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<a href="_deep_camera_interface_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/***************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// .==. .==.</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// //`^\\ //^`\\</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// // ^ ^\(\__/)/^ ^^\\</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// //^ ^^ ^/+ 0\ ^^ ^ \\</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// //^ ^^ ^/( >< )\^ ^ ^ \\</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// // ^^ ^/\| v''v |/\^ ^ ^\\</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// // ^^/\/ / `~~` \ \/\^ ^\\</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// ----------------------------</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// BE CAREFULL! THERE IS A DRAGON.</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">//</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// 功能：深度摄像头</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// 模块：class DeepCameraInterface</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// (c) 哈尔滨工业大学深圳研究生院，王昕教授课题组 2018</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// 2018-05-09 肖镇龙 init</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// 2018-08-09 肖镇龙 realsense控制代码</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// 2018-08-17 肖镇龙 realsense基本接口，多线程等</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// 2018-08-17 肖镇龙 深度图像和彩色图像对齐</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">***************************************/</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#ifndef DEEPCAMERAINTERFACE_H</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#define DEEPCAMERAINTERFACE_H</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <opencv2/opencv.hpp></span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <opencv2/core/core.hpp></span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <opencv2/highgui/highgui.hpp></span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <librealsense2/rs.hpp></span> <span class="comment">// Include RealSense Cross Platform API</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <librealsense2/rsutil.h></span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include <iostream></span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include <exception></span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include <QObject></span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include <QMutex></span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include <QImage></span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include <QThread></span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include "<a class="code" href="_common_8h.html">BusinessLogic/Common.h</a>"</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include "<a class="code" href="debugprint_8h.html">BusinessLogic/debugprint.h</a>"</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <time.h></span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html"> 40</a></span> <span class="keyword">struct </span><a class="code" href="struct_deep_cam_data.html">DeepCamData</a></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#ad689e0969a2d47073f65f60e9c7dcd48"> 42</a></span>  rs2::pipeline *<a class="code" href="struct_deep_cam_data.html#ad689e0969a2d47073f65f60e9c7dcd48">mPipe</a>;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#ad76d03e70dd9c0ebaff8ce4491b2116e"> 43</a></span>  rs2::frameset *<a class="code" href="struct_deep_cam_data.html#ad76d03e70dd9c0ebaff8ce4491b2116e">mData</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a8c69cecb68d802e6ebf7c2f8bddb2faa"> 44</a></span>  rs2::frame *<a class="code" href="struct_deep_cam_data.html#a8c69cecb68d802e6ebf7c2f8bddb2faa">mFrameDepth</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a4c060293c54ec190fd45e8a857343ff4"> 45</a></span>  rs2::frame *<a class="code" href="struct_deep_cam_data.html#a4c060293c54ec190fd45e8a857343ff4">mFrameRgb</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#ada26d0acd6ed3e2dd93dc9118779cf7e"> 46</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#ada26d0acd6ed3e2dd93dc9118779cf7e">mCvRgb</a>;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#ac4279cc611dc9b089d2e7aaa4a78c2a4"> 47</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#ac4279cc611dc9b089d2e7aaa4a78c2a4">mCvDepth</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a21e8c956d9b1458597f60c2aef3625ce"> 48</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#a21e8c956d9b1458597f60c2aef3625ce">mCvDepthColor</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a7c41cdc19166f943c6ae015a3f6f6579"> 49</a></span>  rs2::pipeline_profile *<a class="code" href="struct_deep_cam_data.html#a7c41cdc19166f943c6ae015a3f6f6579">mProfile</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a8112285ae8611bf1c830d605e298d950"> 50</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#a8112285ae8611bf1c830d605e298d950">mCvAlignRgb</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a9a8539d05ea1beb0987e1de14f9441b4"> 51</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#a9a8539d05ea1beb0987e1de14f9441b4">mCvAlignDepth</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#ab65558b405417b7b3b79cdfa3edca67e"> 52</a></span>  cv::Mat *<a class="code" href="struct_deep_cam_data.html#ab65558b405417b7b3b79cdfa3edca67e">mCvAlignDepthColor</a>;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">// rs2::stream_profile cprofile;</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment">// rs2::video_stream_profile cvsprofile;</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="struct_deep_cam_data.html#a34cbe925da574e4cf1cab8870c1e03e2"> 55</a></span>  rs2_intrinsics <a class="code" href="struct_deep_cam_data.html#a34cbe925da574e4cf1cab8870c1e03e2">color_intrin</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> };</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html"> 59</a></span> <span class="keyword">class </span><a class="code" href="class_deep_camera_interface.html">DeepCameraInterface</a> : <span class="keyword">public</span> QObject</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  Q_OBJECT</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">public</span> slots:</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">void</span> slotOpenCamera();</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">void</span> slotOpenCameraInitial();</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">explicit</span> <a class="code" href="class_deep_camera_interface.html">DeepCameraInterface</a>(QObject *parent = <span class="keyword">nullptr</span>);</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  ~<a class="code" href="class_deep_camera_interface.html">DeepCameraInterface</a>();</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">void</span> __init__();</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordtype">void</span> testOpenCamera();</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>  <span class="keywordtype">void</span> <span class="keyword">static</span> frameToMat(<span class="keyword">const</span> rs2::frame &frame_in, cv::Mat &cv_image_out);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">void</span> <span class="keyword">static</span> depthFrameToMeters(<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="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">void</span> <span class="keyword">static</span> depthFrameToColor(<span class="keyword">const</span> rs2::depth_frame &frame_in, cv::Mat &cv_image_out);</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">void</span> waitForFrame();</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">void</span> collectFrameFromStream();</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">void</span> alignColorWithDepth();</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">float</span> getDepthScale(rs2::device