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<a href="_deep_camera_interface_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="_deep_camera_interface_8h.html">DeepCameraInterface.h</a>"</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keywordtype">bool</span> <a class="code" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">DeepCameraInterface::isCameraNotUsed</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keywordtype">float</span> <a class="code" href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa">DeepCameraInterface::mDepthClippingDistance</a> = 1.f;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a0bdbf13161d5538727d2358d6c8d243d"> 10</a></span> <a class="code" href="class_deep_camera_interface.html#a0bdbf13161d5538727d2358d6c8d243d">DeepCameraInterface::DeepCameraInterface</a>(QObject *parent) : QObject(parent),</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  display(nullptr),</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  mAlign(RS2_STREAM_COLOR)</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="comment">// cprofile(new rs2::stream_profile),</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> {</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="class_deep_camera_interface.html#af3c79027d936fcc720df3fa2c247f366">cpro</a>=<span class="keyword">false</span>;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  MyDebug;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="class_deep_camera_interface.html#a087fa0fa1a2300e45f723fd5b41bb129">__init__</a>();</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> }</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a636c015e0ce10ad3a7c5f58b5f3066c7"> 20</a></span> <a class="code" href="class_deep_camera_interface.html#a636c015e0ce10ad3a7c5f58b5f3066c7">DeepCameraInterface::~DeepCameraInterface</a>()</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> {</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  MyDebug;</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  {</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>.stop();</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  }</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordflow">catch</span>(...)</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  {}</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> }</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a087fa0fa1a2300e45f723fd5b41bb129"> 32</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a087fa0fa1a2300e45f723fd5b41bb129">DeepCameraInterface::__init__</a>()</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  MyDebug;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a7c41cdc19166f943c6ae015a3f6f6579">mProfile</a> = &<a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a>;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#ad689e0969a2d47073f65f60e9c7dcd48">mPipe</a> = &<a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#ad76d03e70dd9c0ebaff8ce4491b2116e">mData</a> = &<a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a>;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a8c69cecb68d802e6ebf7c2f8bddb2faa">mFrameDepth</a> = &<a class="code" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">mFrameDepth</a>;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a4c060293c54ec190fd45e8a857343ff4">mFrameRgb</a> = &<a class="code" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">mFrameRgb</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#ada26d0acd6ed3e2dd93dc9118779cf7e">mCvRgb</a> = &<a class="code" href="class_deep_camera_interface.html#a8b0fcfce7e23f284fa94b464e21c28cd">mCvRgb</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#ac4279cc611dc9b089d2e7aaa4a78c2a4">mCvDepth</a> = &<a class="code" href="class_deep_camera_interface.html#ae44d612f41f6ecc3681404ecffd8c03c">mCvDepth</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a21e8c956d9b1458597f60c2aef3625ce">mCvDepthColor</a> = &<a class="code" href="class_deep_camera_interface.html#ad49633e051bed948ffae18574117e484">mCvDepthColor</a>;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a8112285ae8611bf1c830d605e298d950">mCvAlignRgb</a> = &<a class="code" href="class_deep_camera_interface.html#a842e0ce9d8aad6d8ca0e9b37033bcdae">mCvAlignRgb</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a9a8539d05ea1beb0987e1de14f9441b4">mCvAlignDepth</a> = &<a class="code" href="class_deep_camera_interface.html#ad6af8c491169cc95f7c099f2a4883291">mCvAlignDepth</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#ab65558b405417b7b3b79cdfa3edca67e">mCvAlignDepthColor</a> = &<a class="code" href="class_deep_camera_interface.html#a263d93531513c69f98b2bbea1b24f2b6">mCvAlignDepthColor</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> }</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#aaaed997433ad7c79487110b9977107c6"> 49</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#aaaed997433ad7c79487110b9977107c6">DeepCameraInterface::testOpenCamera</a>()</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> {</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  MyDebug;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a> = <a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>.start();</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="class_deep_camera_interface.html#ad8ae622c73740151e27abba78c081c4a">mDepthScale</a> = <a class="code" href="class_deep_camera_interface.html#acf1b810372d9b30a6c192bf19ef7bcfb">getDepthScale</a>(<a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a>.get_device());</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">while</span> (!