RealSenseSensorConfig.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <set>
#include <string>
#include <unordered_map>
#include <utility>
 
#include "open3d/core/Dtype.h"
#include "open3d/io/IJsonConvertibleIO.h"
#include "open3d/io/sensor/RGBDSensorConfig.h"
#include "open3d/t/io/sensor/RGBDVideoMetadata.h"
 
// Forward declarations
namespace rs2 {
class config;
class pipeline_profile;
}  // namespace rs2
 
namespace open3d {
using io::RGBDSensorConfig;
namespace t {
namespace io {

class RealSenseSensorConfig : public RGBDSensorConfig {
public:
    RealSenseSensorConfig();
    RealSenseSensorConfig(
            const std::unordered_map<std::string, std::string> &config);
    bool ConvertToJsonValue(Json::Value &value) const override;
    bool ConvertFromJsonValue(const Json::Value &value) override;

    rs2::config ConvertToNativeConfig() const;

    static Json::Value GetMetadataJson(const rs2::pipeline_profile &profile);

    static void GetPixelDtypes(const rs2::pipeline_profile &profile,
                               RGBDVideoMetadata &metadata);
 
public:
    static std::pair<core::Dtype, uint8_t> get_dtype_channels(
            int rs2_format_enum);
 
    // To avoid including RealSense or json header, config is stored in a
    // map
    std::unordered_map<std::string, std::string> config_;
};

struct RealSenseValidConfigs {
    std::string serial;  
    std::string name;    
    std::unordered_map<std::string, std::set<std::string>> valid_configs;
};
 
}  // namespace io
}  // namespace t
}  // namespace open3d