RealSenseManager.hpp

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//
//  RealSenseManager.hpp
//  AI Watch A1
//
//  Created by Denny Caruso on 23/07/22.
//
 
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2022. All Rights Reserved.
 
#ifndef RealSenseManager_hpp
#define RealSenseManager_hpp
 
#include <librealsense2/rs.hpp>
#include <iostream>
#include <opencv2/core.hpp>
#include "../../constants.hpp"
 
 
 
class RealSenseManager {
private:
    unsigned int                frameID;
    rs2::align                  align;
    struct rs2_intrinsics       depth_intrin;
    struct rs2_intrinsics       color_intrin;
    struct rs2_extrinsics       depth_to_color;
    struct rs2_extrinsics       color_to_depth;
protected:
    void setFrameID             (unsigned int frameID);
    void set_align              (rs2::align align);
    void set_depth_intrin       (struct rs2_intrinsics depth_intrin);
    void set_color_intrin       (struct rs2_intrinsics & color_intrin);
    void set_depth_to_color     (struct rs2_extrinsics depth_to_color);
    void set_color_to_depth     (struct rs2_extrinsics color_to_depth);
    
 
 
    rs2::align get_align                        (void);
    struct rs2_intrinsics get_depth_intrin      (void);
    struct rs2_extrinsics get_depth_to_color    (void);
    struct rs2_extrinsics get_color_to_depth    (void);
public:
    RealSenseManager (void);
    virtual ~RealSenseManager() = default;
    unsigned int getFrameID                     (void);
    struct rs2_intrinsics & get_color_intrin    (void);
    virtual void startEnvironment               (rs2::pipeline & pipelineStream, struct rs2_intrinsics & color_intrin, float * scale,
                                                 unsigned short int resX, unsigned short int resY, bool firstBoot) = 0;
    virtual void getVideoFramesRS               (unsigned int user_nFrame, rs2::pipeline & pipelineStream,
                                                 rs2::depth_frame & depthFrame, rs2::frame & colorFrame,
                                                 rs2::frame & colorizedDepthFrame, const unsigned short int framesToSkip) = 0;
};
 
 
 
class RealSenseD435Manager : public RealSenseManager {
public:
    void startEnvironment                       (rs2::pipeline & pipelineStream, struct rs2_intrinsics & color_intrin, float * scale,
                                                 unsigned short int resX, unsigned short int resY, bool firstBoot) override;
    void getVideoFramesRS                       (unsigned int user_nFrame, rs2::pipeline & pipelineStream,
                                                 rs2::depth_frame & depthFrame, rs2::frame & colorFrame,
                                                 rs2::frame & colorizedDepthFrame, const unsigned short int framesToSkip) override;
};
 
#endif /* RealSenseManager_hpp */