cloudViewer::io::AzureKinectSensor Class Reference

#include <AzureKinectSensor.h>

Inheritance diagram for cloudViewer::io::AzureKinectSensor:

Collaboration diagram for cloudViewer::io::AzureKinectSensor:

Public Member Functions
	AzureKinectSensor (const AzureKinectSensorConfig &sensor_config)
	Default Constructor. More...
	~AzureKinectSensor ()
bool	Connect (size_t sensor_index) override
void	Disconnect ()
std::shared_ptr< geometry::RGBDImage >	CaptureFrame (bool enable_align_depth_to_color) const override
Public Member Functions inherited from cloudViewer::io::RGBDSensor
	RGBDSensor ()
virtual	~RGBDSensor ()

Static Public Member Functions
static bool	PrintFirmware (_k4a_device_t *device)
static bool	ListDevices ()
	List available Azure Kinect devices. More...
static std::shared_ptr< geometry::RGBDImage >	DecompressCapture (_k4a_capture_t *capture, _k4a_transformation_t *transformation)

Protected Member Functions
_k4a_capture_t *	CaptureRawFrame () const

Protected Attributes
AzureKinectSensorConfig	sensor_config_
_k4a_transformation_t *	transform_depth_to_color_
_k4a_device_t *	device_
int	timeout_

Detailed Description

AzureKinect sensor.

Definition at line 34 of file AzureKinectSensor.h.

Constructor & Destructor Documentation

AzureKinectSensor()

cloudViewer::io::AzureKinectSensor::AzureKinectSensor

(

const AzureKinectSensorConfig &

sensor_config

)

Default Constructor.

Definition at line 23 of file AzureKinectSensor.cpp.

~AzureKinectSensor()

cloudViewer::io::AzureKinectSensor::~AzureKinectSensor

(

)

Definition at line 27 of file AzureKinectSensor.cpp.

References Disconnect().

Member Function Documentation

CaptureFrame()

std::shared_ptr< geometry::RGBDImage > cloudViewer::io::AzureKinectSensor::CaptureFrame ( bool  enable_align_depth_to_color ) const

overridevirtual

Capture one frame, return an RGBDImage. If 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 enable_align_depth_to_color to false is useful when capturing at high resolution with high frame rates.

Implements cloudViewer::io::RGBDSensor.

Definition at line 132 of file AzureKinectSensor.cpp.

References CaptureRawFrame(), DecompressCapture(), cloudViewer::io::k4a_plugin::k4a_capture_release(), and transform_depth_to_color_.

Referenced by cloudViewer::io::pybind_sensor().

CaptureRawFrame()

k4a_capture_t cloudViewer::io::AzureKinectSensor::CaptureRawFrame ( ) const

protected

Definition at line 115 of file AzureKinectSensor.cpp.

References device_, cloudViewer::io::k4a_plugin::k4a_device_get_capture(), LogWarning, result, and timeout_.

Referenced by CaptureFrame(), and cloudViewer::io::AzureKinectRecorder::RecordFrame().

Connect()

bool cloudViewer::io::AzureKinectSensor::Connect ( size_t  sensor_index )

overridevirtual

Implements cloudViewer::io::RGBDSensor.

Definition at line 29 of file AzureKinectSensor.cpp.

References cloudViewer::io::AzureKinectSensorConfig::ConvertToNativeConfig(), device_, cloudViewer::io::k4a_plugin::k4a_device_close(), cloudViewer::io::k4a_plugin::k4a_device_get_calibration(), cloudViewer::io::k4a_plugin::k4a_device_get_installed_count(), cloudViewer::io::k4a_plugin::k4a_device_open(), cloudViewer::io::k4a_plugin::k4a_device_set_color_control(), cloudViewer::io::k4a_plugin::k4a_device_start_cameras(), cloudViewer::io::k4a_plugin::k4a_transformation_create(), LogInfo, LogWarning, PrintFirmware(), sensor_config_, timeout_, and transform_depth_to_color_.

Referenced by cloudViewer::io::AzureKinectRecorder::InitSensor(), and cloudViewer::io::pybind_sensor().

