Grabber for Intel Realsense 2 SDK devices (D400 series) More...

#include <pcl/io/real_sense_2_grabber.h>

Inheritance diagram for pcl::RealSense2Grabber:

Collaboration diagram for pcl::RealSense2Grabber:

Public Types
using	signal_librealsense_PointXYZ = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &)

using	signal_librealsense_PointXYZI = void(const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &)

using	signal_librealsense_PointXYZRGB = void(const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &)

using	signal_librealsense_PointXYZRGBA = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &)

Public Member Functions
	RealSense2Grabber (const std::string &file_name_or_serial_number="", const bool repeat_playback=true)
	Constructor. More...

	~RealSense2Grabber () override
	virtual Destructor inherited from the Grabber interface. More...

void	setDeviceOptions (std::uint32_t width, std::uint32_t height, std::uint32_t fps=30)
	Set the device options. More...

void	start () override
	Start the data acquisition. More...

void	stop () override
	Stop the data acquisition. More...

bool	isRunning () const override
	Check if the data acquisition is still running. More...

float	getFramesPerSecond () const override
	Obtain the number of frames per second (FPS). More...

std::string	getName () const override
	defined grabber name More...

Public Member Functions inherited from pcl::Grabber
	Grabber ()=default
	Default ctor. More...

	Grabber (const Grabber &)=delete
	No copy ctor since Grabber can't be copied. More...

Grabber &	operator= (const Grabber &)=delete
	No copy assign operator since Grabber can't be copied. More...

	Grabber (Grabber &&)=default
	Move ctor. More...

Grabber &	operator= (Grabber &&)=default
	Move assign operator. More...

virtual	~Grabber () noexcept=default
	virtual destructor. More...

template<typename T >
boost::signals2::connection	registerCallback (const std::function< T > &callback)
	registers a callback function/method to a signal with the corresponding signature More...

template<typename T >
bool	providesCallback () const noexcept
	indicates whether a signal with given parameter-type exists or not More...

bool	toggle ()
	For devices that are streaming, stopped streams are started and running stream are stopped. More...

Protected Member Functions
void	signalsChanged () override
	Handle when a signal callback has been changed. More...

void	threadFunction ()
	the thread function More...

void	reInitialize ()
	Dynamic reinitialization. More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	convertDepthToPointXYZ (const rs2::points &points)
	Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ> More...

pcl::PointCloud< pcl::PointXYZI >::Ptr	convertIntensityDepthToPointXYZRGBI (const rs2::points &points, const rs2::video_frame &ir)
	Convert an Infrared Depth image to a pcl::PointCloud<pcl::PointXYZI> More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	convertRGBDepthToPointXYZRGB (const rs2::points &points, const rs2::video_frame &rgb)
	Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGB> More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	convertRGBADepthToPointXYZRGBA (const rs2::points &points, const rs2::video_frame &rgb)
	Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGBA> More...

template<typename PointT , typename Functor >
pcl::PointCloud< PointT >::Ptr	convertRealsensePointsToPointCloud (const rs2::points &points, Functor mapColorFunc)
	template function to convert realsense point cloud to PCL point cloud More...

Protected Member Functions inherited from pcl::Grabber
template<typename T >
boost::signals2::signal< T > *	find_signal () const noexcept

template<typename T >
int	num_slots () const noexcept

template<typename T >
void	disconnect_all_slots ()

template<typename T >
void	block_signal ()

template<typename T >
void	unblock_signal ()

void	block_signals ()

void	unblock_signals ()

template<typename T >
boost::signals2::signal< T > *	createSignal ()

Static Protected Member Functions
static size_t	getTextureIdx (const rs2::video_frame &texture, float u, float v)
	Retrieve pixel index for UV texture coordinate. More...

static pcl::RGB	getTextureColor (const rs2::video_frame &texture, float u, float v)
	Retrieve RGB color from texture video frame. More...

static std::uint8_t	getTextureIntensity (const rs2::video_frame &texture, float u, float v)
	Retrieve color intensity from texture video frame. More...

