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

#include <RealSenseSensor.h>

Inheritance diagram for open3d::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 open3d::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.

Constructor & Destructor Documentation

◆ RealSenseSensor() [1/2]

open3d::t::io::RealSenseSensor::RealSenseSensor ( )

Default constructor. Initialize with default settings.

◆ RealSenseSensor() [2/2]

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

delete

◆ ~RealSenseSensor()

open3d::t::io::RealSenseSensor::~RealSenseSensor ( )

overridevirtual

Member Function Documentation

◆ CaptureFrame()

geometry::RGBDImage open3d::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 open3d::t::io::RGBDSensor.

◆ EnumerateDevices()

std::vector< RealSenseValidConfigs > open3d::t::io::RealSenseSensor::EnumerateDevices ( )

static

Query all connected RealSense cameras for their capabilities.

Returns: A list of devices and their supported capabilities.

◆ GetFilename()

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

inlineoverridevirtual

Get filename being written.

Implements open3d::t::io::RGBDSensor.

◆ GetMetadata()

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

inlineoverridevirtual

Get metadata of the RealSense video capture.

Implements open3d::t::io::RGBDSensor.

◆ GetTimestamp()

virtual uint64_t open3d::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 open3d::t::io::RGBDSensor.

◆ InitSensor() [1/2]

bool open3d::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.

◆ InitSensor() [2/2]

virtual bool open3d::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 open3d::t::io::RGBDSensor.

◆ ListDevices()

bool open3d::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.

◆ operator=()

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

delete

◆ PauseRecord()

void open3d::t::io::RealSenseSensor::PauseRecord ( )

overridevirtual

Pause recording to the bag file.

Warning: If this is called immediately after StartCapture(), the bag file may have an incorrect end time.

Implements open3d::t::io::RGBDSensor.

◆ ResumeRecord()

void open3d::t::io::RealSenseSensor::ResumeRecord ( )

overridevirtual

Resume recording to the bag file. The file will contain discontinuous segments.

Implements open3d::t::io::RGBDSensor.

◆ StartCapture()

bool open3d::t::io::RealSenseSensor::StartCapture ( bool start_record = false )

overridevirtual

Start capturing synchronized depth and color frames.

Parameters

start_record start recording to the specified bag file as well.

Implements open3d::t::io::RGBDSensor.

◆ StopCapture()

void open3d::t::io::RealSenseSensor::StopCapture ( )

overridevirtual

Stop capturing frames.

Implements open3d::t::io::RGBDSensor.

◆ ToString()

virtual const std::string open3d::t::io::RGBDSensor::ToString

inline

Text Description.

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

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RealSenseSensor() [1/2]

◆ RealSenseSensor() [2/2]

◆ ~RealSenseSensor()

Member Function Documentation

◆ CaptureFrame()

◆ EnumerateDevices()

◆ GetFilename()

◆ GetMetadata()

◆ GetTimestamp()

◆ InitSensor() [1/2]

◆ InitSensor() [2/2]

◆ ListDevices()

◆ operator=()

◆ PauseRecord()

◆ ResumeRecord()

◆ StartCapture()

◆ StopCapture()

◆ ToString()