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Commit ff8b8ef2 authored by vbystricky's avatar vbystricky
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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
parent 73dfc4cb
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Showing with 761 additions and 629 deletions
modules/highgui/include/opencv2/highgui.hpp
View file @ ff8b8ef2
...@@ -530,6 +530,18 @@ enum { CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integ ...@@ -530,6 +530,18 @@ enum { CAP_INTELPERC_DEPTH_MAP = 0, // Each pixel is a 16-bit integ
CAP_INTELPERC_IMAGE = 3 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 class CV_EXPORTS_W VideoCapture
{ {
public: public:
...@@ -554,9 +566,11 @@ public: ...@@ -554,9 +566,11 @@ public:
protected: protected:
Ptr<CvCapture> cap; Ptr<CvCapture> cap;
Ptr<IVideoCapture> icap;
private:
static Ptr<IVideoCapture> createCameraCapture(int index);
}; };
class CV_EXPORTS_W VideoWriter class CV_EXPORTS_W VideoWriter
{ {
public: public:
......
modules/highgui/src/cap.cpp
View file @ ff8b8ef2
...@@ -40,6 +40,7 @@ ...@@ -40,6 +40,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "cap_intelperc.hpp"
#if defined _M_X64 && defined _MSC_VER && !defined CV_ICC #if defined _M_X64 && defined _MSC_VER && !defined CV_ICC
#pragma optimize("",off) #pragma optimize("",off)
...@@ -345,14 +346,6 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index) ...@@ -345,14 +346,6 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
return capture; return capture;
break; // CV_CAP_GIGANETIX break; // CV_CAP_GIGANETIX
#endif #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) ...@@ -497,6 +490,7 @@ VideoCapture::VideoCapture(int device)
VideoCapture::~VideoCapture() VideoCapture::~VideoCapture()
{ {
icap.release();
cap.release(); cap.release();
} }
...@@ -510,24 +504,36 @@ bool VideoCapture::open(const String& filename) ...@@ -510,24 +504,36 @@ bool VideoCapture::open(const String& filename)
bool VideoCapture::open(int device) bool VideoCapture::open(int device)
{ {
if (isOpened()) release(); if (isOpened()) release();
icap = createCameraCapture(device);
if (!icap.empty())
return true;
cap.reset(cvCreateCameraCapture(device)); cap.reset(cvCreateCameraCapture(device));
return isOpened(); return isOpened();
} }
bool VideoCapture::isOpened() const { return !cap.empty(); } bool VideoCapture::isOpened() const
{
return (!cap.empty() || !icap.empty());
}
void VideoCapture::release() void VideoCapture::release()
{ {
icap.release();
cap.release(); cap.release();
} }
bool VideoCapture::grab() bool VideoCapture::grab()
{ {
if (!icap.empty())
return icap->grabFrame();
return cvGrabFrame(cap) != 0; return cvGrabFrame(cap) != 0;
} }
bool VideoCapture::retrieve(OutputArray image, int channel) bool VideoCapture::retrieve(OutputArray image, int channel)
{ {
if (!icap.empty())
return icap->retrieveFrame(channel, image);
IplImage* _img = cvRetrieveFrame(cap, channel); IplImage* _img = cvRetrieveFrame(cap, channel);
if( !_img ) if( !_img )
{ {
...@@ -567,14 +573,62 @@ VideoCapture& VideoCapture::operator >> (UMat& image) ...@@ -567,14 +573,62 @@ VideoCapture& VideoCapture::operator >> (UMat& image)
bool VideoCapture::set(int propId, double value) bool VideoCapture::set(int propId, double value)
{ {
if (!icap.empty())
return icap->setProperty(propId, value);
return cvSetCaptureProperty(cap, propId, value) != 0; return cvSetCaptureProperty(cap, propId, value) != 0;
} }
double VideoCapture::get(int propId) double VideoCapture::get(int propId)
{ {
if (!icap.empty())
return icap->getProperty(propId);
return cvGetCaptureProperty(cap, 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() VideoWriter::VideoWriter()
{} {}
......