Protected Attributes
boost::signals2::signal< signal_librealsense_PointXYZ > *	signal_PointXYZ

boost::signals2::signal< signal_librealsense_PointXYZI > *	signal_PointXYZI

boost::signals2::signal< signal_librealsense_PointXYZRGB > *	signal_PointXYZRGB

boost::signals2::signal< signal_librealsense_PointXYZRGBA > *	signal_PointXYZRGBA

std::thread	thread_
	handle to the thread More...

std::string	file_name_or_serial_number_
	Defines either a file path to a bag file or a realsense device serial number. More...

bool	repeat_playback_
	Repeat playback when reading from file. More...

bool	quit_ {false}
	controlling the state of the thread. More...

bool	running_ {false}
	Is the grabber running. More...

float	fps_ {0.0f}
	Calculated FPS for the grabber. More...

std::uint32_t	device_width_ {424}
	Width for the depth and color sensor. More...

std::uint32_t	device_height_ {240}
	Height for the depth and color sensor. More...

std::uint32_t	target_fps_ {30}
	Target FPS for the device. More...

rs2::pointcloud	pc_
	Declare pointcloud object, for calculating pointclouds and texture mappings. More...

rs2::pipeline	pipe_
	Declare RealSense pipeline, encapsulating the actual device and sensors. More...

Protected Attributes inherited from pcl::Grabber
std::map< std::string, std::unique_ptr< boost::signals2::signal_base > >	signals_

std::map< std::string, std::vector< boost::signals2::connection > >	connections_

std::map< std::string, std::vector< boost::signals2::shared_connection_block > >	shared_connections_

Detailed Description

Grabber for Intel Realsense 2 SDK devices (D400 series)

Note: Device width/height defaults to 424/240, the lowest resolutions for D400 devices.; Testing on the in_hand_scanner example we found the lower default resolution allowed the app to perform adequately.; Developers should use this resolution as a starting point and gradually increase to get the best results

Author: Patrick Abadi patri.nosp@m.ckab.nosp@m.adi@g.nosp@m.mail.nosp@m..com, Daniel Packard pack3.nosp@m.754@.nosp@m.gmail.nosp@m..com

Definition at line 59 of file real_sense_2_grabber.h.

Member Typedef Documentation

◆ signal_librealsense_PointXYZ

using pcl::RealSense2Grabber::signal_librealsense_PointXYZ = void( const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& )

Definition at line 108 of file real_sense_2_grabber.h.

◆ signal_librealsense_PointXYZI

using pcl::RealSense2Grabber::signal_librealsense_PointXYZI = void( const pcl::PointCloud<pcl::PointXYZI>::ConstPtr& )

Definition at line 109 of file real_sense_2_grabber.h.

◆ signal_librealsense_PointXYZRGB

using pcl::RealSense2Grabber::signal_librealsense_PointXYZRGB = void( const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& )

Definition at line 110 of file real_sense_2_grabber.h.

◆ signal_librealsense_PointXYZRGBA

using pcl::RealSense2Grabber::signal_librealsense_PointXYZRGBA = void( const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& )

Definition at line 111 of file real_sense_2_grabber.h.

Constructor & Destructor Documentation

◆ RealSense2Grabber()

pcl::RealSense2Grabber::RealSense2Grabber	(	const std::string &	file_name_or_serial_number = `""`,
		const bool	repeat_playback = `true`
	)

Constructor.

Parameters

[in]	file_name_or_serial_number	used for either loading bag file or specific device by serial number
[in]	repeat_playback	whether to repeat playback when reading from file

◆ ~RealSense2Grabber()

pcl::RealSense2Grabber::~RealSense2Grabber ( )

override

virtual Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ convertDepthToPointXYZ()

pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::RealSense2Grabber::convertDepthToPointXYZ ( const rs2::points & points )

protected

Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ>

Parameters

[in] points the depth points

◆ convertIntensityDepthToPointXYZRGBI()

pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::RealSense2Grabber::convertIntensityDepthToPointXYZRGBI	(	const rs2::points &	points,
		const rs2::video_frame &	ir
	)

protected

Convert an Infrared Depth image to a pcl::PointCloud<pcl::PointXYZI>

Parameters

[in]	points	the depth points
[in]	ir	Infrared video frame

◆ convertRealsensePointsToPointCloud()

template<typename PointT , typename Functor >

pcl::PointCloud<PointT>::Ptr pcl::RealSense2Grabber::convertRealsensePointsToPointCloud	(	const rs2::points &	points,
		Functor	mapColorFunc
	)

protected

template function to convert realsense point cloud to PCL point cloud

Parameters

[in]	points	- realsense point cloud array
[in]	mapColorFunc	dynamic function to convert individual point color or intensity values

