/****************************************************************************

* *

* PrimeSense Sensor 5.x Alpha *

* Copyright (C) 2011 PrimeSense Ltd. *

* *

* This file is part of PrimeSense Sensor. *

* *

* PrimeSense Sensor is free software: you can redistribute it and/or modify*

* it under the terms of the GNU Lesser General Public License as published *

* by the Free Software Foundation, either version 3 of the License, or *

* (at your option) any later version. *

* *

* PrimeSense Sensor is distributed in the hope that it will be useful, *

* but WITHOUT ANY WARRANTY; without even the implied warranty of *

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *

* GNU Lesser General Public License for more details. *

* *

* You should have received a copy of the GNU Lesser General Public License *

* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*

* *

****************************************************************************/

#ifndef __XN_SENSOR_DEPTH_STREAM_H__

#define __XN_SENSOR_DEPTH_STREAM_H__

//---------------------------------------------------------------------------

// Includes

//---------------------------------------------------------------------------

#include <XnDDK/XnDepthStream.h>

#include "XnDeviceSensorProtocol.h"

#include "Registration.h"

#include "XnSensorStreamHelper.h"

//---------------------------------------------------------------------------

// Defines

//---------------------------------------------------------------------------

#define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT

// --avin mod--

#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA

#define XN_DEPTH_STREAM_DEFAULT_FPS 30

#define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_DEPTH_VALUES

#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION FALSE

// --avin mod--

#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_SOFTWARE

#define XN_DEPTH_STREAM_DEFAULT_HOLE_FILLER TRUE

#define XN_DEPTH_STREAM_DEFAULT_WHITE_BALANCE TRUE

#define XN_DEPTH_STREAM_DEFAULT_GAIN_OLD 50

#define XN_DEPTH_STREAM_DEFAULT_GMC_MODE TRUE

#define XN_DEPTH_STREAM_DEFAULT_CLOSE_RANGE FALSE

#define XN_DEPTH_STREAM_DEFAULT_SHIFT_MAP_APPENDED TRUE

//---------------------------------------------------------------------------

// XnSensorDepthStream class

//---------------------------------------------------------------------------

class XnSensorDepthStream : public XnDepthStream, public IXnSensorStream

{

public:

XnSensorDepthStream(const XnChar* strName, XnSensorObjects* pObjects);

~XnSensorDepthStream() { Free(); }

//---------------------------------------------------------------------------

// Overridden Methods

//---------------------------------------------------------------------------

XnStatus Init();

XnStatus Free();

XnStatus BatchConfig(const XnActualPropertiesHash& props) { return m_Helper.BatchConfig(props); }

inline XnSensorStreamHelper* GetHelper() { return &m_Helper; }

friend class XnDepthProcessor;

protected:

inline XnSensorFirmwareParams* GetFirmwareParams() const { return m_Helper.GetFirmware()->GetParams(); }

//---------------------------------------------------------------------------

// Overridden Methods

//---------------------------------------------------------------------------

XnStatus Open() { return m_Helper.Open(); }

XnStatus Close() { return m_Helper.Close(); }

XnStatus PostProcessFrame(XnStreamData* pFrameData);

XnStatus CalcRequiredSize(XnUInt32* pnRequiredSize) const;

XnStatus ReallocTripleFrameBuffer();

XnStatus CropImpl(XnStreamData* pStreamOutput, const XnCropping* pCropping);

XnStatus Mirror(XnStreamData* pStreamOutput) const;

XnStatus ConfigureStreamImpl();

XnStatus OpenStreamImpl();

XnStatus CloseStreamImpl();

XnStatus CreateDataProcessor(XnDataProcessor** ppProcessor);

XnStatus MapPropertiesToFirmware();

void GetFirmwareStreamConfig(XnResolutions* pnRes, XnUInt32* pnFPS) { *pnRes = GetResolution(); *pnFPS = GetFPS(); }

XnStatus WriteImpl(XnStreamData* /*pStreamData*/) { return XN_STATUS_DEVICE_UNSUPPORTED_MODE; }

protected:

