Add support Creative Senz3D camera by Intel Perceptual Computing SDK
This commit is contained in:
Vladimir Bystricky
@@ -155,6 +155,9 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
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#endif
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#ifdef HAVE_GIGE_API
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CV_CAP_GIGANETIX,
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#endif
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#ifdef HAVE_INTELPERC
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CV_CAP_INTELPERC,
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#endif
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-1
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};
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@@ -193,6 +196,7 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
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defined(HAVE_AVFOUNDATION) || \
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defined(HAVE_ANDROID_NATIVE_CAMERA) || \
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defined(HAVE_GIGE_API) || \
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defined(HAVE_INTELPERC) || \
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(0)
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// local variable to memorize the captured device
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CvCapture *capture;
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@@ -341,6 +345,14 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
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return capture;
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break; // CV_CAP_GIGANETIX
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#endif
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#ifdef HAVE_INTELPERC
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case CV_CAP_INTELPERC:
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capture = cvCreateCameraCapture_IntelPerC(index);
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if (capture)
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return capture;
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break; // CV_CAP_INTEL_PERC
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#endif
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}
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}
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699
modules/highgui/src/cap_intelperc.cpp
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699
modules/highgui/src/cap_intelperc.cpp
Normal file
@@ -0,0 +1,699 @@
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#include "precomp.hpp"
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#ifdef HAVE_INTELPERC
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#if defined TBB_INTERFACE_VERSION && TBB_INTERFACE_VERSION < 5000
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# undef HAVE_TBB
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#endif
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#include "pxcsession.h"
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#include "pxcsmartptr.h"
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#include "pxccapture.h"
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class CvIntelPerCStreamBase
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{
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protected:
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struct FrameInternal
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{
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IplImage* retrieveFrame()
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{
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if (m_mat.empty())
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return NULL;
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m_iplHeader = IplImage(m_mat);
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return &m_iplHeader;
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}
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cv::Mat m_mat;
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private:
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IplImage m_iplHeader;
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};
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public:
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CvIntelPerCStreamBase()
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: m_profileIdx(-1)
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, m_frameIdx(0)
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, m_timeStampStartNS(0)
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{
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}
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virtual ~CvIntelPerCStreamBase()
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{
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}
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bool isValid()
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{
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return (m_device.IsValid() && m_stream.IsValid());
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}
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bool grabFrame()
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{
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if (!m_stream.IsValid())
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return false;
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if (-1 == m_profileIdx)
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{
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if (!setProperty(CV_CAP_PROP_INTELPERC_PROFILE_IDX, 0))
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return false;
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}
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PXCSmartPtr<PXCImage> pxcImage; PXCSmartSP sp;
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if (PXC_STATUS_NO_ERROR > m_stream->ReadStreamAsync(&pxcImage, &sp))
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return false;
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if (PXC_STATUS_NO_ERROR > sp->Synchronize())
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return false;
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if (0 == m_timeStampStartNS)
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m_timeStampStartNS = pxcImage->QueryTimeStamp();
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m_timeStamp = (double)((pxcImage->QueryTimeStamp() - m_timeStampStartNS) / 10000);
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m_frameIdx++;
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return prepareIplImage(pxcImage);
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}
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int getProfileIDX() const
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{
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return m_profileIdx;
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}
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public:
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virtual bool initStream(PXCSession *session) = 0;
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virtual double getProperty(int propIdx)
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{
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double ret = 0.0;
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switch (propIdx)
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{
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case CV_CAP_PROP_INTELPERC_PROFILE_COUNT:
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ret = (double)m_profiles.size();