◆ convertRGBADepthToPointXYZRGBA()

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pcl::RealSense2Grabber::convertRGBADepthToPointXYZRGBA	(	const rs2::points &	points,
		const rs2::video_frame &	rgb
	)

protected

Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGBA>

Parameters

[in]	points	the depth points
[in]	rgb	rgb video frame

◆ convertRGBDepthToPointXYZRGB()

pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl::RealSense2Grabber::convertRGBDepthToPointXYZRGB	(	const rs2::points &	points,
		const rs2::video_frame &	rgb
	)

protected

Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGB>

Parameters

[in]	points	the depth points
[in]	rgb	rgb video frame

◆ getFramesPerSecond()

float pcl::RealSense2Grabber::getFramesPerSecond ( ) const

overridevirtual

Obtain the number of frames per second (FPS).

Implements pcl::Grabber.

◆ getName()

std::string pcl::RealSense2Grabber::getName ( ) const

inlineoverridevirtual

defined grabber name

Implements pcl::Grabber.

Definition at line 104 of file real_sense_2_grabber.h.

◆ getTextureColor()

static pcl::RGB pcl::RealSense2Grabber::getTextureColor	(	const rs2::video_frame &	texture,
		float	u,
		float	v
	)

staticprotected

Retrieve RGB color from texture video frame.

Parameters

[in]	texture	the texture
[in]	u	2D coordinate
[in]	v	2D coordinate

◆ getTextureIdx()

static size_t pcl::RealSense2Grabber::getTextureIdx	(	const rs2::video_frame &	texture,
		float	u,
		float	v
	)

staticprotected

Retrieve pixel index for UV texture coordinate.

Parameters

[in]	texture	the texture
[in]	u	2D coordinate
[in]	v	2D coordinate

◆ getTextureIntensity()

static std::uint8_t pcl::RealSense2Grabber::getTextureIntensity	(	const rs2::video_frame &	texture,
		float	u,
		float	v
	)

staticprotected

Retrieve color intensity from texture video frame.

Parameters

[in]	texture	the texture
[in]	u	2D coordinate
[in]	v	2D coordinate

◆ isRunning()

bool pcl::RealSense2Grabber::isRunning ( ) const

overridevirtual

Check if the data acquisition is still running.

Implements pcl::Grabber.

◆ reInitialize()

void pcl::RealSense2Grabber::reInitialize ( )

protected

Dynamic reinitialization.

◆ setDeviceOptions()

void pcl::RealSense2Grabber::setDeviceOptions	(	std::uint32_t	width,
		std::uint32_t	height,
		std::uint32_t	fps = `30`
	)

inline

Set the device options.

Parameters

[in]	width	resolution
[in]	height	resolution
[in]	fps	target frames per second for the device

Definition at line 77 of file real_sense_2_grabber.h.

◆ signalsChanged()

void pcl::RealSense2Grabber::signalsChanged ( )

overrideprotectedvirtual

Handle when a signal callback has been changed.

Reimplemented from pcl::Grabber.

◆ start()

void pcl::RealSense2Grabber::start ( )

overridevirtual

Start the data acquisition.

Implements pcl::Grabber.

◆ stop()

void pcl::RealSense2Grabber::stop ( )

overridevirtual

Stop the data acquisition.

Implements pcl::Grabber.

◆ threadFunction()

void pcl::RealSense2Grabber::threadFunction ( )

protected

the thread function

Member Data Documentation

◆ device_height_

std::uint32_t pcl::RealSense2Grabber::device_height_ {240}

protected

Height for the depth and color sensor.

Default 240

Definition at line 210 of file real_sense_2_grabber.h.

◆ device_width_

std::uint32_t pcl::RealSense2Grabber::device_width_ {424}

protected

Width for the depth and color sensor.

