#include <RGBD/Include/ImFusion/RGBD/OrbbecRGBDStream.h>

Provides a stream interface for Orbbec RGB-D sensors (starting from Astra+). More...

Inheritance diagram for OrbbecRGBDStream:

Detailed Description

Provides a stream interface for Orbbec RGB-D sensors (starting from Astra+).

This class enables device enumeration, configuration, calibration management, and frame acquisition for a wide range of Orbbec-compatible devices.

Typical usage involves enumerating available devices, opening a stream, configuring parameters, and acquiring synchronized depth and color frames.

auto streams = OrbbecRGBDStream::enumerate();
if (!streams.empty())
{
    auto& stream = streams.front();
    stream->open();
    // Acquire images, configure parameters, etc.
    stream->close();
}

Note

Supports multiple Orbbec sensor types (AstraPlus, Gemini, Femto, etc.)
Calibration can be loaded and saved.
Not thread-safe.

See also: RGBDStream

Classes
struct	SensorConfig
	Sensor configuration for multi-device synchronization. More...

Public Types
enum	DistParamLayout { Auto = 0 , NewLayout , OldLayout }
	Sensor distortion parameter layout.

enum	SensorType { Gemini335 , Gemini335L , FemtoBolt , FemtoMega , Gemini2XL , Astra2 , Gemini2L , Gemini2 , AstraPlus , AstraPlusS , Femto , FemtoW , AstraMiniPro , AstraMiniS , AstraMiniSPro , GeminiE , Unknown }
	Sensor type enumeration.

Public Types inherited from RGBDStream
enum	PixelFormat { Rgb24 , Rgb32 , Depth16 , Gray8 , Gray16 , Yuv422 }
	Pixel format enumeration for RGB-D frames. More...

Public Types inherited from Stream
enum class	ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading }
	This flag represents the two supported threading modes of a Stream. More...

enum class	State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing }

Public Types inherited from Data
enum	Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 }
	Kind of data. More...

enum	Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 }
	Image modality of the data. More...

Public Member Functions
	OrbbecRGBDStream (const std::string &uuid="", const std::string &name="")
	Constructs a stream for the specified device UUID and name.

	~OrbbecRGBDStream () override
	Destroys the stream and releases resources.

std::string	name () const override
	Returns the device name.

std::string	serialNumber () const override
	Returns the device serial number.

std::string	firmwareVersion () const override
	Returns the firmware version of the device.

bool	supportsColor () const override
	Returns true if the device supports color images.

bool	depthFormats (std::vector< FrameInfo > &formats) override
	Returns the depth formats supported by the device.

bool	colorFormats (std::vector< FrameInfo > &formats) override
	Returns the color formats supported by the device.

bool	defaultColorResolution (int &width, int &height) override
	Returns the default color resolution.

bool	defaultDepthResolution (int &width, int &height) override
	Returns the default depth resolution.

bool	setDepthFormat (const FrameInfo &format) override
	Sets the depth format and restarts the device if supported.

bool	setColorFormat (const FrameInfo &format) override
	Tries to set the color format to 640x480, returns true if attempted.

bool	depthFormat (FrameInfo &format) const override
	Returns the current depth format.

bool	colorFormat (FrameInfo &format) const override
	Returns the current color format.

std::string	uuid () override
	Returns the serial number of the underlying device with " RGBD" appended.

int	depthImageWidth () const override
	Returns the width of the current depth stream format.

int	depthImageHeight () const override
	Returns the height of the current depth stream format.

int	colorImageWidth () const override
	Returns the width of the current color stream format.

int	colorImageHeight () const override
	Returns the height of the current color stream format.

virtual bool	depthK (mat3 &K) const override
	Retrieves depth camera intrinsics if available.

virtual bool	depthDist (vec5 &dist) const override
	Retrieves depth camera distortion parameters in OpenCV convention (k1,k2,p1,p2,k3) if available.

virtual bool	colorK (mat3 &K) const override
	Retrieves color camera intrinsics if available.

virtual bool	colorDist (vec5 &dist) const override
	Retrieves color camera distortion parameters in OpenCV convention (k1,k2,p1,p2,k3) if available.

