mirror of
https://github.com/opencv/opencv.git
synced 2024-12-13 07:59:27 +08:00
635 lines
19 KiB
C++
635 lines
19 KiB
C++
#ifdef HAVE_INTELPERC
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#include "cap_intelperc.hpp"
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namespace cv
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{
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///////////////// IntelPerCStreamBase //////////////////
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IntelPerCStreamBase::IntelPerCStreamBase()
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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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IntelPerCStreamBase::~IntelPerCStreamBase()
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{
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}
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bool IntelPerCStreamBase::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 IntelPerCStreamBase::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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PXCSmartSP sp;
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m_pxcImage.ReleaseRef();
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if (PXC_STATUS_NO_ERROR > m_stream->ReadStreamAsync(&m_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 = m_pxcImage->QueryTimeStamp();
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m_timeStamp = (double)((m_pxcImage->QueryTimeStamp() - m_timeStampStartNS) / 10000);
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m_frameIdx++;
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return true;
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}
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int IntelPerCStreamBase::getProfileIDX() const
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{
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return m_profileIdx;
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}
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double IntelPerCStreamBase::getProperty(int propIdx) const
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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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bool IntelPerCStreamBase::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)
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{
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m_profileIdx = propValInt;
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isSet = true;
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}
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else if (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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bool IntelPerCStreamBase::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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void IntelPerCStreamBase::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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bool IntelPerCStreamBase::validProfile(const PXCCapture::VideoStream::ProfileInfo& /*pinfo*/)
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{
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return true;
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}
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void IntelPerCStreamBase::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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if (validProfile(pinfo))
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m_profiles.push_back(pinfo);
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}
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}
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///////////////// IntelPerCStreamImage //////////////////
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IntelPerCStreamImage::IntelPerCStreamImage()
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{
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}
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IntelPerCStreamImage::~IntelPerCStreamImage()
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{
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}
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bool IntelPerCStreamImage::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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double IntelPerCStreamImage::getProperty(int propIdx) const
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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 IntelPerCStreamBase::getProperty(propIdx);
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}
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bool IntelPerCStreamImage::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 IntelPerCStreamBase::setProperty(propIdx, propVal);
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}
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bool IntelPerCStreamImage::retrieveAsOutputArray(cv::OutputArray image)
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{
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if (!m_pxcImage.IsValid())
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return false;
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PXCImage::ImageInfo info;
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m_pxcImage->QueryInfo(&info);
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PXCImage::ImageData data;
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m_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;
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cv::Mat temp(info.height, info.width, CV_8UC3, data.planes[0], data.pitches[0]);
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temp.copyTo(image);
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m_pxcImage->ReleaseAccess(&data);
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return true;
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}
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///////////////// IntelPerCStreamDepth //////////////////
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IntelPerCStreamDepth::IntelPerCStreamDepth()
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{
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}
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IntelPerCStreamDepth::~IntelPerCStreamDepth()
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{
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}
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bool IntelPerCStreamDepth::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_DEPTH);
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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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double IntelPerCStreamDepth::getProperty(int propIdx) const
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{
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switch (propIdx)
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{
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case CV_CAP_PROP_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
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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_DEPTH_LOW_CONFIDENCE_VALUE, &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_INTELPERC_DEPTH_SATURATION_VALUE:
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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_DEPTH_SATURATION_VALUE, &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_INTELPERC_DEPTH_CONFIDENCE_THRESHOLD:
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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_DEPTH_CONFIDENCE_THRESHOLD, &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_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
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{
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if (!m_device.IsValid())
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return 0.0f;
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PXCPointF32 ptf;
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if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf))
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return (double)ptf.x;
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return 0.0;
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}
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break;
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case CV_CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
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{
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if (!m_device.IsValid())
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return 0.0f;
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PXCPointF32 ptf;
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if (PXC_STATUS_NO_ERROR == m_device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &ptf))
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return (double)ptf.y;
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return 0.0;
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}
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break;
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//Add depth stream sepcific properties
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}
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return IntelPerCStreamBase::getProperty(propIdx);
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}
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bool IntelPerCStreamDepth::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_INTELPERC_DEPTH_LOW_CONFIDENCE_VALUE:
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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_DEPTH_LOW_CONFIDENCE_VALUE, (float)propVal));
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}
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break;
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case CV_CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
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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_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 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 //////////////////
|
|
|
|
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) const
|
|
{
|
|
double propValue = 0;
|
|
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;
|
|
}
|
|
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))
|
|
{
|
|
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;
|
|
}
|
|
|
|
bool VideoCapture_IntelPerC::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;
|
|
}
|
|
bool VideoCapture_IntelPerC::retrieveFrame(int outputType, cv::OutputArray frame)
|
|
{
|
|
switch (outputType)
|
|
{
|
|
case CV_CAP_INTELPERC_DEPTH_MAP:
|
|
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;
|
|
}
|
|
|
|
bool VideoCapture_IntelPerC::isOpened() const
|
|
{
|
|
return m_contextOpened;
|
|
}
|
|
|
|
}
|
|
|
|
#endif //HAVE_INTELPERC
|