Fix setting OpenNI2 grabber default video mode.

PointCloudLibrary · Dec 16, 2013 · 68b4e79 · 68b4e79
1 parent d6c6e8a
commit 68b4e79
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Showing 7 changed files with 167 additions and 143 deletions.
diff --git a/io/include/pcl/io/openni2_camera/openni2_convert.h b/io/include/pcl/io/openni2_camera/openni2_convert.h
@@ -45,10 +45,10 @@ namespace openni2_wrapper
 
   const OpenNI2DeviceInfo openni2_convert(const openni::DeviceInfo* pInfo);
 
-  const OpenNI2VideoMode openni2_convert(const openni::VideoMode& input);
-  const openni::VideoMode openni2_convert(const OpenNI2VideoMode& input);
+  const openni::VideoMode grabberModeToOpenniMode(const OpenNI2VideoMode& input);
 
-  const std::vector<OpenNI2VideoMode> openni2_convert(const openni::Array<openni::VideoMode>& input);
+  const OpenNI2VideoMode openniModeToGrabberMode(const openni::VideoMode& input);
+  const std::vector<OpenNI2VideoMode> openniModeToGrabberMode(const openni::Array<openni::VideoMode>& input);
 }
 
 #endif
diff --git a/io/include/pcl/io/openni2_camera/openni2_device.h b/io/include/pcl/io/openni2_camera/openni2_device.h
@@ -52,6 +52,8 @@
 #include <string>
 #include <vector>
 
+using std::vector;
+
 using openni_wrapper::Image;
 using openni_wrapper::DepthImage;
 using openni_wrapper::IRImage;
@@ -119,17 +121,17 @@ namespace openni2_wrapper
     const OpenNI2VideoMode getColorVideoMode() throw ();
     const OpenNI2VideoMode getDepthVideoMode() throw ();
 
-    const std::vector<OpenNI2VideoMode>& getSupportedIRVideoModes() const;
-    const std::vector<OpenNI2VideoMode>& getSupportedColorVideoModes() const;
-    const std::vector<OpenNI2VideoMode>& getSupportedDepthVideoModes() const;
+    const vector<OpenNI2VideoMode>& getSupportedIRVideoModes() const;
+    const vector<OpenNI2VideoMode>& getSupportedColorVideoModes() const;
+    const vector<OpenNI2VideoMode>& getSupportedDepthVideoModes() const;
 
     bool isIRVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
     bool isColorVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
     bool isDepthVideoModeSupported(const OpenNI2VideoMode& video_mode) const;
 
-    bool findCompatibleIRMode(const OpenNI2VideoMode& check_mode, OpenNI2VideoMode& mode) const throw ();
-    bool findCompatibleColorMode(const OpenNI2VideoMode& check_mode, OpenNI2VideoMode& mode) const throw ();
-    bool findCompatibleDepthMode(const OpenNI2VideoMode& check_mode, OpenNI2VideoMode& mode) const throw ();
+    bool findCompatibleIRMode(   const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const throw ();
+    bool findCompatibleColorMode(const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const throw ();
+    bool findCompatibleDepthMode(const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const throw ();
 
     void setIRVideoMode(const OpenNI2VideoMode& video_mode) throw ();
     void setColorVideoMode(const OpenNI2VideoMode& video_mode) throw ();

diff --git a/io/include/pcl/io/openni2_camera/openni2_video_mode.h b/io/include/pcl/io/openni2_camera/openni2_video_mode.h
@@ -35,24 +35,27 @@
 #include <cstddef>
 #include <ostream>
 
+#include <OpenNI.h>
+
 namespace openni2_wrapper
 {
 
   // copied from OniEnums.h
   typedef enum
   {
-    // Depth
+	  // Depth
     PIXEL_FORMAT_DEPTH_1_MM = 100,
     PIXEL_FORMAT_DEPTH_100_UM = 101,
     PIXEL_FORMAT_SHIFT_9_2 = 102,
     PIXEL_FORMAT_SHIFT_9_3 = 103,
 
-    // Color
+	  // Color
     PIXEL_FORMAT_RGB888 = 200,
     PIXEL_FORMAT_YUV422 = 201,
     PIXEL_FORMAT_GRAY8 = 202,
     PIXEL_FORMAT_GRAY16 = 203,
     PIXEL_FORMAT_JPEG = 204,
+    PIXEL_FORMAT_YUYV = 205,
   } PixelFormat;
 
   struct OpenNI2VideoMode

diff --git a/io/include/pcl/io/openni2_grabber.h b/io/include/pcl/io/openni2_grabber.h
@@ -344,10 +344,10 @@ namespace pcl
     void
       stopSynchronization ();
 
-    // TODO: rename to mapConfigMode2OniMode
+    // TODO: rename to mapMode2OniMode
     /** \brief Map config modes. */
     bool
-      mapConfigMode2XnMode (int mode, openni2_wrapper::OpenNI2VideoMode& videoMode) const;
+      mapMode2XnMode (int mode, openni2_wrapper::OpenNI2VideoMode& videoMode) const;
 
     // callback methods
     /** \brief RGB image callback. */
@@ -465,7 +465,8 @@ namespace pcl
           return false;
       }
     } ;
-    std::map<int, openni2_wrapper::OpenNI2VideoMode> config2xn_map_;
+    // Mapping from config (enum) modes to native OpenNI modes
+    std::map<int, openni2_wrapper::OpenNI2VideoMode> config2oni_map_;
 
     openni2_wrapper::OpenNI2Device::CallbackHandle depth_callback_handle;
     openni2_wrapper::OpenNI2Device::CallbackHandle image_callback_handle;

diff --git a/io/src/openni2_camera/openni2_convert.cpp b/io/src/openni2_camera/openni2_convert.cpp
@@ -56,19 +56,9 @@ namespace openni2_wrapper
   }
 
 
-  const OpenNI2VideoMode openni2_convert(const openni::VideoMode& input)
-  {
-    OpenNI2VideoMode output;
-
-    output.x_resolution_ = input.getResolutionX();
-    output.y_resolution_ = input.getResolutionY();
-    output.frame_rate_ = input.getFps();
-    output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat());
 
-    return output;
-  }
 
-  const openni::VideoMode openni2_convert(const OpenNI2VideoMode& input)
+  const openni::VideoMode grabberModeToOpenniMode(const OpenNI2VideoMode& input)
   {
 
     openni::VideoMode output;
@@ -81,7 +71,19 @@ namespace openni2_wrapper
   }
 
 
-  const std::vector<OpenNI2VideoMode> openni2_convert(const openni::Array<openni::VideoMode>& input)
+  const OpenNI2VideoMode openniModeToGrabberMode(const openni::VideoMode& input)
+  {
+    OpenNI2VideoMode output;
+
+    output.x_resolution_ = input.getResolutionX();
+    output.y_resolution_ = input.getResolutionY();
+    output.frame_rate_ = input.getFps();
+    output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat());
+
+    return output;
+  }
+
+  const std::vector<OpenNI2VideoMode> openniModeToGrabberMode(const openni::Array<openni::VideoMode>& input)
   {
     std::vector<OpenNI2VideoMode> output;
 
@@ -90,7 +92,7 @@ namespace openni2_wrapper
     output.reserve(size);
 
     for (int i=0; i<size; ++i)
-      output.push_back(openni2_convert(input[i]));
+      output.push_back(openniModeToGrabberMode(input[i]));
 
     return output;
   }