88 lines
2.1 KiB
C++
88 lines
2.1 KiB
C++
#pragma once
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#include <pangolin/pangolin.h>
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#include <pangolin/video/video.h>
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#include <pangolin/video/iostream_operators.h>
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namespace rs2 {
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class pipeline;
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class config;
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}
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namespace pangolin
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{
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//! Interface to video capture sources
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struct RealSense2Video : public VideoInterface, public VideoPropertiesInterface, public VideoPlaybackInterface
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{
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public:
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// Open all RGB and Depth streams from all devices
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RealSense2Video(ImageDim dim=ImageDim(640,480), int fps=30);
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// Open streams specified
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// TODO
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//RealSense2Video(std::vector<OpenNiStreamMode>& stream_modes);
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~RealSense2Video();
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//! Implement VideoInput::Start()
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void Start() override;
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//! Implement VideoInput::Stop()
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void Stop() override;
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//! Implement VideoInput::SizeBytes()
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size_t SizeBytes() const override;
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//! Implement VideoInput::Streams()
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const std::vector<StreamInfo>& Streams() const override;
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//! Implement VideoInput::GrabNext()
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bool GrabNext( unsigned char* image, bool wait = true ) override;
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//! Implement VideoInput::GrabNewest()
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bool GrabNewest( unsigned char* image, bool wait = true ) override;
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//! Implement VideoPropertiesInterface::Properties()
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const picojson::value& DeviceProperties() const override {
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return device_properties;
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}
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//! Implement VideoPropertiesInterface::Properties()
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const picojson::value& FrameProperties() const override {
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return frame_properties;
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}
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//! Implement VideoPlaybackInterface::GetCurrentFrameId
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size_t GetCurrentFrameId() const override;
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//! Implement VideoPlaybackInterface::GetTotalFrames
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size_t GetTotalFrames() const override;
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//! Implement VideoPlaybackInterface::Seek
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size_t Seek(size_t frameid) override;
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protected:
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size_t sizeBytes;
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std::vector<StreamInfo> streams;
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picojson::value device_properties;
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picojson::value frame_properties;
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picojson::value* streams_properties;
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size_t current_frame_index;
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size_t total_frames;
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rs2::pipeline* pipe;
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rs2::config* cfg;
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ImageDim dim_;
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size_t fps_;
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};
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}
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