bool	depthToColorT (mat4 &T) const override
	Retrieves the transformation matrix between depth and color cameras.

void	setEnableRadialDistortionCorrection (bool enable)
	Enables or disables undistortion for color and depth.

bool	enableRadialDistortionCorrection () const
	Returns true if radial distortion correction is enabled.

bool	isLaserStateChangeSupported ()
	Returns true if laser state change is supported.

bool	setLaserState (bool enable) override
	Enables or disables the laser.

bool	laserState () const override
	Returns true if the laser is enabled.

bool	supportsAutoWhiteBalance () const override
	Returns true if auto white balance is supported.

bool	setAutoWhiteBalanceEnabled (bool enable) override
	Enables or disables auto white balance.

bool	isAutoWhiteBalanceEnabled () const override
	Returns true if auto white balance is enabled.

bool	supportsAutoExposure () const override
	Returns true if auto exposure is supported.

bool	setAutoExposureEnabled (bool enable) override
	Enables or disables auto exposure.

bool	isAutoExposureEnabled () const override
	Returns true if auto exposure is enabled.

bool	supportsIRAutoExposure () const
	Returns true if IR auto exposure is supported.

bool	setIRAutoExposureEnabled (bool enable)
	Enables or disables IR auto exposure.

bool	isIRAutoExposureEnabled () const
	Returns true if IR auto exposure is enabled.

bool	saveCalibration (Properties *p) const
	Saves the current calibration to a Properties object.

bool	supportsPausing () const override
	Returns true if pausing is supported.

bool	isIRSupported ()
	Returns true if IR is supported.

void	setIR (bool use)
	Enables or disables IR mode.

bool	IR () const
	Returns true if IR mode is enabled.

bool	isMaxFrameDelaySupported () const
	Returns true if maximum frame delay is supported.

void	setMaximumFrameDelay (int maxDelay)
	Sets the maximum frame delay for synchronization.

int	maximumFrameDelay () const
	Returns the maximum frame delay for synchronization.

bool	isGainSupported () const override
	Returns true if gain is supported.

bool	setGain (int value) override
	Sets the gain value.

int	gain () const override
	Returns the current gain value.

std::pair< int, int >	gainRange () const
	Returns the supported gain range.

bool	isExposureSupported () const override
	Returns true if exposure is supported.

bool	setExposure (int value) override
	Sets the exposure value.

int	exposure () const override
	Returns the current exposure value.

std::pair< int, int >	exposureRange () const
	Returns the supported exposure range.

bool	isIrExposureSupported () const
	Returns true if IR exposure is supported.

bool	setIrExposure (int value)
	Sets the IR exposure value.

int	irExposure () const
	Returns the current IR exposure value.

std::pair< int, int >	irExposureRange () const
	Returns the supported IR exposure range.

bool	isIrGainSupported () const
	Returns true if IR gain is supported.

bool	setIrGain (int value)
	Sets the IR gain value.

int	irGain () const
	Returns the current IR gain value.

std::pair< int, int >	irGainRange () const
	Returns the supported IR gain range.

bool	isDepthColorSyncSupported () const
	Returns true if depth-color synchronization is supported.

void	setDepthColorSyncEnabled (bool value)
	Enables or disables depth-color synchronization.

bool	depthColorSyncEnabled () const
	Returns true if depth-color synchronization is enabled.

bool	isAsus () const
	Returns true if the device is an Asus sensor.

bool	isDepthWorkModeSupported () const
	Returns true if depth work mode is supported.

void	setDepthWorkMode (const std::string &value)
	Sets the depth work mode.

std::string	depthWorkMode () const
	Returns the current depth work mode.

std::vector< std::string >	depthWorkModes () const
	Returns the list of supported depth work modes.

bool	distortionLayoutChangeSupported () const
	Returns true if distortion layout change is supported.

bool	setDistortionParamLayout (DistParamLayout layout)
	Sets the distortion parameter layout.

DistParamLayout	distortionParamLayout () const
	Returns the current distortion parameter layout.

bool	multiDeviceSyncActivate () const
	Activates multi-device synchronization.

bool	reboot (int timeoutMs=20000)
	Reboots the device and waits until it is available again.