//---------------------------------------------------------------------------

// Setters

//---------------------------------------------------------------------------

XnStatus SetOutputFormat(XnOutputFormats nOutputFormat);

XnStatus SetMirror(XnBool bIsMirrored);

XnStatus SetResolution(XnResolutions nResolution);

XnStatus SetFPS(XnUInt32 nFPS);

virtual XnStatus SetInputFormat(XnIODepthFormats nInputFormat);

virtual XnStatus SetRegistration(XnBool bRegistration);

virtual XnStatus SetHoleFilter(XnBool bHoleFilter);

virtual XnStatus SetWhiteBalance(XnBool bWhiteBalance);

virtual XnStatus SetGain(XnUInt32 nGain);

virtual XnStatus SetRegistrationType(XnProcessingType type);

virtual XnStatus SetAGCBin(const XnDepthAGCBin* pBin);

virtual XnStatus GetAGCBin(XnDepthAGCBin* pBin);

XnStatus SetCropping(const XnCropping* pCropping);

XnStatus SetActualRead(XnBool bRead);

virtual XnStatus SetGMCMode(XnBool bGMCMode);

virtual XnStatus SetCloseRange(XnBool bCloseRange);

private:

XnUInt32 CalculateExpectedSize();

XnStatus DecideFirmwareRegistration(XnBool bRegistration, XnProcessingType registrationType, XnResolutions nRes);

XnStatus DecidePixelSizeFactor();

static XnStatus XN_CALLBACK_TYPE SetInputFormatCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetRegistrationCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetHoleFilterCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetWhiteBalanceCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetGainCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetRegistrationTypeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetAGCBinCallback(XnGeneralProperty* pSender, const XnGeneralBuffer& gbValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE GetAGCBinCallback(const XnGeneralProperty* pSender, const XnGeneralBuffer& gbValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetActualReadCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE DecideFirmwareRegistrationCallback(const XnProperty* pSender, void* pCookie);

static XnStatus XN_CALLBACK_TYPE DecidePixelSizeFactorCallback(const XnProperty* pSender, void* pCookie);

static XnStatus XN_CALLBACK_TYPE ReadAGCBinsFromFile(XnGeneralProperty* pSender, const XnChar* csINIFile, const XnChar* csSection);

static XnStatus XN_CALLBACK_TYPE SetGMCModeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE SetCloseRangeCallback(XnActualIntProperty* pSender, XnUInt64 nValue, void* pCookie);

static XnStatus XN_CALLBACK_TYPE GetShiftsMapCallback(const XnGeneralProperty* pSender, const XnGeneralBuffer& gbValue, void* pCookie);

//---------------------------------------------------------------------------

// Members

//---------------------------------------------------------------------------

XnSensorStreamHelper m_Helper;

XnActualIntProperty m_InputFormat;

XnActualIntProperty m_DepthRegistration;

XnActualIntProperty m_HoleFilter;

XnActualIntProperty m_WhiteBalance;

XnActualIntProperty m_Gain;

XnActualIntProperty m_RegistrationType;

XnGeneralProperty m_AGCBin;

XnActualIntProperty m_FirmwareMirror;

XnActualIntProperty m_FirmwareRegistration;

XnActualIntProperty m_FirmwareCropSizeX;

XnActualIntProperty m_FirmwareCropSizeY;

XnActualIntProperty m_FirmwareCropOffsetX;

XnActualIntProperty m_FirmwareCropOffsetY;

XnActualIntProperty m_FirmwareCropEnabled;

XnActualIntProperty m_ActualRead;

XnActualIntProperty m_GMCMode;

XnActualIntProperty m_CloseRange;

XnGeneralProperty m_ShiftsMap;

const XnUInt16* m_pLastFrameShiftsMap;

XnRegistration m_Registration;

XnCallbackHandle m_hReferenceSizeChangedCallback;

};

#endif //__XN_SENSOR_DEPTH_STREAM_H__