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ORB_SLAM3_Win/Thirdparty/Pangolin/include/pangolin/video/drivers/pango.h
PodmogilnyjIvan ff4acf84be raw
2021-12-03 03:34:31 -08:00

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/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2014 Steven Lovegrove
*
* 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/log/packetstream_reader.h>
#include <pangolin/log/playback_session.h>
#include <pangolin/video/stream_encoder_factory.h>
#include <pangolin/video/video.h>
namespace pangolin
{
class PANGOLIN_EXPORT PangoVideo
: public VideoInterface, public VideoPropertiesInterface, public VideoPlaybackInterface
{
public:
PangoVideo(const std::string& filename, std::shared_ptr<PlaybackSession> playback_session);
~PangoVideo();
// Implement VideoInterface
size_t SizeBytes() const override;
const std::vector<StreamInfo>& Streams() const override;
void Start() override;
void Stop() override;
bool GrabNext( unsigned char* image, bool wait = true ) override;
bool GrabNewest( unsigned char* image, bool wait = true ) override;
// Implement VideoPropertiesInterface
const picojson::value& DeviceProperties() const override {
if (-1 == _src_id) throw std::runtime_error("Not initialised");
return _device_properties;
}
const picojson::value& FrameProperties() const override {
return _frame_properties;
}
// Implement VideoPlaybackInterface
size_t GetCurrentFrameId() const override;
size_t GetTotalFrames() const override;
size_t Seek(size_t frameid) override;
std::string GetSourceUri();
private:
void HandlePipeClosed();
protected:
int FindPacketStreamSource();
void SetupStreams(const PacketStreamSource& src);
const std::string _filename;
std::shared_ptr<PlaybackSession> _playback_session;
std::shared_ptr<PacketStreamReader> _reader;
SyncTimeEventPromise _event_promise;
int _src_id;
const PacketStreamSource* _source;
size_t _size_bytes;
bool _fixed_size;
std::vector<StreamInfo> _streams;
std::vector<ImageDecoderFunc> stream_decoder;
picojson::value _device_properties;
picojson::value _frame_properties;
std::string _source_uri;
Registration<size_t> session_seek;
};
}