添加项目文件。
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CaiXiang
5909
3rdparty/hikvision/rgbd_camera/inc/GLFW/glfw3.h
vendored
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5909
3rdparty/hikvision/rgbd_camera/inc/GLFW/glfw3.h
vendored
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File diff suppressed because it is too large
Load Diff
594
3rdparty/hikvision/rgbd_camera/inc/GLFW/glfw3native.h
vendored
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594
3rdparty/hikvision/rgbd_camera/inc/GLFW/glfw3native.h
vendored
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@@ -0,0 +1,594 @@
|
||||
/*************************************************************************
|
||||
* GLFW 3.3 - www.glfw.org
|
||||
* A library for OpenGL, window and input
|
||||
*------------------------------------------------------------------------
|
||||
* Copyright (c) 2002-2006 Marcus Geelnard
|
||||
* Copyright (c) 2006-2018 Camilla Löwy <elmindreda@glfw.org>
|
||||
*
|
||||
* This software is provided 'as-is', without any express or implied
|
||||
* warranty. In no event will the authors be held liable for any damages
|
||||
* arising from the use of this software.
|
||||
*
|
||||
* Permission is granted to anyone to use this software for any purpose,
|
||||
* including commercial applications, and to alter it and redistribute it
|
||||
* freely, subject to the following restrictions:
|
||||
*
|
||||
* 1. The origin of this software must not be misrepresented; you must not
|
||||
* claim that you wrote the original software. If you use this software
|
||||
* in a product, an acknowledgment in the product documentation would
|
||||
* be appreciated but is not required.
|
||||
*
|
||||
* 2. Altered source versions must be plainly marked as such, and must not
|
||||
* be misrepresented as being the original software.
|
||||
*
|
||||
* 3. This notice may not be removed or altered from any source
|
||||
* distribution.
|
||||
*
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _glfw3_native_h_
|
||||
#define _glfw3_native_h_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
* Doxygen documentation
|
||||
*************************************************************************/
|
||||
|
||||
/*! @file glfw3native.h
|
||||
* @brief The header of the native access functions.
|
||||
*
|
||||
* This is the header file of the native access functions. See @ref native for
|
||||
* more information.
|
||||
*/
|
||||
/*! @defgroup native Native access
|
||||
* @brief Functions related to accessing native handles.
|
||||
*
|
||||
* **By using the native access functions you assert that you know what you're
|
||||
* doing and how to fix problems caused by using them. If you don't, you
|
||||
* shouldn't be using them.**
|
||||
*
|
||||
* Before the inclusion of @ref glfw3native.h, you may define zero or more
|
||||
* window system API macro and zero or more context creation API macros.
|
||||
*
|
||||
* The chosen backends must match those the library was compiled for. Failure
|
||||
* to do this will cause a link-time error.
|
||||
*
|
||||
* The available window API macros are:
|
||||
* * `GLFW_EXPOSE_NATIVE_WIN32`
|
||||
* * `GLFW_EXPOSE_NATIVE_COCOA`
|
||||
* * `GLFW_EXPOSE_NATIVE_X11`
|
||||
* * `GLFW_EXPOSE_NATIVE_WAYLAND`
|
||||
*
|
||||
* The available context API macros are:
|
||||
* * `GLFW_EXPOSE_NATIVE_WGL`
|
||||
* * `GLFW_EXPOSE_NATIVE_NSGL`
|
||||
* * `GLFW_EXPOSE_NATIVE_GLX`
|
||||
* * `GLFW_EXPOSE_NATIVE_EGL`
|
||||
* * `GLFW_EXPOSE_NATIVE_OSMESA`
|
||||
*
|
||||
* These macros select which of the native access functions that are declared
|
||||
* and which platform-specific headers to include. It is then up your (by
|
||||
* definition platform-specific) code to handle which of these should be
|
||||
* defined.
|
||||
*/
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
* System headers and types
|
||||
*************************************************************************/
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_WIN32) || defined(GLFW_EXPOSE_NATIVE_WGL)
|
||||
// This is a workaround for the fact that glfw3.h needs to export APIENTRY (for
|
||||
// example to allow applications to correctly declare a GL_KHR_debug callback)
|
||||
// but windows.h assumes no one will define APIENTRY before it does
|
||||
#if defined(GLFW_APIENTRY_DEFINED)
|
||||
#undef APIENTRY
|
||||
#undef GLFW_APIENTRY_DEFINED
|
||||
#endif
|
||||
#include <windows.h>
|
||||
#elif defined(GLFW_EXPOSE_NATIVE_COCOA) || defined(GLFW_EXPOSE_NATIVE_NSGL)
|
||||
#if defined(__OBJC__)
|
||||
#import <Cocoa/Cocoa.h>
|
||||
#else
|
||||
#include <ApplicationServices/ApplicationServices.h>
|
||||
typedef void* id;
|
||||
#endif
|
||||
#elif defined(GLFW_EXPOSE_NATIVE_X11) || defined(GLFW_EXPOSE_NATIVE_GLX)
|
||||
#include <X11/Xlib.h>
|
||||
#include <X11/extensions/Xrandr.h>
|
||||
#elif defined(GLFW_EXPOSE_NATIVE_WAYLAND)
|
||||
#include <wayland-client.h>
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_WGL)
|
||||
/* WGL is declared by windows.h */
|
||||
#endif
|
||||
#if defined(GLFW_EXPOSE_NATIVE_NSGL)
|
||||
/* NSGL is declared by Cocoa.h */
|
||||
#endif
|
||||
#if defined(GLFW_EXPOSE_NATIVE_GLX)
|
||||
#include <GL/glx.h>
|
||||
#endif
|
||||
#if defined(GLFW_EXPOSE_NATIVE_EGL)
|
||||
#include <EGL/egl.h>
|
||||
#endif
|
||||
#if defined(GLFW_EXPOSE_NATIVE_OSMESA)
|
||||
#include <GL/osmesa.h>
|
||||
#endif
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
* Functions
|
||||
*************************************************************************/
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_WIN32)
|
||||
/*! @brief Returns the adapter device name of the specified monitor.
|
||||
*
|
||||
* @return The UTF-8 encoded adapter device name (for example `\\.\DISPLAY1`)
|
||||
* of the specified monitor, or `NULL` if an [error](@ref error_handling)
|
||||
* occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.1.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI const char* glfwGetWin32Adapter(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the display device name of the specified monitor.
|
||||
*
|
||||
* @return The UTF-8 encoded display device name (for example
|
||||
* `\\.\DISPLAY1\Monitor0`) of the specified monitor, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.1.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI const char* glfwGetWin32Monitor(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the `HWND` of the specified window.
|
||||
*
|
||||
* @return The `HWND` of the specified window, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @remark The `HDC` associated with the window can be queried with the
|
||||
* [GetDC](https://docs.microsoft.com/en-us/windows/win32/api/winuser/nf-winuser-getdc)
|
||||
* function.
|
||||
* @code
|
||||
* HDC dc = GetDC(glfwGetWin32Window(window));
|
||||
* @endcode
|
||||
* This DC is private and does not need to be released.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI HWND glfwGetWin32Window(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_WGL)
|
||||
/*! @brief Returns the `HGLRC` of the specified window.
|
||||
*
|
||||
* @return The `HGLRC` of the specified window, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @remark The `HDC` associated with the window can be queried with the
|
||||
* [GetDC](https://docs.microsoft.com/en-us/windows/win32/api/winuser/nf-winuser-getdc)
|
||||
* function.
|
||||
* @code
|
||||
* HDC dc = GetDC(glfwGetWin32Window(window));
|
||||
* @endcode
|
||||
* This DC is private and does not need to be released.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI HGLRC glfwGetWGLContext(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_COCOA)
|
||||
/*! @brief Returns the `CGDirectDisplayID` of the specified monitor.
|
||||
*
|
||||
* @return The `CGDirectDisplayID` of the specified monitor, or
|
||||
* `kCGNullDirectDisplay` if an [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.1.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI CGDirectDisplayID glfwGetCocoaMonitor(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the `NSWindow` of the specified window.
|
||||
*
|
||||
* @return The `NSWindow` of the specified window, or `nil` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI id glfwGetCocoaWindow(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_NSGL)
|
||||
/*! @brief Returns the `NSOpenGLContext` of the specified window.
|
||||
*
|
||||
* @return The `NSOpenGLContext` of the specified window, or `nil` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI id glfwGetNSGLContext(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_X11)
|
||||
/*! @brief Returns the `Display` used by GLFW.
|
||||
*
|
||||
* @return The `Display` used by GLFW, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI Display* glfwGetX11Display(void);
|
||||
|
||||
/*! @brief Returns the `RRCrtc` of the specified monitor.
|
||||
*
|
||||
* @return The `RRCrtc` of the specified monitor, or `None` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.1.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI RRCrtc glfwGetX11Adapter(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the `RROutput` of the specified monitor.
|
||||
*
|
||||
* @return The `RROutput` of the specified monitor, or `None` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.1.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI RROutput glfwGetX11Monitor(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the `Window` of the specified window.
|
||||
*
|
||||
* @return The `Window` of the specified window, or `None` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI Window glfwGetX11Window(GLFWwindow* window);
|
||||
|
||||
/*! @brief Sets the current primary selection to the specified string.
|
||||
*
|
||||
* @param[in] string A UTF-8 encoded string.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED and @ref
|
||||
* GLFW_PLATFORM_ERROR.
|
||||
*
|
||||
* @pointer_lifetime The specified string is copied before this function
|
||||
* returns.
|
||||
*
|
||||
* @thread_safety This function must only be called from the main thread.
|
||||
*
|
||||
* @sa @ref clipboard
|
||||
* @sa glfwGetX11SelectionString
|
||||
* @sa glfwSetClipboardString
|
||||
*
|
||||
* @since Added in version 3.3.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI void glfwSetX11SelectionString(const char* string);
|
||||
|
||||
/*! @brief Returns the contents of the current primary selection as a string.
|
||||
*
|
||||
* If the selection is empty or if its contents cannot be converted, `NULL`
|
||||
* is returned and a @ref GLFW_FORMAT_UNAVAILABLE error is generated.
|
||||
*
|
||||
* @return The contents of the selection as a UTF-8 encoded string, or `NULL`
|
||||
* if an [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED and @ref
|
||||
* GLFW_PLATFORM_ERROR.
|
||||
*
|
||||
* @pointer_lifetime The returned string is allocated and freed by GLFW. You
|
||||
* should not free it yourself. It is valid until the next call to @ref
|
||||
* glfwGetX11SelectionString or @ref glfwSetX11SelectionString, or until the
|
||||
* library is terminated.
|
||||
*
|
||||
* @thread_safety This function must only be called from the main thread.
|
||||
*
|
||||
* @sa @ref clipboard
|
||||
* @sa glfwSetX11SelectionString
|
||||
* @sa glfwGetClipboardString
|
||||
*
|
||||
* @since Added in version 3.3.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI const char* glfwGetX11SelectionString(void);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_GLX)
|
||||
/*! @brief Returns the `GLXContext` of the specified window.
|
||||
*
|
||||
* @return The `GLXContext` of the specified window, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI GLXContext glfwGetGLXContext(GLFWwindow* window);
|
||||
|
||||
/*! @brief Returns the `GLXWindow` of the specified window.
|
||||
*
|
||||
* @return The `GLXWindow` of the specified window, or `None` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.2.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI GLXWindow glfwGetGLXWindow(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_WAYLAND)
|
||||
/*! @brief Returns the `struct wl_display*` used by GLFW.
