#include <RealSenseSensorConfig.h>

Inheritance diagram for cloudViewer::t::io::RealSenseSensorConfig:

Collaboration diagram for cloudViewer::t::io::RealSenseSensorConfig:

Public Member Functions
	RealSenseSensorConfig ()
	Default constructor, default configs will be used. More...

	RealSenseSensorConfig (const std::unordered_map< std::string, std::string > &config)
	Initialize config with a map. More...

bool	ConvertToJsonValue (Json::Value &value) const override

bool	ConvertFromJsonValue (const Json::Value &value) override

rs2::config	ConvertToNativeConfig () const
	Convert to RealSense config. More...

Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
virtual	~IJsonConvertible ()

virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Static Public Member Functions
static Json::Value	GetMetadataJson (const rs2::pipeline_profile &profile)
	Get metadata for a streaming RealSense camera or bag file. More...

static void	GetPixelDtypes (const rs2::pipeline_profile &profile, RGBDVideoMetadata &metadata)

static std::pair< core::Dtype, uint8_t >	get_dtype_channels (int rs2_format_enum)

Static Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
static bool	EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value)

static bool	EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value)

static bool	EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value)

static bool	EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value)

static bool	EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value)

static bool	EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value)

Public Attributes
std::unordered_map< std::string, std::string >	config_

Detailed Description

Configuration for a RealSense camera

See RealSense documentation for the set of configuration values. Supported configuration options will be specific to a device and other chosen options. https://intelrealsense.github.io/librealsense/doxygen/rs__option_8h.html https://intelrealsense.github.io/librealsense/doxygen/rs__sensor_8h.html

{
// Pick a specific device, leave empty to pick the first available
// device
   {"serial": ""},
// pixel format for color frames
   {"color_format": "RS2_FORMAT_ANY"},
// (width, height): Leave 0 to let RealSense pick a supported width or
// height
   {"color_resolution": "0,0"},
// pixel format for depth frames
   {"depth_format": "RS2_FORMAT_ANY"},
// (width, height): Leave 0 to let RealSense pick a supported width or
// height
   {"depth_resolution": "0,0"},
// framerate for both color and depth streams. Leave 0 to let RealSense
// pick a supported framerate
   {"fps": "0"},
// Controls depth computation on the device. Supported values are
// specific to device family (SR300, RS400, L500). Leave empty to pick
// the default.
   {"visual_preset": ""}
}

Definition at line 63 of file RealSenseSensorConfig.h.

Constructor & Destructor Documentation

◆ RealSenseSensorConfig() [1/2]

cloudViewer::t::io::RealSenseSensorConfig::RealSenseSensorConfig ( )

Default constructor, default configs will be used.

Definition at line 143 of file RealSenseSensorConfig.cpp.

References config_, and cloudViewer::t::io::standard_config.

◆ RealSenseSensorConfig() [2/2]

cloudViewer::t::io::RealSenseSensorConfig::RealSenseSensorConfig ( const std::unordered_map< std::string, std::string > & config )

Initialize config with a map.

Definition at line 145 of file RealSenseSensorConfig.cpp.

References config_.

Member Function Documentation

◆ ConvertFromJsonValue()

bool cloudViewer::t::io::RealSenseSensorConfig::ConvertFromJsonValue ( const Json::Value & value )

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Definition at line 160 of file RealSenseSensorConfig.cpp.

References config_.

◆ ConvertToJsonValue()

bool cloudViewer::t::io::RealSenseSensorConfig::ConvertToJsonValue ( Json::Value & value ) const

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Definition at line 153 of file RealSenseSensorConfig.cpp.

References config_.

◆ ConvertToNativeConfig()

rs2::config cloudViewer::t::io::RealSenseSensorConfig::ConvertToNativeConfig ( ) const

Convert to RealSense config.

Definition at line 167 of file RealSenseSensorConfig.cpp.

References config_, format, height, and width.

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

◆ get_dtype_channels()

std::pair< core::Dtype, uint8_t > cloudViewer::t::io::RealSenseSensorConfig::get_dtype_channels ( int rs2_format_enum )

static

Convert rs2_format enum to CloudViewer Dtype and number of channels

Parameters

rs2_format_enum An int is accepted instead of rs2_format enum to prevent dependence on the realsense headers.

Definition at line 117 of file RealSenseSensorConfig.cpp.

References cloudViewer::core::make_pair(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by GetPixelDtypes().

◆ GetMetadataJson()

Json::Value cloudViewer::t::io::RealSenseSensorConfig::GetMetadataJson ( const rs2::pipeline_profile & profile )

static

Get metadata for a streaming RealSense camera or bag file.

Definition at line 224 of file RealSenseSensorConfig.cpp.

References cloudViewer::camera::PinholeCameraIntrinsic::ConvertToJsonValue(), LogError, profile, and cloudViewer::camera::PinholeCameraIntrinsic::SetIntrinsics().

Referenced by cloudViewer::t::io::RealSenseSensor::InitSensor(), cloudViewer::t::io::RSBagReader::Open(), and cloudViewer::t::io::RealSenseSensor::StartCapture().

◆ GetPixelDtypes()

void cloudViewer::t::io::RealSenseSensorConfig::GetPixelDtypes	(	const rs2::pipeline_profile &	profile,
		RGBDVideoMetadata &	metadata
	)

static

Get pixel data types for color and depth streams. These will be set in metadata.color_dt_, metadata.color_channels_ and metadata.depth_dt_

Definition at line 204 of file RealSenseSensorConfig.cpp.

References cloudViewer::t::io::RGBDVideoMetadata::color_channels_, cloudViewer::t::io::RGBDVideoMetadata::color_dt_, cloudViewer::t::io::RGBDVideoMetadata::depth_dt_, get_dtype_channels(), LogError, profile, cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::io::RealSenseSensor::InitSensor(), cloudViewer::t::io::RSBagReader::Open(), and cloudViewer::t::io::RealSenseSensor::StartCapture().

Member Data Documentation

◆ config_

std::unordered_map<std::string, std::string> cloudViewer::t::io::RealSenseSensorConfig::config_

Definition at line 93 of file RealSenseSensorConfig.h.

Referenced by ConvertFromJsonValue(), ConvertToJsonValue(), ConvertToNativeConfig(), cloudViewer::t::io::RealSenseSensor::InitSensor(), and RealSenseSensorConfig().

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RealSenseSensorConfig() [1/2]

◆ RealSenseSensorConfig() [2/2]

Member Function Documentation

◆ ConvertFromJsonValue()

◆ ConvertToJsonValue()

◆ ConvertToNativeConfig()

◆ get_dtype_channels()

◆ GetMetadataJson()

◆ GetPixelDtypes()

Member Data Documentation

◆ config_