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Change datatype of ZPD to fload/double #100

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07775a4
Change datatype of ZeroPlaneDistance from integer to real;
devymex Nov 17, 2016
cda50b3
Fix wrong value name in propIds (should be XN_STREAM_PROPERTY_ZERO_PL…
devymex Nov 17, 2016
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6 changes: 3 additions & 3 deletions Source/Drivers/PS1080/DDK/XnDepthStream.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ class XnDepthStream : public XnPixelStream
inline OniDepthPixel GetDeviceMaxDepth() const { return (OniDepthPixel)m_DeviceMaxDepth.GetValue(); }
inline XnUInt32 GetParamCoefficient() const { return (XnUInt32)m_ParamCoefficient.GetValue(); }
inline XnUInt32 GetShiftScale() const { return (XnUInt32)m_ShiftScale.GetValue(); }
inline OniDepthPixel GetZeroPlaneDistance() const { return (OniDepthPixel)m_ZeroPlaneDistance.GetValue(); }
inline XnDouble GetZeroPlaneDistance() const { return m_ZeroPlaneDistance.GetValue(); }
inline XnDouble GetZeroPlanePixelSize() const { return m_ZeroPlanePixelSize.GetValue(); }
inline XnDouble GetEmitterDCmosDistance() const { return m_EmitterDCmosDistance.GetValue(); }
inline XnDouble GetDCmosRCmosDistance() const { return m_GetDCmosRCmosDistance.GetValue(); }
Expand All @@ -75,7 +75,7 @@ class XnDepthStream : public XnPixelStream
inline XnActualIntProperty& DeviceMaxDepthProperty() { return m_DeviceMaxDepth; }
inline XnActualIntProperty& ParamCoefficientProperty() { return m_ParamCoefficient; }
inline XnActualIntProperty& ShiftScaleProperty() { return m_ShiftScale; }
inline XnActualIntProperty& ZeroPlaneDistanceProperty() { return m_ZeroPlaneDistance; }
inline XnActualRealProperty& ZeroPlaneDistanceProperty() { return m_ZeroPlaneDistance; }
inline XnActualRealProperty& ZeroPlanePixelSizeProperty() { return m_ZeroPlanePixelSize; }
inline XnActualRealProperty& EmitterDCmosDistanceProperty() { return m_EmitterDCmosDistance; }
inline XnActualRealProperty& GetDCmosRCmosDistanceProperty() { return m_GetDCmosRCmosDistance; }
Expand Down Expand Up @@ -108,7 +108,7 @@ class XnDepthStream : public XnPixelStream
XnActualIntProperty m_DeviceMaxDepth;
XnActualIntProperty m_ParamCoefficient;
XnActualIntProperty m_ShiftScale;
XnActualIntProperty m_ZeroPlaneDistance;
XnActualRealProperty m_ZeroPlaneDistance;
XnActualRealProperty m_ZeroPlanePixelSize;
XnActualRealProperty m_EmitterDCmosDistance;
XnActualRealProperty m_GetDCmosRCmosDistance;
Expand Down
2 changes: 1 addition & 1 deletion Source/Drivers/PS1080/DDK/XnShiftToDepth.cpp
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Expand Up @@ -63,7 +63,7 @@ XnStatus XnShiftToDepthUpdate(XnShiftToDepthTables* pShiftToDepth, const XnShift
XnDouble dMetric = 0;
XnDouble dDepth = 0;
XnDouble dPlanePixelSize = pConfig->fZeroPlanePixelSize;
XnDouble dPlaneDsr = pConfig->nZeroPlaneDistance;
XnDouble dPlaneDsr = pConfig->fZeroPlaneDistance;
XnDouble dPlaneDcl = pConfig->fEmitterDCmosDistance;
XnInt32 nConstShift = pConfig->nParamCoeff * pConfig->nConstShift;

Expand Down
2 changes: 1 addition & 1 deletion Source/Drivers/PS1080/DDK/XnShiftToDepth.h
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Expand Up @@ -34,7 +34,7 @@
typedef struct XnShiftToDepthConfig
{
/** The zero plane distance in depth units. */
OniDepthPixel nZeroPlaneDistance;
XnFloat fZeroPlaneDistance;
/** The zero plane pixel size */
XnFloat fZeroPlanePixelSize;
/** The distance between the emitter and the Depth Cmos */
Expand Down
6 changes: 3 additions & 3 deletions Source/Drivers/PS1080/DDK/XnShiftToDepthStreamHelper.cpp
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Expand Up @@ -89,7 +89,7 @@ XnStatus XnShiftToDepthStreamHelper::InitShiftToDepth()
XN_STREAM_PROPERTY_PARAM_COEFF,
XN_STREAM_PROPERTY_SHIFT_SCALE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE,
XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE,
XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE,
XN_STREAM_PROPERTY_OUTPUT_FORMAT,
};
Expand Down Expand Up @@ -149,10 +149,10 @@ XnStatus XnShiftToDepthStreamHelper::GetShiftToDepthConfig(XnShiftToDepthConfig&
XnUInt64 nTemp;
XnDouble dTemp;

nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nTemp);
nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &dTemp);
XN_IS_STATUS_OK(nRetVal);

Config.nZeroPlaneDistance = (XnUInt16)nTemp;
Config.fZeroPlaneDistance = (XnFloat)dTemp;

nRetVal = m_pModule->GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dTemp);
XN_IS_STATUS_OK(nRetVal);
Expand Down
8 changes: 4 additions & 4 deletions Source/Drivers/PS1080/DriverImpl/XnOniDepthStream.cpp
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Expand Up @@ -115,13 +115,13 @@ void XnOniDepthStream::notifyAllProperties()
getProperty(XN_STREAM_PROPERTY_SHIFT_SCALE, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_SHIFT_SCALE, &nValue, size);