|
||||
*
|
||||
* @return The `struct wl_display*` used by GLFW, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.2.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI struct wl_display* glfwGetWaylandDisplay(void);
|
||||
|
||||
/*! @brief Returns the `struct wl_output*` of the specified monitor.
|
||||
*
|
||||
* @return The `struct wl_output*` of the specified monitor, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.2.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI struct wl_output* glfwGetWaylandMonitor(GLFWmonitor* monitor);
|
||||
|
||||
/*! @brief Returns the main `struct wl_surface*` of the specified window.
|
||||
*
|
||||
* @return The main `struct wl_surface*` of the specified window, or `NULL` if
|
||||
* an [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.2.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI struct wl_surface* glfwGetWaylandWindow(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_EGL)
|
||||
/*! @brief Returns the `EGLDisplay` used by GLFW.
|
||||
*
|
||||
* @return The `EGLDisplay` used by GLFW, or `EGL_NO_DISPLAY` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI EGLDisplay glfwGetEGLDisplay(void);
|
||||
|
||||
/*! @brief Returns the `EGLContext` of the specified window.
|
||||
*
|
||||
* @return The `EGLContext` of the specified window, or `EGL_NO_CONTEXT` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI EGLContext glfwGetEGLContext(GLFWwindow* window);
|
||||
|
||||
/*! @brief Returns the `EGLSurface` of the specified window.
|
||||
*
|
||||
* @return The `EGLSurface` of the specified window, or `EGL_NO_SURFACE` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.0.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI EGLSurface glfwGetEGLSurface(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#if defined(GLFW_EXPOSE_NATIVE_OSMESA)
|
||||
/*! @brief Retrieves the color buffer associated with the specified window.
|
||||
*
|
||||
* @param[in] window The window whose color buffer to retrieve.
|
||||
* @param[out] width Where to store the width of the color buffer, or `NULL`.
|
||||
* @param[out] height Where to store the height of the color buffer, or `NULL`.
|
||||
* @param[out] format Where to store the OSMesa pixel format of the color
|
||||
* buffer, or `NULL`.
|
||||
* @param[out] buffer Where to store the address of the color buffer, or
|
||||
* `NULL`.
|
||||
* @return `GLFW_TRUE` if successful, or `GLFW_FALSE` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.3.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI int glfwGetOSMesaColorBuffer(GLFWwindow* window, int* width, int* height, int* format, void** buffer);
|
||||
|
||||
/*! @brief Retrieves the depth buffer associated with the specified window.
|
||||
*
|
||||
* @param[in] window The window whose depth buffer to retrieve.
|
||||
* @param[out] width Where to store the width of the depth buffer, or `NULL`.
|
||||
* @param[out] height Where to store the height of the depth buffer, or `NULL`.
|
||||
* @param[out] bytesPerValue Where to store the number of bytes per depth
|
||||
* buffer element, or `NULL`.
|
||||
* @param[out] buffer Where to store the address of the depth buffer, or
|
||||
* `NULL`.
|
||||
* @return `GLFW_TRUE` if successful, or `GLFW_FALSE` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.3.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI int glfwGetOSMesaDepthBuffer(GLFWwindow* window, int* width, int* height, int* bytesPerValue, void** buffer);
|
||||
|
||||
/*! @brief Returns the `OSMesaContext` of the specified window.
|
||||
*
|
||||
* @return The `OSMesaContext` of the specified window, or `NULL` if an
|
||||
* [error](@ref error_handling) occurred.
|
||||
*
|
||||
* @errors Possible errors include @ref GLFW_NO_WINDOW_CONTEXT and @ref
|
||||
* GLFW_NOT_INITIALIZED.
|
||||
*
|
||||
* @thread_safety This function may be called from any thread. Access is not
|
||||
* synchronized.
|
||||
*
|
||||
* @since Added in version 3.3.
|
||||
*
|
||||
* @ingroup native
|
||||
*/
|
||||
GLFWAPI OSMesaContext glfwGetOSMesaContext(GLFWwindow* window);
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _glfw3_native_h_ */
|
||||
|
||||
311
3rdparty/hikvision/rgbd_camera/inc/KHR/khrplatform.h
vendored
Normal file
311
3rdparty/hikvision/rgbd_camera/inc/KHR/khrplatform.h
vendored
Normal file
@@ -0,0 +1,311 @@
|
||||
#ifndef __khrplatform_h_
|
||||
#define __khrplatform_h_
|
||||
|
||||
/*
|
||||
** Copyright (c) 2008-2018 The Khronos Group Inc.
|
||||
**
|
||||
** Permission is hereby granted, free of charge, to any person obtaining a
|
||||
** copy of this software and/or associated documentation files (the
|
||||
** "Materials"), to deal in the Materials without restriction, including
|
||||
** without limitation the rights to use, copy, modify, merge, publish,
|
||||
** distribute, sublicense, and/or sell copies of the Materials, and to
|
||||
** permit persons to whom the Materials are furnished to do so, subject to
|
||||
** the following conditions:
|
||||
**
|
||||
** The above copyright notice and this permission notice shall be included
|
||||
** in all copies or substantial portions of the Materials.
|
||||
**
|
||||
** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
||||
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
||||
** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
|
||||
** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
|
||||
** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
|
||||
*/
|
||||
|
||||
/* Khronos platform-specific types and definitions.
|
||||
*
|
||||
* The master copy of khrplatform.h is maintained in the Khronos EGL
|
||||
* Registry repository at https://github.com/KhronosGroup/EGL-Registry
|
||||
* The last semantic modification to khrplatform.h was at commit ID:
|
||||
* 67a3e0864c2d75ea5287b9f3d2eb74a745936692
|
||||
*
|
||||
* Adopters may modify this file to suit their platform. Adopters are
|
||||
* encouraged to submit platform specific modifications to the Khronos
|
||||
* group so that they can be included in future versions of this file.
|
||||
* Please submit changes by filing pull requests or issues on
|
||||
* the EGL Registry repository linked above.
|
||||
*
|
||||
*
|
||||
* See the Implementer's Guidelines for information about where this file
|
||||
* should be located on your system and for more details of its use:
|
||||
* http://www.khronos.org/registry/implementers_guide.pdf
|
||||
*
|
||||
* This file should be included as
|
||||
* #include <KHR/khrplatform.h>
|
||||
* by Khronos client API header files that use its types and defines.
|
||||
*
|
||||
* The types in khrplatform.h should only be used to define API-specific types.
|
||||
*
|
||||
* Types defined in khrplatform.h:
|
||||
* khronos_int8_t signed 8 bit
|
||||
* khronos_uint8_t unsigned 8 bit
|
||||
* khronos_int16_t signed 16 bit
|
||||
* khronos_uint16_t unsigned 16 bit
|
||||
* khronos_int32_t signed 32 bit
|
||||
* khronos_uint32_t unsigned 32 bit
|
||||
* khronos_int64_t signed 64 bit
|
||||
* khronos_uint64_t unsigned 64 bit
|
||||
* khronos_intptr_t signed same number of bits as a pointer
|
||||
* khronos_uintptr_t unsigned same number of bits as a pointer
|
||||
* khronos_ssize_t signed size
|
||||
* khronos_usize_t unsigned size
|
||||
* khronos_float_t signed 32 bit floating point
|
||||
* khronos_time_ns_t unsigned 64 bit time in nanoseconds
|
||||
* khronos_utime_nanoseconds_t unsigned time interval or absolute time in
|
||||
* nanoseconds
|
||||
* khronos_stime_nanoseconds_t signed time interval in nanoseconds
|
||||
* khronos_boolean_enum_t enumerated boolean type. This should
|
||||
* only be used as a base type when a client API's boolean type is
|
||||
* an enum. Client APIs which use an integer or other type for
|
||||
* booleans cannot use this as the base type for their boolean.
|
||||
*
|
||||
* Tokens defined in khrplatform.h:
|
||||
*
|
||||
* KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values.
|
||||
*
|
||||
* KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0.
|
||||
* KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0.
|
||||
*
|
||||
* Calling convention macros defined in this file:
|
||||
* KHRONOS_APICALL
|
||||
* KHRONOS_APIENTRY
|
||||
* KHRONOS_APIATTRIBUTES
|
||||
*
|
||||
* These may be used in function prototypes as:
|
||||
*
|
||||
* KHRONOS_APICALL void KHRONOS_APIENTRY funcname(
|
||||
* int arg1,
|
||||
* int arg2) KHRONOS_APIATTRIBUTES;
|
||||
*/
|
||||
|
||||
#if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC)
|
||||
# define KHRONOS_STATIC 1
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APICALL
|
||||
*-------------------------------------------------------------------------
|
||||
* This precedes the return type of the function in the function prototype.
|
||||
*/
|
||||
#if defined(KHRONOS_STATIC)
|
||||
/* If the preprocessor constant KHRONOS_STATIC is defined, make the
|
||||
* header compatible with static linking. */
|
||||
# define KHRONOS_APICALL
|
||||
#elif defined(_WIN32)
|
||||
# define KHRONOS_APICALL __declspec(dllimport)
|
||||
#elif defined (__SYMBIAN32__)
|
||||
# define KHRONOS_APICALL IMPORT_C
|
||||
#elif defined(__ANDROID__)
|
||||
# define KHRONOS_APICALL __attribute__((visibility("default")))
|
||||
#else
|
||||
# define KHRONOS_APICALL
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APIENTRY
|
||||
*-------------------------------------------------------------------------
|
||||
* This follows the return type of the function and precedes the function
|
||||
* name in the function prototype.
|
||||
*/
|
||||
#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__)
|
||||
/* Win32 but not WinCE */
|
||||
# define KHRONOS_APIENTRY __stdcall
|
||||
#else
|
||||
# define KHRONOS_APIENTRY
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APIATTRIBUTES
|
||||
*-------------------------------------------------------------------------
|
||||
* This follows the closing parenthesis of the function prototype arguments.
|
||||
*/
|
||||
#if defined (__ARMCC_2__)
|
||||
#define KHRONOS_APIATTRIBUTES __softfp
|
||||
#else
|
||||
#define KHRONOS_APIATTRIBUTES
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* basic type definitions
|
||||
*-----------------------------------------------------------------------*/
|
||||
#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__)
|
||||
|
||||
|
||||
/*
|
||||
* Using <stdint.h>
|
||||
*/
|
||||
#include <stdint.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
/*
|
||||
* To support platform where unsigned long cannot be used interchangeably with
|
||||
* inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t.
|
||||
* Ideally, we could just use (u)intptr_t everywhere, but this could result in
|
||||
* ABI breakage if khronos_uintptr_t is changed from unsigned long to
|
||||
* unsigned long long or similar (this results in different C++ name mangling).
|
||||
* To avoid changes for existing platforms, we restrict usage of intptr_t to
|
||||
* platforms where the size of a pointer is larger than the size of long.