<a class="code" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">DeepCameraInterface::isCameraNotUsed</a>)</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  {</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  clock_t start, end;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  start = clock();</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  namedWindow(<span class="stringliteral">"test"</span>);</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="class_deep_camera_interface.html#a09b9659325952e5281d77aad8b5b3053">waitForFrame</a>();</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="class_deep_camera_interface.html#ae565175ae4935ba7a2fe6199100fa519">collectFrameFromStream</a>();</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="class_deep_camera_interface.html#ac54276e7e1b7c2e496c703394f197858">alignColorWithDepth</a>();</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">//emit signalCameraImageData(data);</span></div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="class_deep_camera_interface.html#a087fa0fa1a2300e45f723fd5b41bb129">__init__</a>();</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">//if (display != nullptr)</span></div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="comment">//display(data);</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  end = clock();</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">double</span> gaptime = (double)(end-start)/CLOCKS_PER_SEC;</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment">// qDebug() << "耗时：" << gaptime << endl;</span></div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  }</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a5d85b45b43897d895e01a300354c8657"> 77</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a5d85b45b43897d895e01a300354c8657">DeepCameraInterface:: slotOpenCameraInitial</a>()</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> {</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  MyDebug;</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="class_deep_camera_interface.html#a4f762ec4bab4db1983674473ed883cd2">mConfig</a>.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 15); <span class="comment">// 调节参数</span></div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="class_deep_camera_interface.html#a4f762ec4bab4db1983674473ed883cd2">mConfig</a>.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 15);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">while</span> (!<a class="code" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">DeepCameraInterface::isCameraNotUsed</a>)</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a> = <a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>.start();</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">catch</span>(...)</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  qDebug() << <span class="stringliteral">"DeepCamera Init Failed"</span>;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">if</span> (!<a class="code" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">DeepCameraInterface::isCameraNotUsed</a>)</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="class_deep_camera_interface.html#ad8ae622c73740151e27abba78c081c4a">mDepthScale</a> = <a class="code" href="class_deep_camera_interface.html#acf1b810372d9b30a6c192bf19ef7bcfb">getDepthScale</a>(<a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a>.get_device());</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span> }</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#add35504784d2f7a1d2288107eeab9d90"> 103</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#add35504784d2f7a1d2288107eeab9d90">DeepCameraInterface::slotOpenCamera</a>()</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span> {</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment">// MyDebug;</span></div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment">// mConfig.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 15);</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment">// mConfig.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 15);</span></div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment">// while (!DeepCameraInterface::isCameraNotUsed)</span></div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment">// {</span></div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment">// try</span></div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment">// {</span></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment">// mProfile = mPipe.start();</span></div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment">// break;</span></div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment">// }</span></div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment">// catch(...)</span></div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment">// {</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment">// qDebug() << "DeepCamera Init Failed";</span></div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment">// }</span></div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment">// }</span></div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment">// if (!DeepCameraInterface::isCameraNotUsed)</span></div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment">// mDepthScale = getDepthScale(mProfile.get_device());</span></div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">//while (!DeepCameraInterface::isCameraNotUsed)</span></div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  clock_t start, end;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  start = clock();</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span> </div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="class_deep_camera_interface.html#a09b9659325952e5281d77aad8b5b3053">waitForFrame</a>();</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="class_deep_camera_interface.html#ae565175ae4935ba7a2fe6199100fa519">collectFrameFromStream</a>();</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="class_deep_camera_interface.html#ac54276e7e1b7c2e496c703394f197858">alignColorWithDepth</a>();</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  emit <a class="code" href="class_deep_camera_interface.html#a290b5039a33f37333d5131838d653725">signalCameraImageData</a>(<a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>);</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="comment">//waitKey(25);</span></div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="comment">//__init__();</span></div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">//if (display != nullptr)</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="comment">//display(data);</span></div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  end = clock();</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">double</span> gaptime = (double)(end-start)/CLOCKS_PER_SEC;</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  qDebug() << <span class="stringliteral">"align 耗时："</span> << gaptime << endl;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> }</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312"> 