v01

thirdparty/Pangolin/include/pangolin/video/drivers/openni.h

@@ -0,0 +1,72 @@
+#pragma once
+
+#include <pangolin/pangolin.h>
+
+#include <pangolin/video/video.h>
+#include <pangolin/video/drivers/openni_common.h>
+
+// Workaround poor OpenNI Platform test on Linux before including XnCppWrapper.h
+// See https://github.com/dennishamester/OpenNI/commit/ca99f6181234c682bba42a6ba
+#ifdef _LINUX_
+#define linux 1
+#endif // _LINUX_
+
+// OpenNI generates SO MANY warnings, we'll just disable all for this header(!)
+// GCC and clang will listen to this pramga.
+#ifndef _MSVC_
+#pragma GCC system_header
+#endif
+#include <XnCppWrapper.h>
+
+namespace pangolin
+{
+
+//! Interface to video capture sources
+struct PANGOLIN_EXPORT OpenNiVideo : public VideoInterface
+{
+public:
+    OpenNiVideo(OpenNiSensorType s1, OpenNiSensorType s2, ImageDim dim = ImageDim(640,480), int fps = 30);
+    ~OpenNiVideo();
+
+    //! Implement VideoInput::Start()
+    void Start();
+    
+    //! Implement VideoInput::Stop()
+    void Stop();
+
+    //! Implement VideoInput::SizeBytes()
+    size_t SizeBytes() const;
+
+    //! Implement VideoInput::Streams()
+    const std::vector<StreamInfo>& Streams() const;
+    
+    //! Implement VideoInput::GrabNext()
+    bool GrabNext( unsigned char* image, bool wait = true );
+    
+    //! Implement VideoInput::GrabNewest()
+    bool GrabNewest( unsigned char* image, bool wait = true );
+
+    void SetAutoExposure(bool enabled)
+    {
+#if XN_MINOR_VERSION > 5 || (XN_MINOR_VERSION == 5 && XN_BUILD_VERSION >= 7)
+        if(imageNode.IsValid()) {
+            imageNode.GetAutoExposureCap().Set(enabled ? 1 : 0);
+        }
+#else
+        throw pangolin::VideoException("SetAutoExposure Not supported for this version of OpenNI.");
+#endif
+    }
+    
+protected:
+    std::vector<StreamInfo> streams;
+    OpenNiSensorType sensor_type[2];
+    
+    xn::Context context;
+    xn::DepthGenerator depthNode;
+    xn::ImageGenerator imageNode;
+    xn::IRGenerator irNode;
+    
+    size_t sizeBytes;
+};
+
+}