modules/highgui/src/cap_intelperc.cpp
View file @ ff8b8ef2
#include "precomp.hpp"
#ifdef HAVE_INTELPERC #ifdef HAVE_INTELPERC
#include "pxcsession.h" #include "cap_intelperc.hpp"
#include "pxcsmartptr.h"
#include "pxccapture.h"
class CvIntelPerCStreamBase namespace cv
{ {
protected:
struct FrameInternal
{
IplImage* retrieveFrame()
{
if (m_mat.empty())
return NULL;
m_iplHeader = IplImage(m_mat);
return &m_iplHeader;
}
cv::Mat m_mat;
private:
IplImage m_iplHeader;
};
public:
CvIntelPerCStreamBase()
: m_profileIdx(-1)
, m_frameIdx(0)
, m_timeStampStartNS(0)
{
}
virtual ~CvIntelPerCStreamBase()
{
}
bool isValid() ///////////////// IntelPerCStreamBase //////////////////
{
return (m_device.IsValid() && m_stream.IsValid()); IntelPerCStreamBase::IntelPerCStreamBase()
} : m_profileIdx(-1)
bool grabFrame() , m_frameIdx(0)
, m_timeStampStartNS(0)
{
}
IntelPerCStreamBase::~IntelPerCStreamBase()
{
}
bool IntelPerCStreamBase::isValid()
{
return (m_device.IsValid() && m_stream.IsValid());
}
bool IntelPerCStreamBase::grabFrame()
{
if (!m_stream.IsValid())
return false;
if (-1 == m_profileIdx)
{ {
if (!m_stream.IsValid()) if (!setProperty(CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0))
return false; return false;
if (-1 == m_profileIdx) }
PXCSmartSP sp;
m_pxcImage.ReleaseRef();
if (PXC_STATUS_NO_ERROR > m_stream->ReadStreamAsync(&m_pxcImage, &sp))
return false;
if (PXC_STATUS_NO_ERROR > sp->Synchronize())
return false;
if (0 == m_timeStampStartNS)
m_timeStampStartNS = m_pxcImage->QueryTimeStamp();
m_timeStamp = (double)((m_pxcImage->QueryTimeStamp() - m_timeStampStartNS) / 10000);
m_frameIdx++;
return true;
}
int IntelPerCStreamBase::getProfileIDX() const
{
return m_profileIdx;
}
double IntelPerCStreamBase::getProperty(int propIdx)
{
double ret = 0.0;
switch (propIdx)
{
case CV_CAP_PROP_INTELPERC_PROFILE_COUNT:
ret = (double)m_profiles.size();
break;
case CV_CAP_PROP_FRAME_WIDTH :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
ret = (double)m_profiles[m_profileIdx].imageInfo.width;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
ret = (double)m_profiles[m_profileIdx].imageInfo.height;
break;
case CV_CAP_PROP_FPS :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
{ {
if (!setProperty(CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0)) ret = ((double)m_profiles[m_profileIdx].frameRateMin.numerator / (double)m_profiles[m_profileIdx].frameRateMin.denominator
return false; + (double)m_profiles[m_profileIdx].frameRateMax.numerator / (double)m_profiles[m_profileIdx].frameRateMax.denominator) / 2.0;
} }
PXCSmartPtr<PXCImage> pxcImage; PXCSmartSP sp; break;
if (PXC_STATUS_NO_ERROR > m_stream->ReadStreamAsync(&pxcImage, &sp)) case CV_CAP_PROP_POS_FRAMES:
return false; ret = (double)m_frameIdx;
if (PXC_STATUS_NO_ERROR > sp->Synchronize()) break;
return false; case CV_CAP_PROP_POS_MSEC:
if (0 == m_timeStampStartNS) ret = m_timeStamp;
m_timeStampStartNS = pxcImage->QueryTimeStamp(); break;
m_timeStamp = (double)((pxcImage->QueryTimeStamp() - m_timeStampStartNS) / 10000); };
m_frameIdx++; return ret;
return prepareIplImage(pxcImage); }
} bool IntelPerCStreamBase::setProperty(int propIdx, double propVal)
int getProfileIDX() const {
{ bool isSet = false;
return m_profileIdx; switch (propIdx)
}
public:
virtual bool initStream(PXCSession *session) = 0;
virtual double getProperty(int propIdx)
{ {
double ret = 0.0; case CV_CAP_PROP_INTELPERC_PROFILE_IDX:
switch (propIdx)
{ {
case CV_CAP_PROP_INTELPERC_PROFILE_COUNT: int propValInt = (int)propVal;
ret = (double)m_profiles.size(); if (0 > propValInt)
break;
case CV_CAP_PROP_FRAME_WIDTH :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
ret = (double)m_profiles[m_profileIdx].imageInfo.width;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
ret = (double)m_profiles[m_profileIdx].imageInfo.height;
break;
case CV_CAP_PROP_FPS :
if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
{ {