|
||||
*/
|
||||
#if defined(__SIZEOF_LONG__) && defined(__SIZEOF_POINTER__)
|
||||
#if __SIZEOF_POINTER__ > __SIZEOF_LONG__
|
||||
#define KHRONOS_USE_INTPTR_T
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#elif defined(__VMS ) || defined(__sgi)
|
||||
|
||||
/*
|
||||
* Using <inttypes.h>
|
||||
*/
|
||||
#include <inttypes.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif defined(_WIN32) && !defined(__SCITECH_SNAP__)
|
||||
|
||||
/*
|
||||
* Win32
|
||||
*/
|
||||
typedef __int32 khronos_int32_t;
|
||||
typedef unsigned __int32 khronos_uint32_t;
|
||||
typedef __int64 khronos_int64_t;
|
||||
typedef unsigned __int64 khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif defined(__sun__) || defined(__digital__)
|
||||
|
||||
/*
|
||||
* Sun or Digital
|
||||
*/
|
||||
typedef int khronos_int32_t;
|
||||
typedef unsigned int khronos_uint32_t;
|
||||
#if defined(__arch64__) || defined(_LP64)
|
||||
typedef long int khronos_int64_t;
|
||||
typedef unsigned long int khronos_uint64_t;
|
||||
#else
|
||||
typedef long long int khronos_int64_t;
|
||||
typedef unsigned long long int khronos_uint64_t;
|
||||
#endif /* __arch64__ */
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif 0
|
||||
|
||||
/*
|
||||
* Hypothetical platform with no float or int64 support
|
||||
*/
|
||||
typedef int khronos_int32_t;
|
||||
typedef unsigned int khronos_uint32_t;
|
||||
#define KHRONOS_SUPPORT_INT64 0
|
||||
#define KHRONOS_SUPPORT_FLOAT 0
|
||||
|
||||
#else
|
||||
|
||||
/*
|
||||
* Generic fallback
|
||||
*/
|
||||
#include <stdint.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* Types that are (so far) the same on all platforms
|
||||
*/
|
||||
typedef signed char khronos_int8_t;
|
||||
typedef unsigned char khronos_uint8_t;
|
||||
typedef signed short int khronos_int16_t;
|
||||
typedef unsigned short int khronos_uint16_t;
|
||||
|
||||
/*
|
||||
* Types that differ between LLP64 and LP64 architectures - in LLP64,
|
||||
* pointers are 64 bits, but 'long' is still 32 bits. Win64 appears
|
||||
* to be the only LLP64 architecture in current use.
|
||||
*/
|
||||
#ifdef KHRONOS_USE_INTPTR_T
|
||||
typedef intptr_t khronos_intptr_t;
|
||||
typedef uintptr_t khronos_uintptr_t;
|
||||
#elif defined(_WIN64)
|
||||
typedef signed long long int khronos_intptr_t;
|
||||
typedef unsigned long long int khronos_uintptr_t;
|
||||
#else
|
||||
typedef signed long int khronos_intptr_t;
|
||||
typedef unsigned long int khronos_uintptr_t;
|
||||
#endif
|
||||
|
||||
#if defined(_WIN64)
|
||||
typedef signed long long int khronos_ssize_t;
|
||||
typedef unsigned long long int khronos_usize_t;
|
||||
#else
|
||||
typedef signed long int khronos_ssize_t;
|
||||
typedef unsigned long int khronos_usize_t;
|
||||
#endif
|
||||
|
||||
#if KHRONOS_SUPPORT_FLOAT
|
||||
/*
|
||||
* Float type
|
||||
*/
|
||||
typedef float khronos_float_t;
|
||||
#endif
|
||||
|
||||
#if KHRONOS_SUPPORT_INT64
|
||||
/* Time types
|
||||
*
|
||||
* These types can be used to represent a time interval in nanoseconds or
|
||||
* an absolute Unadjusted System Time. Unadjusted System Time is the number
|
||||
* of nanoseconds since some arbitrary system event (e.g. since the last
|
||||
* time the system booted). The Unadjusted System Time is an unsigned
|
||||
* 64 bit value that wraps back to 0 every 584 years. Time intervals
|
||||
* may be either signed or unsigned.
|
||||
*/
|
||||
typedef khronos_uint64_t khronos_utime_nanoseconds_t;
|
||||
typedef khronos_int64_t khronos_stime_nanoseconds_t;
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Dummy value used to pad enum types to 32 bits.
|
||||
*/
|
||||
#ifndef KHRONOS_MAX_ENUM
|
||||
#define KHRONOS_MAX_ENUM 0x7FFFFFFF
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Enumerated boolean type
|
||||
*
|
||||
* Values other than zero should be considered to be true. Therefore
|
||||
* comparisons should not be made against KHRONOS_TRUE.
|
||||
*/
|
||||
typedef enum {
|
||||
KHRONOS_FALSE = 0,
|
||||
KHRONOS_TRUE = 1,
|
||||
KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM
|
||||
} khronos_boolean_enum_t;
|
||||
|
||||
#endif /* __khrplatform_h_ */
|
||||
489
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdApi.h
vendored
Normal file
489
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdApi.h
vendored
Normal file
@@ -0,0 +1,489 @@
|
||||
#ifndef _MV3D_RGBD_API_H_
|
||||
#define _MV3D_RGBD_API_H_
|
||||
|
||||
#include "Mv3dRgbdDefine.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取SDK版本号
|
||||
* @param pstVersion [OUT] 版本信息
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief Get SDK Version
|
||||
* @param pstVersion [OUT] version info
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetSDKVersion(MV3D_RGBD_VERSION_INFO* pstVersion);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief SDK运行环境初始化
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief SDK run environment initialization
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Initialize();
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief SDK运行环境释放
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief SDK run environment release
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Release();
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取当前环境中设备数量
|
||||
* @param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
|
||||
* @param pDeviceNumber [OUT] 设备数量
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief gets the number of devices in the current environment
|
||||
* @param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
|
||||
* @param pDeviceNumber [OUT] device number
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceNumber(uint32_t nDeviceType, uint32_t* pDeviceNumber);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取设备列表
|
||||
* @param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
|
||||
* @param pstDeviceInfos [IN OUT] 设备列表
|
||||
* @param nMaxDeviceCount [IN] 设备列表缓存最大个数
|
||||
* @param pDeviceCount [OUT] 填充列表中设备个数
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief gets 3D cameras list
|
||||
* @param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
|
||||
* @param pstDeviceInfos [IN OUT] devices list
|
||||
* @param nMaxDeviceCount [IN] max number of device list caches
|
||||
* @param pDeviceCount [OUT] number of devices in the fill list
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceList(uint32_t nDeviceType, MV3D_RGBD_DEVICE_INFO* pstDeviceInfos, uint32_t nMaxDeviceCount, uint32_t* pDeviceCount);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 打开设备
|
||||
* @param handle [IN OUT] 相机句柄
|
||||
* @param pstDeviceInfo [IN] 枚举的设备信息，默认为空，打开第一个相机
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
|
||||
|
||||
* @~english
|
||||
* @brief open device
|
||||
* @param handle [IN OUT] camera handle
|
||||
* @param pstDeviceInfo [IN] enum camera info. the default is null, open first camera
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDevice(HANDLE *handle, MV3D_RGBD_DEVICE_INFO* pstDeviceInfo = NULL);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 通过设备自定义名称打开设备
|
||||
* @param handle [IN OUT] 相机句柄
|
||||
* @param chDeviceName [IN] 设备用户自定义名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
|
||||
|
||||
* @~english
|
||||
* @brief open device by device user defined name
|
||||
* @param handle [IN OUT] camera handle
|
||||
* @param chDeviceName [IN] device user defined name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByName(HANDLE *handle, const char* chDeviceName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 通过序列号打开设备
|
||||
* @param handle [IN OUT] 相机句柄
|
||||
* @param chSerialNumber [IN] 序列号
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
|
||||
|
||||
* @~english
|
||||
* @brief open device by serial number
|
||||
* @param handle [IN OUT] camera handle
|
||||
* @param chSerialNumber [IN] serial number
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceBySerialNumber(HANDLE *handle, const char* chSerialNumber);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 通过IP打开设备,仅网口设备有效
|
||||
* @param handle [IN OUT] 相机句柄
|
||||
* @param chIP [IN] IP地址
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
|
||||
|
||||
* @~english
|
||||
* @brief open device by ip，only network device is valid
|
||||
* @param handle [IN OUT] camera handle
|
||||
* @param chIP [IN] IP
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByIp(HANDLE *handle, const char* chIP);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 关闭设备
|
||||
* @param handle [IN] 相机句柄
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief close Device
|
||||
* @param handle [IN] camera handle
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_CloseDevice(HANDLE *handle);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取当前设备的详细信息
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstDevInfo [IN][OUT] 返回给调用者有关相机设备信息结构体指针
|
||||
* @return 成功,MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get current device information
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstDevInfo [IN][OUT] structure pointer of device information
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceInfo(HANDLE handle, MV3D_RGBD_DEVICE_INFO* pstDevInfo);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 配置IP,仅网口设备有效
|
||||
* @param chSerialNumber [IN] 序列号
|
||||
* @param pstIPConfig [IN] IP配置，静态IP，DHCP等
|
||||
* @return 成功,MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief ip configuration，only network device is valid
|
||||
* @param chSerialNumber [IN] serial number
|
||||
* @param pstIPConfig [IN] IP Config, Static IP，DHCP
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetIpConfig(const char* chSerialNumber, MV3D_RGBD_IP_CONFIG* pstIPConfig);
|
||||
|
||||
/***********************************************************************
|
||||
* @~chinese
|
||||
* @brief 注册图像数据回调
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param cbOutput [IN] 回调函数指针
|
||||
* @param pUser [IN] 用户自定义变量