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break;
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case CV_CAP_PROP_FRAME_WIDTH :
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if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
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ret = (double)m_profiles[m_profileIdx].imageInfo.width;
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break;
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case CV_CAP_PROP_FRAME_HEIGHT :
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if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
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ret = (double)m_profiles[m_profileIdx].imageInfo.height;
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break;
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case CV_CAP_PROP_FPS :
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if ((0 <= m_profileIdx) && (m_profileIdx < m_profiles.size()))
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{
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ret = ((double)m_profiles[m_profileIdx].frameRateMin.numerator / (double)m_profiles[m_profileIdx].frameRateMin.denominator
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+ (double)m_profiles[m_profileIdx].frameRateMax.numerator / (double)m_profiles[m_profileIdx].frameRateMax.denominator) / 2.0;
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}
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break;
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case CV_CAP_PROP_POS_FRAMES:
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ret = (double)m_frameIdx;
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break;
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case CV_CAP_PROP_POS_MSEC:
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ret = m_timeStamp;
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break;
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};
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return ret;
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}
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virtual bool setProperty(int propIdx, double propVal)
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{
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bool isSet = false;
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switch (propIdx)
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{
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case CV_CAP_PROP_INTELPERC_PROFILE_IDX:
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{
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int propValInt = (int)propVal;
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if ((0 <= propValInt) && (propValInt < m_profiles.size()))
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{
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if (m_profileIdx != propValInt)
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{
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m_profileIdx = propValInt;
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if (m_stream.IsValid())
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m_stream->SetProfile(&m_profiles[m_profileIdx]);
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m_frameIdx = 0;
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m_timeStampStartNS = 0;
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}
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isSet = true;
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}
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}
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break;
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};
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return isSet;
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}
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protected:
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PXCSmartPtr<PXCCapture::Device> m_device;
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bool initDevice(PXCSession *session)
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{
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if (NULL == session)
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return false;
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pxcStatus sts = PXC_STATUS_NO_ERROR;
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PXCSession::ImplDesc templat;
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memset(&templat,0,sizeof(templat));
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templat.group = PXCSession::IMPL_GROUP_SENSOR;
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templat.subgroup= PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
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for (int modidx = 0; PXC_STATUS_NO_ERROR <= sts; modidx++)
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{
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PXCSession::ImplDesc desc;
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sts = session->QueryImpl(&templat, modidx, &desc);
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if (PXC_STATUS_NO_ERROR > sts)
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break;
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PXCSmartPtr<PXCCapture> capture;
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sts = session->CreateImpl<PXCCapture>(&desc, &capture);
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if (!capture.IsValid())
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continue;
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/* enumerate devices */
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for (int devidx = 0; PXC_STATUS_NO_ERROR <= sts; devidx++)
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{
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PXCSmartPtr<PXCCapture::Device> device;
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sts = capture->CreateDevice(devidx, &device);
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if (PXC_STATUS_NO_ERROR <= sts)
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{
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m_device = device.ReleasePtr();
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return true;
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}
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}
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}
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return false;
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}
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PXCSmartPtr<PXCCapture::VideoStream> m_stream;
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void initStreamImpl(PXCImage::ImageType type)
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{
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if (!m_device.IsValid())
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return;
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pxcStatus sts = PXC_STATUS_NO_ERROR;
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/* enumerate streams */
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for (int streamidx = 0; PXC_STATUS_NO_ERROR <= sts; streamidx++)
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{
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PXCCapture::Device::StreamInfo sinfo;
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sts = m_device->QueryStream(streamidx, &sinfo);
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if (PXC_STATUS_NO_ERROR > sts)
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break;
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if (PXCCapture::VideoStream::CUID != sinfo.cuid)
