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Thirdparty/Pangolin/include/pangolin/video/drivers/realsense.h

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+#pragma once
+
+#include <pangolin/pangolin.h>
+
+#include <pangolin/video/video.h>
+
+#include <pangolin/video/iostream_operators.h>
+
+namespace rs {
+class context;
+class device;
+}
+
+namespace pangolin
+{
+
+//! Interface to video capture sources
+struct RealSenseVideo : public VideoInterface, public VideoPropertiesInterface, public VideoPlaybackInterface
+{
+public:
+
+    // Open all RGB and Depth streams from all devices
+    RealSenseVideo(ImageDim dim=ImageDim(640,480), int fps=30);
+
+    // Open streams specified
+    // TODO
+    //RealSenseVideo(std::vector<OpenNiStreamMode>& stream_modes);
+
+    ~RealSenseVideo();
+
+    //! Implement VideoInput::Start()
+    void Start() override;
+
+    //! Implement VideoInput::Stop()
+    void Stop() override;
+
+    //! Implement VideoInput::SizeBytes()
+    size_t SizeBytes() const override;
+
+    //! Implement VideoInput::Streams()
+    const std::vector<StreamInfo>& Streams() const override;
+
+    //! Implement VideoInput::GrabNext()
+    bool GrabNext( unsigned char* image, bool wait = true ) override;
+
+    //! Implement VideoInput::GrabNewest()
+    bool GrabNewest( unsigned char* image, bool wait = true ) override;
+
+    //! Implement VideoPropertiesInterface::Properties()
+    const picojson::value& DeviceProperties() const override {
+        return device_properties;
+    }
+
+    //! Implement VideoPropertiesInterface::Properties()
+    const picojson::value& FrameProperties() const override {
+        return frame_properties;
+    }
+
+    //! Implement VideoPlaybackInterface::GetCurrentFrameId
+    size_t GetCurrentFrameId() const override;
+
+    //! Implement VideoPlaybackInterface::GetTotalFrames
+    size_t GetTotalFrames() const override;
+
+    //! Implement VideoPlaybackInterface::Seek
+    size_t Seek(size_t frameid) override;
+
+protected:
+    size_t sizeBytes;
+
+    std::vector<StreamInfo> streams;
+
+    picojson::value device_properties;
+    picojson::value frame_properties;
+    picojson::value* streams_properties;
+
+    size_t current_frame_index;
+    size_t total_frames;
+
+    rs::context* ctx_;
+    std::vector<rs::device*> devs_;
+
+    ImageDim  dim_;
+    size_t fps_;
+};
+
+}