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
* @remark 当传入的用户自定义变量为NULL时,取消回调注册
|
||||
|
||||
* @~english
|
||||
* @brief register image data callback
|
||||
* @param handle [IN] camera handle
|
||||
* @param cbOutput [IN] callback function pointer
|
||||
* @param pUser [IN] user defined variable
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Cancel callback registration when pUser is NULL
|
||||
***********************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterFrameCallBack(HANDLE handle, MV3D_RGBD_FrameDataCallBack cbOutput, void* pUser);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 注册异常消息回调
|
||||
* @param handle： [IN] 相机句柄
|
||||
* @param cbException [IN] 异常回调函数指针
|
||||
* @param pUser [IN] 用户自定义变量
|
||||
* @return 见返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief register exception message callBack
|
||||
* @param handle: [IN] camera handle
|
||||
* @param cbException [IN] exception message callback function pointer
|
||||
* @param pUser [IN] user defined variable
|
||||
* @return Refer to error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterExceptionCallBack(HANDLE handle, MV3D_RGBD_ExceptionCallBack cbException, void* pUser);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 开始取流前获取数据流配置列表
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstStreamCfgList [IN][OUT] 返回给调用者数据流配置列表指针
|
||||
* @return 成功,MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get stream cfg list before start working
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstStreamCfgList [IN][OUT] structure pointer of stream cfg list
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetStreamCfgList(HANDLE handle, MV3D_RGBD_STREAM_CFG_LIST* pstStreamCfgList);
|
||||
|
||||
/***********************************************************************
|
||||
* @~chinese
|
||||
* @brief 开始工作
|
||||
* @param handle [IN] 相机句柄
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief start working
|
||||
* @param handle [IN] camera handle
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
***********************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Start(HANDLE handle);
|
||||
|
||||
/***********************************************************************
|
||||
* @~chinese
|
||||
* @brief 停止工作
|
||||
* @param handle [IN] 相机句柄
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief stop working
|
||||
* @param handle [IN] camera handle
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
***********************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Stop(HANDLE handle);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 轮询方式获取帧数据
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstFrameData [IN][OUT] 数据指针
|
||||
* @param nTimeOut [IN] 超时时间(ms)
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief fetch frame data
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstFrameData [IN] data set pointer
|
||||
* @param nTimeOut [IN] timevalue(ms)
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FetchFrame(HANDLE handle, MV3D_RGBD_FRAME_DATA* pstFrameData, uint32_t nTimeOut);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 执行设备软触发
|
||||
* @param handle [IN] 相机句柄
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
* @remark 设置触发模式为打开，设置触发源为软触发并执行
|
||||
|
||||
* @~english
|
||||
* @brief execute camera soft trigger
|
||||
* @param handle [IN] camera handle
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
* @remark Set trigger mode to open, trigger source to software, and excute soft trigger
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SoftTrigger(HANDLE handle);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 执行设备Command命令
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param strKey [IN] 属性键值
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief execute camera command
|
||||
* @param handle [IN] camera handle
|
||||
* @param strKey [IN] key value
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Execute(HANDLE handle, const char* strKey);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取相机当前标定信息
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param nCoordinateType [IN] 坐标系类型，见Mv3dRgbdCoordinateType
|
||||
* @param pstCalibInfo [IN][OUT] 输出标定信息
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get camera current calibration info
|
||||
* @param handle [IN] camera handle
|
||||
* @param nCoordinateType [IN] coordinate type, refer to Mv3dRgbdCoordinateType
|
||||
* @param pstCalibInfo [IN][OUT] calibration info
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCalibInfo(HANDLE handle, uint32_t nCoordinateType, MV3D_RGBD_CALIB_INFO* pstCalibInfo);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取相机内外参信息
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstCameraParam [IN][OUT] 输出相机内外参数信息
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get camera intrinsic and extrinsic information
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstCameraParam [IN][OUT] camera intrinsic and extrinsic Info
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCameraParam(HANDLE handle, MV3D_RGBD_CAMERA_PARAM* pstCameraParam);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 设备升级
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pFilePathName [IN] 文件名
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief device upgrade
|
||||
* @param handle [IN] camera handle
|
||||
* @param pFilePathName [IN] file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_LocalUpgrade(HANDLE handle, const char* pFilePathName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取升级进度
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pProcess [OUT] 进度接收地址
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get upgrade progress
|
||||
* @param handle [IN] camera handle
|
||||
* @param pProcess [OUT] progress receiving address
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetUpgradeProcess(HANDLE handle, uint32_t* pProcess);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取相机参数值
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param strKey [IN] 属性键值
|
||||
* @param pstParam [IN] 返回的相机参数结构体指针
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get camera param value
|
||||
* @param handle [IN] camera handle
|
||||
* @param strKey [IN] key value
|
||||
* @param pstParam [IN] structure pointer of camera param
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 设置相机参数值
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param strKey [IN] 属性键值
|
||||
* @param pstParam [IN] 输入的相机参数结构体指针
|
||||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief set camera param value
|
||||
* @param handle [IN] camera handle
|
||||
* @param strKey [IN] key value
|
||||
* @param pstParam [IN] structure pointer of camera param
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 导出相机参数
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pOutFileName [IN] 导出文件名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief export camera param
|
||||
* @param handle [IN] camera handle
|
||||
* @param pOutFileName [IN] export file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ExportAllParam(HANDLE handle, const char* pOutFileName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 导入相机参数
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pInFileName [IN] 导入文件名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief import camera param
|
||||
* @param handle [IN] camera handle
|
||||
* @param pInFileName [IN] import file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImportAllParam(HANDLE handle, const char* pInFileName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 从相机读取文件
|
||||
* @param handle [IN] 句柄地址
|
||||
* @param pstFileAccess [IN] 文件存取结构体
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief read the file from the camera
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstFileAccess [IN] file access structure
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessRead(void* handle, MV3D_RGBD_FILE_ACCESS* pstFileAccess);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 将文件写入相机
|
||||
* @param handle [IN] 句柄地址
|
||||
* @param pstFileAccess [IN] 文件存取结构体
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief write the file to camera
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstFileAccess [IN] file access structure
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessWrite(void* handle, MV3D_RGBD_FILE_ACCESS* pstFileAccess);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 获取文件存取的进度
|
||||
* @param handle [IN] 句柄地址
|
||||
* @param pstFileAccessProgress [IN] 文件存取进度结构体
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief get file access progress
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstFileAccessProgress [IN] file access progress structure
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetFileAccessProgress(void* handle, MV3D_RGBD_FILE_ACCESS_PROGRESS* pstFileAccessProgress);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // _MV3D_RGBD_API_H_
|
||||
512
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdDefine.h
vendored
Normal file
512
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdDefine.h
vendored
Normal file
@@ -0,0 +1,512 @@
|
||||
#ifndef _MV3D_RGBD_DEFINE_H_
|
||||
#define _MV3D_RGBD_DEFINE_H_
|
||||
|
||||
#ifndef MV3D_RGBD_API
|
||||
#if (defined (_WIN32) || defined(WIN64))
|
||||
#if defined(MV3D_RGBD_EXPORTS)
|
||||
#define MV3D_RGBD_API __declspec(dllexport)
|
||||
#else
|
||||
#define MV3D_RGBD_API __declspec(dllimport)
|
||||
#endif
|
||||
#else
|
||||
#ifndef __stdcall
|
||||
#define __stdcall
|
||||
#endif
|
||||
|
||||
#ifndef MV3D_RGBD_API
|
||||
#define MV3D_RGBD_API
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/****************************** ch: 摘要 | en: Instructions **********************************************/
|
||||
|
||||
/**
|
||||
* @~chinese
|
||||
* 该头文件主要包含6部分：
|
||||
* 1.跨平台定义
|
||||
* 2.状态码
|
||||
* 3.常量定义
|
||||
* 4.枚举
|
||||
* 5.数据结构体
|
||||
* 6.回调接口定义
|
||||
*
|
||||
* @~english
|
||||
