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