videoio: add rudimentary librealsense 1.x support

it is reusing CAP_INTELPERC* enums as Intel PerC is deprecated and librealsense replaces it.
2026-07-31 00:03:03 +04:00 · 2018-05-16 16:27:25 +02:00
parent cd2b188c9a
commit 936d2963a2
8 changed files with 181 additions and 0 deletions
@@ -0,0 +1,109 @@
+// 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.
+
+#include "precomp.hpp"
+
+#ifdef HAVE_LIBREALSENSE
+#include "cap_librealsense.hpp"
+
+namespace cv
+{
+
+VideoCapture_LibRealsense::VideoCapture_LibRealsense(int index)
+{
+    try
+    {
+        mDev = mContext.get_device(index);
+        // Configure all streams to run at VGA resolution at 60 frames per second
+        mDev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60);
+        mDev->enable_stream(rs::stream::color, 640, 480, rs::format::bgr8, 60);
+        mDev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60);
+        mDev->start();
+    }
+    catch (rs::error&)
+    {
+        mDev = nullptr;
+    }
+}
+VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
+
+double VideoCapture_LibRealsense::getProperty(int prop) const
+{
+    double propValue = 0;
+
+    if(prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE)
+        return mDev->get_depth_scale();
+
+    return propValue;
+}
+bool VideoCapture_LibRealsense::setProperty(int, double)
+{
+    bool isSet = false;
+    return isSet;
+}
+
+bool VideoCapture_LibRealsense::grabFrame()
+{
+    if (!isOpened())
+        return false;
+
+    try
+    {
+        mDev->wait_for_frames();
+    }
+    catch (rs::error&)
+    {
+        return false;
+    }
+
+    return true;
+}
+bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame)
+{
+    rs::stream stream;
+    int type;
+    switch (outputType)
+    {
+    case CAP_INTELPERC_DEPTH_MAP:
+        stream = rs::stream::depth_aligned_to_color;
+        type = CV_16UC1;
+        break;
+    case CAP_INTELPERC_IR_MAP:
+        stream = rs::stream::infrared;
+        type = CV_8UC1;
+        break;
+    case CAP_INTELPERC_IMAGE:
+        stream = rs::stream::color;
+        type = CV_8UC3;
+        break;
+    default:
+        return false;
+    }
+
+    try
+    {
+        // we copy the data straight away, so const_cast should be fine
+        void* data = const_cast<void*>(mDev->get_frame_data(stream));
+        Mat(mDev->get_stream_height(stream), mDev->get_stream_width(stream), type, data).copyTo(frame);
+    }
+    catch (rs::error&)
+    {
+        return false;
+    }
+
+    return true;
+}
+int VideoCapture_LibRealsense::getCaptureDomain()
+{
+    return CAP_INTELPERC;
+}
+
+bool VideoCapture_LibRealsense::isOpened() const
+{
+    return mDev && mDev->is_streaming();
+}
+
+}
+
+#endif