openni::DepthPixel depthZ, int* pColorX, int* pColorY)
{
	if (!g_depthStream.isValid() || !g_colorStream.isValid())
		return false;

	return (openni::STATUS_OK == openni::CoordinateConverter::convertDepthToColor(g_depthStream, g_colorStream, depthX, depthY, depthZ, pColorX, pColorY));
}

void toggleImageAutoWhiteBalance(int)
{
    if (g_colorStream.getCameraSettings() == NULL)
    {
        displayError("Color stream doesn't support camera settings");
        return;
    }
    g_colorStream.getCameraSettings()->setAutoWhiteBalanceEnabled(!g_colorStream.getCameraSettings()->getAutoWhiteBalanceEnabled());
    displayMessage("Auto White balance: %s", g_colorStream.getCameraSettings()->getAutoWhiteBalanceEnabled() ? "ON" : "OFF");
}

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;
}

void toggleCloseRange(int )
{
	bool bCloseRange;
	g_depthStream.getProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, &bCloseRange);

	bCloseRange = !bCloseRange;

	g_depthStream.setProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, bCloseRange);

	displayMessage ("Close range: %s", bCloseRange?"On":"Off");	
}

void toggleCMOSAutoLoops(int )
{
	if (g_colorStream.getCameraSettings() == NULL)
	{
		displayMessage("Color stream doesn't support camera settings");
		return;
	}
	toggleImageAutoExposure(0);
	toggleImageAutoWhiteBalance(0);

	displayMessage ("CMOS Auto Loops: %s", g_colorStream.getCameraSettings()->getAutoExposureEnabled()?"On":"Off");	
}

openni::Status HandGesture::Init(int argc, char **argv)
{
	openni::OpenNI::initialize();

	const char* deviceUri = openni::ANY_DEVICE;
	for (int i = 1; i < argc-1; ++i)
	{
		if (strcmp(argv[i], "-device") == 0)
		{
			deviceUri = argv[i+1];
			break;
		}
	}

	openni::Status rc = m_device.open(deviceUri);
	if (rc != openni::STATUS_OK)
	{
		printf("Open Device failed:\n%s\n", openni::OpenNI::getExtendedError());
		return rc;
	}

	nite::NiTE::initialize();

	if (m_pHandTracker->create(&m_device) != nite::STATUS_OK)
	{
		return openni::STATUS_ERROR;
	}


	rc = m_depthStream.create(m_device, openni::SENSOR_DEPTH);
	if (rc == openni::STATUS_OK)
	{
		rc = m_depthStream.start();
		if (rc != openni::STATUS_OK)
		{
			printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
			m_depthStream.destroy();
		}
	}
	else
	{
		printf("SimpleViewer: Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
	}


	m_pHandTracker->startGestureDetection(nite::GESTURE_WAVE);
	m_pHandTracker->startGestureDetection(nite::GESTURE_CLICK);
//	m_pHandTracker->startGestureDetection(nite::GESTURE_HAND_RAISE);

	return InitOpenCV(argc, argv);

}