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continue;
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if (type != sinfo.imageType)
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continue;
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sts = m_device->CreateStream<PXCCapture::VideoStream>(streamidx, &m_stream);
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if (PXC_STATUS_NO_ERROR == sts)
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break;
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m_stream.ReleaseRef();
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}
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}
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protected:
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std::vector<PXCCapture::VideoStream::ProfileInfo> m_profiles;
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int m_profileIdx;
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int m_frameIdx;
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pxcU64 m_timeStampStartNS;
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double m_timeStamp;
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void enumProfiles()
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{
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m_profiles.clear();
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if (!m_stream.IsValid())
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return;
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pxcStatus sts = PXC_STATUS_NO_ERROR;
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for (int profidx = 0; PXC_STATUS_NO_ERROR <= sts; profidx++)
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{
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PXCCapture::VideoStream::ProfileInfo pinfo;
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sts = m_stream->QueryProfile(profidx, &pinfo);
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if (PXC_STATUS_NO_ERROR > sts)
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break;
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m_profiles.push_back(pinfo);
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}
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}
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virtual bool prepareIplImage(PXCImage *pxcImage) = 0;
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};
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class CvIntelPerCStreamImage
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: public CvIntelPerCStreamBase
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{
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public:
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CvIntelPerCStreamImage()
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{
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}
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virtual ~CvIntelPerCStreamImage()
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{
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}
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virtual bool initStream(PXCSession *session)
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{
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if (!initDevice(session))
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return false;
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initStreamImpl(PXCImage::IMAGE_TYPE_COLOR);
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if (!m_stream.IsValid())
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return false;
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enumProfiles();
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return true;
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}
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virtual double getProperty(int propIdx)
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{
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switch (propIdx)
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{
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case CV_CAP_PROP_BRIGHTNESS:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_CONTRAST:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_SATURATION:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_HUE:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_GAMMA:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_SHARPNESS:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_GAIN:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_BACKLIGHT:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_EXPOSURE:
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{
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if (!m_device.IsValid())
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return 0.0;
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float fret = 0.0f;
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if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, &fret))
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return (double)fret;
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return 0.0;
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}
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break;
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//Add image stream specific properties
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}
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return CvIntelPerCStreamBase::getProperty(propIdx);
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}
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virtual bool setProperty(int propIdx, double propVal)
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{
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switch (propIdx)
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{
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case CV_CAP_PROP_BRIGHTNESS:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BRIGHTNESS, (float)propVal));
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}
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break;
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case CV_CAP_PROP_CONTRAST:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_CONTRAST, (float)propVal));
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}
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break;
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case CV_CAP_PROP_SATURATION:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SATURATION, (float)propVal));
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}
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break;
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case CV_CAP_PROP_HUE:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_HUE, (float)propVal));
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}
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break;
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case CV_CAP_PROP_GAMMA:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAMMA, (float)propVal));
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}
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break;
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case CV_CAP_PROP_SHARPNESS:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_SHARPNESS, (float)propVal));
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}
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break;
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case CV_CAP_PROP_GAIN:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_GAIN, (float)propVal));
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}
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break;