ret = ((double)m_profiles[m_profileIdx].frameRateMin.numerator / (double)m_profiles[m_profileIdx].frameRateMin.denominator m_profileIdx = propValInt;
+ (double)m_profiles[m_profileIdx].frameRateMax.numerator / (double)m_profiles[m_profileIdx].frameRateMax.denominator) / 2.0; isSet = true;
} }
break; else if (propValInt < m_profiles.size())
case CV_CAP_PROP_POS_FRAMES:
ret = (double)m_frameIdx;
break;
case CV_CAP_PROP_POS_MSEC:
ret = m_timeStamp;
break;
};
return ret;
}
virtual bool setProperty(int propIdx, double propVal)
{
bool isSet = false;
switch (propIdx)
{
case CV_CAP_PROP_INTELPERC_PROFILE_IDX:
{ {
int propValInt = (int)propVal; if (m_profileIdx != propValInt)
if ((0 <= propValInt) && (propValInt < m_profiles.size()))
{ {
if (m_profileIdx != propValInt) m_profileIdx = propValInt;
{ if (m_stream.IsValid())
m_profileIdx = propValInt; m_stream->SetProfile(&m_profiles[m_profileIdx]);
if (m_stream.IsValid()) m_frameIdx = 0;
m_stream->SetProfile(&m_profiles[m_profileIdx]); m_timeStampStartNS = 0;
m_frameIdx = 0;
m_timeStampStartNS = 0;
}
isSet = true;
} }
isSet = true;
} }
break; }
}; break;
return isSet; };
} return isSet;
protected: }
PXCSmartPtr<PXCCapture::Device> m_device; bool IntelPerCStreamBase::initDevice(PXCSession *session)
bool initDevice(PXCSession *session) {
if (NULL == session)
return false;
pxcStatus sts = PXC_STATUS_NO_ERROR;
PXCSession::ImplDesc templat;
memset(&templat,0,sizeof(templat));
templat.group = PXCSession::IMPL_GROUP_SENSOR;
templat.subgroup= PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int modidx = 0; PXC_STATUS_NO_ERROR <= sts; modidx++)
{ {
if (NULL == session) PXCSession::ImplDesc desc;
return false; sts = session->QueryImpl(&templat, modidx, &desc);
if (PXC_STATUS_NO_ERROR > sts)
break;
pxcStatus sts = PXC_STATUS_NO_ERROR; PXCSmartPtr<PXCCapture> capture;
PXCSession::ImplDesc templat; sts = session->CreateImpl<PXCCapture>(&desc, &capture);
memset(&templat,0,sizeof(templat)); if (!capture.IsValid())
templat.group = PXCSession::IMPL_GROUP_SENSOR; continue;
templat.subgroup= PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int modidx = 0; PXC_STATUS_NO_ERROR <= sts; modidx++) /* enumerate devices */
for (int devidx = 0; PXC_STATUS_NO_ERROR <= sts; devidx++)
{ {
PXCSession::ImplDesc desc; PXCSmartPtr<PXCCapture::Device> device;
sts = session->QueryImpl(&templat, modidx, &desc); sts = capture->CreateDevice(devidx, &device);
if (PXC_STATUS_NO_ERROR > sts) if (PXC_STATUS_NO_ERROR <= sts)
break;
PXCSmartPtr<PXCCapture> capture;
sts = session->CreateImpl<PXCCapture>(&desc, &capture);
if (!capture.IsValid())
continue;
/* enumerate devices */
for (int devidx = 0; PXC_STATUS_NO_ERROR <= sts; devidx++)
{ {
PXCSmartPtr<PXCCapture::Device> device; m_device = device.ReleasePtr();
sts = capture->CreateDevice(devidx, &device); return true;
if (PXC_STATUS_NO_ERROR <= sts)
{
m_device = device.ReleasePtr();
return true;
}
} }
} }
return false;
} }
return false;
}
PXCSmartPtr<PXCCapture::VideoStream> m_stream; void IntelPerCStreamBase::initStreamImpl(PXCImage::ImageType type)
void initStreamImpl(PXCImage::ImageType type) {
{ if (!m_device.IsValid())
if (!m_device.IsValid()) return;
return;
pxcStatus sts = PXC_STATUS_NO_ERROR; pxcStatus sts = PXC_STATUS_NO_ERROR;
/* enumerate streams */ /* enumerate streams */
for (int streamidx = 0; PXC_STATUS_NO_ERROR <= sts; streamidx++) for (int streamidx = 0; PXC_STATUS_NO_ERROR <= sts; streamidx++)
{
PXCCapture::Device::StreamInfo sinfo;
sts = m_device->QueryStream(streamidx, &sinfo);
if (PXC_STATUS_NO_ERROR > sts)
break;
if (PXCCapture::VideoStream::CUID != sinfo.cuid)
continue;
if (type != sinfo.imageType)
continue;
sts = m_device->CreateStream<PXCCapture::VideoStream>(streamidx, &m_stream);
if (PXC_STATUS_NO_ERROR == sts)
break;
m_stream.ReleaseRef();
}
}
protected:
std::vector<PXCCapture::VideoStream::ProfileInfo> m_profiles;
int m_profileIdx;
int m_frameIdx;
pxcU64 m_timeStampStartNS;
