C++ VideoStream::isValid方法代码示例

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 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;
}

void resetStreamCropping(openni::VideoStream& stream)
{
	if (!stream.isValid())
	{
		displayMessage("Stream does not exist!");
		return;
	}
	
	if (!stream.isCroppingSupported())
	{
		displayMessage("Stream does not support cropping!");
		return;
	}
	
	openni::Status nRetVal = stream.resetCropping();
	if (nRetVal != openni::STATUS_OK)
	{
		displayMessage("Failed to reset cropping: %s", xnGetStatusString(nRetVal));
		return;
	}
}

void setStreamCropping(openni::VideoStream& stream, int originX, int originY, int width, int height)
{
	if (!stream.isValid())
	{
		displayMessage("Stream does not exist!");
		return;
	}
	
	if (!stream.isCroppingSupported())
	{
		displayMessage("Stream does not support cropping!");
		return;
	}
	
	openni::Status nRetVal = stream.setCropping(originX, originY, width, height);
	if (nRetVal != openni::STATUS_OK)
	{
		displayMessage("Failed to set cropping: %s", xnGetStatusString(nRetVal));
		return;
	}
}

void OccipitalSensor::onNewFrame(openni::VideoStream &stream)
{
    /*static long i;
    i++;
    qDebug() << i << "onNewFrame()";*/
    if (irStream.readFrame(&irFrame) != openni::STATUS_OK || depthStream.readFrame(&depthFrame) != openni::STATUS_OK)
    {
        std::cerr << "readFrame not OK " << stream.isValid() << std::endl;
        return;
    }

    const openni::Grayscale16Pixel* irData = (const openni::Grayscale16Pixel*)(irFrame.getData());
    const openni::DepthPixel* depthData = (const openni::DepthPixel*)(depthFrame.getData());
    for (int r = 0; r < Height; r++)
    {
        for (int c = 0; c < Width; c++)
        {
            this->irData(r, c) = irData[Width*r + c];
            this->depthData(r, c) = depthData[Width*r + c];
        }
    }
}

void toggleIRState(int )
{
	if (g_irStream.isValid()) 
	{
		if(g_bIsIROn)
		{
			g_irStream.stop();
			g_irFrame.release();
		}
		else
		{
			openni::Status nRetVal = g_irStream.start();
			if (nRetVal != openni::STATUS_OK)
			{
				displayError("Failed to start IR stream:\n%s", openni::OpenNI::getExtendedError());
				return;
			}
		}

		g_bIsIROn = !g_bIsIROn;
	}
}

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.........