C++ Context::EnumerateProductionTrees方法代码示例

extern "C" int countDevices() {
	printf("C countDevices()\n");
	xn::NodeInfoList deviceNodes;
	XnStatus enumResult = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, deviceNodes, NULL);
	if(enumResult == XN_STATUS_NO_NODE_PRESENT) {
		printf("C no device node present!\n");
		return 0;
	} else if(enumResult != XN_STATUS_OK) {
		fprintf(stderr, "C %s\n", xnGetStatusString(enumResult));
		return -1; // throw exception, or tha like
	}
	return 42;
}

int userTracker::enumerate(xn::Context context, XnPredefinedProductionNodeType type, xn::NodeInfoList& list, std::string infoMsg) {
	//std::cout << "Enumerating " << infoMsg << endl;
	
	XnStatus status = context.EnumerateProductionTrees (type, NULL, list, NULL);

	if (status != XN_STATUS_OK && list.Begin () != list.End ()) { 
		std::cout << "Enumerating " << infoMsg << " failed. Reason: " <<  xnGetStatusString (status) << std::endl; 
		return -1;
	}
	else if (list.Begin () == list.End ()) {
		std::cout << "No " << infoMsg << " found." << std::endl;
		return -1;
	}

	int numNodes = 0;
	for (xn::NodeInfoList::Iterator nodeIt = list.Begin (); nodeIt != list.End (); ++nodeIt, numNodes++) {
		const xn::NodeInfo& info = *nodeIt;
		const XnProductionNodeDescription& description = info.GetDescription();
		printf("device %d vendor %s name %s, instance %s\n", numNodes, description.strVendor, description.strName, info.GetInstanceName());
	}

	//std::cout << "Finishing enumerating: " << infoMsg << endl;
	return numNodes;
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "tracker_2");
    ros::NodeHandle nh;

    string configFilename = ros::package::getPath("openni_tracker_multi") + "/openni_tracker.xml";
    XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
    CHECK_RC(nRetVal, "InitFromXml");

//    XnStatus nRetVal = XN_STATUS_OK;

    //xnLogInitFromXmlFile(csXmlFile);

    nRetVal = g_Context.Init();
    XN_IS_STATUS_OK(nRetVal);


   // SELECTION OF THE DEVICE
    xn::EnumerationErrors errors;
    xn::Device g_Device;
        // find devices
    xn::NodeInfoList list;
    xn::NodeInfoList list_depth;
        nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
    XN_IS_STATUS_OK(nRetVal);

    printf("The following devices were found:\n");
        int i = 1;
        for (xn::NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it, ++i)
        {
            xn::NodeInfo deviceNodeInfo = *it;

            xn::Device deviceNode;
            deviceNodeInfo.GetInstance(deviceNode);
            XnBool bExists = deviceNode.IsValid();
            if (!bExists)
            {
                g_Context.CreateProductionTree(deviceNodeInfo, deviceNode);
                // this might fail.
            }

            if (deviceNode.IsValid() && deviceNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
            {
                const XnUInt32 nStringBufferSize = 200;
                XnChar strDeviceName[nStringBufferSize];
                XnChar strSerialNumber[nStringBufferSize];

                XnUInt32 nLength = nStringBufferSize;
                deviceNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
                nLength = nStringBufferSize;
                deviceNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
                printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
            }
            else
            {
                printf("[%d] %s\n", i, deviceNodeInfo.GetCreationInfo());
            }

            // release the device if we created it
            if (!bExists && deviceNode.IsValid())
            {
                deviceNode.Release();
            }
        }
        printf("\n");
        printf("Choose device to open (1): ");

        int chosen=0;
        if (argc != 2)
        {
            printf("Choose device to open (1): ");
            int nRetval = scanf("%d", &chosen);
        }
        else
        {
        chosen = atoi(argv[1]);
        }