double m_timeStamp;
virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/)
{ {
return true; PXCCapture::Device::StreamInfo sinfo;
sts = m_device->QueryStream(streamidx, &sinfo);
if (PXC_STATUS_NO_ERROR > sts)
break;
if (PXCCapture::VideoStream::CUID != sinfo.cuid)
continue;
if (type != sinfo.imageType)
continue;
sts = m_device->CreateStream<PXCCapture::VideoStream>(streamidx, &m_stream);
if (PXC_STATUS_NO_ERROR == sts)
break;
m_stream.ReleaseRef();
} }
void enumProfiles() }
{ bool IntelPerCStreamBase::validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/)
m_profiles.clear(); {
if (!m_stream.IsValid()) return true;
return; }
pxcStatus sts = PXC_STATUS_NO_ERROR; void IntelPerCStreamBase::enumProfiles()
for (int profidx = 0; PXC_STATUS_NO_ERROR <= sts; profidx++) {
{ m_profiles.clear();
PXCCapture::VideoStream::ProfileInfo pinfo; if (!m_stream.IsValid())
sts = m_stream->QueryProfile(profidx, &pinfo); return;
if (PXC_STATUS_NO_ERROR > sts) pxcStatus sts = PXC_STATUS_NO_ERROR;
break; for (int profidx = 0; PXC_STATUS_NO_ERROR <= sts; profidx++)
if (validProfile(pinfo)) {
m_profiles.push_back(pinfo); PXCCapture::VideoStream::ProfileInfo pinfo;
} sts = m_stream->QueryProfile(profidx, &pinfo);
if (PXC_STATUS_NO_ERROR > sts)
break;
if (validProfile(pinfo))
m_profiles.push_back(pinfo);
} }
virtual bool prepareIplImage(PXCImage *pxcImage) = 0; }
};
///////////////// IntelPerCStreamImage //////////////////
class CvIntelPerCStreamImage IntelPerCStreamImage::IntelPerCStreamImage()
: public CvIntelPerCStreamBase
{ {
public: }
CvIntelPerCStreamImage() IntelPerCStreamImage::~IntelPerCStreamImage()
{ {
} }
virtual ~CvIntelPerCStreamImage()
{
}
virtual bool initStream(PXCSession *session) bool IntelPerCStreamImage::initStream(PXCSession *session)
{ {
if (!initDevice(session)) if (!initDevice(session))
return false; return false;
initStreamImpl(PXCImage::IMAGE_TYPE_COLOR); initStreamImpl(PXCImage::IMAGE_TYPE_COLOR);
if (!m_stream.IsValid()) if (!m_stream.IsValid())
return false; return false;
enumProfiles(); enumProfiles();
return true; return true;
} }
virtual double getProperty(int propIdx) double IntelPerCStreamImage::getProperty(int propIdx)
{
switch (propIdx)
{ {
switch (propIdx) case CV_CAP_PROP_BRIGHTNESS:
{ {
case CV_CAP_PROP_BRIGHTNESS: if (!m_device.IsValid())
{
if (!m_device.IsValid())
return 0.0;
float fret = 0.0f;
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, &fret))
return (double)fret;
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, &fret))
case CV_CAP_PROP_CONTRAST: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_CONTRAST:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, &fret))
case CV_CAP_PROP_SATURATION: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_SATURATION:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, &fret))
case CV_CAP_PROP_HUE: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_HUE:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, &fret))
case CV_CAP_PROP_GAMMA: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_GAMMA:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, &fret))
case CV_CAP_PROP_SHARPNESS: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_SHARPNESS:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, &fret))
case CV_CAP_PROP_GAIN: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_GAIN:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, &fret))
case CV_CAP_PROP_BACKLIGHT: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_BACKLIGHT:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, &fret))
case CV_CAP_PROP_EXPOSURE: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_EXPOSURE:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, &fret))
//Add image stream specific properties return (double)fret;
return 0.0;
} }
return CvIntelPerCStreamBase::getProperty(propIdx); break;
//Add image stream specific properties
} }
