camera.h

#ifndef CAMERA_H
#define CAMERA_H

#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>
#include <opencv2/opencv.hpp>

class Camera
{
private:
    rs2::spatial_filter spatFilter;
    rs2::temporal_filter tempFilter;
    rs2::decimation_filter decFilter;
    rs2::config cfg;
    rs2::pipeline pipe;
    rs2::pipeline_profile profile;
    rs2_intrinsics intrinsics;
    void flipMat(cv::Mat &m);
    void filterDepthFrame(rs2::depth_frame &frameDepth);

    cv::Mat matDepth;
    cv::Mat matRGB;
    cv::Rect croppingMask;

public:
    Camera();
    void start();
    void stop();
    // Capture 30 frames to give autoexposure, etc. a chance to settle
    void warmingUp();
    cv::Mat captureFrame();
    cv::Mat getAverageFrame(int numberFrame);
    static cv::Mat coloredFrame(cv::Mat frameDepth);
    cv::Point3f deprojectPixelToPoint(float coord[], float z1);
    cv::Point2i projectPointToPixel(cv::Point3f point3D);

    void captureFramesAlign();
    void startAlign();
    cv::Mat getDepthFrameAlign(){ return matDepth; };
    cv::Mat getRGBFrameAlign(){ return matRGB.clone(); };
    void setCroppingMask(cv::Rect mask){ croppingMask = mask; };
    cv::Rect getCroppingMask(){ return croppingMask; };

    void printCroppingMask();
};
#endif