open3d::t::io::RSBagReader Class Reference

#include <RSBagReader.h>

Inheritance diagram for open3d::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 open3d::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 open3d::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.

Constructor & Destructor Documentation

RSBagReader() [1/2]

open3d::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

RSBagReader() [2/2]

open3d::t::io::RSBagReader::RSBagReader ( const RSBagReader &  )

delete

~RSBagReader()

open3d::t::io::RSBagReader::~RSBagReader ( )

virtual

Member Function Documentation

Close()

void open3d::t::io::RSBagReader::Close ( )

overridevirtual

Close the opened RSBag playback.

Implements open3d::t::io::RGBDVideoReader.

GetFilename()

virtual std::string open3d::t::io::RSBagReader::GetFilename ( ) const

inlineoverridevirtual

Return filename being read.

Implements open3d::t::io::RGBDVideoReader.

GetMetadata() [1/2]

virtual const RGBDVideoMetadata& open3d::t::io::RSBagReader::GetMetadata ( ) const

inlineoverridevirtual

Get (read-only) metadata of the playback.

Implements open3d::t::io::RGBDVideoReader.

GetMetadata() [2/2]

virtual RGBDVideoMetadata& open3d::t::io::RSBagReader::GetMetadata ( )

inlineoverridevirtual

Get reference to the metadata of the RGBD video playback.

Implements open3d::t::io::RGBDVideoReader.

GetTimestamp()

uint64_t open3d::t::io::RSBagReader::GetTimestamp ( ) const

overridevirtual

Get current timestamp (in us).

Implements open3d::t::io::RGBDVideoReader.

IsEOF()

bool open3d::t::io::RSBagReader::IsEOF ( ) const

overridevirtual

Check if the RSBag file is all read.

Implements open3d::t::io::RGBDVideoReader.

IsOpened()

virtual bool open3d::t::io::RSBagReader::IsOpened ( ) const

inlineoverridevirtual

Check If the RSBag file is opened.

Implements open3d::t::io::RGBDVideoReader.

NextFrame()

t::geometry::RGBDImage open3d::t::io::RSBagReader::NextFrame ( )

overridevirtual

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

Implements open3d::t::io::RGBDVideoReader.

Open()

bool open3d::t::io::RSBagReader::Open ( const std::string &  filename )

overridevirtual

Open an RGBD Video playback.

Parameters

filename

Path to the RSBag file.

Implements open3d::t::io::RGBDVideoReader.

operator=()

RSBagReader& open3d::t::io::RSBagReader::operator= ( const RSBagReader &  )

delete

SaveFrames()

void open3d::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)

SeekTimestamp()

bool open3d::t::io::RSBagReader::SeekTimestamp ( uint64_t  timestamp )

overridevirtual

Seek to the timestamp (in us).

Parameters

timestamp

Time in us to seek to.

Implements open3d::t::io::RGBDVideoReader.

ToString()

std::string open3d::t::io::RGBDVideoReader::ToString

Text description.

Field Documentation

DEFAULT_BUFFER_SIZE

const size_t open3d::t::io::RSBagReader::DEFAULT_BUFFER_SIZE = 32

static

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/t/io/sensor/realsense/RSBagReader.h (252c867 (Sun May 5 05:39:34 2024 +0000))
• /home/runner/work/Open3D/Open3D/cpp/open3d/t/io/sensor/realsense/RSBagReader.cpp (252c867 (Sun May 5 05:39:34 2024 +0000))