virtual bool setProperty(int propIdx, double propVal) return IntelPerCStreamBase::getProperty(propIdx);
}
bool IntelPerCStreamImage::setProperty(int propIdx, double propVal)
{
switch (propIdx)
{ {
switch (propIdx) case CV_CAP_PROP_BRIGHTNESS:
{ {
case CV_CAP_PROP_BRIGHTNESS: if (!m_device.IsValid())
{ return false;
if (!m_device.IsValid()) return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, (float)propVal));
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, (float)propVal));
}
break;
case CV_CAP_PROP_CONTRAST:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, (float)propVal));
}
break;
case CV_CAP_PROP_SATURATION:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, (float)propVal));
}
break;
case CV_CAP_PROP_HUE:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, (float)propVal));
}
break;
case CV_CAP_PROP_GAMMA:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, (float)propVal));
}
break;
case CV_CAP_PROP_SHARPNESS:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, (float)propVal));
}
break;
case CV_CAP_PROP_GAIN:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, (float)propVal));
}
break;
case CV_CAP_PROP_BACKLIGHT:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, (float)propVal));
}
break;
case CV_CAP_PROP_EXPOSURE:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, (float)propVal));
}
break;
//Add image stream specific properties
} }
return CvIntelPerCStreamBase::setProperty(propIdx, propVal); break;
} case CV_CAP_PROP_CONTRAST:
public: {
IplImage* retrieveFrame() if (!m_device.IsValid())
{ return false;
return m_frame.retrieveFrame(); return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, (float)propVal));
}
break;
case CV_CAP_PROP_SATURATION:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, (float)propVal));
}
break;
case CV_CAP_PROP_HUE:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, (float)propVal));
}
break;
case CV_CAP_PROP_GAMMA:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, (float)propVal));
}
break;
case CV_CAP_PROP_SHARPNESS:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, (float)propVal));
}
break;
case CV_CAP_PROP_GAIN:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, (float)propVal));
}
break;
case CV_CAP_PROP_BACKLIGHT:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, (float)propVal));
}
break;
case CV_CAP_PROP_EXPOSURE:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, (float)propVal));
}
break;
//Add image stream specific properties
} }
protected: return IntelPerCStreamBase::setProperty(propIdx, propVal);
FrameInternal m_frame; }
bool prepareIplImage(PXCImage *pxcImage) bool IntelPerCStreamImage::retrieveAsOutputArray(cv::OutputArray image)
{ {
if (NULL == pxcImage) if (!m_pxcImage.IsValid())
return false; return false;
PXCImage::ImageInfo info; PXCImage::ImageInfo info;
pxcImage->QueryInfo(&info); m_pxcImage->QueryInfo(&info);
PXCImage::ImageData data; PXCImage::ImageData data;
pxcImage->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::COLOR_FORMAT_RGB24, &data); m_pxcImage->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::COLOR_FORMAT_RGB24, &data);
if (PXCImage::SURFACE_TYPE_SYSTEM_MEMORY != data.type) if (PXCImage::SURFACE_TYPE_SYSTEM_MEMORY != data.type)
return false; return false;
cv::Mat temp(info.height, info.width, CV_8UC3, data.planes[0], data.pitches[0]); cv::Mat temp(info.height, info.width, CV_8UC3, data.planes[0], data.pitches[0]);
temp.copyTo(m_frame.m_mat); temp.copyTo(image);
pxcImage->ReleaseAccess(&data); m_pxcImage->ReleaseAccess(&data);
return true; return true;
} }
};
class CvIntelPerCStreamDepth ///////////////// IntelPerCStreamDepth //////////////////
: public CvIntelPerCStreamBase
IntelPerCStreamDepth::IntelPerCStreamDepth()
{ {
public: }
CvIntelPerCStreamDepth() IntelPerCStreamDepth::~IntelPerCStreamDepth()
{ {
} }
virtual ~CvIntelPerCStreamDepth()
{
}
virtual bool initStream(PXCSession *session) bool IntelPerCStreamDepth::initStream(PXCSession *session)