* The document mainly consists of six parts:
|
||||
* 1.Cross Platform Definition
|
||||
* 2.Status Code
|
||||
* 3.Macro Definition
|
||||
* 4.Enumeration
|
||||
* 5.Data Structure
|
||||
* 6.Callback Interface Definition
|
||||
**/
|
||||
|
||||
|
||||
/***************************************** Part1 ch: 跨平台定义 | en: Cross Platform Definition **************************************************/
|
||||
|
||||
#ifdef WIN32
|
||||
typedef signed char int8_t;
|
||||
typedef short int16_t;
|
||||
typedef int int32_t;
|
||||
typedef long long int int64_t;
|
||||
typedef unsigned char uint8_t;
|
||||
typedef unsigned short uint16_t;
|
||||
typedef unsigned int uint32_t;
|
||||
typedef unsigned long long uint64_t;
|
||||
|
||||
#define MV3D_RGBD_UNDEFINED 0xFFFFFFFF
|
||||
#else
|
||||
#include <stdint.h>
|
||||
|
||||
#define MV3D_RGBD_UNDEFINED -1
|
||||
#endif
|
||||
|
||||
|
||||
/***************************************** Part2 ch: 状态码 | en: Status Code **************************************************/
|
||||
|
||||
/// \~chinese
|
||||
/// \name 正确码定义
|
||||
/// @{
|
||||
/// \~english
|
||||
/// \name Definition of correct code
|
||||
/// @{
|
||||
#define MV3D_RGBD_OK 0x00000000 ///< \~chinese 成功，无错误 \~english Successed, no error
|
||||
/// @}
|
||||
///
|
||||
/// \~chinese
|
||||
/// \name 通用错误码定义:范围0x80060000-0x800600FF
|
||||
/// @{
|
||||
/// \~english
|
||||
/// \name Definition of General Error Code (from 0x80060000 to 0x800600FF)
|
||||
/// @{
|
||||
#define MV3D_RGBD_E_HANDLE 0x80060000 ///< \~chinese 错误或无效的句柄 \~english Incorrect or invalid handle
|
||||
#define MV3D_RGBD_E_SUPPORT 0x80060001 ///< \~chinese 不支持的功能 \~english The function is not supported
|
||||
#define MV3D_RGBD_E_BUFOVER 0x80060002 ///< \~chinese 缓存已满 \~english The buffer is full
|
||||
#define MV3D_RGBD_E_CALLORDER 0x80060003 ///< \~chinese 函数调用顺序错误 \~english Incorrect calling sequence
|
||||
#define MV3D_RGBD_E_PARAMETER 0x80060004 ///< \~chinese 错误的参数 \~english Incorrect parameter
|
||||
#define MV3D_RGBD_E_RESOURCE 0x80060005 ///< \~chinese 资源申请失败 \~english Resource request failed
|
||||
#define MV3D_RGBD_E_NODATA 0x80060006 ///< \~chinese 无数据 \~english No data
|
||||
#define MV3D_RGBD_E_PRECONDITION 0x80060007 ///< \~chinese 前置条件有误，或运行环境已发生变化 \~english Incorrect precondition, or running environment has changed
|
||||
#define MV3D_RGBD_E_VERSION 0x80060008 ///< \~chinese 版本不匹配 \~english The version mismatched
|
||||
#define MV3D_RGBD_E_NOENOUGH_BUF 0x80060009 ///< \~chinese 传入的内存空间不足 \~english Insufficient memory
|
||||
#define MV3D_RGBD_E_ABNORMAL_IMAGE 0x8006000A ///< \~chinese 异常图像，可能是丢包导致图像不完整 \~english Abnormal image. Incomplete image caused by packet loss
|
||||
#define MV3D_RGBD_E_LOAD_LIBRARY 0x8006000B ///< \~chinese 动态导入DLL失败 \~english Failed to load the dynamic link library dynamically
|
||||
#define MV3D_RGBD_E_ALGORITHM 0x8006000C ///< \~chinese 算法错误 \~english Algorithm error
|
||||
#define MV3D_RGBD_E_DEVICE_OFFLINE 0x8006000D ///< \~chinese 设备离线 \~english The device is offline
|
||||
#define MV3D_RGBD_E_ACCESS_DENIED 0x8006000E ///< \~chinese 设备无访问权限 \~english No device access permission
|
||||
#define MV3D_RGBD_E_OUTOFRANGE 0x8006000F ///< \~chinese 值超出范围 \~english The value is out of range
|
||||
|
||||
#define MV3D_RGBD_E_UPG_FILE_MISMATCH 0x80060010 ///< \~chinese 升级固件不匹配 \~english The upgraded firmware does not match
|
||||
#define MV3D_RGBD_E_UPG_CONFLICT 0x80060012 ///< \~chinese 升级冲突 \~english The upgraded firmware conflict
|
||||
#define MV3D_RGBD_E_UPG_INNER_ERR 0x80060013 ///< \~chinese 升级时相机内部出现错误 \~english An error occurred inside the camera during the upgrade
|
||||
|
||||
#define MV3D_RGBD_E_INDUSTRY 0x80060020 ///< \~chinese 行业属性不匹配 \~english The industry attributes does not match
|
||||
#define MV3D_RGBD_E_NETWORK 0x80060021 ///< \~chinese 网络相关错误 \~english Network related error
|
||||
|
||||
#define MV3D_RGBD_E_UNKNOW 0x800600FF ///< \~chinese 未知的错误 \~english Unknown error
|
||||
/// @}
|
||||
|
||||
|
||||
/***************************************** Part3 ch: 常量定义 | en: Macro Definition **************************************************/
|
||||
|
||||
///< \~chinese 常量 \~english Constant
|
||||
#define MV3D_RGBD_MAX_IMAGE_COUNT 10 ///< \~chinese 最大图片个数 \~english The maximum number of images
|
||||
#define MV3D_RGBD_MAX_STRING_LENGTH 256 ///< \~chinese 最大字符串长度 \~english The maximum length of string
|
||||
#define MV3D_RGBD_MAX_PATH_LENGTH 256 ///< \~chinese 最大路径长度 \~english The maximum length of path
|
||||
#define MV3D_RGBD_MAX_ENUM_COUNT 16 ///< \~chinese 最大枚举数量 \~english The maximum number of enumerations
|
||||
|
||||
///< \~chinese 像素类型 \~english Pixel Type
|
||||
#define MV3D_RGBD_PIXEL_MONO 0x01000000 ///< \~chinese Mono像素格式 \~english Mono pixel format
|
||||
#define MV3D_RGBD_PIXEL_COLOR 0x02000000 ///< \~chinese Color像素格式 \~english Color pixel format
|
||||
#define MV3D_RGBD_PIXEL_CUSTOM 0x80000000 ///< \~chinese 自定义像素格式 \~english Custom pixel format
|
||||
#define MV3D_RGBD_PIXEL_BIT_COUNT(n) ((n) << 16) ///< \~chinese 像素格式 \~english Pixel format
|
||||
|
||||
///< \~chinese 属性常量定义 \~english Attribute Key Value Definition
|
||||
#define MV3D_RGBD_INT_WIDTH "Width" ///< \~chinese 图像宽 \~english Image width
|
||||
#define MV3D_RGBD_INT_HEIGHT "Height" ///< \~chinese 图像高 \~english Image height
|
||||
#define MV3D_RGBD_ENUM_WORKINGMODE "CameraWorkingMode" ///< \~chinese 工作模式 \~english The camera working mode
|
||||
#define MV3D_RGBD_ENUM_PIXELFORMAT "PixelFormat" ///< \~chinese 像素格式 \~english Pixel format
|
||||
#define MV3D_RGBD_ENUM_IMAGEMODE "ImageMode" ///< \~chinese 图像模式 \~english Image mode
|
||||
#define MV3D_RGBD_FLOAT_GAIN "Gain" ///< \~chinese 增益 \~english Gain
|
||||
#define MV3D_RGBD_FLOAT_EXPOSURETIME "ExposureTime" ///< \~chinese 曝光时间 \~english Exposure time
|
||||
#define MV3D_RGBD_FLOAT_FRAMERATE "AcquisitionFrameRate" ///< \~chinese 采集帧率 \~english Acquired frame rate
|
||||
#define MV3D_RGBD_ENUM_TRIGGERSELECTOR "TriggerSelector" ///< \~chinese 触发选择器 \~english Trigger selector
|
||||
#define MV3D_RGBD_ENUM_TRIGGERMODE "TriggerMode" ///< \~chinese 触发模式 \~english Trigger mode
|
||||
#define MV3D_RGBD_ENUM_TRIGGERSOURCE "TriggerSource" ///< \~chinese 触发源 \~english Trigger source
|
||||
#define MV3D_RGBD_FLOAT_TRIGGERDELAY "TriggerDelay" ///< \~chinese 触发延迟时间 \~english Trigger delay
|
||||
#define MV3D_RGBD_INT_IMAGEALIGN "ImageAlign" ///< \~chinese 深度图对齐到RGB坐标系（默认值1：对齐；0：不对齐），重启程序后恢复默认值
|
||||
///< \~english Whether to align the depth image with RGB image: 1 (align, default value), 0 (not align). The default value will be restored after rebooting
|
||||
#define MV3D_RGBD_BOOL_LASERENABLE "LaserEnable" ///< \~chinese 投射器使能 \~english Open or close laser control
|
||||
#define Mv3D_RGBD_FLOAT_BASEDISTANCE "BaseDistance" ///< \~chinese 左右目基线距 \~english Left and right eyes base distance
|
||||
#define MV3D_RGBD_ENUM_RESOLUTION "BinningSelector" ///< \~chinese 采集分辨率 \~english Acquisition resolution
|
||||
#define MV3D_RGBD_INT_OUTPUT_RGBD "OutputRgbd" ///< \~chinese RGBD图像输出（默认值0：不输出；1：输出），重启程序后恢复默认值
|
||||
///< \~english Whether to output rgbd image: 1 (not output, default value), 0 (output). The default value will be restored after rebooting
|
||||
#define MV3D_RGBD_INT_DEVICE_TIMEOUT "DeviceTimeout" ///< \~chinese 设备控制超时时间(ms) \~english Timeout period of device control (unit: ms)
|
||||
#define MV3D_RGBD_INT_IMAGE_NODE_NUM "ImageNodeNum" ///< \~chinese 图像缓存节点个数 \~english The number of image buffer node
|
||||
#define MV3D_RGBD_FLOAT_Z_UNIT "ZUnit" ///< \~chinese 深度图量纲(mm) \~english The dimension of depth image (unit: mm)
|
||||
|
||||
///< \~chinese 设备文件枚举常量定义 \~english File Constant Definition
|
||||
#define MV3D_RGBD_SENSOR_CALI "RGBDSensorCali" ///< \~chinese 相机传感器标定文件 \~english The calibration file of camera sensor
|
||||
#define MV3D_RGBD_HANDEYE_CALI "RGBDHandEyeCali" ///< \~chinese 相机手眼标定文件 \~english The camera hand-eye calibration file
|
||||
|
||||
///< \~chinese 类型定义 \~english Typedef Documentation
|
||||
typedef int32_t MV3D_RGBD_STATUS; ///< \~chinese 返回值类型 \~english Return value type
|
||||
typedef void* HANDLE; ///< \~chinese 句柄类型 \~english Handle type
|
||||
typedef int32_t BOOL; ///< \~chinese BOOL类型 \~english Boolean type
|
||||
|
||||
#ifndef TRUE
|
||||
#define TRUE 1
|
||||
#endif
|
||||
#ifndef FALSE
|
||||
#define FALSE 0
|
||||
#endif
|
||||
#ifndef NULL
|
||||
#define NULL 0
|
||||
#endif
|
||||
|
||||
|
||||
/***************************************** Part4 ch: 枚举 | en: Enumeration **************************************************/
|
||||
|
||||
///< \~chinese 设备类型 \~english Device Type
|
||||
typedef enum Mv3dRgbdDeviceType
|
||||
{
|
||||
DeviceType_Ethernet = 1 << 0, ///< \~chinese 网口设备 \~english Network type camera
|
||||
DeviceType_USB = 1 << 1, ///< \~chinese USB设备 \~english USB type camera
|
||||
DeviceType_Ethernet_Vir = 1 << 2, ///< \~chinese 虚拟网口设备 \~english Virtual network type camera
|
||||
DeviceType_USB_Vir = 1 << 3 ///< \~chinese 虚拟USB设备 \~english Virtual USB type camera
|
||||
} Mv3dRgbdDeviceType;
|
||||
|
||||
///< \~chinese ip类型 \~english IP Address Mode
|
||||
typedef enum Mv3dRgbdIpCfgMode
|
||||
{
|
||||
IpCfgMode_Static = 1, ///< \~chinese 静态IP \~english Static IP mode
|
||||
IpCfgMode_DHCP = 2, ///< \~chinese 自动分配IP(DHCP) \~english Automatically assigned IP address (DHCP)
|
||||
IpCfgMode_LLA = 4 ///< \~chinese 自动分配IP(LLA) \~english Automatically assigned IP address (LLA)
|
||||
} Mv3dRgbdIpCfgMode;
|
||||
|
||||
///< \~chinese USB协议类型 \~english Supported USB Protocol Type
|
||||
typedef enum Mv3dRgbdUsbProtocol
|
||||
{
|
||||
UsbProtocol_USB2 = 1, ///< \~chinese USB 2.0 \~english USB 2.0
|
||||
UsbProtocol_USB3 = 2 ///< \~chinese USB 3.0 \~english USB 3.0
|
||||
} Mv3dRgbdUsbProtocol;
|
||||
|
||||
///< \~chinese 图像格式 \~english Image Format
|
||||
typedef enum Mv3dRgbdImageType
|
||||
{
|
||||
ImageType_Undefined = MV3D_RGBD_UNDEFINED, ///< \~chinese 未定义的图像类型 \~english Undefined image type
|
||||
