v01

thirdparty/Pangolin/include/pangolin/video/drivers/openni2.h

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