{ {
if (!initDevice(session)) if (!initDevice(session))
return false; return false;
initStreamImpl(PXCImage::IMAGE_TYPE_DEPTH); initStreamImpl(PXCImage::IMAGE_TYPE_DEPTH);
if (!m_stream.IsValid()) if (!m_stream.IsValid())
return false; return false;
enumProfiles(); enumProfiles();
return true; return true;
} }
virtual double getProperty(int propIdx) double IntelPerCStreamDepth::getProperty(int propIdx)
{
switch (propIdx)
{ {
switch (propIdx) case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
{ {
case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE: if (!m_device.IsValid())
{
if (!m_device.IsValid())
return 0.0;
float fret = 0.0f;
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, &fret))
return (double)fret;
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, &fret))
case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0; break;
float fret = 0.0f; case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE, &fret)) {
return (double)fret; if (!m_device.IsValid())
return 0.0;
}
break;
case CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD:
{
if (!m_device.IsValid())
return 0.0;
float fret = 0.0f;
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, &fret))
return (double)fret;
return 0.0;
}
break;
case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
{
if (!m_device.IsValid())
return 0.0f;
PXCPointF32 ptf;
if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf))
return (double)ptf.x;
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE, &fret))
case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT: return (double)fret;
{ return 0.0;
if (!m_device.IsValid()) }
return 0.0f; break;
PXCPointF32 ptf; case CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD:
if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf)) {
return (double)ptf.y; if (!m_device.IsValid())
return 0.0; return 0.0;
} float fret = 0.0f;
break; if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, &fret))
//Add depth stream sepcific properties return (double)fret;
return 0.0;
} }
return CvIntelPerCStreamBase::getProperty(propIdx); break;
} case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
virtual bool setProperty(int propIdx, double propVal)
{
switch (propIdx)
{ {
case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE: if (!m_device.IsValid())
{ return 0.0f;
if (!m_device.IsValid()) PXCPointF32 ptf;
return false; if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf))
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, (float)propVal)); return (double)ptf.x;
} return 0.0;
break;
case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE, (float)propVal));
}
break;
case CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD:
{
if (!m_device.IsValid())
return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, (float)propVal));
}
break;
//Add depth stream sepcific properties
} }
return CvIntelPerCStreamBase::setProperty(propIdx, propVal); break;
} case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
public: {
IplImage* retrieveDepthFrame() if (!m_device.IsValid())
{ return 0.0f;
return m_frameDepth.retrieveFrame(); PXCPointF32 ptf;
} if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf))
IplImage* retrieveIRFrame() return (double)ptf.y;
{ return 0.0;
return m_frameIR.retrieveFrame(); }
} break;
IplImage* retrieveUVFrame() //Add depth stream sepcific properties
{
return m_frameUV.retrieveFrame();
}
protected:
virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& pinfo)
{
return (PXCImage::COLOR_FORMAT_DEPTH == pinfo.imageInfo.format);
} }
protected: return IntelPerCStreamBase::getProperty(propIdx);
FrameInternal m_frameDepth; }
FrameInternal m_frameIR; bool IntelPerCStreamDepth::setProperty(int propIdx, double propVal)
FrameInternal m_frameUV; {
switch (propIdx)
bool prepareIplImage(PXCImage *pxcImage)
{ {
if (NULL == pxcImage) case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
return false;