ImageType_Mono8 = (MV3D_RGBD_PIXEL_MONO | MV3D_RGBD_PIXEL_BIT_COUNT(8) | 0x0001), //0x01080001,(Mono8)
|
||||
ImageType_Mono16 = (MV3D_RGBD_PIXEL_MONO | MV3D_RGBD_PIXEL_BIT_COUNT(16) | 0x0007), //0x01100007,(Mono16)
|
||||
ImageType_Depth = (MV3D_RGBD_PIXEL_MONO | MV3D_RGBD_PIXEL_BIT_COUNT(16) | 0x00B8), //0x011000B8,(C16)
|
||||
ImageType_YUV422 = (MV3D_RGBD_PIXEL_COLOR | MV3D_RGBD_PIXEL_BIT_COUNT(16) | 0x0032), //0x02100032
|
||||
ImageType_YUV420SP_NV12 = (MV3D_RGBD_PIXEL_COLOR | MV3D_RGBD_PIXEL_BIT_COUNT(12) | 0x8001), //0x020C8001
|
||||
ImageType_YUV420SP_NV21 = (MV3D_RGBD_PIXEL_COLOR | MV3D_RGBD_PIXEL_BIT_COUNT(12) | 0x8002), //0x020C8002
|
||||
ImageType_RGB8_Planar = (MV3D_RGBD_PIXEL_COLOR | MV3D_RGBD_PIXEL_BIT_COUNT(24) | 0x0021), //0x02180021
|
||||
ImageType_PointCloud = (MV3D_RGBD_PIXEL_COLOR | MV3D_RGBD_PIXEL_BIT_COUNT(96) | 0x00C0), //0x026000C0,(ABC32f)
|
||||
ImageType_Jpeg = (MV3D_RGBD_PIXEL_CUSTOM| MV3D_RGBD_PIXEL_BIT_COUNT(24) | 0x0001), //0x80180001, ///< \~chinese 自定义的图片格式 \~english The custom image format
|
||||
ImageType_Rgbd = (MV3D_RGBD_PIXEL_CUSTOM| MV3D_RGBD_PIXEL_COLOR| MV3D_RGBD_PIXEL_BIT_COUNT(40) | 0x3007), //0x82283007
|
||||
} Mv3dRgbdImageType;
|
||||
|
||||
///< \~chinese 数据流类型 \~english Data Stream Type
|
||||
typedef enum Mv3dRgbdStreamType
|
||||
{
|
||||
StreamType_Undefined = 0,
|
||||
StreamType_Depth = 1, ///< \~chinese 深度图数据流 \~english Depth image data stream
|
||||
StreamType_Color = 2, ///< \~chinese 彩色图数据流 \~english Color image data stream
|
||||
StreamType_Ir_Left = 3, ///< \~chinese 矫正后的左目图数据流 \~english Corrected left-eye image data stream
|
||||
StreamType_Ir_Right = 4, ///< \~chinese 矫正后的右目图数据流 \~english Corrected right-eye image data stream
|
||||
StreamType_Imu = 5, ///< \~chinese IMU数据流 \~english IMU data stream
|
||||
StreamType_LeftMono = 6, ///< \~chinese 左目泛光图数据流 \~english Illuminated left-eye image data stream
|
||||
StreamType_Mask = 7, ///< \~chinese 掩膜图数据流 \~english Mask image data stream
|
||||
StreamType_Mono = 8, ///< \~chinese 未矫正的左右目融合图数据流 \~english Uncorrected left and right eyes fusion image data stream
|
||||
StreamType_Phase = 9, ///< \~chinese 相位图数据流 \~english Phase image data stream
|
||||
StreamType_Rgbd = 10 ///< \~chinese RGB-D图数据流 \~english RGB-D image data stream
|
||||
}Mv3dRgbdStreamType;
|
||||
|
||||
///< \~chinese 坐标系类型 \~english Coordinates Type
|
||||
typedef enum Mv3dRgbdCoordinateType
|
||||
{
|
||||
CoordinateType_Undefined = 0, ///< \~chinese 未定义的坐标系 \~english Undefined coordinates
|
||||
CoordinateType_Depth = 1, ///< \~chinese 深度图坐标系 \~english Depth image coordinates
|
||||
CoordinateType_RGB = 2 ///< \~chinese RGB图坐标系 \~english RGB image coordinates
|
||||
} Mv3dRgbdCoordinateType;
|
||||
|
||||
///< \~chinese 异常信息 \~english Exception Information
|
||||
typedef enum Mv3dRgbdDevException
|
||||
{
|
||||
DevException_Disconnect = 1 ///< \~chinese 设备断开连接 \~english The device is disconnected
|
||||
} Mv3dRgbdDevException;
|
||||
|
||||
///< \~chinese 参数类型 \~english Parameter Data Type
|
||||
typedef enum Mv3dRgbdParamType
|
||||
{
|
||||
ParamType_Bool = 1, ///< \~chinese Bool类型参数 \~english Boolean
|
||||
ParamType_Int = 2, ///< \~chinese Int类型参数 \~english Int
|
||||
ParamType_Float = 3, ///< \~chinese Float类型参数 \~english Float
|
||||
ParamType_Enum = 4, ///< \~chinese Enum类型参数 \~english Enumeration
|
||||
ParamType_String = 5 ///< \~chinese String类型参数 \~english String
|
||||
} Mv3dRgbdParamType;
|
||||
|
||||
///< \~chinese 深度图与rgb图存图格式 \~english Format of Saving Depth Images and RGB Images
|
||||
typedef enum Mv3dRgbdFileType
|
||||
{
|
||||
FileType_BMP = 1, ///< \~chinese BMP格式 \~english BMP
|
||||
FileType_JPG = 2, ///< \~chinese JPG格式 \~english JPG
|
||||
FileType_TIFF = 3 ///< \~chinese TIFF格式 \~english TIFF
|
||||
}Mv3dRgbdFileType;
|
||||
|
||||
///< \~chinese 点云图存图格式 \~english Formats of Saving Point Cloud Images
|
||||
typedef enum Mv3dRgbdPointCloudFileType
|
||||
{
|
||||
PointCloudFileType_PLY = 1, ///< \~chinese PLY_ASCII格式 \~english PLY(ascii)
|
||||
PointCloudFileType_CSV = 2, ///< \~chinese CSV格式 \~english CSV
|
||||
PointCloudFileType_OBJ = 3, ///< \~chinese OBJ格式 \~english OBJ
|
||||
PointCloudFileType_PLY_Binary = 4 ///< \~chinese PLY_BINARY格式 \~english PLY(binary)
|
||||
}Mv3dRgbdPointCloudFileType;
|
||||
|
||||
|
||||
/***************************************** Part5 ch: 数据结构体 | en: Data Structure **************************************************/
|
||||
|
||||
///< \~chinese 版本信息 \~english SDK Version Information
|
||||
typedef struct _MV3D_RGBD_VERSION_INFO_
|
||||
{
|
||||
uint32_t nMajor; ///< \~chinese 主版本 \~english The main version
|
||||
uint32_t nMinor; ///< \~chinese 次版本 \~english The minor version
|
||||
uint32_t nRevision; ///< \~chinese 修正版本 \~english The revision version
|
||||
} MV3D_RGBD_VERSION_INFO;
|
||||
|
||||
///< \~chinese 网口设备信息 \~english Network Type Device Information
|
||||
typedef struct _MV3D_RGBD_DEVICE_NET_INFO_
|
||||
{
|
||||
unsigned char chMacAddress[8]; ///< \~chinese Mac地址 \~english MAC address
|
||||
Mv3dRgbdIpCfgMode enIPCfgMode; ///< \~chinese 当前IP类型 \~english Current IP type
|
||||
char chCurrentIp[16]; ///< \~chinese 设备当前IP \~english Device‘s IP address
|
||||
char chCurrentSubNetMask[16]; ///< \~chinese 设备当前子网掩码 \~english Device’s subnet mask
|
||||
char chDefultGateWay[16]; ///< \~chinese 设备默认网关 \~english Device‘s default gateway
|
||||
char chNetExport[16]; ///< \~chinese 网口IP地址 \~english Network interface IP address
|
||||
|
||||
uint8_t nReserved[16]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_DEVICE_NET_INFO;
|
||||
|
||||
///< \~chinese USB设备信息 \~english USB Type Device Information
|
||||
typedef struct _MV3D_RGBD_DEVICE_USB_INFO_
|
||||
{
|
||||
uint32_t nVendorId; ///< \~chinese 供应商ID号 \~english Manufacturer/vendor ID
|
||||
uint32_t nProductId; ///< \~chinese 产品ID号 \~english Product ID
|
||||
Mv3dRgbdUsbProtocol enUsbProtocol; ///< \~chinese 支持的USB协议 \~english Supported USB protocol types
|
||||
char chDeviceGUID[64]; ///< \~chinese 设备GUID号 \~english Device GUID
|
||||
|
||||
uint8_t nReserved[16]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_DEVICE_USB_INFO;
|
||||
|
||||
///< \~chinese 枚举相关设备信息 \~english Device Information
|
||||
typedef struct _MV3D_RGBD_DEVICE_INFO_
|
||||
{
|
||||
char chManufacturerName[32]; ///< \~chinese 设备厂商 \~english Manufacturer
|
||||
char chModelName[32]; ///< \~chinese 设备型号 \~english Device model
|
||||
char chDeviceVersion[32]; ///< \~chinese 设备版本 \~english Device version
|
||||
char chManufacturerSpecificInfo[44]; ///< \~chinese 设备厂商特殊信息 \~english The specific information about manufacturer
|
||||
uint32_t nDevTypeInfo; ///< \~chinese 设备类型信息 \~english Device type info
|
||||
char chSerialNumber[16]; ///< \~chinese 设备序列号 \~english Device serial number
|
||||
char chUserDefinedName[16]; ///< \~chinese 设备用户自定义名称 \~english User-defined name of device
|
||||
Mv3dRgbdDeviceType enDeviceType; ///< \~chinese 设备类型：网口、USB、虚拟网口设备、虚拟USB设备
|
||||
///< \~english Device type(network / USB / virtual network / virtual USB)
|
||||
union
|
||||
{
|
||||
MV3D_RGBD_DEVICE_NET_INFO stNetInfo; ///< \~chinese 网口设备特有 \~english Network type device
|
||||
MV3D_RGBD_DEVICE_USB_INFO stUsbInfo; ///< \~chinese USB设备特有 \~english USB type device information
|
||||
} SpecialInfo; ///< \~chinese 不同设备特有信息 \~english Particular information of different types devices
|
||||
|
||||
} MV3D_RGBD_DEVICE_INFO;
|
||||
|
||||
///< \~chinese IP配置 \~english IP Configuration Parameters
|
||||
typedef struct _MV3D_RGBD_IP_CONFIG_
|
||||
{
|
||||
Mv3dRgbdIpCfgMode enIPCfgMode; ///< \~chinese IP配置模式 \~english IP configuration mode
|
||||
char chDestIp[16]; ///< \~chinese 设置的目标IP,仅静态IP模式下有效 \~english The IP address which is to be attributed to the target device. It is valid in the static IP mode only
|
||||
char chDestNetMask[16]; ///< \~chinese 设置的目标子网掩码,仅静态IP模式下有效 \~english The subnet mask of target device. It is valid in the static IP mode only
|
||||
char chDestGateWay[16]; ///< \~chinese 设置的目标网关,仅静态IP模式下有效 \~english The gateway of target device. It is valid in the static IP mode only
|
||||
|
||||
|
||||
uint8_t nReserved[16]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_IP_CONFIG;
|
||||
|
||||
///< \~chinese 相机图像 \~english Camera Image Parameters
|
||||
typedef struct _MV3D_RGBD_IMAGE_DATA_
|
||||
{
|
||||
Mv3dRgbdImageType enImageType; ///< \~chinese 图像格式 \~english Image format
|
||||
uint32_t nWidth; ///< \~chinese 图像宽 \~english Image width
|
||||
uint32_t nHeight; ///< \~chinese 图像高 \~english Image height
|
||||
uint8_t* pData; ///< \~chinese 相机输出的图像数据 \~english Image data, which is outputted by the camera
|
||||
uint32_t nDataLen; ///< \~chinese 图像数据长度(字节) \~english Image data length (bytes)
|
||||
uint32_t nFrameNum; ///< \~chinese 帧号，代表第几帧图像 \~english Frame number, which indicates the frame sequence
|
||||
int64_t nTimeStamp; ///< \~chinese 设备上报的时间戳 （设备上电从0开始，规则详见设备手册）
|
||||
///< \~english Timestamp uploaded by the device. It starts from 0 when the device is powered on. Refer to the device user manual for detailed rules
|
||||
BOOL bIsRectified; ///< \~chinese 是否校正 \~english Correction flag
|
||||
Mv3dRgbdStreamType enStreamType; ///< \~chinese 流类型，用于区分图像(图像格式相同时) \~english Data stream type, used to distinguish data in the same image format
|
||||
Mv3dRgbdCoordinateType enCoordinateType; ///< \~chinese 坐标系类型 \~english Coordinates type
|
||||
|
||||
uint8_t nReserved[4]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_IMAGE_DATA;
|
||||
|
||||
///< \~chinese 图像帧数据 \~english Frame Data
|
||||
typedef struct _MV3D_RGBD_FRAME_DATA_
|
||||
{
|
||||
uint32_t nImageCount; ///< \~chinese 图像个数，表示stImage数组的有效个数 \~english The number of images. It indicates the number of valid stImage arrays
|
||||
MV3D_RGBD_IMAGE_DATA stImageData[MV3D_RGBD_MAX_IMAGE_COUNT]; ///< \~chinese 图像数组，每一个代表一种类型的图像 \~english Image array, each one represents one type of images
|
||||
uint32_t nValidInfo; ///< \~chinese 帧有效信息：0（帧有效），1 << 0（丢包），1 << 1（触发标识符无效）
|
||||
