自学教程：C++ GetFirmwareParams函数代码示例

XnStatus XnSensorAudioStream::MapPropertiesToFirmware(){	XnStatus nRetVal = XN_STATUS_OK;	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(SampleRateProperty(), GetFirmwareParams()->m_AudioSampleRate, FALSE, ConvertSampleRateToFirmwareRate));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(NumberOfChannelsProperty(), GetFirmwareParams()->m_AudioStereo, FALSE, ConvertNumberOfChannelsToStereo));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_LeftChannelVolume, GetFirmwareParams()->m_AudioLeftChannelGain, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_RightChannelVolume, GetFirmwareParams()->m_AudioRightChannelGain, TRUE));	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::OpenStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = GetFirmwareParams()->m_Stream1Mode.SetValue(XN_VIDEO_STREAM_DEPTH);	XN_IS_STATUS_OK(nRetVal);	// Cropping	if (m_FirmwareCropEnabled.GetValue() == TRUE)	{		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);		XN_IS_STATUS_OK(nRetVal);;	}	nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropEnabled);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = XnDepthStream::Open();	XN_IS_STATUS_OK(nRetVal);	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::DecidePixelSizeFactor(){	XnStatus nRetVal = XN_STATUS_OK;		XnUInt32 nPixelSizeFactor;	switch (GetFirmwareParams()->m_ReferenceResolution.GetValue())	{	case XN_RESOLUTION_SXGA:		nPixelSizeFactor = 1;		break;	case XN_RESOLUTION_VGA:		nPixelSizeFactor = 2;		break;	default:		XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_DEVICE_SENSOR, "Can't resolve pixel size for reference resolution %llu", GetFirmwareParams()->m_ReferenceResolution.GetValue());	}		if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)	{		// due to some weird bug (we don't know the reason), DevKits older than 3.0 uses		// a smaller pixel size, but const shift remains the same. To work around this bug,		// we will just update pixel size, instead of updating pixel size factor (so that const		// shift will not be updated)		nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize() * nPixelSizeFactor);		XN_IS_STATUS_OK(nRetVal);	}	else	{		PixelSizeFactorProperty().UnsafeUpdateValue(nPixelSizeFactor);	}		return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::ConfigureStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificDepthUsb->pUsbConnection->UsbEp);	nRetVal = SetActualRead(TRUE);	XN_IS_STATUS_OK(nRetVal);	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_InputFormat));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(ResolutionProperty()));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(FPSProperty()));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_HoleFilter));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_Gain));	// we need to turn decimation on when resolution is QVGA, and FPS is different than 60	// NOTE: this is ugly as hell. This logic should be moved to firmware.	XnBool bDecimation = (GetResolution() == XN_RESOLUTION_QVGA && GetFPS() != 60);	nRetVal = GetFirmwareParams()->m_DepthDecimation.SetValue(bDecimation);	XN_IS_STATUS_OK(nRetVal);	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareRegistration));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareMirror));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_GMCMode));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_WhiteBalance));	nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());	XN_IS_STATUS_OK(nRetVal);	return XN_STATUS_OK;}

XnStatus XnSensorIRStream::OpenStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = GetFirmwareParams()->m_Stream0Mode.SetValue(XN_VIDEO_STREAM_IR);	XN_IS_STATUS_OK(nRetVal);	// Cropping	if (m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)	{		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);		XN_IS_STATUS_OK(nRetVal);;	}	nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropMode);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = XnIRStream::Open();	XN_IS_STATUS_OK(nRetVal);	return (XN_STATUS_OK);}

XnStatus XnSensorIRStream::ConfigureStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificImageUsb->pUsbConnection->UsbEp);	nRetVal = SetActualRead(TRUE);	XN_IS_STATUS_OK(nRetVal);	nRetVal = m_Helper.ConfigureFirmware(ResolutionProperty());	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.ConfigureFirmware(FPSProperty());	XN_IS_STATUS_OK(nRetVal);;	// IR mirror is always off in firmware	nRetVal = GetFirmwareParams()->m_IRMirror.SetValue(FALSE);	XN_IS_STATUS_OK(nRetVal);	// CMOS	if (GetResolution() != XN_RESOLUTION_SXGA)	{		nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());		XN_IS_STATUS_OK(nRetVal);	}	return (XN_STATUS_OK);}

XnStatus XnSensorAudioStream::OpenStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = GetFirmwareParams()->m_Stream2Mode.SetValue(XN_AUDIO_STREAM_ON);	XN_IS_STATUS_OK(nRetVal);	nRetVal = XnAudioStream::Open();	XN_IS_STATUS_OK(nRetVal);	return (XN_STATUS_OK);}

