git.maemo.org Git - opencv/blob - otherlibs/PTGrey/PGControl.h

   1 #ifndef __PG_CONTROL__
   2 #define __PG_CONTROL__
   3
   4 /* the values of enum is important! */
   5
   6 typedef enum
   7 {
   8     PT_TOP_RAW_IMAGE = 0,
   9     PT_LEFT_RAW_IMAGE = 1,
  10     PT_RIGHT_RAW_IMAGE = 2,
  11     PT_DISPARITY_IMAGE = 3,
  12
  13     PT_RECTIFIED_IMAGE = 4,
  14     PT_EDGE_IMAGE = 5,
  15
  16     PT_OBJ_IMAGE = 6, /* Corresponds to the right camera */
  17     PT_DISPARITY_OBJ_IMAGE = 7,
  18
  19     PT_BACKGROUND_IMAGE = 8,
  20     PT_POINTCLOUD_IMAGE = 9,
  21     PT_IMAGE_MAX = 10
  22 } PTGreyImageType;
  23
  24 #define PG_IMAGE_MAX ((int)PT_IMAGE_MAX)
  25 #define PG_RAW_IMAGE(x) ((PTGreyImageType)(((int)(x))&0x3))
  26 #define PG_DIGICLOPS_IMAGE(x) (1<<(((int)(x))&0x3))
  27
  28 const static char* ImageNames[PT_IMAGE_MAX] =
  29 { "Top raw image", "Left raw image", "Right raw image",
  30     "Disparity", "Rectified image", "Edge image",
  31     "Object image", "Object disparity", "Background",
  32     "Pointcloud"
  33 };
  34
  35 #define PT_IMAGE_NAME(x) ImageNames[x]
  36
  37
  38
  39 // Structure needed to communicate to the companion task consuming the images.
  40 typedef struct {
  41         HANDLE MyHandle;                                                // handle to our partner task.
  42         int   PGTerminate;
  43         int   VBTaskPresent;    // flag used to indicate that the VB code is in the driver's seat.
  44
  45         int   ImageList[PG_IMAGE_MAX];          // Selected images
  46
  47         int   nrows;                                                    // Raw imput resolution
  48         int   ncols;
  49         int   DRows;                                            // Use the tmp values to speed up disparity computations.
  50         int   DCols;                                            // DRows and DCols are the Rows and Cols to display
  51         int   NewParameters;
  52
  53         int   MinDisparity;
  54         int   MaxDisparity;
  55
  56         int   TextureValidation;                                // True or false
  57         float TextureValidationThreshold;
  58         int   TextureValidationMapping;
  59
  60         int   UniquenessValidation;                             // True or false
  61         float UniquenessValidationThreshold;
  62         int   UniquenessValidationMapping;
  63
  64         int   StereoMask;
  65         int   SubPixelInterpolation;
  66         int   StrictSubPixelValidation;
  67
  68         int   Rectify;
  69         int   LowPass;
  70         int   DoStereo;
  71
  72         int   EdgeMask;
  73         int   EdgeCorrelation;
  74         int   PGDebug;                                  // Turn on debugs in the Point Grey code
  75
  76         int       Total_Memory;                         // How much memory we have allocated to share.  Make sure we don't exceed this.
  77         float ZCapValue;                                // Useful to trim uninteresting Z-Key data in the bud
  78         int   DifferenceThreshold;              // Controls what values appear in the background subtraction
  79         int   ComputedView;                             // a disparity, rectified, edge or pointcloud has been requested
  80         int   ShowCameraControl;                // Show the iris and brightness control (inside filter)
  81         int   ZBucketMin;                               // a ZBucket must have more than this to qualify as meaningful.
  82         int       MaxCols;                                      // maximum columns (so max buffer is obtained.)
  83         int       MaxRows;                                      // maximum rows (so max buffer is obtained.)
  84     int   DisparityThreshold;       // if disparity < DisparityThreshold then disparity = MinDisparity
  85         int   RectifiedDisparity;       // disparity images rectification flag
  86
  87 } PGClient;
  88
  89 typedef struct {
  90         int   Initializing;
  91     int   NewData[PG_IMAGE_MAX];
  92
  93         char *DigiclopsBase;            // set this so other address spaces can translate databuffers above.
  94         char *DataBuffers[PG_IMAGE_MAX]; // Addresses of buffers for each image type
  95         char *OutputBuffers[PG_IMAGE_MAX]; // Addresses of buffers for each image type
  96
  97         int   BackGroundAvailable;      // A background image is available.
  98         int   FrameCount;                               // Server counts how many frames are coming over.
  99     long  ticks;               // Pointer to the clock value corresponding to the frame
 100
 101         int   Top;                                              // BoundingBox for hand
 102         int   Left;                                             // BoundingBox for hand
 103         int   Width;                                            // BoundingBox for hand
 104         int   Height;                                           // BoundingBox for hand
 105 } PGServer;
 106
 107 typedef struct {
 108         float x;
 109         float y;
 110         float z;
 111 } xyzTuple;
 112
 113 typedef struct {
 114         double CameraDistance;
 115         double CameraAzimuth;
 116         double CameraInclination;
 117         double CameraX;
 118         double CameraY;
 119
 120         int Terminate;          // use this to terminate the OpenGL task.
 121         int VBTaskPresent;      // flag used to indicate that the VB code is in the driver's seat.
 122         int CloudCount;         // Count of xyz tuples in pointcloud after background subtraction.
 123         int MinCloudCount;      // Required minimum cloud count (or assume it is not an interesting point cloud.)
 124         int ComputeHandRegion; // flag to indicate that the OpenGL task should compute the hand region.
 125
 126         float NextLine[6];                      // Expose the coordinates of the fitted line.
 127
 128         float CenterX;          // This is the center of the hand in 3D
 129         float CenterY;
 130         float CenterZ;
 131 } OpenGLData;
 132
 133 #endif /* __PG_CONTROL__ */