SensorType	type ()
	Returns the type of the sensor, e.g. AstraMiniS, AstraPlusS, Gemini2, etc.

Public Member Functions inherited from RGBDStream
virtual bool	grabSingleFrame ()
	Grabs a single RGBD frame.

virtual bool	isOpen () const

	RGBDStream (const std::string &name="")

virtual bool	grabImage (float depthData, unsigned char colorData, int timeOut=500)

virtual bool	usingFactoryCalibration () const
	Returns true when the sensor has a per-sensor factory calibration and it is currently being used.

virtual bool	depthDist (Eigen::Matrix< double, 5, 1 > &dist) const
	Retrieve depth camera distortion parameters if available.

virtual bool	dropCorruptDepthData (bool &drop) const

virtual bool	setDropCorruptDepthData (bool drop)

virtual bool	colorDist (Eigen::Matrix< double, 5, 1 > &dist) const
	Retrieve color camera distortion parameters if available.

virtual bool	setDepthK (const mat3 &K)

virtual bool	setDepthDist (const Eigen::Matrix< double, 5, 1 > &dist)

virtual bool	setColorK (const mat3 &K)

virtual bool	setColorDist (const Eigen::Matrix< double, 5, 1 > &dist)

virtual bool	setDepthToColorT (const mat4 &T)

virtual bool	supportsSingleFrameGrab () const
	Returns if the stream supports single frame capture model; set false by default.

virtual bool	startOnImport () const
	Returns if the stream shall be started on import; set true by default.

virtual bool	loadCalibration (const Properties *p)

virtual bool	selectDefaultFrameFormat ()

virtual bool	createDefaultStreamController () override final
	Indicates whether a StreamController should be created for the stream.

std::unique_ptr< RGBDDataComponent >	getRGBDDataComponentCopy ()
	Returns the copy of the RGBDDataComponent. If it wasn't present before, it is added and updated.

Public Member Functions inherited from ImageStream
	ImageStream (const std::string &name="")

Data::Kind	kind () const override final
	Returns the kind (typically IMAGESTREAM or VOLUMESTREAM)

void	setModality (Modality m)
	Set the modality descriptor of this stream.

Modality	modality () const override final
	Return the modality of this stream.

virtual bool	topDown () const
	Specify whether the first line of the image data is to be displayed on top.

int	size () const override
	Returns the number of images of the image stream per emission.

std::string	describe () const override
	Short description of the stream including latest state and update rate information.

Public Member Functions inherited from Stream
	Stream (const std::string &name="")
	Constructor with the `name` for this stream.

virtual ThreadingMode	threadingMode () const
	Configures threading mode of stream.

virtual bool	supportsAsyncOperation ()
	Returns true if xxxAsync() methods support execution in a background thread.

std::shared_future< bool >	openAsync ()
	Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	closeAsync ()
	Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	startAsync ()
	Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	stopAsync ()
	Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	pauseAsync ()
	Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

std::shared_future< bool >	resumeAsync ()
	Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful.

bool	open ()
	Open stream and wait for the operation to complete. Returns whether the operation was successful.

bool	close ()
	Close stream and wait for the operation to complete. Returns whether the operation was successful.

bool	start ()
	Start stream and wait for the operation to complete. Returns whether the operation was successful.

bool	stop ()
	Stop stream and wait for the operation to complete. Returns whether the operation was successful.

bool	pause ()
	Pause stream and wait for the operation to complete. Returns whether the operation was successful.

bool	resume ()
	Resume stream and wait for the operation to complete. Returns whether the operation was successful.

bool	restart ()
	Stops, closes, opens and starts the stream. Returns whether the operation was successful.

virtual bool	reset ()
	Reverts stream to first frame, if possible. Returns whether the operation was successful.

virtual bool	isRunning () const
	Return whether stream is currently running.

State	currentState () const

bool	isStateOneOf (const std::vector< State > &states) const

Geometry::AlignedBox	bounds () const override
	Per default a Stream has empty/invalid bounds.