150</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">DeepCameraInterface::frameToMat</a>(<span class="keyword">const</span> rs2::frame &frame_in, cv::Mat &cv_image_out)</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> {</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  MyDebug;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keyword">using namespace </span>rs2;</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">auto</span> vf = frame_in.as<video_frame>();</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> w = vf.get_width();</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> h = vf.get_height();</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span> </div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">if</span> (frame_in.get_profile().format() == RS2_FORMAT_BGR8)</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  {</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="comment">//cv_image_out = Mat(Size(w, h), CV_8UC3, (void*)frame_in.get_data(), Mat::AUTO_STEP);</span></div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  Mat(Size(w, h), CV_8UC3, (<span class="keywordtype">void</span>*)frame_in.get_data(), Mat::AUTO_STEP)</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  .copyTo(cv_image_out);</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  }</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (frame_in.get_profile().format() == RS2_FORMAT_RGB8)</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">auto</span> <a class="code" href="process__1_8m.html#afa522382c3fac96d0f07658ea5d69adc">r</a> = Mat(Size(w, h), CV_8UC3, (<span class="keywordtype">void</span>*)frame_in.get_data(), Mat::AUTO_STEP);</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="comment">//cv_image_out = r;</span></div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="process__1_8m.html#afa522382c3fac96d0f07658ea5d69adc">r</a>.copyTo(cv_image_out);</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  cv::cvtColor(cv_image_out, cv_image_out, COLOR_BGR2RGB);</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (frame_in.get_profile().format() == RS2_FORMAT_Z16)</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">//cv_image_out = Mat(Size(w, h), CV_16UC1, (void*)frame_in.get_data(), Mat::AUTO_STEP);</span></div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  Mat(Size(w, h), CV_16UC1, (<span class="keywordtype">void</span>*)frame_in.get_data(), Mat::AUTO_STEP).copyTo(cv_image_out);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (frame_in.get_profile().format() == RS2_FORMAT_Y8)</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  {</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">//cv_image_out = Mat(Size(w, h), CV_8UC1, (void*)frame_in.get_data(), Mat::AUTO_STEP);</span></div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  Mat(Size(w, h), CV_8UC1, (<span class="keywordtype">void</span>*)frame_in.get_data(), Mat::AUTO_STEP).copyTo(cv_image_out);</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"Frame format is not supported yet!"</span>);</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  }</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> </div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> }</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div><div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a40e5a90ae35d00534d1611247ee6949a"> 199</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a40e5a90ae35d00534d1611247ee6949a">DeepCameraInterface::depthFrameToMeters</a>(<span class="keyword">const</span> rs2::pipeline &pipe, <span class="keyword">const</span> rs2::depth_frame &frame_in, cv::Mat &cv_image_out)</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> {</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">//MyDebug;</span></div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">using namespace </span>rs2;</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <a class="code" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">frameToMat</a>(frame_in, cv_image_out);</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  cv_image_out.convertTo(cv_image_out, CV_64F);</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keyword">auto</span> depth_scale = pipe.get_active_profile()</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  .get_device()</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  .first<depth_sensor>()</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  .get_depth_scale();</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  cv_image_out = cv_image_out * depth_scale;</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> }</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ae35749d960f6d675e54abe12cf68baea"> 214</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#ae35749d960f6d675e54abe12cf68baea">DeepCameraInterface::depthFrameToColor</a>(<span class="keyword">const</span> rs2::depth_frame &frame_in, cv::Mat &cv_image_out)</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> {</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="comment">//MyDebug;</span></div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  rs2::colorizer color_map;</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  rs2::frame depth_color = color_map.colorize(frame_in);</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">DeepCameraInterface::frameToMat</a>(depth_color, cv_image_out);</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> }</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span> </div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a09b9659325952e5281d77aad8b5b3053"> 225</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a09b9659325952e5281d77aad8b5b3053">DeepCameraInterface::waitForFrame</a>()</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span> {</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  MyDebug;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  this-><a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a> = <a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>.wait_for_frames(); <span class="comment">// Wait for next set of frames from the camera</span></div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> }</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div><div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ae565175ae4935ba7a2fe6199100fa519"> 