mirror of
https://github.com/opencv/opencv.git
synced 2025-06-11 11:45:30 +08:00
2b9d1a2ff8
Orbbec Camera supports MacOS，Gemini2 and Gemini2L support Y16 format #24877 note: 1.Gemini2 and Gemini2L must use the latest firmware -- https://github.com/orbbec/OrbbecFirmware; 2.Administrator privileges are necessary to run on MacOS.
75 lines
2.1 KiB
C++
75 lines
2.1 KiB
C++
// 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.
|
|
|
|
/*
|
|
* Copyright(C) 2024 by ORBBEC Technology., Inc.
|
|
* Authors:
|
|
* Huang Zhenchang <yufeng@orbbec.com>
|
|
* Yu Shuai <daiyin@orbbec.com>
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef _CAP_LIBORBBEC_HPP_
|
|
#define _CAP_LIBORBBEC_HPP_
|
|
|
|
#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK)
|
|
|
|
#include <libobsensor/ObSensor.hpp>
|
|
#include <mutex>
|
|
|
|
namespace cv
|
|
{
|
|
|
|
struct CameraParam
|
|
{
|
|
float p0[4];
|
|
float p1[4];
|
|
float p2[9];
|
|
float p3[3];
|
|
float p4[5];
|
|
float p5[5];
|
|
uint32_t p6[2];
|
|
uint32_t p7[2];
|
|
};
|
|
|
|
class VideoCapture_obsensor : public IVideoCapture
|
|
{
|
|
public:
|
|
VideoCapture_obsensor(int index);
|
|
virtual ~VideoCapture_obsensor();
|
|
|
|
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:
|
|
std::mutex videoFrameMutex;
|
|
std::shared_ptr<ob::VideoFrame> colorFrame;
|
|
std::shared_ptr<ob::VideoFrame> depthFrame;
|
|
std::shared_ptr<ob::VideoFrame> grabbedColorFrame;
|
|
std::shared_ptr<ob::VideoFrame> grabbedDepthFrame;
|
|
std::shared_ptr<ob::Pipeline> pipe;
|
|
std::shared_ptr<ob::Config> config;
|
|
CameraParam camParam;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|
|
#endif
|