XnStatus XnSensorIRStream::MapPropertiesToFirmware(){	XnStatus nRetVal = XN_STATUS_OK;	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_IRResolution, FALSE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_IRFPS, FALSE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_IRCropSizeX, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_IRCropSizeY, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_IRCropOffsetX, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_IRCropOffsetY, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_IRCropEnabled, TRUE));	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::Free(){	DepthUtilsShutdown(&m_depthUtilsHandle);	// unregister from external properties (internal ones will be destroyed anyway...)	if (m_hReferenceSizeChangedCallback != NULL)	{		GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Unregister(m_hReferenceSizeChangedCallback);		m_hReferenceSizeChangedCallback = NULL;	}	m_Helper.Free();	XnDepthStream::Free();	return (XN_STATUS_OK);}

XnStatus XnSensorImageStream::OpenStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = GetFirmwareParams()->m_Stream0Mode.SetValue(XN_VIDEO_STREAM_COLOR);	XN_IS_STATUS_OK(nRetVal);	// Cropping	if (m_FirmwareCropEnabled.GetValue() == TRUE)	{		XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropSizeX));		XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropSizeY));		XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX));		XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY));	}	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareCropEnabled));	nRetVal = XnImageStream::Open();	XN_IS_STATUS_OK(nRetVal);	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::OpenStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	// Turn stream on	nRetVal = GetFirmwareParams()->m_Stream1Mode.SetValue(XN_VIDEO_STREAM_DEPTH);	XN_IS_STATUS_OK(nRetVal);	// CloseRange	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_5_6)	{		CloseRangeControl((XnBool)m_CloseRange.GetValue());	}	else	{		nRetVal = m_Helper.ConfigureFirmware(m_CloseRange);		XN_IS_STATUS_OK(nRetVal);	}	// Cropping	if (m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)	{		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropSizeY);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetX);		XN_IS_STATUS_OK(nRetVal);;		nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropOffsetY);		XN_IS_STATUS_OK(nRetVal);;	}	nRetVal = m_Helper.ConfigureFirmware(m_FirmwareCropMode);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = XnDepthStream::Open();	XN_IS_STATUS_OK(nRetVal);	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::ConfigureStreamImpl(){	XnStatus nRetVal = XN_STATUS_OK;	xnUSBShutdownReadThread(GetHelper()->GetPrivateData()->pSpecificDepthUsb->pUsbConnection->UsbEp);	nRetVal = SetActualRead(TRUE);	XN_IS_STATUS_OK(nRetVal);	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_InputFormat));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(ResolutionProperty()));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(FPSProperty()));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_HoleFilter));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_Gain));	// we need to turn decimation on when resolution is QVGA, and FPS is different than 60	// NOTE: this is ugly as hell. This logic should be moved to firmware.	XnBool bDecimation = (GetResolution() == XN_RESOLUTION_QVGA && GetFPS() != 60);	nRetVal = GetFirmwareParams()->m_DepthDecimation.SetValue(bDecimation);	XN_IS_STATUS_OK(nRetVal);	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareRegistration));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_FirmwareMirror));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_GMCMode));	XN_IS_STATUS_OK(m_Helper.ConfigureFirmware(m_WhiteBalance));	nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());	XN_IS_STATUS_OK(nRetVal);	// --avin mod--	//Turn off the IR projector anti-cover thingy. I find it annoying and It's off on the XBox360 so it must be safe :-)	//This is probably not the best way to do it, but adding it as a real param is too much work for me at the moment...	XnHostProtocolSetParam(GetHelper()->GetPrivateData(), 0x105, 0);		return XN_STATUS_OK;}

