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47fb79bd8c
videoio: add Orbbec Gemini 2 and Astra 2 camera support ### Test Result | OS | Compiler | Camera | Result | |-----|-----------|---------|--------| |Windows11| (VS2022)MSVC17.3|Orbbec Gemini 2|Pass| |Windows11| (VS2022)MSVC17.3|Orbbec Astra 2|Pass| |Ubuntu22.04|GCC9.2|Orbbec Gemini 2|Pass| |Ubuntu22.04|GCC9.2|Orbbec Astra 2|Pass| ### Pull Request Readiness Checklist - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] The feature is well documented and sample code can be built with the project CMake
69 lines
2.0 KiB
C++
69 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 <condition_variable>
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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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std::condition_variable frameCv_;
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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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