Interface class for control of RGBD cameras. More...

#include <RGBDSensor.h>

Inheritance diagram for cloudViewer::t::io::RGBDSensor:

Public Member Functions
	RGBDSensor ()
	Default constructor. Initialize with default settings. More...

virtual	~RGBDSensor ()

virtual bool	InitSensor (const RGBDSensorConfig &sensor_config, size_t sensor_index=0, const std::string &filename="")=0

virtual bool	StartCapture (bool start_record=false)=0

virtual void	PauseRecord ()=0
	Pause recording to the file. More...

virtual void	ResumeRecord ()=0

virtual geometry::RGBDImage	CaptureFrame (bool wait=true, bool align_depth_to_color=true)=0

virtual uint64_t	GetTimestamp () const =0
	Get current timestamp (in us). More...

virtual void	StopCapture ()=0
	Stop capturing frames. More...

virtual const RGBDVideoMetadata &	GetMetadata () const =0
	Get const reference to the metadata of the RGBD video capture. More...

virtual std::string	GetFilename () const =0
	Get filename being written. More...

virtual const std::string	ToString () const
	Text Description. More...

Detailed Description

Interface class for control of RGBD cameras.

Definition at line 22 of file RGBDSensor.h.

Constructor & Destructor Documentation

◆ RGBDSensor()

cloudViewer::t::io::RGBDSensor::RGBDSensor ( )

inline

Default constructor. Initialize with default settings.

Definition at line 25 of file RGBDSensor.h.

◆ ~RGBDSensor()

virtual cloudViewer::t::io::RGBDSensor::~RGBDSensor ( )

inlinevirtual

Definition at line 26 of file RGBDSensor.h.

Member Function Documentation

◆ CaptureFrame()

virtual geometry::RGBDImage cloudViewer::t::io::RGBDSensor::CaptureFrame	(	bool	wait = `true`,
		bool	align_depth_to_color = `true`
	)

pure virtual

Acquire the next synchronized RGBD frameset from the camera.

Parameters

align_depth_to_color	Enable aligning WFOV depth image to the color image in visualizer.
wait	If true wait for the next frame set, else return immediately with an empty RGBDImage if it is not yet available

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ GetFilename()

virtual std::string cloudViewer::t::io::RGBDSensor::GetFilename ( ) const

pure virtual

Get filename being written.

Implemented in cloudViewer::t::io::RealSenseSensor.

Referenced by ToString().

◆ GetMetadata()

virtual const RGBDVideoMetadata& cloudViewer::t::io::RGBDSensor::GetMetadata ( ) const

pure virtual

Get const reference to the metadata of the RGBD video capture.

Implemented in cloudViewer::t::io::RealSenseSensor.

Referenced by ToString().

◆ GetTimestamp()

virtual uint64_t cloudViewer::t::io::RGBDSensor::GetTimestamp ( ) const

pure virtual

Get current timestamp (in us).

Implemented in cloudViewer::t::io::RealSenseSensor.

Referenced by ToString().

◆ InitSensor()

virtual bool cloudViewer::t::io::RGBDSensor::InitSensor	(	const RGBDSensorConfig &	sensor_config,
		size_t	sensor_index = `0`,
		const std::string &	filename = `""`
	)

pure virtual

Initialize sensor (optional).

Configure sensor with custom settings. If this is skipped, default settings will be used. You can enable recording to a file by specifying a filename.

Parameters

sensor_config	Camera configuration, such as resolution and framerate. A serial number can be entered here to connect to a specific camera.
sensor_index	Connect to a camera at this position in the enumeration of RealSense cameras that are currently connected. Use EnumerateDevices() or ListDevices() to obtain a list of connected cameras and their capabilities. This is ignored if `sensor_config` contains a "serial" entry.
filename	Save frames to this file.

Returns: true if a camera was found and initialized with the given settings, else false.

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ PauseRecord()

virtual void cloudViewer::t::io::RGBDSensor::PauseRecord ( )

pure virtual

Pause recording to the file.

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ ResumeRecord()

virtual void cloudViewer::t::io::RGBDSensor::ResumeRecord ( )

pure virtual

Resume recording to the file. The file will contain discontinuous segments.

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ StartCapture()

virtual bool cloudViewer::t::io::RGBDSensor::StartCapture ( bool start_record = false )

pure virtual

Start capturing synchronized depth and color frames.

Parameters

start_record start recording to the specified file as well.

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ StopCapture()

virtual void cloudViewer::t::io::RGBDSensor::StopCapture ( )

pure virtual

Stop capturing frames.

Implemented in cloudViewer::t::io::RealSenseSensor.

◆ ToString()

virtual const std::string cloudViewer::t::io::RGBDSensor::ToString ( ) const

inlinevirtual

Text Description.

Definition at line 81 of file RGBDSensor.h.

References format, GetFilename(), GetMetadata(), GetTimestamp(), and patch::to_string().

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

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

/root/ACloudViewer/libs/cloudViewer/t/io/sensor/RGBDSensor.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RGBDSensor()

◆ ~RGBDSensor()

Member Function Documentation

◆ CaptureFrame()

◆ GetFilename()

◆ GetMetadata()

◆ GetTimestamp()

◆ InitSensor()

◆ PauseRecord()

◆ ResumeRecord()

◆ StartCapture()

◆ StopCapture()

◆ ToString()