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bfc227b8d4
this enables the usage of current sensors, while dropping support for legacy devices, see: https://github.com/IntelRealSense/librealsense#overview Given limited resources, and that the legacy sensors where not that great, I think we should focus on v2.
109 lines
2.5 KiB
C++
109 lines
2.5 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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#include "precomp.hpp"
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#ifdef HAVE_LIBREALSENSE
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#include "cap_librealsense.hpp"
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namespace cv
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{
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VideoCapture_LibRealsense::VideoCapture_LibRealsense(int) : mAlign(RS2_STREAM_COLOR)
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{
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try
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{
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rs2::config config;
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// Configure all streams to run at VGA resolution at default fps
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config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16);
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config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8);
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config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8);
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mPipe.start();
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}
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catch (const rs2::error&)
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{
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}
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}
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VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
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double VideoCapture_LibRealsense::getProperty(int prop) const
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{
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double propValue = 0;
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if (prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE)
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return mPipe.get_active_profile().get_device().first<rs2::depth_sensor>().get_depth_scale();
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return propValue;
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}
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bool VideoCapture_LibRealsense::setProperty(int, double)
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{
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bool isSet = false;
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return isSet;
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}
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bool VideoCapture_LibRealsense::grabFrame()
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{
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if (!isOpened())
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return false;
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try
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{
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mData = mAlign.process(mPipe.wait_for_frames());
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}
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catch (const rs2::error&)
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{
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return false;
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}
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return true;
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}
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bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame)
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{
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rs2::video_frame _frame(nullptr);
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int type;
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switch (outputType)
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{
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case CAP_INTELPERC_DEPTH_MAP:
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_frame = mData.get_depth_frame().as<rs2::video_frame>();
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type = CV_16UC1;
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break;
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case CAP_INTELPERC_IR_MAP:
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_frame = mData.get_infrared_frame();
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type = CV_8UC1;
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break;
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case CAP_INTELPERC_IMAGE:
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_frame = mData.get_color_frame();
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type = CV_8UC3;
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break;
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default:
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return false;
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}
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try
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{
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// we copy the data straight away, so const_cast should be fine
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void* data = const_cast<void*>(_frame.get_data());
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Mat(_frame.get_height(), _frame.get_width(), type, data, _frame.get_stride_in_bytes()).copyTo(frame);
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}
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catch (const rs2::error&)
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{
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return false;
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}
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return true;
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}
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int VideoCapture_LibRealsense::getCaptureDomain()
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{
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return CAP_INTELPERC;
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}
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bool VideoCapture_LibRealsense::isOpened() const
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{
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return bool(std::shared_ptr<rs2_pipeline>(mPipe));
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}
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}
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#endif
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