//.........这里部分代码省略.........	nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);	XN_IS_STATUS_OK(nRetVal);	// read some data from firmware	XnDepthInformation DepthInformation;	nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());	XN_IS_STATUS_OK(nRetVal);	nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());	XN_IS_STATUS_OK(nRetVal);	nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());	XN_IS_STATUS_OK(nRetVal);	nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());	XN_IS_STATUS_OK(nRetVal);	XnDouble fZPPS = m_Helper.GetFixedParams()->GetZeroPlanePixelSize();	XnInt nZPD = m_Helper.GetFixedParams()->GetZeroPlaneDistance();	nRetVal = m_HorizontalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_SXGA_X_RES/2/nZPD));	XN_IS_STATUS_OK(nRetVal);	nRetVal = m_VerticalFOV.UnsafeUpdateValue(2*atan(fZPPS*XN_VGA_Y_RES*2/2/nZPD));	XN_IS_STATUS_OK(nRetVal);	// init helper	nRetVal = m_Helper.Init(this, this);	XN_IS_STATUS_OK(nRetVal);	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)	{		nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);		XN_IS_STATUS_OK(nRetVal);	}	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_5_2)	{		nRetVal = m_WavelengthCorrection.UnsafeUpdateValue(FALSE);		XN_IS_STATUS_OK(nRetVal);	}	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)	{		nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);		XN_IS_STATUS_OK(nRetVal);	}	// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware	if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)	{		nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());		XN_IS_STATUS_OK(nRetVal);	}	// registration	XnCallbackHandle hCallbackDummy;		nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, hCallbackDummy);	XN_IS_STATUS_OK(nRetVal);	nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());	XN_IS_STATUS_OK(nRetVal);	// data processor	nRetVal = m_Helper.RegisterDataProcessorProperty(m_InputFormat);	XN_IS_STATUS_OK(nRetVal);	nRetVal = m_Helper.RegisterDataProcessorProperty(ResolutionProperty());	XN_IS_STATUS_OK(nRetVal);	// pixel size factor	nRetVal = GetFirmwareParams()->m_ReferenceResolution.OnChangeEvent().Register(DecidePixelSizeFactorCallback, this, m_hReferenceSizeChangedCallback);	XN_IS_STATUS_OK(nRetVal);	nRetVal = DecidePixelSizeFactor();	XN_IS_STATUS_OK(nRetVal);	// initialize registration	if (m_Helper.GetFirmwareVersion() > XN_SENSOR_FW_VER_5_3)	{		nRetVal = PopulateSensorCalibrationInfo();		XN_IS_STATUS_OK(nRetVal);		nRetVal = DepthUtilsInitialize(&m_calibrationInfo, &m_depthUtilsHandle);		XN_IS_STATUS_OK(nRetVal);		nRetVal = DepthUtilsSetDepthConfiguration(m_depthUtilsHandle, GetXRes(), GetYRes(), GetOutputFormat(), IsMirrored());		XN_IS_STATUS_OK(nRetVal);	}	return (XN_STATUS_OK);}

XnStatus XnSensorImageStream::MapPropertiesToFirmware(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = m_Helper.MapFirmwareProperty(m_InputFormat, GetFirmwareParams()->m_ImageFormat, FALSE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_ImageResolution, FALSE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_ImageFPS, FALSE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_AntiFlicker, GetFirmwareParams()->m_ImageFlickerDetection, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_ImageQuality, GetFirmwareParams()->m_ImageQuality, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareMirror, GetFirmwareParams()->m_ImageMirror, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_ImageCropSizeX, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_ImageCropSizeY, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_ImageCropOffsetX, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_ImageCropOffsetY, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_ImageCropEnabled, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_Sharpness, GetFirmwareParams()->m_ImageSharpness, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareAutoWhiteBalance, GetFirmwareParams()->m_ImageAutoWhiteBalance, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareColorTemperature, GetFirmwareParams()->m_ImageColorTemperature, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_BackLightCompensation, GetFirmwareParams()->m_ImageBacklightCompensation, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_Gain, GetFirmwareParams()->m_ImageGain, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareExposure, GetFirmwareParams()->m_ImageExposureBar, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_FirmwareAutoExposure, GetFirmwareParams()->m_ImageAutoExposure, TRUE);	XN_IS_STATUS_OK(nRetVal);;	nRetVal = m_Helper.MapFirmwareProperty(m_LowLightCompensation, GetFirmwareParams()->m_ImageLowLightCompensation, TRUE);	XN_IS_STATUS_OK(nRetVal);;	return (XN_STATUS_OK);}

XnStatus XnSensorImageStream::MapPropertiesToFirmware(){	XnStatus nRetVal = XN_STATUS_OK;	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_InputFormat, GetFirmwareParams()->m_ImageFormat, FALSE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(ResolutionProperty(), GetFirmwareParams()->m_ImageResolution, FALSE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(FPSProperty(), GetFirmwareParams()->m_ImageFPS, FALSE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_AntiFlicker, GetFirmwareParams()->m_ImageFlickerDetection, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_ImageQuality, GetFirmwareParams()->m_ImageQuality, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareMirror, GetFirmwareParams()->m_ImageMirror, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeX, GetFirmwareParams()->m_ImageCropSizeX, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropSizeY, GetFirmwareParams()->m_ImageCropSizeY, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetX, GetFirmwareParams()->m_ImageCropOffsetX, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropOffsetY, GetFirmwareParams()->m_ImageCropOffsetY, TRUE));	XN_IS_STATUS_OK(m_Helper.MapFirmwareProperty(m_FirmwareCropEnabled, GetFirmwareParams()->m_ImageCropEnabled, TRUE));	return (XN_STATUS_OK);}

