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videoio: add support for obsensor (Orbbec RGB-D Camera ) (#22196)

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* videoio: add support for obsensor (Orbbec RGB-D Camera )

* obsensor: code format issues fixed and some code optimized

* obsensor: fix typo and format issues

* obsensor: fix crosses initialization error
This commit is contained in:
hzc
2022-07-26 19:35:34 +08:00
committed by GitHub
parent ebaf8cc06c
commit fc3e393516
17 changed files with 1992 additions and 1 deletions
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modules/videoio/include/opencv2/videoio.hpp
+30
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@@ -123,6 +123,7 @@ enum VideoCaptureAPIs {
CAP_INTEL_MFX = 2300, //!< Intel MediaSDK
CAP_XINE = 2400, //!< XINE engine (Linux)
CAP_UEYE = 2500, //!< uEye Camera API
CAP_OBSENSOR = 2600, //!< For Orbbec 3D-Sensor device/module (Astra+, Femto)
};
/** @brief cv::VideoCapture generic properties identifier.
@@ -654,6 +655,35 @@ enum { CAP_PROP_IMAGES_BASE = 18000,
//! @} Images
/** @name OBSENSOR (for Orbbec 3D-Sensor device/module )
@{
*/
//! OBSENSOR data given from image generator
enum VideoCaptureOBSensorDataType{
CAP_OBSENSOR_DEPTH_MAP = 0, //!< Depth values in mm (CV_16UC1)
CAP_OBSENSOR_BGR_IMAGE = 1, //!< Data given from BGR stream generator
CAP_OBSENSOR_IR_IMAGE = 2 //!< Data given from IR stream generator(CV_16UC1)
};
//! OBSENSOR stream generator
enum VideoCaptureOBSensorGenerators{
CAP_OBSENSOR_DEPTH_GENERATOR = 1 << 29,
CAP_OBSENSOR_IMAGE_GENERATOR = 1 << 28,
CAP_OBSENSOR_IR_GENERATOR = 1 << 27,
CAP_OBSENSOR_GENERATORS_MASK = CAP_OBSENSOR_DEPTH_GENERATOR + CAP_OBSENSOR_IMAGE_GENERATOR + CAP_OBSENSOR_IR_GENERATOR
};
//!OBSENSOR properties
enum VideoCaptureOBSensorProperties{
// INTRINSIC
CAP_PROP_OBSENSOR_INTRINSIC_FX=26001,
CAP_PROP_OBSENSOR_INTRINSIC_FY=26002,
CAP_PROP_OBSENSOR_INTRINSIC_CX=26003,
CAP_PROP_OBSENSOR_INTRINSIC_CY=26004,
};
//! @} OBSENSOR
//! @} videoio_flags_others