fc3e393516
* videoio: add support for obsensor (Orbbec RGB-D Camera ) * obsensor: code format issues fixed and some code optimized * obsensor: fix typo and format issues * obsensor: fix crosses initialization error
67 lines
2.0 KiB
C++
67 lines
2.0 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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/*
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* Copyright(C) 2022 by ORBBEC Technology., Inc.
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* Authors:
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* Huang Zhenchang <yufeng@orbbec.com>
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef OPENCV_VIDEOIO_CAP_OBSENSOR_CAPTURE_HPP
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#define OPENCV_VIDEOIO_CAP_OBSENSOR_CAPTURE_HPP
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#include <map>
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#include <mutex>
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#include "cap_obsensor/obsensor_stream_channel_interface.hpp"
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#ifdef HAVE_OBSENSOR
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namespace cv {
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class VideoCapture_obsensor : public IVideoCapture
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{
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public:
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VideoCapture_obsensor(int index);
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virtual ~VideoCapture_obsensor() {}
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virtual double getProperty(int propIdx) const CV_OVERRIDE;
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virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
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virtual bool grabFrame() CV_OVERRIDE;
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virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;
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virtual int getCaptureDomain() CV_OVERRIDE {
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return CAP_OBSENSOR;
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}
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virtual bool isOpened() const CV_OVERRIDE {
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return isOpened_;
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}
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private:
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bool isOpened_;
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std::vector<Ptr<obsensor::IStreamChannel>> streamChannelGroup_;
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std::mutex frameMutex_;
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Mat depthFrame_;
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Mat colorFrame_;
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Mat grabbedDepthFrame_;
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Mat grabbedColorFrame_;
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obsensor::CameraParam camParam_;
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int camParamScale_;
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};
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} // namespace cv::
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#endif // HAVE_OBSENSOR
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#endif // OPENCV_VIDEOIO_CAP_OBSENSOR_CAPTURE_HPP
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