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Tetragramm
GitHub Repository: Tetragramm/opencv
 Path: blob/master/modules/videoio/src/cap_intelperc.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////

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//

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// This file is part of OpenCV project.

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// It is subject to the license terms in the LICENSE file found in the top-level directory

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// of this distribution and at http://opencv.org/license.html.

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//

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// Copyright (C) 2014, Itseez, Inc., all rights reserved.

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// Third party copyrights are property of their respective owners.

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//

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//M*/

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#ifndef _CAP_INTELPERC_HPP_

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#define _CAP_INTELPERC_HPP_

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#include "precomp.hpp"

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#ifdef HAVE_INTELPERC

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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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namespace cv

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{

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class IntelPerCStreamBase

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{

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public:

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    IntelPerCStreamBase();

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    virtual ~IntelPerCStreamBase();

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    bool isValid();

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    bool grabFrame();

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    int getProfileIDX() const;

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public:

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    virtual bool initStream(PXCSession *session)            = 0;

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    virtual double getProperty(int propIdx) const;

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    virtual bool setProperty(int propIdx, double propVal);

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protected:

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    mutable PXCSmartPtr<PXCCapture::Device> m_device;

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    bool initDevice(PXCSession *session);

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    PXCSmartPtr<PXCCapture::VideoStream> m_stream;

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    void initStreamImpl(PXCImage::ImageType type);

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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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    PXCSmartPtr<PXCImage> m_pxcImage;

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    virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/);

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    void enumProfiles();

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};

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class IntelPerCStreamImage

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    : public IntelPerCStreamBase

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{

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public:

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    IntelPerCStreamImage();

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    virtual ~IntelPerCStreamImage();

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    virtual bool initStream(PXCSession *session);

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    virtual double getProperty(int propIdx) const;

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    virtual bool setProperty(int propIdx, double propVal);

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public:

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    bool retrieveAsOutputArray(OutputArray image);

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};

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class IntelPerCStreamDepth

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    : public IntelPerCStreamBase

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{

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public:

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    IntelPerCStreamDepth();

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    virtual ~IntelPerCStreamDepth();

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    virtual bool initStream(PXCSession *session);

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    virtual double getProperty(int propIdx) const;

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    virtual bool setProperty(int propIdx, double propVal);

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public:

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    bool retrieveDepthAsOutputArray(OutputArray image);

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    bool retrieveIRAsOutputArray(OutputArray image);

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    bool retrieveUVAsOutputArray(OutputArray image);

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protected:

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    virtual bool validProfile(const PXCCapture::VideoStream::ProfileInfo& pinfo);

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protected:

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    bool retriveFrame(int type, int planeIdx, OutputArray frame);

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};

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class VideoCapture_IntelPerC : public IVideoCapture

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{

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public:

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    VideoCapture_IntelPerC();

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    virtual ~VideoCapture_IntelPerC();

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    virtual double getProperty(int propIdx) const CV_OVERRIDE;

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    virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;

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    virtual bool grabFrame() CV_OVERRIDE;

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    virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;

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    virtual int getCaptureDomain() CV_OVERRIDE;

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    virtual bool isOpened() const CV_OVERRIDE;

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protected:

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    bool m_contextOpened;

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    PXCSmartPtr<PXCSession> m_session;

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    IntelPerCStreamImage m_imageStream;

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    IntelPerCStreamDepth m_depthStream;

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};

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}

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#endif //HAVE_INTELPERC

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#endif //_CAP_INTELPERC_HPP_

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