gistfile1.cpp

    typedef enum
    {
      XN_IO_IMAGE_FORMAT_BAYER = 0,
      XN_IO_IMAGE_FORMAT_YUV422 = 1,
      XN_IO_IMAGE_FORMAT_JPEG = 2,
      XN_IO_IMAGE_FORMAT_JPEG_420 = 3,
      XN_IO_IMAGE_FORMAT_JPEG_MONO = 4,
      XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422 = 5,
      XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER = 6,
    } XnIOImageFormats;

    typedef enum XnProcessingType
    {
      XN_PROCESSING_DONT_CARE = 0, XN_PROCESSING_HARDWARE = 1, XN_PROCESSING_SOFTWARE = 2,
    } XnProcessingType;


    void
    set_sync_on()
    {
      std::cout << " attempting to turn on sync..." << std::endl;
      if (depthGenerator.IsCapabilitySupported(XN_CAPABILITY_FRAME_SYNC))
      {
        if (depthGenerator.GetFrameSyncCap().CanFrameSyncWith(imageGenerator)
            && !depthGenerator.GetFrameSyncCap().IsFrameSyncedWith(imageGenerator))
        {
          XnStatus status = depthGenerator.GetFrameSyncCap().FrameSyncWith(imageGenerator);
          if (status != XN_STATUS_OK)
          {
            NI_STATUS_ERROR("Failed to start frame sync");
          }
        }
        if (depthGenerator.GetFrameSyncCap().IsFrameSyncedWith(imageGenerator))
        {
          std::cout << "Successful sync between depth and image." << std::endl;
        }
        else
        {
          std::cerr << "Depth/Image sync could not be enabled." << std::endl;
        }
      }
      else
      {
        std::cerr << "Depth/Image sync is not supported." << std::endl;
      }
    }
    void
    init_xtion_pro_live(bool registration, ResolutionMode m)
    {

      XnUInt64 inputformat = XN_IO_IMAGE_FORMAT_YUV422;
      if (m == SXGA_RES)
      {
        inputformat = XN_IO_IMAGE_FORMAT_BAYER;
      }

      XnStatus status = imageGenerator.SetIntProperty("InputFormat", inputformat);
      if (status != XN_STATUS_OK)
        NI_STATUS_ERROR("Error setting the image input format. ");

      status = imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
      if (status != XN_STATUS_OK)
        NI_STATUS_ERROR("Failed to  SetPixelFormat: ");

      if (registration)
      {
        status = depthGenerator.SetIntProperty("RegistrationType", XN_PROCESSING_HARDWARE);
        if (status != XN_STATUS_OK)
        {
          NI_STATUS_ERROR("Error setting the registration type.");
        }
      }
      set_sync_on();
    }