Pose::TransformationConvention	matrixConvention () const override
	Matrices of streams by default map to the world coordinate system.

double	updateRate () const
	Average update rate in Hz of the `signalStreamData`.

std::string	describe () const override
	Short description of the stream including latest state and update rate information.

Public Member Functions inherited from Data
	Data (const std::string &name="")

	Data (const Data &other)

Data &	operator= (const Data &other)

virtual	~Data ()
	Mandatory virtual destructor.

const std::string &	name () const
	Return the name of this data.

void	setName (const std::string &name)
	Sets the name of this data.

virtual bool	isAnnotationType () const
	Return whether this data type is visualized through an annotation (e.g. mesh)

const DataComponentList &	components () const
	Returns the list of DataComponents for this data.

DataComponentList &	components ()

virtual void	setMatrixFromWorld (const mat4 &m)
	Set matrix mapping from the world coordinate system to the data coordinate system.

virtual void	setMatrixToWorld (const mat4 &m)
	Set matrix mapping from the data coordinate system to the world coordinate system.

virtual mat4	matrixFromWorld () const
	Get matrix mapping from the world coordinate system to the data coordinate system.

virtual mat4	matrixToWorld () const
	Get matrix mapping from the data coordinate system to the world coordinate system.

virtual mat4	matrix () const
	Return the transformation matrix.

virtual void	setMatrix (const mat4 &m)
	Set the transformation matrix.

Public Member Functions inherited from Configurable
virtual void	configure (const Properties *p)
	Configure this object instance by de-serializing the given Properties.

virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.

virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.

void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().

void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.

	Configurable (const Configurable &rhs)

	Configurable (Configurable &&rhs) noexcept

Configurable &	operator= (const Configurable &)

Configurable &	operator= (Configurable &&) noexcept

Public Member Functions inherited from Selectable
	Selectable (const Selectable &)

	Selectable (Selectable &&)

Selectable &	operator= (const Selectable &)

Selectable &	operator= (Selectable &&)

virtual Selection	selection () const

virtual int	focus () const

virtual void	setSelection (const Selection &sel)
	Set the underlying selection.

virtual void	setFocus (int index)
	Set focus of the selection.

Static Public Member Functions
static std::vector< OrbbecRGBDStream * >	enumerateDevices ()
	Enumerates available Orbbec RGB-D devices (deprecated, use enumerate()).

static std::vector< std::unique_ptr< OrbbecRGBDStream > >	enumerate ()
	Enumerates available Orbbec RGB-D devices and returns them as unique pointers.

static bool	configureSensors (const std::map< std::string, SensorConfig > &multiDeviceSyncConfig)
	Configures multiple sensors for synchronization.

static std::map< std::string, SensorConfig >	multiDeviceSyncConfig (const std::vector< std::string > &serials)
	Returns the multi-device synchronization configuration for the given serials.

static bool	rebootAll (int timeoutMs=20000)
	Reboots all devices and waits until they are available again.

Static Public Member Functions inherited from Stream
static std::string	stateToString (State state)

Static Public Member Functions inherited from Data
static std::string	modalityString (Data::Modality m)
	Return the name of an image modality.

static Data::Modality	stringToModality (const std::string &s)
	Returns the modality corresponding to a modality string or NA if nothing matches.

Protected Member Functions
bool	openImpl () override
	Requests the device to initialize and open a connection.

bool	startImpl () override
	Requests the device to start streaming.

bool	stopImpl () override
	Requests the device to stop streaming.

bool	closeImpl () override
	Requests the device to reset, but does not close the connection.

bool	pauseImpl () override
	Requests the device to pause streaming.

bool	resumeImpl () override
	Requests the device to resume, but does not close the connection.

std::optional< WorkContinuation >	doWork () override
	Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.

Protected Member Functions inherited from RGBDStream
virtual void	onRGBDDataComponentChanged ()
	Called when the RGBDDataComponent changes.

Protected Member Functions inherited from ImageStream
void	setKind (Kind k)
	Sets the kind (typically IMAGESTREAM or VOLUMESTREAM) and emits signalKindChanged.

bool	workerThreadRequiresOpenGl () const override
	Ensure the thread has an GL context before the main loop starts.

