Open3D (C++ API)  0.16.0
ImageCapturer.h
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26//
27// This is a private header. It shall be hidden from Open3D's public API. Do not
28// put this in Open3D.h.in.
29
30#pragma once
31
32#include <api/video/i420_buffer.h>
33#include <libyuv/convert.h>
34#include <libyuv/video_common.h>
35#include <media/base/video_broadcaster.h>
36#include <media/base/video_common.h>
37
38#include <memory>
39
40#include "open3d/core/Tensor.h"
43
44namespace open3d {
45namespace visualization {
46namespace webrtc_server {
47
48class ImageCapturer : public rtc::VideoSourceInterface<webrtc::VideoFrame> {
49public:
50 ImageCapturer(const std::string& url_,
51 const std::map<std::string, std::string>& opts);
52 virtual ~ImageCapturer();
53
54 static ImageCapturer* Create(
55 const std::string& url,
56 const std::map<std::string, std::string>& opts);
57
58 ImageCapturer(const std::map<std::string, std::string>& opts);
59
60 virtual void AddOrUpdateSink(
61 rtc::VideoSinkInterface<webrtc::VideoFrame>* sink,
62 const rtc::VideoSinkWants& wants) override;
63
64 virtual void RemoveSink(
65 rtc::VideoSinkInterface<webrtc::VideoFrame>* sink) override;
66
67 void OnCaptureResult(const std::shared_ptr<core::Tensor>& frame);
68
69protected:
70 int width_;
72 rtc::VideoBroadcaster broadcaster_;
73};
74
76public:
77 static rtc::scoped_refptr<BitmapTrackSourceInterface> Create(
78 const std::string& window_uid,
79 const std::map<std::string, std::string>& opts) {
80 std::unique_ptr<ImageCapturer> capturer =
81 absl::WrapUnique(ImageCapturer::Create(window_uid, opts));
82 if (!capturer) {
83 return nullptr;
84 }
85 rtc::scoped_refptr<BitmapTrackSourceInterface> video_source =
86 new rtc::RefCountedObject<ImageTrackSource>(
87 std::move(capturer));
88 return video_source;
89 }
90
91 void OnFrame(const std::shared_ptr<core::Tensor>& frame) final override {
92 capturer_->OnCaptureResult(frame);
93 }
94
95protected:
96 explicit ImageTrackSource(std::unique_ptr<ImageCapturer> capturer)
97 : BitmapTrackSource(/*remote=*/false), capturer_(std::move(capturer)) {}
98
99private:
100 rtc::VideoSourceInterface<webrtc::VideoFrame>* source() override {
101 return capturer_.get();
102 }
103 std::unique_ptr<ImageCapturer> capturer_;
104};
105
106} // namespace webrtc_server
107} // namespace visualization
108} // namespace open3d
Rect frame
Definition: BitmapWindowSystem.cpp:49
int width_
Definition: ImageCapturer.h:70
int height_
Definition: ImageCapturer.h:71
virtual void RemoveSink(rtc::VideoSinkInterface< webrtc::VideoFrame > *sink) override
Definition: ImageCapturer.cpp:122
virtual void AddOrUpdateSink(rtc::VideoSinkInterface< webrtc::VideoFrame > *sink, const rtc::VideoSinkWants &wants) override
Definition: ImageCapturer.cpp:116
virtual ~ImageCapturer()
Definition: ImageCapturer.cpp:48
static ImageCapturer * Create(const std::string &url, const std::map< std::string, std::string > &opts)
Definition: ImageCapturer.cpp:50
void OnCaptureResult(const std::shared_ptr< core::Tensor > &frame)
Definition: ImageCapturer.cpp:67
ImageCapturer(const std::string &url_, const std::map< std::string, std::string > &opts)
Definition: ImageCapturer.cpp:44
rtc::VideoBroadcaster broadcaster_
Definition: ImageCapturer.h:72
void OnFrame(const std::shared_ptr< core::Tensor > &frame) final override
Definition: ImageCapturer.h:91
static rtc::scoped_refptr< BitmapTrackSourceInterface > Create(const std::string &window_uid, const std::map< std::string, std::string > &opts)
Definition: ImageCapturer.h:77
ImageTrackSource(std::unique_ptr< ImageCapturer > capturer)
Definition: ImageCapturer.h:96
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Device.h:126