Default 424

Definition at line 208 of file real_sense_2_grabber.h.

◆ file_name_or_serial_number_

std::string pcl::RealSense2Grabber::file_name_or_serial_number_

protected

Defines either a file path to a bag file or a realsense device serial number.

Definition at line 198 of file real_sense_2_grabber.h.

◆ fps_

float pcl::RealSense2Grabber::fps_ {0.0f}

protected

Calculated FPS for the grabber.

Definition at line 206 of file real_sense_2_grabber.h.

◆ pc_

rs2::pointcloud pcl::RealSense2Grabber::pc_

protected

Declare pointcloud object, for calculating pointclouds and texture mappings.

Definition at line 214 of file real_sense_2_grabber.h.

◆ pipe_

rs2::pipeline pcl::RealSense2Grabber::pipe_

protected

Declare RealSense pipeline, encapsulating the actual device and sensors.

Definition at line 216 of file real_sense_2_grabber.h.

◆ quit_

bool pcl::RealSense2Grabber::quit_ {false}

protected

controlling the state of the thread.

Definition at line 202 of file real_sense_2_grabber.h.

◆ repeat_playback_

bool pcl::RealSense2Grabber::repeat_playback_

protected

Repeat playback when reading from file.

Definition at line 200 of file real_sense_2_grabber.h.

◆ running_

bool pcl::RealSense2Grabber::running_ {false}

protected

Is the grabber running.

Definition at line 204 of file real_sense_2_grabber.h.

◆ signal_PointXYZ

boost::signals2::signal<signal_librealsense_PointXYZ>* pcl::RealSense2Grabber::signal_PointXYZ

protected

Definition at line 115 of file real_sense_2_grabber.h.

◆ signal_PointXYZI

boost::signals2::signal<signal_librealsense_PointXYZI>* pcl::RealSense2Grabber::signal_PointXYZI

protected

Definition at line 116 of file real_sense_2_grabber.h.

◆ signal_PointXYZRGB

boost::signals2::signal<signal_librealsense_PointXYZRGB>* pcl::RealSense2Grabber::signal_PointXYZRGB

protected

Definition at line 117 of file real_sense_2_grabber.h.

◆ signal_PointXYZRGBA

boost::signals2::signal<signal_librealsense_PointXYZRGBA>* pcl::RealSense2Grabber::signal_PointXYZRGBA

protected

Definition at line 118 of file real_sense_2_grabber.h.

◆ target_fps_

std::uint32_t pcl::RealSense2Grabber::target_fps_ {30}

protected

Target FPS for the device.

Default 30.

Definition at line 212 of file real_sense_2_grabber.h.

◆ thread_

std::thread pcl::RealSense2Grabber::thread_

protected

handle to the thread

Definition at line 196 of file real_sense_2_grabber.h.

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

pcl/io/real_sense_2_grabber.h

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ signal_librealsense_PointXYZ

◆ signal_librealsense_PointXYZI

◆ signal_librealsense_PointXYZRGB

◆ signal_librealsense_PointXYZRGBA

Constructor & Destructor Documentation

◆ RealSense2Grabber()

◆ ~RealSense2Grabber()

Member Function Documentation

◆ convertDepthToPointXYZ()

◆ convertIntensityDepthToPointXYZRGBI()

◆ convertRealsensePointsToPointCloud()

◆ convertRGBADepthToPointXYZRGBA()

◆ convertRGBDepthToPointXYZRGB()

◆ getFramesPerSecond()

◆ getName()

◆ getTextureColor()

◆ getTextureIdx()

◆ getTextureIntensity()

◆ isRunning()

◆ reInitialize()

◆ setDeviceOptions()

◆ signalsChanged()

◆ start()

◆ stop()

◆ threadFunction()

Member Data Documentation

◆ device_height_

◆ device_width_

◆ file_name_or_serial_number_

◆ fps_

◆ pc_

◆ pipe_

◆ quit_

◆ repeat_playback_

◆ running_

◆ signal_PointXYZ

◆ signal_PointXYZI

◆ signal_PointXYZRGB

◆ signal_PointXYZRGBA

◆ target_fps_

◆ thread_