dev);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">void</span> removeBackground(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="l00080"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a1406721e2d492eab5d2208cc0c25617a"> 80</a></span>  void (*display)(<span class="keyword">const</span> <a class="code" href="struct_deep_cam_data.html">DeepCamData</a> &data);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">private</span>: <span class="comment">//data</span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// Declare RealSense pipeline, encapsulating the actual device and sensors</span></div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5"> 84</a></span>  rs2::pipeline_profile <a class="code" href="class_deep_camera_interface.html#af03979d84b8694f983dec68559841bb5">mProfile</a>;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f"> 85</a></span>  rs2::pipeline <a class="code" href="class_deep_camera_interface.html#abfe0113ed33e5bad0983e92d0ee70f4f">mPipe</a>;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e"> 86</a></span>  rs2::frameset <a class="code" href="class_deep_camera_interface.html#a41c0857310ef0de6a1e24a0c6fdfcc5e">mData</a>;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc"> 87</a></span>  rs2::frame <a class="code" href="class_deep_camera_interface.html#af7b70c4747bb1c40b66fce596d5e3fcc">mFrameDepth</a>;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e"> 88</a></span>  rs2::frame <a class="code" href="class_deep_camera_interface.html#a3e50d2531d1fd1dadce7ce692bf18c8e">mFrameRgb</a>;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a8b0fcfce7e23f284fa94b464e21c28cd"> 89</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#a8b0fcfce7e23f284fa94b464e21c28cd">mCvRgb</a>;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ae44d612f41f6ecc3681404ecffd8c03c"> 90</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#ae44d612f41f6ecc3681404ecffd8c03c">mCvDepth</a>; <span class="comment">// 以米为单位的深度数据</span></div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ad49633e051bed948ffae18574117e484"> 91</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#ad49633e051bed948ffae18574117e484">mCvDepthColor</a>; <span class="comment">// 以颜色表示的深度数据</span></div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a842e0ce9d8aad6d8ca0e9b37033bcdae"> 92</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#a842e0ce9d8aad6d8ca0e9b37033bcdae">mCvAlignRgb</a>;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ad6af8c491169cc95f7c099f2a4883291"> 93</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#ad6af8c491169cc95f7c099f2a4883291">mCvAlignDepth</a>;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a263d93531513c69f98b2bbea1b24f2b6"> 94</a></span>  cv::Mat <a class="code" href="class_deep_camera_interface.html#a263d93531513c69f98b2bbea1b24f2b6">mCvAlignDepthColor</a>;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keyword">private</span>: <span class="comment">//属性</span></div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ad8ae622c73740151e27abba78c081c4a"> 97</a></span>  <span class="keywordtype">float</span> <a class="code" href="class_deep_camera_interface.html#ad8ae622c73740151e27abba78c081c4a">mDepthScale</a>;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a836b7b2f7ba7b2e9ec7e0f6d450d358b"> 98</a></span>  rs2::align <a class="code" href="class_deep_camera_interface.html#a836b7b2f7ba7b2e9ec7e0f6d450d358b">mAlign</a>;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// Define a variable for controlling the distance to clip</span></div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa"> 101</a></span>  <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_deep_camera_interface.html#a6a4cf2955e9627821bee95e3408229fa">mDepthClippingDistance</a>;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">static</span> <span class="keywordtype">float</span> getDepthClippingDistance();</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> setDepthClippingDistance(<span class="keyword">const</span> <span class="keywordtype">float</span> &distance);</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="keyword">public</span>:</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40"> 106</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="class_deep_camera_interface.html#a1f15aa1af3d9b38810fae9f8f9ca9b40">isCameraNotUsed</a>;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#a4f762ec4bab4db1983674473ed883cd2"> 107</a></span>  rs2::config <a class="code" href="class_deep_camera_interface.html#a4f762ec4bab4db1983674473ed883cd2">mConfig</a>;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d"> 108</a></span>  QMutex <a class="code" href="class_deep_camera_interface.html#ab4d6726c1241de2f4838ade4c885db4d">mLocker</a>;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2"> 109</a></span>  <a class="code" href="struct_deep_cam_data.html">DeepCamData</a> <a class="code" href="class_deep_camera_interface.html#ab1572fcceed614bdf94fcae7a56e54f2">data</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">//rs2::stream_profile cprofile;</span></div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="class_deep_camera_interface.html#af3c79027d936fcc720df3fa2c247f366"> 112</a></span>  <span class="keywordtype">bool</span> <a class="code" href="class_deep_camera_interface.html#af3c79027d936fcc720df3fa2c247f366">cpro</a>;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> signals:</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">// 注：传递非标准库或非QT的的数据类型，需要在connect前进行注册</span></div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">void</span> signalCameraImageData(<span class="keyword">const</span> <a class="code" href="struct_deep_cam_data.html">DeepCamData</a> &image_data);</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> signalCameraImageData2(<span class="keyword">const</span> cv::Mat &image_data);</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</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="preprocessor">#endif // DEEPCAMERAINTERFACE_H</span></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="struct_deep_cam_data_html"><div class="ttname"><a href="struct_deep_cam_data.html">DeepCamData</a></div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00040">DeepCameraInterface.h:40</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="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="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="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_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="debugprint_8h_html"><div class="ttname"><a href="debugprint_8h.html">debugprint.h</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_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="_common_8h_html"><div class="ttname"><a href="_common_8h.html">Common.h</a></div><div class="ttdoc">common algorithms, including Mat2Qimage.. and servo data process. </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_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_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="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="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"><div class="ttname"><a href="class_deep_camera_interface.html">DeepCameraInterface</a></div><div class="ttdef"><b>Definition:</b> <a href="_deep_camera_interface_8h_source.html#l00059">DeepCameraInterface.h:59</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="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_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_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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