234</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#ae565175ae4935ba7a2fe6199100fa519">DeepCameraInterface::collectFrameFromStream</a>()</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> {</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">mLocker</a>.lock();</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="comment">//MyDebug;</span></div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  this-><a class="code" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">mFrameDepth</a> = <a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a>.get_depth_frame();</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  this-><a class="code" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">mFrameRgb</a> = <a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a>.get_color_frame();</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment">// //data.cprofile=mFrameRgb.get_profile();</span></div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment">// rs2::stream_profile cprofile =mFrameRgb.get_profile();</span></div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment">// rs2::video_stream_profile cvsprofile(cprofile);</span></div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment">// data.cvsprofile=cvsprofile;</span></div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment">// //cpro=true;</span></div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  rs2::stream_profile cprofile = <a class="code" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">mFrameRgb</a>.get_profile();</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  rs2::video_stream_profile cvsprofile(cprofile);</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">//rs2_intrinsics color_intrin = cvsprofile.get_intrinsics();</span></div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>.<a class="code" href="struct_deep_cam_data.html#a34cbe925da574e4cf1cab8870c1e03e2">color_intrin</a>=cvsprofile.get_intrinsics();</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment">// std::cout<<"\ncolor intrinsics: ";</span></div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment">// std::cout<<data.color_intrin.width<<" "<<data.color_intrin.height<<" ";</span></div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment">// std::cout<<data.color_intrin.ppx<<" "<<data.color_intrin.ppy<<" ";</span></div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment">// std::cout<<data.color_intrin.fx<<" "<<data.color_intrin.fy<<std::endl;</span></div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <a class="code" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">frameToMat</a>(<a class="code" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">mFrameRgb</a>, <a class="code" href="class_deep_camera_interface.html#a8b0fcfce7e23f284fa94b464e21c28cd">mCvRgb</a>);</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <a class="code" href="class_deep_camera_interface.html#a40e5a90ae35d00534d1611247ee6949a">depthFrameToMeters</a>(<a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>, <a class="code" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">mFrameDepth</a>, <a class="code" href="class_deep_camera_interface.html#ae44d612f41f6ecc3681404ecffd8c03c">mCvDepth</a>);</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="class_deep_camera_interface.html#ae35749d960f6d675e54abe12cf68baea">depthFrameToColor</a>(<a class="code" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">mFrameDepth</a>, <a class="code" href="class_deep_camera_interface.html#ad49633e051bed948ffae18574117e484">mCvDepthColor</a>);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <a class="code" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">mLocker</a>.unlock();</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> }</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ac54276e7e1b7c2e496c703394f197858"> 261</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#ac54276e7e1b7c2e496c703394f197858">DeepCameraInterface::alignColorWithDepth</a>()</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> {</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">mLocker</a>.lock();</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">//Get processed aligned frame</span></div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keyword">auto</span> processed = <a class="code" href="class_deep_camera_interface.html#a836b7b2f7ba7b2e9ec7e0f6d450d358b">mAlign</a>.process(<a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a>);</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="comment">// Trying to get both color and aligned depth frames</span></div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  rs2::video_frame color_frame = processed.first(RS2_STREAM_COLOR);</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  rs2::depth_frame aligned_depth_frame = processed.get_depth_frame();</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="comment">//If one of them is unavailable, continue iteration</span></div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">if</span> (!aligned_depth_frame || !color_frame)</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  {</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="comment">// Passing both frames to remove_background so it will "strip" the background</span></div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="comment">// NOTE: in this example, we alter the buffer of the color frame, instead of copying it and altering the copy</span></div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="comment">// This behavior is not recommended in real application since the color frame could be used elsewhere</span></div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="comment">// 这一步是耗时且在实际应用中很可能没有必要的，所以如不是演示用，可以去除</span></div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="comment">//removeBackground(color_frame, aligned_depth_frame, mDepthScale, getDepthClippingDistance());删除过深的部分</span></div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <a class="code" href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">frameToMat</a>(color_frame, <a class="code" href="class_deep_camera_interface.html#a842e0ce9d8aad6d8ca0e9b37033bcdae">mCvAlignRgb</a>);</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <a class="code" href="class_deep_camera_interface.html#a40e5a90ae35d00534d1611247ee6949a">depthFrameToMeters</a>(<a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>, aligned_depth_frame, <a class="code" href="class_deep_camera_interface.html#ad6af8c491169cc95f7c099f2a4883291">mCvAlignDepth</a>); <span class="comment">//单位转换</span></div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment">// depthFrameToColor(aligned_depth_frame, mCvAlignDepthColor);</span></div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <a class="code" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">mLocker</a>.unlock();</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span> }</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div><div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#acf1b810372d9b30a6c192bf19ef7bcfb"> 287</a></span> <span class="keywordtype">float</span> <a class="code" href="class_deep_camera_interface.html#acf1b810372d9b30a6c192bf19ef7bcfb">DeepCameraInterface::getDepthScale</a>(rs2::device dev)</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> {</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="comment">// Go over the device's sensors</span></div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordflow">for</span> (rs2::sensor& sensor : dev.query_sensors())</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  {</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="comment">// Check if the sensor if a depth sensor</span></div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">if</span> (rs2::depth_sensor dpt = sensor.as<rs2::depth_sensor>())</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  {</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">return</span> dpt.get_depth_scale();</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  }</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"Device does not have a depth sensor"</span>);</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span> }</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div><div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#af05090b3f5326a0b953452e64191842f"> 301</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#af05090b3f5326a0b953452e64191842f">DeepCameraInterface::removeBackground</a>(rs2::video_frame &color_frame, <span class="keyword">const</span> rs2::depth_frame &depth_frame, <span class="keywordtype">float</span> depth_scale, <span class="keywordtype">float</span> clipping_dist)</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span> {</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keyword">const</span> uint16_t* p_depth_frame = <span class="keyword">reinterpret_cast<</span><span class="keyword">const </span>uint16_t*<span class="keyword">></span>(depth_frame.get_data());</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  uint8_t* p_color_frame = <span class="keyword">reinterpret_cast<</span>uint8_t*<span class="keyword">></span>(<span class="keyword">const_cast<</span><span class="keywordtype">void</span>*<span class="keyword">></span>(color_frame.get_data()));</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordtype">int</span> width = color_frame.get_width();</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordtype">int</span> height = color_frame.get_height();</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">int</span> color_bpp = color_frame.get_bytes_per_pixel();</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span> </div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="preprocessor"> #pragma omp parallel for schedule(dynamic) //Using OpenMP to try to parallelise the loop</span></div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y < height; y++)</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  {</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keyword">auto</span> depth_pixel_index = y * width;</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = 0; <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> < width; <a class="code" href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a>++, ++depth_pixel_index)</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  {</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="comment">// Get the depth value of the current pixel</span></div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keyword">auto</span> pixels_distance = depth_scale * p_depth_frame[depth_pixel_index];</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span> </div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="comment">// Check if the depth value is invalid (<=0) or greater than the threashold</span></div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">if</span> (pixels_distance <= 0.f || pixels_distance > clipping_dist)</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  {</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">// Calculate the offset in color frame's buffer to current pixel</span></div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keyword">auto</span> offset = depth_pixel_index * color_bpp;</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span> </div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="comment">// Set pixel to "background" color (0x999999)</span></div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  std::memset(&p_color_frame[offset], 0x99, color_bpp);</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  }</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span> }</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div><div class="line"><a name="l00332"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a9f0166034674d2bc315ac131b635d6ad"> 332</a></span> <span class="keywordtype">float</span> <a class="code" href="class_deep_camera_interface.html#a9f0166034674d2bc315ac131b635d6ad">DeepCameraInterface::getDepthClippingDistance</a>()</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> {</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">return</span> <a class="code" href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa">mDepthClippingDistance</a>;</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span> }</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span> </div><div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a26a99585d3137944fef562c8f9737f24"> 337</a></span> <span class="keywordtype">void</span> <a