///< \~english Frame valid info: 0 (Frame is valid), 1 << 0 (lost package), 1 << 1 (trigger is not valid)
|
||||
uint8_t nReserved[12]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_FRAME_DATA;
|
||||
|
||||
///< \~chinese 固件输出的图像附加信息 \~english Image Additional Information Output by Firmware
|
||||
typedef struct _MV3D_RGBD_STREAM_CFG_
|
||||
{
|
||||
Mv3dRgbdImageType enImageType; ///< \~chinese 图像格式 \~english Image format
|
||||
uint32_t nWidth; ///< \~chinese 图像宽 \~english Image width
|
||||
uint32_t nHeight; ///< \~chinese 图像高 \~english Image height
|
||||
|
||||
uint8_t nReserved[32]; ///< \~chinese 保留字节 \~english Reserved
|
||||
}MV3D_RGBD_STREAM_CFG;
|
||||
|
||||
///< \~chinese 固件输出的图像帧附加信息 \~english Frame Additional Information Output by Firmware
|
||||
typedef struct _MV3D_RGBD_STREAM_CFG_LIST_
|
||||
{
|
||||
uint32_t nStreamCfgCount; ///< \~chinese 图像信息数量 \~english The number of image information
|
||||
MV3D_RGBD_STREAM_CFG stStreamCfg[MV3D_RGBD_MAX_IMAGE_COUNT]; ///< \~chinese 图像附加信息 \~english Image additional information
|
||||
|
||||
uint8_t nReserved[16]; ///< \~chinese 保留字节 \~english Reserved
|
||||
}MV3D_RGBD_STREAM_CFG_LIST;
|
||||
|
||||
///< \~chinese 相机内参 \~english Camera Internal Parameters
|
||||
///< | fx| 0| cx|
|
||||
///< | 0| fy| cy|
|
||||
///< | 0| 0| 1|
|
||||
typedef struct _MV3D_RGBD_CAMERA_INTRINSIC_
|
||||
{
|
||||
float fData[3*3]; ///< \~chinese 内参参数：fx,0,cx,0,fy,cy,0,0,1 \~english Internal parameters: fx,0,cx,0,fy,cy,0,0,1
|
||||
} MV3D_RGBD_CAMERA_INTRINSIC;
|
||||
|
||||
///< \~chinese 相机畸变系数 \~english Camera Distortion Coefficient
|
||||
typedef struct _MV3D_RGBD_CAMERA_DISTORTION_
|
||||
{
|
||||
float fData[12]; ///< \~chinese 畸变系数：k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4 \~english Distortion coefficient: k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4
|
||||
|
||||
} MV3D_RGBD_CAMERA_DISTORTION;
|
||||
|
||||
///< \~chinese 相机的内参，畸变系数，分辨率信息 \~english Structure About Camera Internal Parameters, Distortion Coefficient and Resolution Information
|
||||
typedef struct _MV3D_RGBD_CALIB_INFO_
|
||||
{
|
||||
MV3D_RGBD_CAMERA_INTRINSIC stIntrinsic; ///< \~chinese 相机内参 \~english Camera internal parameters
|
||||
MV3D_RGBD_CAMERA_DISTORTION stDistortion; ///< \~chinese 畸变系数 \~english Camera distortion coefficient
|
||||
uint32_t nWidth; ///< \~chinese 图像宽 \~english Image width
|
||||
uint32_t nHeight; ///< \~chinese 图像高 \~english Image height
|
||||
|
||||
uint8_t nReserved[8]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_CALIB_INFO;
|
||||
|
||||
///< \~chinese 相机深度图转Rgb的外参 \~english Camera Extrinsic Parameters of Depth Image to Rgb Image
|
||||
///< | r00| r01| r02| t0|
|
||||
///< | r10| r11| r12| t1|
|
||||
///< | r20| r21| r22| t2|
|
||||
///< | 0| 0| 0| 1|
|
||||
typedef struct _MV3D_RGBD_CAMERA_EXTRINSIC_
|
||||
{
|
||||
float fData[4*4]; ///< \~chinese 深度图转Rgb外参参数：r00,r01,r02,t0,r10,r11,r12,t1,r20,r21,r22,t2,0,0,0,1
|
||||
///< \~english Extrinsic parameters of depth image to rgb image: r00,r01,r02,t0,r10,r11,r12,t1,r20,r21,r22,t2,0,0,0,1
|
||||
}MV3D_RGBD_CAMERA_EXTRINSIC;
|
||||
|
||||
///< \~chinese 相机参数信息 \~english Camera Parameters Information
|
||||
typedef struct _MV3D_RGBD_CAMERA_PARAM_
|
||||
{
|
||||
MV3D_RGBD_CALIB_INFO stDepthCalibInfo; ///< \~chinese 深度图内参和畸变矩阵信息 \~english Depth image intrinsic information and distortion coefficient
|
||||
MV3D_RGBD_CALIB_INFO stRgbCalibInfo; ///< \~chinese rgb内参和畸变矩阵信息 \~english Rgb image intrinsic information and distortion coefficient
|
||||
MV3D_RGBD_CAMERA_EXTRINSIC stDepth2RgbExtrinsic; ///< \~chinese 相机深度图转RGB的外参 \~english Camera extrinsic parameters of depth image to rgb image
|
||||
|
||||
uint8_t nReserved[32]; ///< \~chinese 保留字节 \~english Reserved
|
||||
}MV3D_RGBD_CAMERA_PARAM;
|
||||
|
||||
///< \~chinese Int类型值 \~english Int Type Value
|
||||
typedef struct _MV3D_RGBD_INTPARAM_
|
||||
{
|
||||
int64_t nCurValue; ///< \~chinese 当前值 \~english Current value
|
||||
int64_t nMax; ///< \~chinese 最大值 \~english The maximum value
|
||||
int64_t nMin; ///< \~chinese 最小值 \~english The minimum value
|
||||
int64_t nInc; ///< \~chinese 增量值 \~english The increment value
|
||||
} MV3D_RGBD_INTPARAM;
|
||||
|
||||
///< \~chinese Enum类型值 \~english Enumeration Type Value
|
||||
typedef struct _MV3D_RGBD_ENUMPARAM_
|
||||
{
|
||||
uint32_t nCurValue; ///< \~chinese 当前值 \~english Current value
|
||||
uint32_t nSupportedNum; ///< \~chinese 有效数据个数 \~english The number of valid data
|
||||
uint32_t nSupportValue[MV3D_RGBD_MAX_ENUM_COUNT]; ///< \~chinese 支持的枚举类型 \~english The type of supported enumerations
|
||||
} MV3D_RGBD_ENUMPARAM;
|
||||
|
||||
///< \~chinese Float类型值 \~english Float Type Value
|
||||
typedef struct _MV3D_RGBD_FLOATPARAM_
|
||||
{
|
||||
float fCurValue; ///< \~chinese 当前值 \~english Current value
|
||||
float fMax; ///< \~chinese 最大值 \~english The maximum value
|
||||
float fMin; ///< \~chinese 最小值 \~english The minimum value
|
||||
} MV3D_RGBD_FLOATPARAM;
|
||||
|
||||
///< \~chinese String类型值 \~english String Type Value
|
||||
typedef struct _MV3D_RGBD_STRINGPARAM_
|
||||
{
|
||||
char chCurValue[MV3D_RGBD_MAX_STRING_LENGTH]; ///< \~chinese 当前值 \~english Current value
|
||||
uint32_t nMaxLength; ///< \~chinese 属性节点能设置字符的最大长度 \~english The maximum length of string
|
||||
} MV3D_RGBD_STRINGPARAM;
|
||||
|
||||
///< \~chinese 设备参数 \~english Device Parameters
|
||||
typedef struct _MV3D_RGBD_PARAM_
|
||||
{
|
||||
Mv3dRgbdParamType enParamType; ///< \~chinese 设置属性值类型 \~english Parameter data type
|
||||
union
|
||||
{
|
||||
BOOL bBoolParam; ///< \~chinese Bool类型参数 \~english Boolean type parameter
|
||||
MV3D_RGBD_INTPARAM stIntParam; ///< \~chinese Int类型参数 \~english Int type parameter
|
||||
MV3D_RGBD_FLOATPARAM stFloatParam; ///< \~chinese Float类型参数 \~english Float type parameter
|
||||
MV3D_RGBD_ENUMPARAM stEnumParam; ///< \~chinese Enum类型参数 \~english Enum type parameter
|
||||
MV3D_RGBD_STRINGPARAM stStringParam; ///< \~chinese String类型参数 \~english String type parameter
|
||||
} ParamInfo;
|
||||
|
||||
uint8_t nReserved[16]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_PARAM;
|
||||
|
||||
///< \~chinese 异常信息 \~english Exception Information
|
||||
typedef struct _MV3D_RGBD_EXCEPTION_INFO_
|
||||
{
|
||||
Mv3dRgbdDevException enExceptionId; ///< \~chinese 异常ID \~english Exception ID
|
||||
char chExceptionDes[MV3D_RGBD_MAX_STRING_LENGTH]; ///< \~chinese 异常描述 \~english Exception description
|
||||
|
||||
uint8_t nReserved[4]; ///< \~chinese 保留字节 \~english Reserved
|
||||
} MV3D_RGBD_EXCEPTION_INFO;
|
||||
|
||||
///< \~chinese 文件存取 \~english File Access
|
||||
typedef struct _MV3D_RGBD_FILE_ACCESS_
|
||||
{
|
||||
const char* pUserFileName; ///< \~chinese 用户文件名 \~english User file name
|
||||
const char* pDevFileName; ///< \~chinese 设备文件名 \~english Device file name
|
||||
|
||||
uint8_t nReserved[32]; ///< \~chinese 保留字节 \~english Reserved
|
||||
}MV3D_RGBD_FILE_ACCESS;
|
||||
|
||||
///< \~chinese 文件存取进度 \~english File Access Progress
|
||||
typedef struct _MV3D_RGBD_FILE_ACCESS_PROGRESS_
|
||||
{
|
||||
int64_t nCompleted; ///< \~chinese 已完成的长度 \~english Completed length
|
||||
int64_t nTotal; ///< \~chinese 总长度 \~english Total length
|
||||
|
||||
uint8_t nReserved[32]; ///< \~chinese 保留字节 \~english Reserved
|
||||
}MV3D_RGBD_FILE_ACCESS_PROGRESS;
|
||||
|
||||
|
||||
/***************************************** Part6 ch: 回调接口定义 | en: Callback Interface Definition **************************************************/
|
||||
|
||||
///< \~chinese 帧数据回调 \~english Frame Data Callback
|
||||
typedef void(__stdcall* MV3D_RGBD_FrameDataCallBack) (MV3D_RGBD_FRAME_DATA* pstFrameData, void* pUser);
|
||||
///< \~chinese 异常回调 \~english Exception Callback
|
||||
typedef void(__stdcall* MV3D_RGBD_ExceptionCallBack) (MV3D_RGBD_EXCEPTION_INFO* pstExceptInfo, void* pUser);
|
||||
|
||||
#endif // _MV3D_RGBD_DEFINE_H_
|
||||
159
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdImgProc.h
vendored
Normal file
159
3rdparty/hikvision/rgbd_camera/inc/Mv3dRgbdImgProc.h
vendored
Normal file
@@ -0,0 +1,159 @@
|
||||
#ifndef _MV3D_RGBD_IMG_PROC_H_
|
||||
#define _MV3D_RGBD_IMG_PROC_H_
|
||||
|
||||
#include "Mv3dRgbdDefine.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief RGBD相机深度图像转换点云图像
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstDepthImage [IN] 深度图数据
|
||||
* @param pstPointCloudImage [OUT] 点云图数据
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief depth image convert to pointcloud image
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstDepthImage [IN] depth data
|
||||
* @param pstPointCloudImage [OUT] point cloud data
|
||||
* @return Success, return MV3D_RGBD_OK. Failure,return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloud(void* handle, MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief RGBD相机深度图像转换点云图像（无句柄）
|
||||
* @param pstDepthImage [IN] 深度图数据
|
||||
* @param pstCalibInfo [IN] 标定信息
|
||||
* @param fZunit [IN] 深度图量纲(mm)
|
||||
* @param pstPointCloudImage [OUT] 点云图数据
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief depth image convert to pointcloud image without handle
|
||||
* @param pstDepthImage [IN] depth data
|
||||
* @param pstCalibInfo [IN] calib info
|
||||
* @param fZunit [IN] dimension(mm)
|
||||
* @param pstPointCloudImage [OUT] point cloud data
|
||||
* @return Success, return MV3D_RGBD_OK. Failure,return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloudEx(MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_CALIB_INFO* pstCalibInfo, float fZunit, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 图像坐标系转换
|
||||
* @param pstInImage [IN] 输入图像数据
|
||||
* @param fZunit [IN] 深度图量纲(mm)
|
||||
* @param pstOutImage [OUT] 输出图像数据
|
||||
* @param pstCameraParam [IN][OUT] 相机参数
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief image convert coordinate to rgb coordinate
|
||||
* @param pstInImage [IN] input image data
|
||||
* @param fZunit [IN] dimension(mm)
|
||||
* @param pstOutImage [OUT] output image data
|
||||
