Remove implementation of CvCapture interface for Intel PerC camera. Add…

Remove implementation of CvCapture interface for Intel PerC camera. Add IVideoCapture interface and implementation of this one for Intel PerC camera

modules/highgui/include/opencv2/highgui.hpp

@@ -530,6 +530,18 @@ enum { CAP_INTELPERC_DEPTH_MAP              = 0, // Each pixel is a 16-bit integ
        CAP_INTELPERC_IMAGE                  = 3
      };
 
+
+class IVideoCapture
+{
+public:
+    virtual ~IVideoCapture() {}
+    virtual double getProperty(int) { return 0; }
+    virtual bool setProperty(int, double) { return 0; }
+    virtual bool grabFrame() { return true; }
+    virtual bool retrieveFrame(int, cv::OutputArray) { return 0; }
+    virtual int getCaptureDomain() { return CAP_ANY; } // Return the type of the capture object: CAP_VFW, etc...
+};
+
 class CV_EXPORTS_W VideoCapture
 {
 public:
@@ -554,9 +566,11 @@ public:
 
 protected:
     Ptr<CvCapture> cap;
+    Ptr<IVideoCapture> icap;
+private:
+    static Ptr<IVideoCapture> createCameraCapture(int index);
 };
 
-
 class CV_EXPORTS_W VideoWriter
 {
 public:

modules/highgui/src/cap.cpp

@@ -40,6 +40,7 @@
 //M*/
 
 #include "precomp.hpp"
+#include "cap_intelperc.hpp"
 
 #if defined _M_X64 && defined _MSC_VER && !defined CV_ICC
 #pragma optimize("",off)
@@ -345,14 +346,6 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
                 return capture;
         break; // CV_CAP_GIGANETIX
 #endif
-
-#ifdef HAVE_INTELPERC
-        case CV_CAP_INTELPERC:
-            capture = cvCreateCameraCapture_IntelPerC(index);
-            if (capture)
-                return capture;
-        break; // CV_CAP_INTEL_PERC
-#endif
         }
     }
 
@@ -497,6 +490,7 @@ VideoCapture::VideoCapture(int device)
 
 VideoCapture::~VideoCapture()
 {
+    icap.release();
     cap.release();
 }
 
@@ -510,24 +504,36 @@ bool VideoCapture::open(const String& filename)
 bool VideoCapture::open(int device)
 {
     if (isOpened()) release();
+    icap = createCameraCapture(device);
+    if (!icap.empty())
+        return true;
     cap.reset(cvCreateCameraCapture(device));
     return isOpened();
 }
 
-bool VideoCapture::isOpened() const { return !cap.empty(); }
+bool VideoCapture::isOpened() const
+{
+    return (!cap.empty() || !icap.empty());
+}
 
 void VideoCapture::release()
 {
+    icap.release();
     cap.release();
 }
 
 bool VideoCapture::grab()
 {
+    if (!icap.empty())
+        return icap->grabFrame();
     return cvGrabFrame(cap) != 0;
 }
 
 bool VideoCapture::retrieve(OutputArray image, int channel)
 {
+    if (!icap.empty())
+        return icap->retrieveFrame(channel, image);
+
     IplImage* _img = cvRetrieveFrame(cap, channel);
     if( !_img )
     {
@@ -567,14 +573,62 @@ VideoCapture& VideoCapture::operator >> (UMat& image)
 
 bool VideoCapture::set(int propId, double value)
 {
+    if (!icap.empty())
+        return icap->setProperty(propId, value);
     return cvSetCaptureProperty(cap, propId, value) != 0;
 }
 
 double VideoCapture::get(int propId)
 {
+    if (!icap.empty())
+        return icap->getProperty(propId);
     return cvGetCaptureProperty(cap, propId);
 }
 
+Ptr<IVideoCapture> VideoCapture::createCameraCapture(int index)
+{
+    int  domains[] =
+    {
+#ifdef HAVE_INTELPERC
+        CV_CAP_INTELPERC,
+#endif
+        -1, -1
+    };
+
+    // interpret preferred interface (0 = autodetect)
+    int pref = (index / 100) * 100;
+    if (pref)
+    {
+        domains[0]=pref;
+        index %= 100;
+        domains[1]=-1;
+    }
+
+    // try every possibly installed camera API
+    for (int i = 0; domains[i] >= 0; i++)
+    {
+#if defined(HAVE_INTELPERC)    || \
+    (0)
+        Ptr<IVideoCapture> capture;
+
+        switch (domains[i])
+        {
+#ifdef HAVE_INTELPERC
+        case CV_CAP_INTELPERC:
+            capture = Ptr<IVideoCapture>(new cv::VideoCapture_IntelPerC());
+            if (capture)
+                return capture;
+        break; // CV_CAP_INTEL_PERC
+#endif
+        }
+#endif
+    }
+
+    // failed open a camera
+    return Ptr<IVideoCapture>();
+}
+
+
 VideoWriter::VideoWriter()
 {}
 