XnStatus XnSensorDepthStream::Init(){	XnStatus nRetVal = XN_STATUS_OK;	nRetVal = SetBufferPool(&m_BufferPool);	XN_IS_STATUS_OK(nRetVal);	// init base	nRetVal = XnDepthStream::Init();	XN_IS_STATUS_OK(nRetVal);	m_InputFormat.UpdateSetCallback(SetInputFormatCallback, this);	m_DepthRegistration.UpdateSetCallback(SetRegistrationCallback, this);	m_HoleFilter.UpdateSetCallback(SetHoleFilterCallback, this);	m_WhiteBalance.UpdateSetCallback(SetWhiteBalanceCallback, this);	m_Gain.UpdateSetCallback(SetGainCallback, this);	m_RegistrationType.UpdateSetCallback(SetRegistrationTypeCallback, this);	m_AGCBin.UpdateSetCallback(SetAGCBinCallback, this);	m_AGCBin.UpdateGetCallback(GetAGCBinCallback, this);	m_GMCMode.UpdateSetCallback(SetGMCModeCallback, this);	XN_VALIDATE_ADD_PROPERTIES(this, &m_InputFormat, &m_DepthRegistration, &m_HoleFilter, 		&m_WhiteBalance, &m_Gain, &m_AGCBin, &m_SharedBufferName, &m_ActualRead, &m_GMCMode, 		&m_RegistrationType);	if (m_Helper.GetPrivateData()->pSensor->IsLowBandwidth())	{		nRetVal = m_InputFormat.UnsafeUpdateValue(XN_IO_DEPTH_FORMAT_COMPRESSED_PS);		XN_IS_STATUS_OK(nRetVal);	}	// set base properties default values	nRetVal = ResolutionProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_RESOLUTION);	XN_IS_STATUS_OK(nRetVal);	nRetVal = FPSProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_FPS);	XN_IS_STATUS_OK(nRetVal);	nRetVal = OutputFormatProperty().UnsafeUpdateValue(XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ParamCoefficientProperty().UnsafeUpdateValue(XN_SHIFTS_PARAM_COEFFICIENT);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ShiftScaleProperty().UnsafeUpdateValue(XN_SHIFTS_SHIFT_SCALE);	XN_IS_STATUS_OK(nRetVal);	// read some data from firmware	XnDepthInformation DepthInformation;	nRetVal = XnHostProtocolAlgorithmParams(m_Helper.GetPrivateData(), XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO, &DepthInformation, sizeof(XnDepthInformation), XN_RESOLUTION_VGA, 30);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ConstShiftProperty().UnsafeUpdateValue(DepthInformation.nConstShift);	XN_IS_STATUS_OK(nRetVal);	nRetVal = ZeroPlaneDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlaneDistance());	XN_IS_STATUS_OK(nRetVal);	nRetVal = ZeroPlanePixelSizeProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetZeroPlanePixelSize());	XN_IS_STATUS_OK(nRetVal);	nRetVal = EmitterDCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetEmitterDCmosDistance());	XN_IS_STATUS_OK(nRetVal);	nRetVal = GetDCmosRCmosDistanceProperty().UnsafeUpdateValue(m_Helper.GetFixedParams()->GetDCmosRCmosDistance());	XN_IS_STATUS_OK(nRetVal);	// init helper	nRetVal = m_Helper.Init(this, this);	XN_IS_STATUS_OK(nRetVal);	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_3_0)	{		nRetVal = m_GMCMode.UnsafeUpdateValue(FALSE);		XN_IS_STATUS_OK(nRetVal);	}	if (m_Helper.GetFirmwareVersion() < XN_SENSOR_FW_VER_4_0)	{		nRetVal = m_WhiteBalance.UnsafeUpdateValue(FALSE);		XN_IS_STATUS_OK(nRetVal);	}	// on old firmwares, the host decides on the default gain. On new firmwares, we read it from firmware	if (m_Helper.GetFirmware()->GetInfo()->nFWVer > XN_SENSOR_FW_VER_1_2)	{		nRetVal = m_Gain.UnsafeUpdateValue(GetFirmwareParams()->m_DepthGain.GetValue());		XN_IS_STATUS_OK(nRetVal);	}	// registration	XnCallbackHandle hCallbackDummy;		nRetVal = ResolutionProperty().OnChangeEvent().Register(DecideFirmwareRegistrationCallback, this, &hCallbackDummy);	XN_IS_STATUS_OK(nRetVal);	nRetVal = DecideFirmwareRegistration((XnBool)m_DepthRegistration.GetValue(), (XnProcessingType)m_RegistrationType.GetValue(), GetResolution());	XN_IS_STATUS_OK(nRetVal);//.........这里部分代码省略.........