Orbbec: Support color channel for Stereo/Embedded S and supress warni…

…ngs we can not avoid.

BetaCameras/OrbbecOpenNI/AutoResetEvent.cpp

@@ -0,0 +1,30 @@
+#include "AutoResetEvent.h"
+#include <mutex>
+#include <condition_variable>
+#include <thread>
+
+bool flag_ = false;
+std::mutex protect_;
+std::condition_variable signal_;
+
+void AutoResetEventSet()
+{
+	std::lock_guard<std::mutex> _(protect_);
+	flag_ = true;
+	signal_.notify_one();
+}
+
+void AutoResetEventReset()
+{
+	std::lock_guard<std::mutex> _(protect_);
+	flag_ = false;
+}
+
+bool AutoResetEventWaitOne()
+{
+	std::unique_lock<std::mutex> lk(protect_);
+	while (!flag_) // prevent spurious wakeups from doing harm
+		signal_.wait(lk);
+	flag_ = false; // waiting resets the flag
+	return true;
+}

BetaCameras/OrbbecOpenNI/AutoResetEvent.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#include <stdio.h>
+
+void AutoResetEventSet();
+void AutoResetEventReset();
+bool AutoResetEventWaitOne();
+

BetaCameras/OrbbecOpenNI/ObCommon.h

@@ -0,0 +1,13 @@
+#ifndef __OB_COMMON_H__
+#define __OB_COMMON_H__
+
+
+//#include <XnStatus.h>
+#include <iostream>
+
+
+#define OB_LOG_INFO(args)   printf("OB_INFO : ");printf(args)
+#define OB_LOG_ERROR(args)   printf("OB_ERROR : ");printf(args)
+
+
+#endif // __OB_COMMON_H__

BetaCameras/OrbbecOpenNI/ObUvcAPI.h

@@ -0,0 +1,55 @@
+#ifndef __OB_UVCAPI_H__
+#define __OB_UVCAPI_H__
+
+
+#include <OniCTypes.h>
+#include <stdint.h>
+
+#include <vector>
+#include <map>
+#include <memory>
+#include <functional>
+#include <string>
+
+#include "AutoResetEvent.h"
+
+//To keep things simple, we should take the highest color resolution which matches the aspect ratio of the intrinsics and 
+//has maximum FPS (in our case 30)
+
+//With this mode we can get up to 50fps, but depending on the illumination it can drop down to 15fps
+//#define UVC_COLOR_WIDTH 1280
+//#define UVC_COLOR_HEIGHT 960
+
+//With this mode we can get up to 26fps, but depending on the illumination it can drop down to 15fps
+//#define UVC_COLOR_WIDTH 2592
+//#define UVC_COLOR_HEIGHT 1944
+
+#define UVC_COLOR_MEDIASUBTYPE MEDIASUBTYPE_NV12
+//#define UVC_COLOR_MEDIASUBTYPE MEDIASUBTYPE_MJPG //Also works, but needs more processing time
+//#define UVC_COLOR_MEDIASUBTYPE MEDIASUBTYPE_YUY2 //Delivers high framerates only for 640x480 or lower
+
+struct ObUVCDevice;
+
+void ProcessorCallback(const void *frame, int size, void *pstream);
+
+int ObUVCInit(int uvcColorWidth, int uvcColorHeight, bool uvcColorFlipImage);
+void ObUVCFillColorImage(unsigned char* colorData);
+void ObUVCShutdown();
+void ObUVCWaitForNewColorImage();
+void ConvertNV12ToRGBImage(unsigned char* nv12_image);
+void ConvertYUY2ToRGBImage(unsigned char* yuy2_image);
+void ConvertNV12ToRGBImageAndFlip(unsigned char* nv12_image);
+void ConvertYUY2ToRGBImageAndFlip(unsigned char* yuy2_image);
+
+int enumerate_all_devices(std::map<std::string, std::shared_ptr<ObUVCDevice>> &devices);
+int get_vendor_id(const ObUVCDevice & device);
+int get_product_id(const ObUVCDevice & device);
+
+void set_stream(ObUVCDevice & device, int subdevice_index, void * pstream);
+
+typedef std::function<void(const void * frame, int size, void *pstream)> video_channel_callback;
+void set_subdevice_mode(ObUVCDevice & device, int subdevice_index, video_channel_callback callback);
+
+void start_streaming(ObUVCDevice & device,int subdevice_index=0);
+void stop_streaming(ObUVCDevice & device, int subdevice_index=0);
+#endif