PXCImage::ImageInfo info;
pxcImage->QueryInfo(&info);
PXCImage::ImageData data;
pxcImage->AcquireAccess(PXCImage::ACCESS_READ, &data);
if (PXCImage::SURFACE_TYPE_SYSTEM_MEMORY != data.type)
return false;
if (PXCImage::COLOR_FORMAT_DEPTH != data.format)
return false;
{ {
cv::Mat temp(info.height, info.width, CV_16SC1, data.planes[0], data.pitches[0]); if (!m_device.IsValid())
temp.copyTo(m_frameDepth.m_mat); return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, (float)propVal));
} }
break;
case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
{ {
cv::Mat temp(info.height, info.width, CV_16SC1, data.planes[1], data.pitches[1]); if (!m_device.IsValid())
temp.copyTo(m_frameIR.m_mat); return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE, (float)propVal));
} }
break;
case CV_CAP_PROP_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD:
{ {
cv::Mat temp(info.height, info.width, CV_32FC2, data.planes[2], data.pitches[2]); if (!m_device.IsValid())
temp.copyTo(m_frameUV.m_mat); return false;
return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, (float)propVal));
} }
break;
pxcImage->ReleaseAccess(&data); //Add depth stream sepcific properties
return true;
} }
}; return IntelPerCStreamBase::setProperty(propIdx, propVal);
}
bool IntelPerCStreamDepth::retrieveDepthAsOutputArray(cv::OutputArray image)
{
return retriveFrame(CV_16SC1, 0, image);
}
bool IntelPerCStreamDepth::retrieveIRAsOutputArray(cv::OutputArray image)
{
return retriveFrame(CV_16SC1, 1, image);
}
bool IntelPerCStreamDepth::retrieveUVAsOutputArray(cv::OutputArray image)
{
return retriveFrame(CV_32FC2, 2, image);
}
bool IntelPerCStreamDepth::validProfile(const PXCCapture::VideoStream::ProfileInfo& pinfo)
{
return (PXCImage::COLOR_FORMAT_DEPTH == pinfo.imageInfo.format);
}
bool IntelPerCStreamDepth::retriveFrame(int type, int planeIdx, cv::OutputArray frame)
{
if (!m_pxcImage.IsValid())
return false;
PXCImage::ImageInfo info;
m_pxcImage->QueryInfo(&info);
PXCImage::ImageData data;
m_pxcImage->AcquireAccess(PXCImage::ACCESS_READ, &data);
if (PXCImage::SURFACE_TYPE_SYSTEM_MEMORY != data.type)
return false;
cv::Mat temp(info.height, info.width, type, data.planes[planeIdx], data.pitches[planeIdx]);
temp.copyTo(frame);
m_pxcImage->ReleaseAccess(&data);
return true;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////// VideoCapture_IntelPerC //////////////////
class CvCapture_IntelPerC : public CvCapture
VideoCapture_IntelPerC::VideoCapture_IntelPerC()
: m_contextOpened(false)
{
pxcStatus sts = PXCSession_Create(&m_session);
if (PXC_STATUS_NO_ERROR > sts)
return;
m_contextOpened = m_imageStream.initStream(m_session);
m_contextOpened &= m_depthStream.initStream(m_session);
}
VideoCapture_IntelPerC::~VideoCapture_IntelPerC(){}
double VideoCapture_IntelPerC::getProperty(int propIdx)
{ {
public: double propValue = 0;
CvCapture_IntelPerC(int /*index*/) int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
: m_contextOpened(false) if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{ {
pxcStatus sts = PXCSession_Create(&m_session); propValue = m_imageStream.getProperty(purePropIdx);
if (PXC_STATUS_NO_ERROR > sts)
return;
m_contextOpened = m_imageStream.initStream(m_session);
m_contextOpened &= m_depthStream.initStream(m_session);
} }
virtual ~CvCapture_IntelPerC(){} else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
virtual double getProperty(int propIdx)
{ {
double propValue = 0; propValue = m_depthStream.getProperty(purePropIdx);
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
propValue = m_imageStream.getProperty(purePropIdx);
}
else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
propValue = m_depthStream.getProperty(purePropIdx);
}
else
{
propValue = m_depthStream.getProperty(purePropIdx);
}
return propValue;
} }
virtual bool setProperty(int propIdx, double propVal) else
{ {
bool isSet = false; propValue = m_depthStream.getProperty(purePropIdx);
