From 1f07209f6c49ddd772ae6b00b967a9842bdf117d Mon Sep 17 00:00:00 2001 From: Maria Dimashova Date: Mon, 8 Aug 2011 15:47:52 +0000 Subject: [PATCH] fixed CvCapture_OpenNI constructor (removed all exceptions) (#1237) --- modules/highgui/src/cap_openni.cpp | 86 ++++++++++++++++++++++++------ 1 file changed, 69 insertions(+), 17 deletions(-) diff --git a/modules/highgui/src/cap_openni.cpp b/modules/highgui/src/cap_openni.cpp index c862e674c4..463abe1760 100644 --- a/modules/highgui/src/cap_openni.cpp +++ b/modules/highgui/src/cap_openni.cpp @@ -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\"!" <