class="code" href="class_deep_camera_interface.html#a26a99585d3137944fef562c8f9737f24">DeepCameraInterface::setDepthClippingDistance</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &distance)</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span> {</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa">mDepthClippingDistance</a> = distance;</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span> }</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span> </div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span> </div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div><div class="ttc" id="class_deep_camera_interface_html_a26a99585d3137944fef562c8f9737f24"><div class="ttname"><a href="class_deep_camera_interface.html#a26a99585d3137944fef562c8f9737f24">DeepCameraInterface::setDepthClippingDistance</a></div><div class="ttdeci">static void setDepthClippingDistance(const float &distance)</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00337">DeepCameraInterface.cpp:337</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a9a8539d05ea1beb0987e1de14f9441b4"><div class="ttname"><a href="struct_deep_cam_data.html#a9a8539d05ea1beb0987e1de14f9441b4">DeepCamData::mCvAlignDepth</a></div><div class="ttdeci">cv::Mat * mCvAlignDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00051">DeepCameraInterface.h:51</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a8112285ae8611bf1c830d605e298d950"><div class="ttname"><a href="struct_deep_cam_data.html#a8112285ae8611bf1c830d605e298d950">DeepCamData::mCvAlignRgb</a></div><div class="ttdeci">cv::Mat * mCvAlignRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00050">DeepCameraInterface.h:50</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_ad689e0969a2d47073f65f60e9c7dcd48"><div class="ttname"><a href="struct_deep_cam_data.html#ad689e0969a2d47073f65f60e9c7dcd48">DeepCamData::mPipe</a></div><div class="ttdeci">rs2::pipeline * mPipe</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00042">DeepCameraInterface.h:42</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a6a4cf2955e9627821bee95e3408229fa"><div class="ttname"><a href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa">DeepCameraInterface::mDepthClippingDistance</a></div><div class="ttdeci">static float mDepthClippingDistance</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00101">DeepCameraInterface.h:101</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_af7b70c4747bb1c40b66fce596d5e3fcc"><div class="ttname"><a href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">DeepCameraInterface::mFrameDepth</a></div><div class="ttdeci">rs2::frame mFrameDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00087">DeepCameraInterface.h:87</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a842e0ce9d8aad6d8ca0e9b37033bcdae"><div class="ttname"><a href="class_deep_camera_interface.html#a842e0ce9d8aad6d8ca0e9b37033bcdae">DeepCameraInterface::mCvAlignRgb</a></div><div class="ttdeci">cv::Mat mCvAlignRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00092">DeepCameraInterface.h:92</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a0bdbf13161d5538727d2358d6c8d243d"><div class="ttname"><a href="class_deep_camera_interface.html#a0bdbf13161d5538727d2358d6c8d243d">DeepCameraInterface::DeepCameraInterface</a></div><div class="ttdeci">DeepCameraInterface(QObject *parent=nullptr)</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00010">DeepCameraInterface.cpp:10</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a5d85b45b43897d895e01a300354c8657"><div class="ttname"><a href="class_deep_camera_interface.html#a5d85b45b43897d895e01a300354c8657">DeepCameraInterface::slotOpenCameraInitial</a></div><div class="ttdeci">void slotOpenCameraInitial()</div><div class="ttdoc">open the rs2 camera. </div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00077">DeepCameraInterface.cpp:77</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a1f15aa1af3d9b38810fae9f8f9ca9b40"><div class="ttname"><a href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">DeepCameraInterface::isCameraNotUsed</a></div><div class="ttdeci">static bool isCameraNotUsed</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00106">DeepCameraInterface.h:106</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ae44d612f41f6ecc3681404ecffd8c03c"><div class="ttname"><a href="class_deep_camera_interface.html#ae44d612f41f6ecc3681404ecffd8c03c">DeepCameraInterface::mCvDepth</a></div><div class="ttdeci">cv::Mat mCvDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00090">DeepCameraInterface.h:90</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_ab65558b405417b7b3b79cdfa3edca67e"><div class="ttname"><a href="struct_deep_cam_data.html#ab65558b405417b7b3b79cdfa3edca67e">DeepCamData::mCvAlignDepthColor</a></div><div class="ttdeci">cv::Mat * mCvAlignDepthColor</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00052">DeepCameraInterface.h:52</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_af3c79027d936fcc720df3fa2c247f366"><div class="ttname"><a href="class_deep_camera_interface.html#af3c79027d936fcc720df3fa2c247f366">DeepCameraInterface::cpro</a></div><div class="ttdeci">bool cpro</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00112">DeepCameraInterface.h:112</a></div></div>
<div class="ttc" id="_p_d_8m_html_a9336ebf25087d91c818ee6e9ec29f8c1"><div class="ttname"><a href="_p_d_8m.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></div><div class="ttdeci">x</div><div class="ttdef"><b>Definition:</b> <a href="_p_d_8m_source.html#l00010">PD.m:10</a></div></div>