// zero plane distance
getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nValue, size);

XnDouble dValue;
size = sizeof(dValue);

// zero plane distance
getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &dValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &dValue, size);

// zero plane pixel size
getProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dValue, &size);
raisePropertyChanged(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dValue, size);
Expand Down
12 changes: 6 additions & 6 deletions Source/Drivers/PS1080/Sensor/XnSensorDepthStream.cpp
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Expand Up @@ -182,12 +182,12 @@ XnStatus XnSensorDepthStream::Init()
XN_IS_STATUS_OK(nRetVal);

XnDouble fZPPS = m_Helper.GetFixedParams()->GetZeroPlanePixelSize();
XnInt nZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();
XnDouble fZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();

nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/nZPD));
nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/fZPD));
XN_IS_STATUS_OK(nRetVal);

nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/nZPD));
nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/fZPD));
XN_IS_STATUS_OK(nRetVal);

// init helper
Expand Down Expand Up @@ -1065,15 +1065,15 @@ XnStatus XnSensorDepthStream::PopulateSensorCalibrationInfo()
XnDouble dPlanePixelSize;
GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_PIXEL_SIZE, &dPlanePixelSize);

XnUInt64 nPlaneDsr;
GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &nPlaneDsr);
XnDouble dPlaneDsr;
GetProperty(XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE, &dPlaneDsr);

XnDouble dDCRCDist;
GetProperty(XN_STREAM_PROPERTY_DCMOS_RCMOS_DISTANCE, &dDCRCDist);

m_calibrationInfo.magic = ONI_DEPTH_UTILS_CALIBRATION_INFO_MAGIC;
m_calibrationInfo.version = 1;
m_calibrationInfo.params1080.zpd = (int)nPlaneDsr;
m_calibrationInfo.params1080.zpd = dPlaneDsr;
m_calibrationInfo.params1080.zpps = dPlanePixelSize;
m_calibrationInfo.params1080.dcrcdist = dDCRCDist;

Expand Down
6 changes: 3 additions & 3 deletions Source/Drivers/PS1080/Sensor/XnSensorFixedParams.cpp
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Expand Up @@ -33,7 +33,7 @@ XnSensorFixedParams::XnSensorFixedParams(XnDevicePrivateData* pDevicePrivateData
m_nSensorDepthCMOSI2CSlaveAddress(0),
m_nSensorImageCMOSI2CBus(0),
m_nSensorImageCMOSI2CSlaveAddress(0),
m_nZeroPlaneDistance(0),
m_dZeroPlaneDistance(0),
m_dZeroPlanePixelSize(0),
m_dEmitterDCmosDistance(0),
m_dDCmosRCmosDistance(0),
Expand Down Expand Up @@ -80,7 +80,7 @@ XnStatus XnSensorFixedParams::Init()
xnLogVerbose(XN_MASK_DEVICE_SENSOR, "Sensor serial number: %s", m_strSensorSerial);

// fill in properties
m_nZeroPlaneDistance = (OniDepthPixel)FixedParams.fReferenceDistance;
m_dZeroPlaneDistance = FixedParams.fReferenceDistance;
m_dZeroPlanePixelSize = FixedParams.fReferencePixelSize;
m_dEmitterDCmosDistance = FixedParams.fDCmosEmitterDistance;
m_dDCmosRCmosDistance = FixedParams.fDCmosRCmosDistance;
Expand All @@ -101,4 +101,4 @@ XnStatus XnSensorFixedParams::Init()
XN_IS_STATUS_OK(nRetVal);

return (XN_STATUS_OK);
}
}
4 changes: 2 additions & 2 deletions Source/Drivers/PS1080/Sensor/XnSensorFixedParams.h
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Expand Up @@ -49,7 +49,7 @@ class XnSensorFixedParams
inline XnUInt16 GetImageCmosI2CBus() const { return m_nSensorImageCMOSI2CBus; }
inline XnUInt16 GetImageCmosI2CSlaveAddress() const { return m_nSensorImageCMOSI2CSlaveAddress; }

inline OniDepthPixel GetZeroPlaneDistance() const { return m_nZeroPlaneDistance; }
inline XnDouble GetZeroPlaneDistance() const { return m_dZeroPlaneDistance; }
inline XnDouble GetZeroPlanePixelSize() const { return m_dZeroPlanePixelSize; }
inline XnDouble GetEmitterDCmosDistance() const { return m_dEmitterDCmosDistance; }
inline XnDouble GetDCmosRCmosDistance() const { return m_dDCmosRCmosDistance; }
Expand All @@ -71,7 +71,7 @@ class XnSensorFixedParams
XnUInt16 m_nSensorImageCMOSI2CBus;
XnUInt16 m_nSensorImageCMOSI2CSlaveAddress;

OniDepthPixel m_nZeroPlaneDistance;
XnDouble m_dZeroPlaneDistance;
XnDouble m_dZeroPlanePixelSize;
XnDouble m_dEmitterDCmosDistance;
XnDouble m_dDCmosRCmosDistance;
Expand Down
6 changes: 3 additions & 3 deletions Source/Drivers/PS1080/Sensor/XnSensorImageStream.cpp
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Expand Up @@ -105,12 +105,12 @@ XnStatus XnSensorImageStream::Init()
XN_IS_STATUS_OK(nRetVal);

XnDouble fZPPS = m_Helper.GetFixedParams()->GetZeroPlanePixelSize();
XnInt nZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();
XnDouble dZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();

nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/nZPD));
nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/dZPD));
XN_IS_STATUS_OK(nRetVal);

nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/nZPD));
nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/dZPD));
XN_IS_STATUS_OK(nRetVal);

// init helper
Expand Down