148 lines
4.7 KiB
C++
148 lines
4.7 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 Richard Newcombe
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* 2014 Steven Lovegrove
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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/pangolin.h>
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#include <pangolin/video/video.h>
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#include <pangolin/video/drivers/openni_common.h>
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#include <OpenNI.h>
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namespace pangolin
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{
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const int MAX_OPENNI2_STREAMS = 2 * ONI_MAX_SENSORS;
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//! Interface to video capture sources
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struct OpenNi2Video : public VideoInterface, public VideoPropertiesInterface, public VideoPlaybackInterface
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{
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public:
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// Open all RGB and Depth streams from all devices
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OpenNi2Video(ImageDim dim=ImageDim(640,480), ImageRoi roi=ImageRoi(0,0,0,0), int fps=30);
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// Open streams specified
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OpenNi2Video(std::vector<OpenNiStreamMode>& stream_modes);
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// Open openni file
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OpenNi2Video(const std::string& filename);
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// Open openni file with certain params
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OpenNi2Video(const std::string& filename, std::vector<OpenNiStreamMode>& stream_modes);
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void UpdateProperties();
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void SetMirroring(bool enable);
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void SetAutoExposure(bool enable);
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void SetAutoWhiteBalance(bool enable);
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void SetDepthCloseRange(bool enable);
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void SetDepthHoleFilter(bool enable);
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void SetDepthColorSyncEnabled(bool enable);
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void SetFastCrop(bool enable);
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void SetRegisterDepthToImage(bool enable);
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void SetPlaybackSpeed(float speed);
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void SetPlaybackRepeat(bool enabled);
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~OpenNi2Video();
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//! Implement VideoInput::Start()
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void Start() override;
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//! Implement VideoInput::Stop()
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void Stop() override;
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//! Implement VideoInput::SizeBytes()
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size_t SizeBytes() const override;
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//! Implement VideoInput::Streams()
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const std::vector<StreamInfo>& Streams() const override;
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//! Implement VideoInput::GrabNext()
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bool GrabNext( unsigned char* image, bool wait = true ) override;
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//! Implement VideoInput::GrabNewest()
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bool GrabNewest( unsigned char* image, bool wait = true ) override;
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//! Implement VideoPropertiesInterface::Properties()
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const picojson::value& DeviceProperties() const override{
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return device_properties;
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}
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//! Implement VideoPropertiesInterface::Properties()
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const picojson::value& FrameProperties() const override{
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return frame_properties;
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}
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//! Implement VideoPlaybackInterface::GetCurrentFrameId
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size_t GetCurrentFrameId() const override;
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//! Implement VideoPlaybackInterface::GetTotalFrames
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size_t GetTotalFrames() const override;
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//! Implement VideoPlaybackInterface::Seek
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size_t Seek(size_t frameid) override;
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openni::VideoStream* GetVideoStream(int stream);
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protected:
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void InitialiseOpenNI();
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int AddDevice(const std::string& device_uri);
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void AddStream(const OpenNiStreamMode& mode);
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void SetupStreamModes();
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void PrintOpenNI2Modes(openni::SensorType sensorType);
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openni::VideoMode FindOpenNI2Mode(openni::Device &device, openni::SensorType sensorType, int width, int height, int fps, openni::PixelFormat fmt );
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size_t numDevices;
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size_t numStreams;
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openni::Device devices[ONI_MAX_SENSORS];
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OpenNiStreamMode sensor_type[ONI_MAX_SENSORS];
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openni::VideoStream video_stream[ONI_MAX_SENSORS];
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openni::VideoFrameRef video_frame[ONI_MAX_SENSORS];
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std::vector<StreamInfo> streams;
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size_t sizeBytes;
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picojson::value device_properties;
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picojson::value frame_properties;
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picojson::value* streams_properties;
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bool use_depth;
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bool use_ir;
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bool use_rgb;
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bool depth_to_color;
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bool use_ir_and_rgb;
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size_t current_frame_index;
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size_t total_frames;
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};
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}
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