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sirudoi
881774d872
Add macOS support for Orbbec Gemini330 camera #27930 ### Description of Changes Adds macOS support for Orbbec Gemini330 in videoio by integrating OrbbecSDK v2. Completes the non-macOS work in [#27230](https://github.com/opencv/opencv/pull/27230). #### Motivation [#27230](https://github.com/opencv/opencv/pull/27230) skipped macOS. On macOS, UVC alone lacks required device controls; OrbbecSDK v2 provides them. #### Key Change - macOS: fetch/link OrbbecSDK v2.5.5 (replaces v1.9.4). - videoio (macOS): switch OrbbecSDK API usage from v1 to v2. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] The feature is well documented and sample code can be built with the project CMake
72 lines
2.1 KiB
C++
72 lines
2.1 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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/*
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* Copyright(C) 2024 by ORBBEC Technology., Inc.
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* Authors:
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* Huang Zhenchang <yufeng@orbbec.com>
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* Yu Shuai <daiyin@orbbec.com>
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef _CAP_LIBORBBEC_HPP_
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#define _CAP_LIBORBBEC_HPP_
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#if defined(HAVE_OBSENSOR) && defined(HAVE_OBSENSOR_ORBBEC_SDK)
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#include <libobsensor/ObSensor.hpp>
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#include <mutex>
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namespace cv
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{
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struct CameraParam
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{
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float intrinsicColor[4];
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float distortionColor[8];
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};
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class VideoCapture_obsensor : public IVideoCapture
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{
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public:
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VideoCapture_obsensor(int index, const cv::VideoCaptureParameters& params);
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virtual ~VideoCapture_obsensor();
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virtual double getProperty(int propIdx) const CV_OVERRIDE;
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virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
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virtual bool grabFrame() CV_OVERRIDE;
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virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;
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virtual int getCaptureDomain() CV_OVERRIDE;
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virtual bool isOpened() const CV_OVERRIDE;
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protected:
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std::mutex videoFrameMutex;
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std::shared_ptr<ob::VideoFrame> colorFrame;
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std::shared_ptr<ob::VideoFrame> depthFrame;
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std::shared_ptr<ob::VideoFrame> grabbedColorFrame;
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std::shared_ptr<ob::VideoFrame> grabbedDepthFrame;
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std::shared_ptr<ob::Pipeline> pipe;
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std::shared_ptr<ob::Config> config;
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#if ORBBEC_SDK_VERSION_MAJOR != 1
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std::shared_ptr<ob::Align> alignFilter;
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#endif
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CameraParam camParam;
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};
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}
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#endif
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#endif
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