RealSenseSensor.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/t/geometry/RGBDImage.h"
#include "open3d/t/io/sensor/RGBDSensor.h"
#include "open3d/t/io/sensor/RGBDVideoMetadata.h"
#include "open3d/t/io/sensor/realsense/RealSenseSensorConfig.h"
 
namespace rs2 {
class pipeline;
class align;
class config;
}  // namespace rs2
 
namespace open3d {
namespace t {
namespace io {
 
class RealSenseSensor : public RGBDSensor {
public:
    static std::vector<RealSenseValidConfigs> EnumerateDevices();
    static bool ListDevices();
 
    RealSenseSensor();
    RealSenseSensor(const RealSenseSensor &) = delete;
    RealSenseSensor &operator=(const RealSenseSensor &) = delete;
    virtual ~RealSenseSensor() override;
 
    virtual bool InitSensor(const RealSenseSensorConfig &sensor_config =
                                    RealSenseSensorConfig{},
                            size_t sensor_index = 0,
                            const std::string &filename = "");
    virtual bool InitSensor(const RGBDSensorConfig &sensor_config,
                            size_t sensor_index = 0,
                            const std::string &filename = "") override {
        return InitSensor(
                dynamic_cast<const RealSenseSensorConfig &>(sensor_config),
                sensor_index, filename);
    }
 
    virtual bool StartCapture(bool start_record = false) override;
 
    virtual void PauseRecord() override;
 
    virtual void ResumeRecord() override;
 
    virtual geometry::RGBDImage CaptureFrame(
            bool wait = true, bool align_depth_to_color = true) override;
 
    virtual uint64_t GetTimestamp() const override { return timestamp_; }
 
    virtual void StopCapture() override;
 
    virtual const RGBDVideoMetadata &GetMetadata() const override {
        return metadata_;
    }
 
    virtual std::string GetFilename() const override { return filename_; };
 
    using RGBDSensor::ToString;
 
private:
    bool enable_recording_ = false;
    bool is_recording_ = false;
    bool is_capturing_ = false;
    std::string filename_;
    geometry::RGBDImage current_frame_;
    uint64_t timestamp_ = 0;
    RGBDVideoMetadata metadata_;
    std::unique_ptr<rs2::pipeline> pipe_;
    std::unique_ptr<rs2::align> align_to_color_;
    std::unique_ptr<rs2::config> rs_config_;
 
    static const uint64_t MILLISEC_TO_MICROSEC = 1000;
};
 
}  // namespace io
}  // namespace t
}  // namespace open3d