#include <RSBagReader.h>

Inheritance diagram for cloudViewer::t::io::RSBagReader:

Collaboration diagram for cloudViewer::t::io::RSBagReader:

Public Member Functions
	RSBagReader (size_t buffer_size=DEFAULT_BUFFER_SIZE)

	RSBagReader (const RSBagReader &)=delete

RSBagReader &	operator= (const RSBagReader &)=delete

virtual	~RSBagReader ()

virtual bool	IsOpened () const override
	Check If the RSBag file is opened. More...

virtual bool	IsEOF () const override
	Check if the RSBag file is all read. More...

virtual bool	Open (const std::string &filename) override

virtual void	Close () override
	Close the opened RSBag playback. More...

virtual const RGBDVideoMetadata &	GetMetadata () const override
	Get (read-only) metadata of the playback. More...

virtual RGBDVideoMetadata &	GetMetadata () override
	Get reference to the metadata of the RGBD video playback. More...

virtual bool	SeekTimestamp (uint64_t timestamp) override

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

virtual t::geometry::RGBDImage	NextFrame () override
	Copy next frame from the bag file and return the RGBDImage object. More...

virtual std::string	GetFilename () const override
	Return filename being read. More...

virtual void	SaveFrames (const std::string &frame_path, uint64_t start_time_us=0, uint64_t end_time_us=UINT64_MAX)

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

Public Member Functions inherited from cloudViewer::t::io::RGBDVideoReader
	RGBDVideoReader ()

virtual	~RGBDVideoReader ()

virtual void	SaveFrames (const std::string &frame_path, uint64_t start_time_us=0, uint64_t end_time_us=UINT64_MAX)

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

Static Public Attributes
static const size_t	DEFAULT_BUFFER_SIZE = 32

Additional Inherited Members
Static Public Member Functions inherited from cloudViewer::t::io::RGBDVideoReader
static std::unique_ptr< RGBDVideoReader >	Create (const std::string &filename)
	Factory function to create object based on RGBD video file type. More...

Detailed Description

RealSense Bag file reader.

Only the first color and depth streams from the bag file will be read.

The streams must have the same frame rate.
The color stream must have RGB 8 bit (RGB8/BGR8) pixel format
The depth stream must have 16 bit unsigned int (Z16) pixel format The output is synchronized color and depth frame pairs with the depth frame aligned to the color frame. Unsynchronized frames will be dropped. With alignment, the depth and color frames have the same viewpoint and resolution. See https://intelrealsense.github.io/librealsense/doxygen/rs__sensor_8h.html#ae04b7887ce35d16dbd9d2d295d23aac7 for format documentation

Note: A few frames may be dropped if user code takes a long time (>10 frame intervals) to process a frame.

Definition at line 49 of file RSBagReader.h.

Constructor & Destructor Documentation

◆ RSBagReader() [1/2]

cloudViewer::t::io::RSBagReader::RSBagReader ( size_t buffer_size = DEFAULT_BUFFER_SIZE )

explicit

Constructor

Parameters

buffer_size (optional) Max number of frames to store in the frame buffer

Definition at line 35 of file RSBagReader.cpp.

◆ RSBagReader() [2/2]

cloudViewer::t::io::RSBagReader::RSBagReader ( const RSBagReader & )

delete

◆ ~RSBagReader()

cloudViewer::t::io::RSBagReader::~RSBagReader ( )

virtual

Definition at line 40 of file RSBagReader.cpp.

References Close(), and IsOpened().

Member Function Documentation

◆ Close()

void cloudViewer::t::io::RSBagReader::Close ( )

overridevirtual

Close the opened RSBag playback.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 77 of file RSBagReader.cpp.

Referenced by Open(), cloudViewer::t::io::pybind_sensor(), and ~RSBagReader().

◆ GetFilename()

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

inlineoverridevirtual

Return filename being read.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 97 of file RSBagReader.h.

◆ GetMetadata() [1/2]

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

inlineoverridevirtual

Get (read-only) metadata of the playback.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 78 of file RSBagReader.h.

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

◆ GetMetadata() [2/2]

virtual RGBDVideoMetadata& cloudViewer::t::io::RSBagReader::GetMetadata ( )

inlineoverridevirtual

Get reference to the metadata of the RGBD video playback.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 83 of file RSBagReader.h.