            // create it
            xn::NodeInfoList::Iterator it = list.Begin();
            for (i = 1; i < chosen; ++i)
            {
                it++;
            }

        xn::NodeInfo deviceNode = *it;
        nRetVal = g_Context.CreateProductionTree(deviceNode, g_Device);
        printf("Production tree of the device created.\n");

    // SELECTION OF THE DEPTH GENERATOR
        nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, list_depth, &errors);
        XN_IS_STATUS_OK(nRetVal);

        printf("The following devices were found:\n");
            int i_depth = 1;
            for (xn::NodeInfoList::Iterator it_depth = list_depth.Begin(); it_depth != list_depth.End(); ++it_depth, ++i_depth)
            {
                xn::NodeInfo depthNodeInfo = *it_depth;

                xn::Device depthNode;
                depthNodeInfo.GetInstance(depthNode);
//.........这里部分代码省略.........

void initFromContextFile() {
    /*
        Initialize Context from XML file + lookup generators of the needed type:
        - depth (for depth images)
        - image (for RGB images)
        - skeleton (for Skeleton position and tracking)

        Errors in the XML file, lack thereof or lack of generators of the mentioned types
        will stop the program altogether.
    */


    printf("xml file is: %s\n", getKinectXMLConfig());
    XnStatus nRetVal = XN_STATUS_OK;
    xn::EnumerationErrors errors;

    if (g_useSpecifiedDevice) {
        xnLogInitFromXmlFile(getKinectXMLConfig());

        nRetVal = g_Context.Init();
        if (nRetVal != XN_STATUS_OK) {
            printf("Open failed: %s\n", xnGetStatusString(nRetVal));
            exit(1);
        }

        // find devices
        xn::NodeInfoList list;
        nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
        if (nRetVal != XN_STATUS_OK) {
            printf("Enumerate devices failed: %s\n", xnGetStatusString(nRetVal));
            exit(1);
        }

        for (xn::NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it) {
            xn::NodeInfo deviceNodeInfo = *it;
            xn::Device deviceNode;
            deviceNodeInfo.GetInstance(deviceNode);
            XnBool bExists = deviceNode.IsValid();
            if (!bExists) {
                g_Context.CreateProductionTree(deviceNodeInfo, deviceNode);
                // this might fail.
            }
            if (deviceNode.IsValid()
                    && deviceNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION)) {
                deviceNodeInfo.GetAdditionalData();
                const XnChar* ci = deviceNodeInfo.GetCreationInfo();
                if (deviceMatches(std::string(ci))) {
                    // now run the rest of the XML
                    nRetVal = g_Context.RunXmlScriptFromFile(getKinectXMLConfig(), g_scriptNode, &errors);
                    if (nRetVal != XN_STATUS_OK) {
                        printf("run xml script from file failed: %s\n", xnGetStatusString(nRetVal));
                        exit(1);
                    }
                } else {
                    // release the device if we created it
                    if (!bExists && deviceNode.IsValid()) {
                        deviceNode.Release();
                    }
                }
            }
        }

    } else {

        nRetVal = g_Context.InitFromXmlFile(getKinectXMLConfig(), g_scriptNode, &errors);
        if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
        {
            XnChar strError[1024];
            errors.ToString(strError, 1024);
            printf("%s\n", strError);
            exit(1);
        }
        else if (nRetVal != XN_STATUS_OK)
        {
            printf("Open failed: %s\n", xnGetStatusString(nRetVal));
            exit(1);
        }
    }

    if (g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator) != XN_STATUS_OK) {
        printf("XML file should contain a depth generator\n");
        exit(1);
    }

    if (g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator) != XN_STATUS_OK) {
        printf("XML file should contain an image generator\n");
        exit(1);
    }

    if (g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator) != XN_STATUS_OK) {
        printf("XML file should contain an user generator\n");
        exit(1);
    }

    if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
        printf("Supplied user generator doesn't support skeleton\n");
        exit(1);
    }
}