DecompressCapture()

std::shared_ptr< geometry::RGBDImage > cloudViewer::io::AzureKinectSensor::DecompressCapture ( _k4a_capture_t *  capture, _k4a_transformation_t *  transformation  )

static

Definition at line 231 of file AzureKinectSensor.cpp.

References cloudViewer::io::ConvertBGRAToRGB(), height, cloudViewer::io::k4a_plugin::k4a_capture_get_color_image(), cloudViewer::io::k4a_plugin::k4a_capture_get_depth_image(), cloudViewer::io::k4a_plugin::k4a_image_create_from_buffer(), cloudViewer::io::k4a_plugin::k4a_image_get_buffer(), cloudViewer::io::k4a_plugin::k4a_image_get_format(), cloudViewer::io::k4a_plugin::k4a_image_get_height_pixels(), cloudViewer::io::k4a_plugin::k4a_image_get_size(), cloudViewer::io::k4a_plugin::k4a_image_get_width_pixels(), cloudViewer::io::k4a_plugin::k4a_image_release(), cloudViewer::io::k4a_plugin::k4a_transformation_depth_image_to_color_camera(), LogDebug, LogWarning, NULL, and width.

Referenced by CaptureFrame(), cloudViewer::io::MKVReader::NextFrame(), and cloudViewer::io::AzureKinectRecorder::RecordFrame().

Disconnect()

void cloudViewer::io::AzureKinectSensor::Disconnect

(

)

Definition at line 110 of file AzureKinectSensor.cpp.

References device_, cloudViewer::io::k4a_plugin::k4a_device_close(), and cloudViewer::io::k4a_plugin::k4a_device_stop_cameras().

Referenced by cloudViewer::io::pybind_sensor(), and ~AzureKinectSensor().

ListDevices()

bool cloudViewer::io::AzureKinectSensor::ListDevices ( )

static

List available Azure Kinect devices.

Definition at line 210 of file AzureKinectSensor.cpp.

References cloudViewer::io::k4a_plugin::k4a_device_close(), cloudViewer::io::k4a_plugin::k4a_device_get_installed_count(), cloudViewer::io::k4a_plugin::k4a_device_open(), LogError, LogInfo, LogWarning, and PrintFirmware().

Referenced by cloudViewer::io::pybind_sensor().

PrintFirmware()

bool cloudViewer::io::AzureKinectSensor::PrintFirmware ( _k4a_device_t *  device )

static

Definition at line 177 of file AzureKinectSensor.cpp.

References cloudViewer::io::k4a_plugin::k4a_device_get_serialnum(), cloudViewer::io::k4a_plugin::k4a_device_get_version(), LogInfo, and LogWarning.

Referenced by Connect(), and ListDevices().

Member Data Documentation

device_

_k4a_device_t* cloudViewer::io::AzureKinectSensor::device_

protected

Definition at line 56 of file AzureKinectSensor.h.

Referenced by CaptureRawFrame(), Connect(), Disconnect(), and cloudViewer::io::AzureKinectRecorder::OpenRecord().

sensor_config_

AzureKinectSensorConfig cloudViewer::io::AzureKinectSensor::sensor_config_

protected

Definition at line 54 of file AzureKinectSensor.h.

Referenced by Connect(), and cloudViewer::io::AzureKinectRecorder::OpenRecord().

timeout_

int cloudViewer::io::AzureKinectSensor::timeout_

protected

Definition at line 57 of file AzureKinectSensor.h.

Referenced by CaptureRawFrame(), and Connect().

transform_depth_to_color_

_k4a_transformation_t* cloudViewer::io::AzureKinectSensor::transform_depth_to_color_

protected

Definition at line 55 of file AzureKinectSensor.h.

Referenced by CaptureFrame(), Connect(), and cloudViewer::io::AzureKinectRecorder::RecordFrame().

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The documentation for this class was generated from the following files:

• /root/ACloudViewer/libs/cloudViewer/io/sensor/azure_kinect/AzureKinectSensor.h
• /root/ACloudViewer/libs/cloudViewer/io/sensor/azure_kinect/AzureKinectSensor.cpp