* @param pstCameraParam [IN][OUT] camera param
|
||||
* @return Success, return MV3D_RGBD_OK. Failure,return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImageCoordinateTrans(MV3D_RGBD_IMAGE_DATA* pstInImage, float fZunit, MV3D_RGBD_IMAGE_DATA* pstOutImage, MV3D_RGBD_CAMERA_PARAM* pstCameraParam);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 深度图,RGB图和原始图存图接口
|
||||
* 深度图格式:C16
|
||||
* RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* 原始图格式:Mono8(仅支持bmp格式)
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstImage [IN] 图像数据
|
||||
* @param enFileType [IN] 文件类型
|
||||
* @param chFileName [IN] 文件名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief depth and rgb image save image to file
|
||||
* depth image format: C16
|
||||
* rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* mono image format: Mono8(only support bmp file type)
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstImage [IN] image data
|
||||
* @param enFileType [IN] file type
|
||||
* @param chFileName [IN] file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdFileType enFileType, const char* chFileName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 点云图存图接口
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstImage [IN] 图像数据
|
||||
* @param enPointCloudFileType [IN] 点云图文件类型
|
||||
* @param chFileName [IN] 文件名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief pointcloud image save image to file
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstImage [IN] image data
|
||||
* @param enPointCloudFileType [IN] pointcloud image file type
|
||||
* @param chFileName [IN] file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SavePointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 纹理点云存图接口
|
||||
* 纹理图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* 保存的点云图格式:PLY_ASCII
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstPointCloudImage [IN] 点云图像数据
|
||||
* @param pstTexture [IN] 图像纹理数据
|
||||
* @param enPointCloudFileType [IN] 点云图文件类型
|
||||
* @param chFileName [IN] 文件名称
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief textured pointcloud image save image to file
|
||||
* textured image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* saved pointcloud image format: PLY_ASCII
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstPointCloudImage [IN] pointcloude image data
|
||||
* @param pstTexture [IN] image texture data
|
||||
* @param enPointCloudFileType [IN] pointcloud image file type
|
||||
* @param chFileName [IN] file name
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveTexturedPointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage, MV3D_RGBD_IMAGE_DATA* pstTexture, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName);
|
||||
|
||||
/************************************************************************
|
||||
* @~chinese
|
||||
* @brief 显示深度和RGB图像接口
|
||||
* 深度图格式:C16
|
||||
* RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* @param handle [IN] 相机句柄
|
||||
* @param pstImage [IN] 图像数据
|
||||
* @param hWnd [IN] 窗口句柄
|
||||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||||
|
||||
* @~english
|
||||
* @brief display depth and rgb image
|
||||
* depth image format: C16
|
||||
* rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21
|
||||
* @param handle [IN] camera handle
|
||||
* @param pstImage [IN] image data
|
||||
* @param hWnd [IN] windows handle
|
||||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||||
************************************************************************/
|
||||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_DisplayImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, void* hWnd);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // _MV3D_RGBD_IMG_PROC_H_
|
||||
159
3rdparty/hikvision/rgbd_camera/inc/RenderImage.hpp
vendored
Normal file
159
3rdparty/hikvision/rgbd_camera/inc/RenderImage.hpp
vendored
Normal file
@@ -0,0 +1,159 @@
|
||||
#ifndef SAMPLE_COMMON_RENDERIMAGE_HPP_
|
||||
#define SAMPLE_COMMON_RENDERIMAGE_HPP_
|
||||
|
||||
#include "RenderWindow.hpp"
|
||||
|
||||
using namespace RenderImage;
|
||||
|
||||
static int CoverYuv422_T_RGB_Pixel(int y, int u, int v)
|
||||
{
|
||||
unsigned int pixel32 = 0;
|
||||
unsigned char *pixel = (unsigned char *)&pixel32;
|
||||
int r, g, b;
|
||||
r = y + (1.370705 * (v - 128));
|
||||
g = y - (0.698001 * (v - 128)) - (0.337633 * (u - 128));
|
||||
b = y + (1.732446 * (u - 128));
|
||||
if (r > 255)
|
||||
{
|
||||
r = 255;
|
||||
}
|
||||
if (g > 255)
|
||||
{
|
||||
g = 255;
|
||||
}
|
||||
if (b > 255)
|
||||
{
|
||||
b = 255;
|
||||
}
|
||||
if (r < 0)
|
||||
{
|
||||
r = 0;
|
||||
}
|
||||
if (g < 0)
|
||||
{
|
||||
g = 0;
|
||||
}
|
||||
if (b < 0)
|
||||
{
|
||||
b = 0;
|
||||
}
|
||||
pixel[0] = r;
|
||||
pixel[1] = g;
|
||||
pixel[2] = b;
|
||||
return pixel32;
|
||||
}
|
||||
|
||||
|
||||
static void YUV422_T_RGB(unsigned int nWidth, unsigned int nHeight,const unsigned char *pYUVSrc, unsigned char *pRGBDst)
|
||||
{
|
||||
unsigned int in, out = 0;
|
||||
unsigned int pixel_16;
|
||||
unsigned char pixel_24[3];
|
||||
unsigned int pixel32;
|
||||
int y0, u, y1, v;
|
||||
|
||||
if ((pYUVSrc == NULL) || (pRGBDst == NULL))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
for (in = 0; in < nWidth * nHeight * 2; in += 4)
|
||||
{
|
||||
pixel_16 =
|
||||
pYUVSrc[in + 3] << 24 |
|
||||
pYUVSrc[in + 2] << 16 |
|
||||
pYUVSrc[in + 1] << 8 |
|
||||
pYUVSrc[in + 0];
|
||||
y0 = (pixel_16 & 0x000000ff);
|
||||
u = (pixel_16 & 0x0000ff00) >> 8;
|
||||
y1 = (pixel_16 & 0x00ff0000) >> 16;
|
||||
v = (pixel_16 & 0xff000000) >> 24;
|
||||
pixel32 = CoverYuv422_T_RGB_Pixel(y0, u, v);
|
||||
pixel_24[0] = (pixel32 & 0x000000ff);
|
||||
pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
|
||||
pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
|
||||
pRGBDst[out++] = pixel_24[0];
|
||||
pRGBDst[out++] = pixel_24[1];
|
||||
pRGBDst[out++] = pixel_24[2];
|
||||
pixel32 = CoverYuv422_T_RGB_Pixel(y1, u, v);
|
||||
pixel_24[0] = (pixel32 & 0x000000ff);
|
||||
pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
|
||||
pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
|
||||
pRGBDst[out++] = pixel_24[0];
|
||||
pRGBDst[out++] = pixel_24[1];
|
||||
pRGBDst[out++] = pixel_24[2];
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
static int parseFrame(MV3D_RGBD_FRAME_DATA* pstFrameData, RIFrameInfo* pDepth
|
||||
, RIFrameInfo* pRgb, RIFrameInfo* pRgbd)
|
||||
{
|
||||
for (unsigned int i = 0; i < pstFrameData->nImageCount; i++)
|
||||
{
|
||||
//LOGD("parseFrame : framenum (%d) height(%d) width(%d) len (%d)!", pstFrameData->stImageData[i].nFrameNum,
|
||||
// pstFrameData->stImageData[i].nHeight, pstFrameData->stImageData[i].nWidth, pstFrameData->stImageData[i].nDataLen);
|
||||
|
||||
if (ImageType_Depth == pstFrameData->stImageData[i].enImageType)
|
||||
{
|
||||
pDepth->enPixelType = RIPixelType_Coord3D_C16;
|
||||
pDepth->nFrameNum = pstFrameData->stImageData[i].nFrameNum;
|
||||
pDepth->nHeight = pstFrameData->stImageData[i].nHeight;
|
||||
pDepth->nWidth = pstFrameData->stImageData[i].nWidth;
|
||||
pDepth->nFrameLength= pstFrameData->stImageData[i].nDataLen;
|
||||
pDepth->pData = pstFrameData->stImageData[i].pData;
|
||||
}
|
||||
|
||||
if (ImageType_RGB8_Planar == pstFrameData->stImageData[i].enImageType)
|
||||
{
|
||||
pRgb->enPixelType = RIPixelType_RGB8_Planar;
|
||||
pRgb->nFrameNum = pstFrameData->stImageData[i].nFrameNum;
|
||||
pRgb->nHeight = pstFrameData->stImageData[i].nHeight;
|
||||
pRgb->nWidth = pstFrameData->stImageData[i].nWidth;
|
||||
pRgb->nFrameLength = pstFrameData->stImageData[i].nDataLen;
|
||||
pRgb->pData = pstFrameData->stImageData[i].pData;
|
||||
}
|
||||
|
||||
if (ImageType_YUV422 == pstFrameData->stImageData[i].enImageType)
|
||||
{
|
||||
int nDstImageLen = pstFrameData->stImageData[i].nWidth * pstFrameData->stImageData[i].nHeight * 3;
|
||||
static unsigned char* pRGBBuffer = NULL;
|
||||
static unsigned int nImageLen = nDstImageLen;
|
||||
if (pRGBBuffer == NULL || nImageLen != nDstImageLen)
|
||||
{
|
||||
nImageLen = nDstImageLen;
|
||||
pRGBBuffer = (unsigned char *)malloc(nImageLen * sizeof(unsigned char));
|
||||
if (pRGBBuffer == NULL)
|
||||
{
|
||||
// LOGD("YUV422 buffer malloc fail!");
|
||||
return -1;
|
||||
}
|
||||
memset(pRGBBuffer, 0x00, nImageLen * sizeof(unsigned char));
|
||||
// LOGD("YUV422 buffer malloc success!");
|
||||
}
|
||||
YUV422_T_RGB(pstFrameData->stImageData[i].nWidth, pstFrameData->stImageData[i].nHeight, pstFrameData->stImageData[i].pData, pRGBBuffer);
|
||||
|
||||
pRgb->enPixelType = RIPixelType_RGB8_Packed;
|
||||
pRgb->nFrameNum = pstFrameData->stImageData[i].nFrameNum;
|
||||
pRgb->nHeight = pstFrameData->stImageData[i].nHeight;
|
||||
pRgb->nWidth = pstFrameData->stImageData[i].nWidth;
|
||||
pRgb->nFrameLength = nDstImageLen;
|
||||
pRgb->pData = pRGBBuffer;
|
||||
}
|
||||
|
||||
if (ImageType_Rgbd == pstFrameData->stImageData[i].enImageType)
|
||||
{
|
||||
pRgbd->enPixelType = RIPixelType_RGBD_C16;
|
||||
pRgbd->nFrameNum = pstFrameData->stImageData[i].nFrameNum;
|
||||
pRgbd->nHeight = pstFrameData->stImageData[i].nHeight;
|
||||
pRgbd->nWidth = pstFrameData->stImageData[i].nWidth;
|
||||
pRgbd->nFrameLength = pstFrameData->stImageData[i].nDataLen;
|
||||
pRgbd->pData = pstFrameData->stImageData[i].pData;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
1264
3rdparty/hikvision/rgbd_camera/inc/RenderWindow.hpp
vendored
Normal file
1264
3rdparty/hikvision/rgbd_camera/inc/RenderWindow.hpp
vendored
Normal file
File diff suppressed because it is too large
Load Diff
1840
3rdparty/hikvision/rgbd_camera/inc/glad/glad.c
vendored
Normal file
1840
3rdparty/hikvision/rgbd_camera/inc/glad/glad.c
vendored
Normal file
File diff suppressed because it is too large
Load Diff
3611
3rdparty/hikvision/rgbd_camera/inc/glad/glad.h
vendored
Normal file
3611
3rdparty/hikvision/rgbd_camera/inc/glad/glad.h
vendored
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user