Protected Member Functions inherited from Stream
virtual bool	worksWhilePaused () const
	Override if doWork() should be called also in the Paused state.

void	changeState (State newState)

std::shared_future< bool >	attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError)

Protected Member Functions inherited from Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.

Additional Inherited Members
Public Attributes inherited from ImageStream
Signal< Data::Kind >	signalKindChanged
	Is emitted when the stream changes between IMAGESTREAM and VOLUMESTREAM, before the next ImageStreamData is emitted.

Public Attributes inherited from Stream
ProtectedSignal< StateChange >	signalStateChanged
	Emitted after a state change has been completed with the old and new state.

ProtectedSignal	signalEnded
	Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end.

ProtectedSignal< std::shared_ptr< const StreamData > >	signalStreamData
	Signal that is emitted by the stream when a new StreamData is available.

DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & >	signalNewData
	Signal that is emitted by the stream when a new StreamData is available.

Public Attributes inherited from Data
Signal< const Data * >	signalDeleted
	Signal emitted when this instance is deleted.

Signal< const Data * >	signalMatrixChanged
	Signal emitted when the transformation of this Data has changed.

Signal< std::string >	signalNameChanged
	Signal emitted when the name changed.

Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' `signalValueChanged` signal was emitted.

Public Attributes inherited from Selectable
ProtectedSignal	signalSelectionChanged
	Signals that the selection or size might have changed.

Protected Attributes inherited from Data
mat4	m_matrix
	Transformation matrix.

std::recursive_mutex *	m_matrixMutex
	Used to internally synchronize access to the matrix of data.

DataComponentList	m_dataComponentList
	The list of DataComponents for this data.

Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Protected Attributes inherited from Selectable
std::mutex	m_selectionMutex
	Mutex protecting the selection.

Selection	m_sel

Member Function Documentation

◆ name()

std::string name ( ) const

overridevirtual

Returns the device name.

Reimplemented from RGBDStream.

◆ serialNumber()

std::string serialNumber ( ) const

overridevirtual

Returns the device serial number.

Reimplemented from RGBDStream.

◆ firmwareVersion()

std::string firmwareVersion ( ) const

overridevirtual

Returns the firmware version of the device.

Reimplemented from RGBDStream.

◆ supportsColor()

bool supportsColor ( ) const

inlineoverridevirtual

Returns true if the device supports color images.

Implements RGBDStream.

◆ depthFormats()

bool depthFormats ( std::vector< FrameInfo > & formats )

overridevirtual

Returns the depth formats supported by the device.

Reimplemented from RGBDStream.

◆ colorFormats()

bool colorFormats ( std::vector< FrameInfo > & formats )

overridevirtual

Returns the color formats supported by the device.

Reimplemented from RGBDStream.

◆ defaultColorResolution()

bool defaultColorResolution	(	int &	width,
		int &	height )

overridevirtual

Returns the default color resolution.

Reimplemented from RGBDStream.

◆ defaultDepthResolution()

bool defaultDepthResolution	(	int &	width,
		int &	height )

overridevirtual

Returns the default depth resolution.

Reimplemented from RGBDStream.

◆ setDepthFormat()

bool setDepthFormat ( const FrameInfo & format )

overridevirtual

Sets the depth format and restarts the device if supported.

Reimplemented from RGBDStream.

◆ setColorFormat()

bool setColorFormat ( const FrameInfo & format )

overridevirtual

Tries to set the color format to 640x480, returns true if attempted.

Reimplemented from RGBDStream.

◆ depthFormat()

bool depthFormat ( FrameInfo & format ) const

overridevirtual

Returns the current depth format.

Reimplemented from RGBDStream.

◆ colorFormat()

bool colorFormat ( FrameInfo & format ) const

overridevirtual

Returns the current color format.

Reimplemented from RGBDStream.

◆ uuid()

std::string uuid ( )

overridevirtual

Returns the serial number of the underlying device with " RGBD" appended.

Implements Stream.

◆ depthImageWidth()

int depthImageWidth ( ) const

overridevirtual

Returns the width of the current depth stream format.

