RealSense camera discovery, configuration, streaming and recording. More...

#include <RealSenseSensor.h>

Inheritance diagram for cloudViewer::t::io::RealSenseSensor:

Collaboration diagram for cloudViewer::t::io::RealSenseSensor:

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

	RealSenseSensor (const RealSenseSensor &)=delete

RealSenseSensor &	operator= (const RealSenseSensor &)=delete

virtual	~RealSenseSensor () override

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

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

virtual bool	StartCapture (bool start_record=false) override

virtual void	PauseRecord () override

virtual void	ResumeRecord () override

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

virtual uint64_t	GetTimestamp () const override

virtual void	StopCapture () override
	Stop capturing frames. More...

virtual const RGBDVideoMetadata &	GetMetadata () const override
	Get metadata of the RealSense video capture. More...

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

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

Public Member Functions inherited from cloudViewer::t::io::RGBDSensor
	RGBDSensor ()
	Default constructor. Initialize with default settings. More...

virtual	~RGBDSensor ()

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

Static Public Member Functions
static std::vector< RealSenseValidConfigs >	EnumerateDevices ()

static bool	ListDevices ()

Detailed Description

RealSense camera discovery, configuration, streaming and recording.

Definition at line 28 of file RealSenseSensor.h.

Constructor & Destructor Documentation

◆ RealSenseSensor() [1/2]

cloudViewer::t::io::RealSenseSensor::RealSenseSensor ( )

Default constructor. Initialize with default settings.

Definition at line 116 of file RealSenseSensor.cpp.

References cloudViewer::t::io::RealSenseSensorConfig::ConvertToNativeConfig().

◆ RealSenseSensor() [2/2]

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

delete

◆ ~RealSenseSensor()

cloudViewer::t::io::RealSenseSensor::~RealSenseSensor ( )

overridevirtual

Definition at line 123 of file RealSenseSensor.cpp.

References StopCapture().

Member Function Documentation

◆ CaptureFrame()

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

overridevirtual

Acquire the next synchronized RGBD frameset from the camera.

Parameters

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

Implements cloudViewer::t::io::RGBDSensor.

Definition at line 256 of file RealSenseSensor.cpp.

References cloudViewer::t::geometry::RGBDImage::color_, cloudViewer::t::io::RGBDVideoMetadata::color_dt_, cloudViewer::t::geometry::RGBDImage::depth_, cloudViewer::t::io::RGBDVideoMetadata::depth_dt_, error(), and LogError.

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

◆ EnumerateDevices()

std::vector< RealSenseValidConfigs > cloudViewer::t::io::RealSenseSensor::EnumerateDevices ( )

static

Query all connected RealSense cameras for their capabilities.

Returns: A list of devices and their supported capabilities.

Definition at line 46 of file RealSenseSensor.cpp.

References context, format, patch::to_string(), and cloudViewer::t::io::RealSenseValidConfigs::valid_configs.

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

◆ GetFilename()

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

inlineoverridevirtual

Get filename being written.

Implements cloudViewer::t::io::RGBDSensor.

Definition at line 111 of file RealSenseSensor.h.

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

◆ GetMetadata()

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

inlineoverridevirtual

Get metadata of the RealSense video capture.

Implements cloudViewer::t::io::RGBDSensor.

Definition at line 106 of file RealSenseSensor.h.

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

◆ GetTimestamp()

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

inlineoverridevirtual

Get current timestamp (in us)

See https://intelrealsense.github.io/librealsense/doxygen/classrs2_1_1frame.html#a25f71d45193f2f4d77960320276b83f1 for more details.

Implements cloudViewer::t::io::RGBDSensor.

Definition at line 100 of file RealSenseSensor.h.

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

◆ InitSensor() [1/2]

bool cloudViewer::t::io::RealSenseSensor::InitSensor	(	const RealSenseSensorConfig &	sensor_config = `RealSenseSensorConfig{}`,
		size_t	sensor_index = `0`,
		const std::string &	filename = `""`
	)

virtual

Initialize sensor (optional).

Configure sensor with custom settings. If this is skipped, default settings will be used. You can enable recording to a bag 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. This is ignored if `sensor_config` contains a serial entry.
filename	Save frames to a bag file

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

Definition at line 125 of file RealSenseSensor.cpp.

References cloudViewer::t::io::RealSenseSensorConfig::config_, context, cloudViewer::t::io::RGBDVideoMetadata::ConvertFromJsonValue(), cloudViewer::t::io::RealSenseSensorConfig::ConvertToNativeConfig(), cloudViewer::utility::filesystem::DirectoryExists(), cloudViewer::utility::filesystem::FileExists(), filename, cloudViewer::utility::filesystem::GetFileParentDirectory(), cloudViewer::t::io::RealSenseSensorConfig::GetMetadataJson(), cloudViewer::t::io::RealSenseSensorConfig::GetPixelDtypes(), LogError, cloudViewer::utility::filesystem::MakeDirectoryHierarchy(), and profile.

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

◆ InitSensor() [2/2]

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

inlineoverridevirtual

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.

Implements cloudViewer::t::io::RGBDSensor.

Definition at line 64 of file RealSenseSensor.h.

References filename, and InitSensor().

◆ ListDevices()

bool cloudViewer::t::io::RealSenseSensor::ListDevices ( )

static

List all RealSense cameras connected to the system along with their capabilities. Use this listing to select an appropriate configuration for a camera.

Definition at line 24 of file RealSenseSensor.cpp.

References EnumerateDevices(), LogInfo, and LogWarning.

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