cap_librealsense.hpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#ifndef _CAP_LIBREALSENE_HPP_
#define _CAP_LIBREALSENE_HPP_
#ifdef HAVE_LIBREALSENSE
#include <librealsense2/rs.hpp>
namespace cv
{
class VideoCapture_LibRealsense : public IVideoCapture
{
public:
VideoCapture_LibRealsense(int index);
virtual ~VideoCapture_LibRealsense();
virtual double getProperty(int propIdx) const CV_OVERRIDE;
virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
virtual bool grabFrame() CV_OVERRIDE;
virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;
virtual int getCaptureDomain() CV_OVERRIDE;
virtual bool isOpened() const CV_OVERRIDE;
protected:
rs2::pipeline mPipe;
rs2::frameset mData;
rs2::align mAlign;
double getDepthGeneratorProperty(int propIdx) const;
double getImageGeneratorProperty(int propIdx) const;
double getIrGeneratorProperty(int propIdx) const;
double getCommonProperty(int propIdx) const;
};
}
#endif
#endif