RGBDSensor.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <string>
 
#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/geometry/RGBDImage.h"
#include "open3d/t/io/sensor/RGBDVideoMetadata.h"
 
namespace open3d {
using io::RGBDSensorConfig;
namespace t {
namespace io {
 
class RGBDSensor {
public:
    RGBDSensor() {}
    virtual ~RGBDSensor() {}
 
    virtual bool InitSensor(const RGBDSensorConfig &sensor_config,
                            size_t sensor_index = 0,
                            const std::string &filename = "") = 0;
 
    virtual bool StartCapture(bool start_record = false) = 0;
 
    virtual void PauseRecord() = 0;
 
    virtual void ResumeRecord() = 0;
 
    virtual geometry::RGBDImage CaptureFrame(
            bool wait = true, bool align_depth_to_color = true) = 0;
 
    virtual uint64_t GetTimestamp() const = 0;
 
    virtual void StopCapture() = 0;
 
    virtual const RGBDVideoMetadata &GetMetadata() const = 0;
 
    virtual std::string GetFilename() const = 0;
 
    virtual const std::string ToString() const {
        return fmt::format(
                "RGBD sensor {} (serial {}){}{}", GetMetadata().device_name_,
                GetMetadata().serial_number_,
                GetTimestamp() == 0 ? ""
                                    : "\nCapturing video: timestamp (us) = " +
                                              std::to_string(GetTimestamp()),
                GetFilename().empty() ? ""
                                      : "\nRecording to file " + GetFilename());
    }
};
 
}  // namespace io
}  // namespace t
}  // namespace open3d