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Merge pull request #18763 from GArik:orbbec

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This commit is contained in:
Alexander Alekhin
2020-11-16 09:12:25 +00:00
parent 3da1e8b2f8 011d8e80d8
commit 56074c2eb3
2 changed files with 11 additions and 3 deletions
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modules/videoio/src/cap_openni2.cpp
+9 -2
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@@ -103,7 +103,7 @@ private:
class CvCapture_OpenNI2 : public CvCapture
{
public:
enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_MAX=1 };
enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_ORBBEC_ASTRA=2, DEVICE_MAX=2 };
static const int INVALID_PIXEL_VAL = 0;
static const int INVALID_COORDINATE_VAL = 0;
@@ -116,6 +116,7 @@ public:
CvCapture_OpenNI2(const char * filename);
virtual ~CvCapture_OpenNI2();
virtual int getCaptureDomain() CV_OVERRIDE { return cv::CAP_OPENNI2; }
virtual double getProperty(int propIdx) const CV_OVERRIDE;
virtual bool setProperty(int probIdx, double propVal) CV_OVERRIDE;
virtual bool grabFrame() CV_OVERRIDE;
@@ -261,7 +262,8 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
index %= 10;
}
// Asus XTION and Occipital Structure Sensor do not have an image generator
needColor = (deviceType != DEVICE_ASUS_XTION);
// Orbbec Astra cameras don't provide OpenNI interface for color stream reading
needColor = (deviceType != DEVICE_ASUS_XTION) && (deviceType != DEVICE_ORBBEC_ASTRA);
// find appropriate device URI
openni::Array<openni::DeviceInfo> ldevs;
@@ -300,6 +302,11 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
setProperty(CV_CAP_PROP_OPENNI2_MIRROR, 0.0);
isContextOpened = true;
CV_LOG_INFO(NULL, cv::format("Opened OpenNI camera: %s %s (%04x:%04x)",
device.getDeviceInfo().getVendor(), device.getDeviceInfo().getName(),
device.getDeviceInfo().getUsbVendorId(), device.getDeviceInfo().getUsbProductId())
);
}
CvCapture_OpenNI2::~CvCapture_OpenNI2()