// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
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// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in
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// ----------------------------------------------------------------------------

#pragma once

#include <memory>

#include "open3d/io/sensor/RGBDSensorConfig.h"

namespace open3d {

namespace geometry {
class RGBDImage;
};

namespace io {

class RGBDSensor {
public:
    RGBDSensor() {}
    virtual bool Connect(size_t sensor_index) = 0;
    virtual ~RGBDSensor(){};

    /// Capture one frame, return an RGBDImage.
    /// If \p enable_align_depth_to_color is true, the depth image will be
    /// warped to align with the color image; otherwise the raw depth image
    /// output will be saved. Setting \p enable_align_depth_to_color to
    /// false is useful when capturing at high resolution with high frame rates.
    virtual std::shared_ptr<geometry::RGBDImage> CaptureFrame(
            bool enable_align_depth_to_color) const = 0;
};

}  // namespace io
}  // namespace open3d