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
isSet = m_imageStream.setProperty(purePropIdx, propVal);
}
else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{
isSet = m_depthStream.setProperty(purePropIdx, propVal);
}
else
{
isSet = m_depthStream.setProperty(purePropIdx, propVal);
}
return isSet;
} }
return propValue;
bool grabFrame() }
bool VideoCapture_IntelPerC::setProperty(int propIdx, double propVal)
{
bool isSet = false;
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_GENERATORS_MASK;
if (CV_CAP_INTELPERC_IMAGE_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
{ {
if (!isOpened()) isSet = m_imageStream.setProperty(purePropIdx, propVal);
return false;
bool isGrabbed = false;
if (m_depthStream.isValid())
isGrabbed = m_depthStream.grabFrame();
if ((m_imageStream.isValid()) && (-1 != m_imageStream.getProfileIDX()))
isGrabbed &= m_imageStream.grabFrame();
return isGrabbed;
} }
else if (CV_CAP_INTELPERC_DEPTH_GENERATOR == (propIdx & CV_CAP_INTELPERC_GENERATORS_MASK))
virtual IplImage* retrieveFrame(int outputType)
{ {
IplImage* image = 0; isSet = m_depthStream.setProperty(purePropIdx, propVal);
switch (outputType)
{
case CV_CAP_INTELPERC_DEPTH_MAP:
image = m_depthStream.retrieveDepthFrame();
break;
case CV_CAP_INTELPERC_UVDEPTH_MAP:
image = m_depthStream.retrieveUVFrame();
break;
case CV_CAP_INTELPERC_IR_MAP:
image = m_depthStream.retrieveIRFrame();
break;
case CV_CAP_INTELPERC_IMAGE:
image = m_imageStream.retrieveFrame();
break;
}
CV_Assert(NULL != image);
return image;
} }
else
bool isOpened() const
{ {
return m_contextOpened; isSet = m_depthStream.setProperty(purePropIdx, propVal);
} }
protected: return isSet;
bool m_contextOpened; }
PXCSmartPtr<PXCSession> m_session; bool VideoCapture_IntelPerC::grabFrame()
CvIntelPerCStreamImage m_imageStream; {
CvIntelPerCStreamDepth m_depthStream; if (!isOpened())
}; return false;
bool isGrabbed = false;
if (m_depthStream.isValid())
isGrabbed = m_depthStream.grabFrame();
if ((m_imageStream.isValid()) && (-1 != m_imageStream.getProfileIDX()))
isGrabbed &= m_imageStream.grabFrame();
CvCapture* cvCreateCameraCapture_IntelPerC(int index) return isGrabbed;
}
bool VideoCapture_IntelPerC::retrieveFrame(int outputType, cv::OutputArray frame)
{ {
CvCapture_IntelPerC* capture = new CvCapture_IntelPerC(index); switch (outputType)
{
if( capture->isOpened() ) case CV_CAP_INTELPERC_DEPTH_MAP:
return capture; return m_depthStream.retrieveDepthAsOutputArray(frame);
case CV_CAP_INTELPERC_UVDEPTH_MAP:
return m_depthStream.retrieveUVAsOutputArray(frame);
case CV_CAP_INTELPERC_IR_MAP:
return m_depthStream.retrieveIRAsOutputArray(frame);
case CV_CAP_INTELPERC_IMAGE:
return m_imageStream.retrieveAsOutputArray(frame);
}
return false;
}
int VideoCapture_IntelPerC::getCaptureDomain()
{
return CV_CAP_INTELPERC;
}
delete capture; bool VideoCapture_IntelPerC::isOpened() const
return 0; {
return m_contextOpened;
} }
}
#endif //HAVE_INTELPERC #endif //HAVE_INTELPERC
modules/highgui/src/cap_intelperc.hpp 0 → 100644
View file @ ff8b8ef2
/*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
View file @ ff8b8ef2
...@@ -136,8 +136,6 @@ CvCapture* cvCreateFileCapture_OpenNI( const char* filename ); ...@@ -136,8 +136,6 @@ CvCapture* cvCreateFileCapture_OpenNI( const char* filename );
CvCapture* cvCreateCameraCapture_Android( int index ); CvCapture* cvCreateCameraCapture_Android( int index );
CvCapture* cvCreateCameraCapture_XIMEA( int index ); CvCapture* cvCreateCameraCapture_XIMEA( int index );
CvCapture* cvCreateCameraCapture_AVFoundation(int index); CvCapture* cvCreateCameraCapture_AVFoundation(int index);
CvCapture* cvCreateCameraCapture_IntelPerC(int index);
CVAPI(int) cvHaveImageReader(const char* filename); CVAPI(int) cvHaveImageReader(const char* filename);
CVAPI(int) cvHaveImageWriter(const char* filename); CVAPI(int) cvHaveImageWriter(const char* filename);
......
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