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fixed CvCapture_OpenNI constructor (removed all exceptions) (#1237)

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This commit is contained in:
Maria Dimashova 2011-08-08 15:47:52 +00:00
parent 4839bfb1a5
commit 1f07209f6c
1 changed files with 69 additions and 17 deletions
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86
modules/highgui/src/cap_openni.cpp
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@ -118,7 +118,7 @@ protected:
IplImage* retrieveBGRImage();
IplImage* retrieveGrayImage();
void readCamerasParams();
bool readCamerasParams();
double getDepthGeneratorProperty(int propIdx);
bool setDepthGeneratorProperty(int propIdx, double propVal);
@ -177,6 +177,7 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
depthOutputMode.nFPS = imageOutputMode.nFPS = 30;
m_isOpened = false;
bool isContextInitialized = false;
// Initialize and configure the context.
if( context.Init() == XN_STATUS_OK )
@ -185,7 +186,11 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
xn::NodeInfoList devicesList;
status = context.EnumerateProductionTrees( XN_NODE_TYPE_DEVICE, NULL, devicesList, 0 );
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to enumerate production trees: " + std::string(xnGetStatusString(status))).c_str() );
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Chose device according to index
xn::NodeInfoList::Iterator it = devicesList.Begin();
@ -194,7 +199,11 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
xn::NodeInfo deviceNode = *it;
status = context.CreateProductionTree( deviceNode );
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to create production tree: " + std::string(xnGetStatusString(status))).c_str() );
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create production tree: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
#ifdef HACK_WITH_XML
// Write configuration to the temporary file.
@ -206,39 +215,65 @@ CvCapture_OpenNI::CvCapture_OpenNI( int index )
outfile.close();
status = context.RunXmlScriptFromFile( xmlFilename.c_str() );
if( status != XN_STATUS_OK )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to run xml script: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Remove temporary configuration file.
remove( xmlFilename.c_str() );
#else
status = context.RunXmlScript( XMLConfig.c_str() );
#endif
m_isOpened = ( status == XN_STATUS_OK );
isContextInitialized = ( status == XN_STATUS_OK );
}
if( m_isOpened )
if( isContextInitialized )
{
// Associate generators with context.
status = depthGenerator.Create( context );
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to create depth generator: " + std::string(xnGetStatusString(status))).c_str() );
if( status != XN_STATUS_OK )\
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create depth generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
imageGenerator.Create( context );
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to create image generator: " + std::string(xnGetStatusString(status))).c_str() );
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to create image generator: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
// Set map output mode.
CV_Assert( depthGenerator.SetMapOutputMode( depthOutputMode ) == XN_STATUS_OK ); // xn::DepthGenerator supports VGA only! (Jan 2011)
CV_Assert( imageGenerator.SetMapOutputMode( imageOutputMode ) == XN_STATUS_OK );
CV_Assert( setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0) );
// Start generating data.
status = context.StartGeneratingAll();
if( status != XN_STATUS_OK )
CV_Error(CV_StsError, ("Failed to start generating OpenNI data: " + std::string(xnGetStatusString(status))).c_str() );
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Failed to start generating OpenNI data: "
<< std::string(xnGetStatusString(status)) << std::endl;
return;
}
readCamerasParams();
if( !readCamerasParams() )
{
std::cerr << "CvCapture_OpenNI::CvCapture_OpenNI : Could not read cameras parameters" << std::endl;
return;
}
outputMaps.resize( outputTypesCount );
m_isOpened = true;
}
setProperty(CV_CAP_PROP_OPENNI_REGISTRATION, 1.0);
}
CvCapture_OpenNI::~CvCapture_OpenNI()
@ -247,11 +282,14 @@ CvCapture_OpenNI::~CvCapture_OpenNI()
context.Shutdown();
}
void CvCapture_OpenNI::readCamerasParams()
bool CvCapture_OpenNI::readCamerasParams()
{
XnDouble pixelSize = 0;
if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read pixel size!" );
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read pixel size!" << std::endl;
return false;
}
// pixel size @ VGA = pixel size @ SXGA x 2
pixelSize *= 2.0; // in mm
@ -259,10 +297,16 @@ void CvCapture_OpenNI::readCamerasParams()
// focal length of IR camera in pixels for VGA resolution
XnUInt64 zeroPlanDistance; // in mm
if( depthGenerator.GetIntProperty( "ZPD", zeroPlanDistance ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read virtual plane distance!" );
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read virtual plane distance!" << std::endl;
return false;
}
if( depthGenerator.GetRealProperty( "LDDIS", baseline ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read base line!" );
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read base line!" << std::endl;
return false;
}
// baseline from cm -> mm
baseline *= 10;
@ -271,10 +315,18 @@ void CvCapture_OpenNI::readCamerasParams()
depthFocalLength_VGA = (XnUInt64)((double)zeroPlanDistance / (double)pixelSize);
if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read property \"ShadowValue\"!" );
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read property \"ShadowValue\"!" << std::endl;
return false;
}
if( depthGenerator.GetIntProperty("NoSampleValue", noSampleValue ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read property \"NoSampleValue\"!" );
{
std::cerr << "CvCapture_OpenNI::readCamerasParams : Could not read property \"NoSampleValue\"!" <<std::endl;
return false;
}
return true;
}
double CvCapture_OpenNI::getProperty( int propIdx )