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Thirdparty/Pangolin/include/pangolin/video/drivers/openni_common.h

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+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *               2015 Richard Newcombe
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/video/iostream_operators.h>
+
+namespace pangolin
+{
+
+enum OpenNiSensorType
+{
+    OpenNiUnassigned = -1,
+    OpenNiRgb = 0,
+    OpenNiIr,
+    OpenNiDepth_1mm,
+    OpenNiDepth_1mm_Registered,
+    OpenNiDepth_100um,
+    OpenNiIr8bit,
+    OpenNiIr24bit,
+    OpenNiIrProj,
+    OpenNiIr8bitProj,
+    OpenNiGrey
+};
+
+struct PANGOLIN_EXPORT OpenNiStreamMode
+{
+    OpenNiStreamMode(
+        OpenNiSensorType sensor_type=OpenNiUnassigned,
+        ImageDim dim=ImageDim(640,480), ImageRoi roi=ImageRoi(0,0,0,0), int fps=30, int device=0
+    )
+        : sensor_type(sensor_type), dim(dim), roi(roi), fps(fps), device(device)
+    {
+
+    }
+
+    OpenNiSensorType sensor_type;
+    ImageDim dim;
+    ImageRoi roi;
+    int fps;
+    int device;
+};
+
+inline OpenNiSensorType openni_sensor(const std::string& str)
+{
+    if( !str.compare("grey") || !str.compare("gray") ) {
+        return OpenNiGrey;
+    }else if( !str.compare("rgb") ) {
+        return OpenNiRgb;
+    }else if( !str.compare("ir") ) {
+        return OpenNiIr;
+    }else if( !str.compare("depth1mm") || !str.compare("depth") ) {
+        return OpenNiDepth_1mm;
+    }else if( !str.compare("depth100um") ) {
+        return OpenNiDepth_100um;
+    }else if( !str.compare("depth_reg") || !str.compare("reg_depth")) {
+        return OpenNiDepth_1mm_Registered;
+    }else if( !str.compare("ir8") ) {
+        return OpenNiIr8bit;
+    }else if( !str.compare("ir24") ) {
+        return OpenNiIr24bit;
+    }else if( !str.compare("ir+") ) {
+        return OpenNiIrProj;
+    }else if( !str.compare("ir8+") ) {
+        return OpenNiIr8bitProj;
+    }else if( str.empty() ) {
+        return OpenNiUnassigned;
+    }else{
+        throw pangolin::VideoException("Unknown OpenNi sensor", str );
+    }
+}
+
+// Find prefix character key
+// Given arguments "depth!5:320x240@15", "!:@", would return map
+// \0->"depth", !->"5", :->"320x240", @->"15"
+inline std::map<char,std::string> GetTokenSplits(const std::string& str, const std::string& tokens)
+{
+    std::map<char,std::string> splits;
+
+    char last_token = 0;
+    size_t  last_start = 0;
+    for(unsigned int i=0; i<str.size(); ++i) {
+        size_t token_pos = tokens.find(str[i]);
+        if(token_pos != std::string::npos) {
+            splits[last_token] = str.substr(last_start, i-last_start);
+            last_token = tokens[token_pos];
+            last_start = i+1;
+        }
+    }
+
+    if(last_start < str.size()) {
+        splits[last_token] = str.substr(last_start);
+    }
+
+    return splits;
+}
+
+inline std::istream& operator>> (std::istream &is, OpenNiStreamMode& fmt)
+{
+    std::string str;
+    is >> str;
+
+    std::map<char,std::string> splits = GetTokenSplits(str, "!:@#");
+
+    if(splits.count(0)) {
+        fmt.sensor_type = openni_sensor(splits[0]);
+    }
+
+    if(splits.count('@')) {
+        fmt.fps = pangolin::Convert<int,std::string>::Do(splits['@']);
+    }
+
+    if(splits.count(':')) {
+        fmt.dim = pangolin::Convert<ImageDim,std::string>::Do(splits[':']);
+    }
+
+    if(splits.count('!')) {
+        fmt.device = pangolin::Convert<int,std::string>::Do(splits['!']);
+    }
+
+    if(splits.count('#')) {
+        fmt.roi = pangolin::Convert<ImageRoi,std::string>::Do(splits['#']);
+    }
+
+    return is;
+}
+
+}