<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ab4d6726c1241de2f4838ade4c885db4d"><div class="ttname"><a href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">DeepCameraInterface::mLocker</a></div><div class="ttdeci">QMutex mLocker</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00108">DeepCameraInterface.h:108</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ae35749d960f6d675e54abe12cf68baea"><div class="ttname"><a href="class_deep_camera_interface.html#ae35749d960f6d675e54abe12cf68baea">DeepCameraInterface::depthFrameToColor</a></div><div class="ttdeci">static void depthFrameToColor(const rs2::depth_frame &frame_in, cv::Mat &cv_image_out)</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00214">DeepCameraInterface.cpp:214</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_ac4279cc611dc9b089d2e7aaa4a78c2a4"><div class="ttname"><a href="struct_deep_cam_data.html#ac4279cc611dc9b089d2e7aaa4a78c2a4">DeepCamData::mCvDepth</a></div><div class="ttdeci">cv::Mat * mCvDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00047">DeepCameraInterface.h:47</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a836b7b2f7ba7b2e9ec7e0f6d450d358b"><div class="ttname"><a href="class_deep_camera_interface.html#a836b7b2f7ba7b2e9ec7e0f6d450d358b">DeepCameraInterface::mAlign</a></div><div class="ttdeci">rs2::align mAlign</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00098">DeepCameraInterface.h:98</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a4c060293c54ec190fd45e8a857343ff4"><div class="ttname"><a href="struct_deep_cam_data.html#a4c060293c54ec190fd45e8a857343ff4">DeepCamData::mFrameRgb</a></div><div class="ttdeci">rs2::frame * mFrameRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00045">DeepCameraInterface.h:45</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a290b5039a33f37333d5131838d653725"><div class="ttname"><a href="class_deep_camera_interface.html#a290b5039a33f37333d5131838d653725">DeepCameraInterface::signalCameraImageData</a></div><div class="ttdeci">void signalCameraImageData(const DeepCamData &image_data)</div></div>
<div class="ttc" id="struct_deep_cam_data_html_a21e8c956d9b1458597f60c2aef3625ce"><div class="ttname"><a href="struct_deep_cam_data.html#a21e8c956d9b1458597f60c2aef3625ce">DeepCamData::mCvDepthColor</a></div><div class="ttdeci">cv::Mat * mCvDepthColor</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00048">DeepCameraInterface.h:48</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_af05090b3f5326a0b953452e64191842f"><div class="ttname"><a href="class_deep_camera_interface.html#af05090b3f5326a0b953452e64191842f">DeepCameraInterface::removeBackground</a></div><div class="ttdeci">void removeBackground(rs2::video_frame &color_frame, const rs2::depth_frame &depth_frame, float depth_scale, float clipping_dist)</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00301">DeepCameraInterface.cpp:301</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ad8ae622c73740151e27abba78c081c4a"><div class="ttname"><a href="class_deep_camera_interface.html#ad8ae622c73740151e27abba78c081c4a">DeepCameraInterface::mDepthScale</a></div><div class="ttdeci">float mDepthScale</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00097">DeepCameraInterface.h:97</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a4f762ec4bab4db1983674473ed883cd2"><div class="ttname"><a href="class_deep_camera_interface.html#a4f762ec4bab4db1983674473ed883cd2">DeepCameraInterface::mConfig</a></div><div class="ttdeci">rs2::config mConfig</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00107">DeepCameraInterface.h:107</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ac54276e7e1b7c2e496c703394f197858"><div class="ttname"><a href="class_deep_camera_interface.html#ac54276e7e1b7c2e496c703394f197858">DeepCameraInterface::alignColorWithDepth</a></div><div class="ttdeci">void alignColorWithDepth()</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00261">DeepCameraInterface.cpp:261</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a41c0857310ef0de6a1e24a0c6fdfcc5e"><div class="ttname"><a href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">DeepCameraInterface::mData</a></div><div class="ttdeci">rs2::frameset mData</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00086">DeepCameraInterface.h:86</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ae565175ae4935ba7a2fe6199100fa519"><div class="ttname"><a href="class_deep_camera_interface.html#ae565175ae4935ba7a2fe6199100fa519">DeepCameraInterface::collectFrameFromStream</a></div><div class="ttdeci">void collectFrameFromStream()</div><div class="ttdoc">get single frame from frame collection and transform to cv type. </div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00234">DeepCameraInterface.cpp:234</a></div></div>
<div class="ttc" id="process__1_8m_html_afa522382c3fac96d0f07658ea5d69adc"><div class="ttname"><a href="process__1_8m.html#afa522382c3fac96d0f07658ea5d69adc">r</a></div><div class="ttdeci">r</div><div class="ttdef"><b>Definition:</b> <a href="process__1_8m_source.html#l00029">process_1.m:29</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a263d93531513c69f98b2bbea1b24f2b6"><div class="ttname"><a href="class_deep_camera_interface.html#a263d93531513c69f98b2bbea1b24f2b6">DeepCameraInterface::mCvAlignDepthColor</a></div><div class="ttdeci">cv::Mat mCvAlignDepthColor</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00094">DeepCameraInterface.h:94</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_ada26d0acd6ed3e2dd93dc9118779cf7e"><div class="ttname"><a href="struct_deep_cam_data.html#ada26d0acd6ed3e2dd93dc9118779cf7e">DeepCamData::mCvRgb</a></div><div class="ttdeci">cv::Mat * mCvRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00046">DeepCameraInterface.h:46</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_abfe0113ed33e5bad0983e92d0ee70f4f"><div class="ttname"><a href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">DeepCameraInterface::mPipe</a></div><div class="ttdeci">rs2::pipeline mPipe</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00085">DeepCameraInterface.h:85</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a40e5a90ae35d00534d1611247ee6949a"><div class="ttname"><a href="class_deep_camera_interface.html#a40e5a90ae35d00534d1611247ee6949a">DeepCameraInterface::depthFrameToMeters</a></div><div class="ttdeci">static void depthFrameToMeters(const rs2::pipeline &pipe, const rs2::depth_frame &frame_in, cv::Mat &cv_image_out)</div><div class="ttdoc">DeepCameraInterface::depthFrameToMeters. </div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00199">DeepCameraInterface.cpp:199</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_af03979d84b8694f983dec68559841bb5"><div class="ttname"><a href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">DeepCameraInterface::mProfile</a></div><div class="ttdeci">rs2::pipeline_profile mProfile</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00084">DeepCameraInterface.h:84</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a09b9659325952e5281d77aad8b5b3053"><div class="ttname"><a href="class_deep_camera_interface.html#a09b9659325952e5281d77aad8b5b3053">DeepCameraInterface::waitForFrame</a></div><div