#include <pcl/io/real_sense_grabber.h>

Inheritance diagram for pcl::RealSenseGrabber:

Collaboration diagram for pcl::RealSenseGrabber:

Classes
struct	Mode
	A descriptor for capturing mode. More...

Public Types
enum	TemporalFilteringType { RealSense_None = 0 , RealSense_Median = 1 , RealSense_Average = 2 }

using	Ptr = shared_ptr< RealSenseGrabber >

using	ConstPtr = shared_ptr< const RealSenseGrabber >

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

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

Public Member Functions
	RealSenseGrabber (const std::string &device_id="", const Mode &mode=Mode(), bool strict=false)
	Create a grabber for a RealSense device. More...

virtual	~RealSenseGrabber () noexcept

virtual void	start ()
	For devices that are streaming, the streams are started by calling this method. More...

virtual void	stop ()
	For devices that are streaming, the streams are stopped. More...

virtual bool	isRunning () const
	Indicates whether the grabber is streaming or not. More...

virtual std::string	getName () const
	returns the name of the concrete subclass. More...

virtual float	getFramesPerSecond () const
	returns fps. More...

void	setConfidenceThreshold (unsigned int threshold)
	Set the confidence threshold for depth data. More...

void	enableTemporalFiltering (TemporalFilteringType type, std::size_t window_size)
	Enable temporal filtering of the depth data received from the device. More...

void	disableTemporalFiltering ()
	Disable temporal filtering. More...

const std::string &	getDeviceSerialNumber () const
	Get the serial number of device captured by the grabber. More...

std::vector< Mode >	getAvailableModes (bool only_depth=false) const
	Get a list of capturing modes supported by the PXC device controlled by this grabber. More...

void	setMode (const Mode &mode, bool strict=false)
	Set desired capturing mode. More...

const Mode &	getMode () const
	Get currently active capturing mode. 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...

Additional Inherited Members
Protected Member Functions inherited from pcl::Grabber
virtual void	signalsChanged ()

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 ()

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

Definition at line 68 of file real_sense_grabber.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::RealSenseGrabber::ConstPtr = shared_ptr<const RealSenseGrabber>

Definition at line 74 of file real_sense_grabber.h.

◆ Ptr

using pcl::RealSenseGrabber::Ptr = shared_ptr<RealSenseGrabber>

Definition at line 73 of file real_sense_grabber.h.

◆ sig_cb_real_sense_point_cloud

using pcl::RealSenseGrabber::sig_cb_real_sense_point_cloud = void(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)

Definition at line 76 of file real_sense_grabber.h.

◆ sig_cb_real_sense_point_cloud_rgba

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

Definition at line 77 of file real_sense_grabber.h.

Member Enumeration Documentation

◆ TemporalFilteringType

enum pcl::RealSenseGrabber::TemporalFilteringType

Enumerator
RealSense_None
RealSense_Median
RealSense_Average

Definition at line 119 of file real_sense_grabber.h.

Constructor & Destructor Documentation

◆ RealSenseGrabber()

pcl::RealSenseGrabber::RealSenseGrabber	(	const std::string &	device_id = `""`,
		const Mode &	mode = `Mode()`,
		bool	strict = `false`
	)

Create a grabber for a RealSense device.

The grabber "captures" the device, making it impossible for other grabbers to interact with it. The device is "released" when the grabber is destructed.

This will throw pcl::io::IOException if there are no free devices that match the supplied device_id.

Parameters

[in]	device_id	device identifier, which can be a serial number, a zero-based index (with '#' prefix), or an empty string (to select the first available device)
[in]	mode	desired framerate and stream resolution (see Mode). If the default is supplied, then the mode closest to VGA at 30 Hz will be chosen.
[in]	strict	if set to `true`, an exception will be thrown if device does not support exactly the mode requested. Otherwise the closest available mode is selected.

◆ ~RealSenseGrabber()

virtual pcl::RealSenseGrabber::~RealSenseGrabber ( )

virtualnoexcept

Member Function Documentation

◆ disableTemporalFiltering()

void pcl::RealSenseGrabber::disableTemporalFiltering ( )

Disable temporal filtering.

◆ enableTemporalFiltering()

void pcl::RealSenseGrabber::enableTemporalFiltering	(	TemporalFilteringType	type,
		std::size_t	window_size
	)

Enable temporal filtering of the depth data received from the device.

The window size parameter is not relevant for RealSense_None filtering type.

Note: if the grabber is running and the new parameters are different from the current parameters, grabber will be restarted.

◆ getAvailableModes()

std::vector<Mode> pcl::RealSenseGrabber::getAvailableModes ( bool only_depth = false ) const

Get a list of capturing modes supported by the PXC device controlled by this grabber.

Parameters

[in] only_depth list depth-only modes

Note: : this list exclude modes where framerates of the depth and color streams do not match.

◆ getDeviceSerialNumber()

const std::string& pcl::RealSenseGrabber::getDeviceSerialNumber ( ) const

Get the serial number of device captured by the grabber.

◆ getFramesPerSecond()

virtual float pcl::RealSenseGrabber::getFramesPerSecond ( ) const

virtual

returns fps.

0 if trigger based.

Implements pcl::Grabber.

◆ getMode()

const Mode& pcl::RealSenseGrabber::getMode ( ) const

inline

Get currently active capturing mode.

Note: : capturing mode is selected when start() is called; output of this function before grabber was started is undefined.

Definition at line 214 of file real_sense_grabber.h.

◆ getName()

virtual std::string pcl::RealSenseGrabber::getName ( ) const

inlinevirtual

returns the name of the concrete subclass.

Returns: the name of the concrete driver.

Implements pcl::Grabber.

Definition at line 159 of file real_sense_grabber.h.

◆ isRunning()

virtual bool pcl::RealSenseGrabber::isRunning ( ) const

virtual

Indicates whether the grabber is streaming or not.

This value is not defined for triggered devices.

Returns: true if grabber is running / streaming. False otherwise.

Implements pcl::Grabber.

◆ setConfidenceThreshold()

void pcl::RealSenseGrabber::setConfidenceThreshold ( unsigned int threshold )

Set the confidence threshold for depth data.

Valid range is [0..15]. Discarded points will have their coordinates set to NaNs).

◆ setMode()

void pcl::RealSenseGrabber::setMode	(	const Mode &	mode,
		bool	strict = `false`
	)

Set desired capturing mode.

Note: if the grabber is running and the new mode is different the one requested previously, grabber will be restarted.

◆ start()

virtual void pcl::RealSenseGrabber::start ( )

virtual

For devices that are streaming, the streams are started by calling this method.

Trigger-based devices, just trigger the device once for each call of start.

Implements pcl::Grabber.

◆ stop()

virtual void pcl::RealSenseGrabber::stop ( )

virtual

For devices that are streaming, the streams are stopped.

This method has no effect for triggered devices.

Implements pcl::Grabber.

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

pcl/io/real_sense_grabber.h

Classes

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ sig_cb_real_sense_point_cloud

◆ sig_cb_real_sense_point_cloud_rgba

Member Enumeration Documentation

◆ TemporalFilteringType

Constructor & Destructor Documentation

◆ RealSenseGrabber()

◆ ~RealSenseGrabber()

Member Function Documentation

◆ disableTemporalFiltering()

◆ enableTemporalFiltering()

◆ getAvailableModes()

◆ getDeviceSerialNumber()

◆ getFramesPerSecond()

◆ getMode()

◆ getName()

◆ isRunning()

◆ setConfidenceThreshold()

◆ setMode()

◆ start()

◆ stop()