◆ GetTimestamp()

uint64_t cloudViewer::t::io::RSBagReader::GetTimestamp ( ) const

overridevirtual

Get current timestamp (in us).

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 211 of file RSBagReader.cpp.

References IsOpened(), and LogWarning.

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

◆ IsEOF()

bool cloudViewer::t::io::RSBagReader::IsEOF ( ) const

overridevirtual

Check if the RSBag file is all read.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 167 of file RSBagReader.cpp.

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

◆ IsOpened()

virtual bool cloudViewer::t::io::RSBagReader::IsOpened ( ) const

inlineoverridevirtual

Check If the RSBag file is opened.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 64 of file RSBagReader.h.

Referenced by GetTimestamp(), NextFrame(), Open(), cloudViewer::t::io::pybind_sensor(), SeekTimestamp(), and ~RSBagReader().

◆ NextFrame()

t::geometry::RGBDImage cloudViewer::t::io::RSBagReader::NextFrame ( )

overridevirtual

Copy next frame from the bag file and return the RGBDImage object.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 169 of file RSBagReader.cpp.

References cloudViewer::t::io::RGBDVideoMetadata::fps_, IsOpened(), LogError, and LogInfo.

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

◆ Open()

bool cloudViewer::t::io::RSBagReader::Open ( const std::string & filename )

overridevirtual

Open an RGBD Video playback.

Parameters

filename Path to the RSBag file.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 44 of file RSBagReader.cpp.

References Close(), cloudViewer::t::io::RGBDVideoMetadata::ConvertFromJsonValue(), error(), filename, cloudViewer::t::io::RealSenseSensorConfig::GetMetadataJson(), cloudViewer::t::io::RealSenseSensorConfig::GetPixelDtypes(), IsOpened(), LogInfo, LogWarning, and profile.

Referenced by cloudViewer::t::io::pybind_sensor(), and SeekTimestamp().

◆ operator=()

RSBagReader& cloudViewer::t::io::RSBagReader::operator= ( const RSBagReader & )

delete

◆ SaveFrames()

void cloudViewer::t::io::RGBDVideoReader::SaveFrames

Save synchronized and aligned individual frames to subfolders.

Parameters

frame_path	Frames will be stored in stream subfolders 'color' and 'depth' here. The intrinsic camera calibration for the color stream will be saved in 'intrinsic.json'.
start_time_us	(default 0) Start saving frames from this time (us)
end_time_us	(default video length) Save frames till this time (us)

Definition at line 62 of file RGBDVideoReader.cpp.

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

◆ SeekTimestamp()

bool cloudViewer::t::io::RSBagReader::SeekTimestamp ( uint64_t timestamp )

overridevirtual

Seek to the timestamp (in us).

Parameters

timestamp Time in us to seek to.

Implements cloudViewer::t::io::RGBDVideoReader.

Definition at line 192 of file RSBagReader.cpp.

References IsOpened(), LogWarning, Open(), and cloudViewer::t::io::RGBDVideoMetadata::stream_length_usec_.

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

◆ ToString()

std::string cloudViewer::t::io::RGBDVideoReader::ToString

Text description.

Definition at line 70 of file RGBDVideoReader.cpp.

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

Member Data Documentation

◆ DEFAULT_BUFFER_SIZE

const size_t cloudViewer::t::io::RSBagReader::DEFAULT_BUFFER_SIZE = 32

static

Definition at line 51 of file RSBagReader.h.

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

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

/root/ACloudViewer/libs/cloudViewer/t/io/sensor/realsense/RSBagReader.h
/root/ACloudViewer/libs/cloudViewer/t/io/sensor/realsense/RSBagReader.cpp

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RSBagReader() [1/2]

◆ RSBagReader() [2/2]

◆ ~RSBagReader()

Member Function Documentation

◆ Close()

◆ GetFilename()

◆ GetMetadata() [1/2]

◆ GetMetadata() [2/2]

◆ GetTimestamp()

◆ IsEOF()

◆ IsOpened()

◆ NextFrame()

◆ Open()

◆ operator=()

◆ SaveFrames()

◆ SeekTimestamp()

◆ ToString()

Member Data Documentation

◆ DEFAULT_BUFFER_SIZE