modules/highgui/src/cap_intelperc.hpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef _CAP_INTELPERC_HPP_
+#define _CAP_INTELPERC_HPP_
+
+#include "precomp.hpp"
+
+#ifdef HAVE_INTELPERC
+
+#include "pxcsession.h"
+#include "pxcsmartptr.h"
+#include "pxccapture.h"
+
+namespace cv
+{
+
+class IntelPerCStreamBase
+{
+public:
+    IntelPerCStreamBase();
+    virtual ~IntelPerCStreamBase();
+
+    bool isValid();
+    bool grabFrame();
+    int getProfileIDX() const;
+public:
+    virtual bool initStream(PXCSession *session)            = 0;
+    virtual double getProperty(int propIdx);
+    virtual bool setProperty(int propIdx, double propVal);
+protected:
+    PXCSmartPtr<PXCCapture::Device> m_device;
+    bool initDevice(PXCSession *session);
+
+    PXCSmartPtr<PXCCapture::VideoStream> m_stream;
+    void initStreamImpl(PXCImage::ImageType type);
+protected:
+    std::vector<PXCCapture::VideoStream::ProfileInfo> m_profiles;
+    int m_profileIdx;
+    int m_frameIdx;
+    pxcU64 m_timeStampStartNS;
+    double m_timeStamp;
+    PXCSmartPtr<PXCImage> m_pxcImage;
+
+    virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/);
+    void enumProfiles();
+};
+
+class IntelPerCStreamImage
+    : public IntelPerCStreamBase
+{
+public:
+    IntelPerCStreamImage();
+    virtual ~IntelPerCStreamImage();
+
+    virtual bool initStream(PXCSession *session);
+    virtual double getProperty(int propIdx);
+    virtual bool setProperty(int propIdx, double propVal);
+public:
+    bool retrieveAsOutputArray(OutputArray image);
+};
+
+class IntelPerCStreamDepth
+    : public IntelPerCStreamBase
+{
+public:
+    IntelPerCStreamDepth();
+    virtual ~IntelPerCStreamDepth();
+
+    virtual bool initStream(PXCSession *session);
+    virtual double getProperty(int propIdx);
+    virtual bool setProperty(int propIdx, double propVal);
+public:
+    bool retrieveDepthAsOutputArray(OutputArray image);
+    bool retrieveIRAsOutputArray(OutputArray image);
+    bool retrieveUVAsOutputArray(OutputArray image);
+protected:
+    virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& pinfo);
+protected:
+    bool retriveFrame(int type, int planeIdx, OutputArray frame);
+};
+
+class VideoCapture_IntelPerC : public IVideoCapture
+{
+public:
+    VideoCapture_IntelPerC();
+    virtual ~VideoCapture_IntelPerC();
+
+    virtual double getProperty(int propIdx);
+    virtual bool setProperty(int propIdx, double propVal);
+
+    virtual bool grabFrame();
+    virtual bool retrieveFrame(int outputType, OutputArray frame);
+    virtual int getCaptureDomain();
+    bool isOpened() const;
+protected:
+    bool m_contextOpened;
+
+    PXCSmartPtr<PXCSession> m_session;
+    IntelPerCStreamImage m_imageStream;
+    IntelPerCStreamDepth m_depthStream;
+};
+
+}
+
+#endif //HAVE_INTELPERC
+#endif //_CAP_INTELPERC_HPP_
\ No newline at end of file

modules/highgui/src/precomp.hpp

@@ -136,8 +136,6 @@ CvCapture* cvCreateFileCapture_OpenNI( const char* filename );
 CvCapture* cvCreateCameraCapture_Android( int index );
 CvCapture* cvCreateCameraCapture_XIMEA( int index );
 CvCapture* cvCreateCameraCapture_AVFoundation(int index);
-CvCapture* cvCreateCameraCapture_IntelPerC(int index);
-
 
 CVAPI(int) cvHaveImageReader(const char* filename);
 CVAPI(int) cvHaveImageWriter(const char* filename);