class="ttdeci">void waitForFrame()</div><div class="ttdoc">get a collection of frames from rs2, and assign the value to mData. </div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00225">DeepCameraInterface.cpp:225</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ab1572fcceed614bdf94fcae7a56e54f2"><div class="ttname"><a href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">DeepCameraInterface::data</a></div><div class="ttdeci">DeepCamData data</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00109">DeepCameraInterface.h:109</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_acf1b810372d9b30a6c192bf19ef7bcfb"><div class="ttname"><a href="class_deep_camera_interface.html#acf1b810372d9b30a6c192bf19ef7bcfb">DeepCameraInterface::getDepthScale</a></div><div class="ttdeci">float getDepthScale(rs2::device dev)</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00287">DeepCameraInterface.cpp:287</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a9f0166034674d2bc315ac131b635d6ad"><div class="ttname"><a href="class_deep_camera_interface.html#a9f0166034674d2bc315ac131b635d6ad">DeepCameraInterface::getDepthClippingDistance</a></div><div class="ttdeci">static float getDepthClippingDistance()</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00332">DeepCameraInterface.cpp:332</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a7c41cdc19166f943c6ae015a3f6f6579"><div class="ttname"><a href="struct_deep_cam_data.html#a7c41cdc19166f943c6ae015a3f6f6579">DeepCamData::mProfile</a></div><div class="ttdeci">rs2::pipeline_profile * mProfile</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00049">DeepCameraInterface.h:49</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ad49633e051bed948ffae18574117e484"><div class="ttname"><a href="class_deep_camera_interface.html#ad49633e051bed948ffae18574117e484">DeepCameraInterface::mCvDepthColor</a></div><div class="ttdeci">cv::Mat mCvDepthColor</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00091">DeepCameraInterface.h:91</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a840a725309b7b049745cefa8aece8312"><div class="ttname"><a href="class_deep_camera_interface.html#a840a725309b7b049745cefa8aece8312">DeepCameraInterface::frameToMat</a></div><div class="ttdeci">static void frameToMat(const rs2::frame &frame_in, cv::Mat &cv_image_out)</div><div class="ttdoc">DeepCameraInterface::frameToMat. </div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00150">DeepCameraInterface.cpp:150</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_ad76d03e70dd9c0ebaff8ce4491b2116e"><div class="ttname"><a href="struct_deep_cam_data.html#ad76d03e70dd9c0ebaff8ce4491b2116e">DeepCamData::mData</a></div><div class="ttdeci">rs2::frameset * mData</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00043">DeepCameraInterface.h:43</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a3e50d2531d1fd1dadce7ce692bf18c8e"><div class="ttname"><a href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">DeepCameraInterface::mFrameRgb</a></div><div class="ttdeci">rs2::frame mFrameRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00088">DeepCameraInterface.h:88</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_aaaed997433ad7c79487110b9977107c6"><div class="ttname"><a href="class_deep_camera_interface.html#aaaed997433ad7c79487110b9977107c6">DeepCameraInterface::testOpenCamera</a></div><div class="ttdeci">void testOpenCamera()</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00049">DeepCameraInterface.cpp:49</a></div></div>
<div class="ttc" id="_deep_camera_interface_8h_html"><div class="ttname"><a href="_deep_camera_interface_8h.html">DeepCameraInterface.h</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a34cbe925da574e4cf1cab8870c1e03e2"><div class="ttname"><a href="struct_deep_cam_data.html#a34cbe925da574e4cf1cab8870c1e03e2">DeepCamData::color_intrin</a></div><div class="ttdeci">rs2_intrinsics color_intrin</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00055">DeepCameraInterface.h:55</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_add35504784d2f7a1d2288107eeab9d90"><div class="ttname"><a href="class_deep_camera_interface.html#add35504784d2f7a1d2288107eeab9d90">DeepCameraInterface::slotOpenCamera</a></div><div class="ttdeci">void slotOpenCamera()</div><div class="ttdoc">this is a slot of timer_detectFace timeout, not a open function. it get data from rs2 and emit to pro...</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00103">DeepCameraInterface.cpp:103</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_ad6af8c491169cc95f7c099f2a4883291"><div class="ttname"><a href="class_deep_camera_interface.html#ad6af8c491169cc95f7c099f2a4883291">DeepCameraInterface::mCvAlignDepth</a></div><div class="ttdeci">cv::Mat mCvAlignDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00093">DeepCameraInterface.h:93</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a087fa0fa1a2300e45f723fd5b41bb129"><div class="ttname"><a href="class_deep_camera_interface.html#a087fa0fa1a2300e45f723fd5b41bb129">DeepCameraInterface::__init__</a></div><div class="ttdeci">void __init__()</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00032">DeepCameraInterface.cpp:32</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a636c015e0ce10ad3a7c5f58b5f3066c7"><div class="ttname"><a href="class_deep_camera_interface.html#a636c015e0ce10ad3a7c5f58b5f3066c7">DeepCameraInterface::~DeepCameraInterface</a></div><div class="ttdeci">~DeepCameraInterface()</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8cpp_source.html#l00020">DeepCameraInterface.cpp:20</a></div></div>
<div class="ttc" id="class_deep_camera_interface_html_a8b0fcfce7e23f284fa94b464e21c28cd"><div class="ttname"><a href="class_deep_camera_interface.html#a8b0fcfce7e23f284fa94b464e21c28cd">DeepCameraInterface::mCvRgb</a></div><div class="ttdeci">cv::Mat mCvRgb</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00089">DeepCameraInterface.h:89</a></div></div>
<div class="ttc" id="struct_deep_cam_data_html_a8c69cecb68d802e6ebf7c2f8bddb2faa"><div class="ttname"><a href="struct_deep_cam_data.html#a8c69cecb68d802e6ebf7c2f8bddb2faa">DeepCamData::mFrameDepth</a></div><div class="ttdeci">rs2::frame * mFrameDepth</div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00044">DeepCameraInterface.h:44</a></div></div>
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