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case CV_CAP_PROP_BACKLIGHT:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_BACK_LIGHT_COMPENSATION, (float)propVal));
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}
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break;
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case CV_CAP_PROP_EXPOSURE:
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{
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if (!m_device.IsValid())
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return false;
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return (PXC_STATUS_NO_ERROR == m_device->SetProperty(PXCCapture::Device::PROPERTY_COLOR_EXPOSURE, (float)propVal));
|
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}
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break;
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//Add image stream specific properties
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}
|
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return CvIntelPerCStreamBase::setProperty(propIdx, propVal);
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}
|
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public:
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IplImage* retrieveFrame()
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{
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return m_frame.retrieveFrame();
|
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}
|
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protected:
|
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FrameInternal m_frame;
|
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bool prepareIplImage(PXCImage *pxcImage)
|
||||
{
|
||||
if (NULL == pxcImage)
|
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return false;
|
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PXCImage::ImageInfo info;
|
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pxcImage->QueryInfo(&info);
|
||||
|
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PXCImage::ImageData data;
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pxcImage->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::COLOR_FORMAT_RGB24, &data);
|
||||
|
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if (PXCImage::SURFACE_TYPE_SYSTEM_MEMORY != data.type)
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return false;
|
||||
|
||||
cv::Mat temp(info.height, info.width, CV_8UC3, data.planes[0], data.pitches[0]);
|
||||
temp.copyTo(m_frame.m_mat);
|
||||
|
||||
pxcImage->ReleaseAccess(&data);
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||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
class CvIntelPerCStreamDepth
|
||||
: public CvIntelPerCStreamBase
|
||||
{
|
||||
public:
|
||||
CvIntelPerCStreamDepth()
|
||||
{
|
||||
}
|
||||
virtual ~CvIntelPerCStreamDepth()
|
||||
{
|
||||
}
|
||||
|
||||
virtual bool initStream(PXCSession *session)
|
||||
{
|
||||
if (!initDevice(session))
|
||||
return false;
|
||||
initStreamImpl(PXCImage::IMAGE_TYPE_DEPTH);
|
||||
if (!m_stream.IsValid())
|
||||
return false;
|
||||
enumProfiles();
|
||||
return true;
|
||||
}
|
||||
virtual double getProperty(int propIdx)
|
||||
{
|
||||
switch (propIdx)
|
||||
{
|
||||
case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
|
||||
{
|
||||
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;
|
||||
}
|
||||
break;
|
||||
case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
|
||||
{
|
||||
if (!m_device.IsValid())
|
||||
return 0.0;
|
||||
float fret = 0.0f;
|
||||
if (PXC_STATUS_NO_ERROR == m_device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE, &fret))
|
||||
return (double)fret;
|
||||
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;
|
||||
}
|
||||
break;
|
||||
case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
|
||||
{
|
||||
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.y;
|
||||
return 0.0;
|
||||
}
|
||||
break;
|
||||
//Add depth stream sepcific properties
|
||||
}
|
||||
return CvIntelPerCStreamBase::getProperty(propIdx);
|
||||
}
|
||||
virtual bool setProperty(int propIdx, double propVal)
|
||||
{
|
||||
switch (propIdx)
|
||||
{
|
||||
case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
|
||||
{
|
||||
if (!m_device.IsValid())
|
||||
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:
|
||||
{
|
||||
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);
|
||||
}
|
||||
public:
|
||||
IplImage* retrieveDepthFrame()
|
||||
{
|
||||
return m_frameDepth.retrieveFrame();
|
||||
}
|
||||
IplImage* retrieveIRFrame()
|
||||
{
|
||||
return m_frameIR.retrieveFrame();
|
||||
}
|
||||
IplImage* retrieveUVFrame()
|
||||
{
|
||||
return m_frameUV.retrieveFrame();
|
||||
}
|
||||
protected:
|
||||
FrameInternal m_frameDepth;
|
||||
FrameInternal m_frameIR;
|
||||
FrameInternal m_frameUV;
|
||||
|
||||
bool prepareIplImage(PXCImage *pxcImage)
|
||||
{
|
||||
if (NULL == pxcImage)
|
||||
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]);
|
||||
temp.copyTo(m_frameDepth.m_mat);
|
||||
}
|
||||
{
|
||||
cv::Mat temp(info.height, info.width, CV_16SC1, data.planes[1], data.pitches[1]);
|
||||
temp.copyTo(m_frameIR.m_mat);
|
||||
}
|
||||
{
|
||||
cv::Mat temp(info.height, info.width, CV_32FC2, data.planes[2], data.pitches[2]);
|
||||
temp.copyTo(m_frameUV.m_mat);
|
||||
}
|
||||
|
||||
pxcImage->ReleaseAccess(&data);
|
||||
return true;
|
||||
}
|
||||
};
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
class CvCapture_IntelPerC : public CvCapture
|
||||
{
|
||||
public:
|
||||
CvCapture_IntelPerC(int /*index*/)
|
||||
: 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);
|
||||
}
|
||||
virtual ~CvCapture_IntelPerC(){}
|
||||
|
||||
virtual double getProperty(int propIdx)
|
||||
{
|
||||
double propValue = 0;
|
||||
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_STREAMS_MASK;
|
||||
if (CV_CAP_INTELPERC_IMAGE_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK))
|
||||
{
|
||||
propValue = m_imageStream.getProperty(purePropIdx);
|
||||
}
|
||||
else if (CV_CAP_INTELPERC_DEPTH_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK))
|
||||
{
|
||||
propValue = m_depthStream.getProperty(purePropIdx);
|
||||
}
|
||||
return propValue;
|
||||
}
|
||||
virtual bool setProperty(int propIdx, double propVal)
|
||||
{
|
||||
bool isSet = false;
|
||||
int purePropIdx = propIdx & ~CV_CAP_INTELPERC_STREAMS_MASK;
|
||||
if (CV_CAP_INTELPERC_IMAGE_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK))
|
||||
{
|
||||
isSet = m_imageStream.setProperty(purePropIdx, propVal);
|
||||
}
|
||||
else if (CV_CAP_INTELPERC_DEPTH_STREAM == (propIdx & CV_CAP_INTELPERC_STREAMS_MASK))
|
||||
{
|
||||
isSet = m_depthStream.setProperty(purePropIdx, propVal);
|
||||
}
|
||||
return isSet;
|
||||
}
|
||||
|
||||
bool grabFrame()
|
||||
{
|
||||
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();
|
||||
|
||||
return isGrabbed;
|
||||
}
|
||||
|
||||
virtual IplImage* retrieveFrame(int outputType)
|
||||
{
|
||||
IplImage* image = 0;
|
||||
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;
|
||||
}
|
||||
|
||||
bool isOpened() const
|
||||
{
|
||||
return m_contextOpened;
|
||||
}
|
||||
protected:
|
||||
bool m_contextOpened;
|
||||
|
||||
PXCSmartPtr<PXCSession> m_session;
|
||||
CvIntelPerCStreamImage m_imageStream;
|
||||
CvIntelPerCStreamDepth m_depthStream;
|
||||
};
|
||||
|
||||
|
||||
CvCapture* cvCreateCameraCapture_IntelPerC(int index)
|
||||
{
|
||||
CvCapture_IntelPerC* capture = new CvCapture_IntelPerC(index);
|
||||
|
||||
if( capture->isOpened() )
|
||||
return capture;
|
||||
|
||||
delete capture;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#endif //HAVE_INTELPERC
|
||||
@@ -127,6 +127,7 @@ 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);
|
||||
|
||||
Reference in New Issue
Block a user