Implements RGBDStream.

◆ depthImageHeight()

int depthImageHeight ( ) const

overridevirtual

Returns the height of the current depth stream format.

Implements RGBDStream.

◆ colorImageWidth()

int colorImageWidth ( ) const

overridevirtual

Returns the width of the current color stream format.

Implements RGBDStream.

◆ colorImageHeight()

int colorImageHeight ( ) const

overridevirtual

Returns the height of the current color stream format.

Implements RGBDStream.

◆ depthK()

virtual bool depthK ( mat3 & K ) const

overridevirtual

Retrieves depth camera intrinsics if available.

Reimplemented from RGBDStream.

◆ colorK()

virtual bool colorK ( mat3 & K ) const

overridevirtual

Retrieves color camera intrinsics if available.

Reimplemented from RGBDStream.

◆ depthToColorT()

bool depthToColorT ( mat4 & T ) const

overridevirtual

Retrieves the transformation matrix between depth and color cameras.

Reimplemented from RGBDStream.

◆ enumerateDevices()

static std::vector< OrbbecRGBDStream * > enumerateDevices ( )

static

Enumerates available Orbbec RGB-D devices (deprecated, use enumerate()).

Deprecated: "Use enumerate() instead, which makes ownership explicit"

◆ setLaserState()

bool setLaserState ( bool enable )

overridevirtual

Enables or disables the laser.

Reimplemented from RGBDStream.

◆ laserState()

bool laserState ( ) const

overridevirtual

Returns true if the laser is enabled.

Reimplemented from RGBDStream.

◆ supportsAutoWhiteBalance()

bool supportsAutoWhiteBalance ( ) const

overridevirtual

Returns true if auto white balance is supported.

Reimplemented from RGBDStream.

◆ setAutoWhiteBalanceEnabled()

bool setAutoWhiteBalanceEnabled ( bool enable )

overridevirtual

Enables or disables auto white balance.

Reimplemented from RGBDStream.

◆ isAutoWhiteBalanceEnabled()

bool isAutoWhiteBalanceEnabled ( ) const

overridevirtual

Returns true if auto white balance is enabled.

Reimplemented from RGBDStream.

◆ supportsAutoExposure()

bool supportsAutoExposure ( ) const

overridevirtual

Returns true if auto exposure is supported.

Reimplemented from RGBDStream.

◆ setAutoExposureEnabled()

bool setAutoExposureEnabled ( bool enable )

overridevirtual

Enables or disables auto exposure.

Reimplemented from RGBDStream.

◆ isAutoExposureEnabled()

bool isAutoExposureEnabled ( ) const

overridevirtual

Returns true if auto exposure is enabled.

Reimplemented from RGBDStream.

◆ saveCalibration()

bool saveCalibration ( Properties * p ) const

virtual

Saves the current calibration to a Properties object.

Reimplemented from RGBDStream.

◆ supportsPausing()

bool supportsPausing ( ) const

inlineoverridevirtual

Returns true if pausing is supported.

Reimplemented from Stream.

◆ isGainSupported()

bool isGainSupported ( ) const

overridevirtual

Returns true if gain is supported.

Reimplemented from RGBDStream.

◆ setGain()

bool setGain ( int value )

overridevirtual

Sets the gain value.

Reimplemented from RGBDStream.

◆ gain()

int gain ( ) const

overridevirtual

Returns the current gain value.

Reimplemented from RGBDStream.

◆ isExposureSupported()

bool isExposureSupported ( ) const

overridevirtual

Returns true if exposure is supported.

Reimplemented from RGBDStream.

◆ setExposure()

bool setExposure ( int value )

overridevirtual

Sets the exposure value.

Reimplemented from RGBDStream.

◆ exposure()

int exposure ( ) const

overridevirtual

Returns the current exposure value.

Reimplemented from RGBDStream.

◆ openImpl()

bool openImpl ( )

overrideprotectedvirtual

Requests the device to initialize and open a connection.

Implements Stream.

◆ startImpl()

bool startImpl ( )

overrideprotectedvirtual

Requests the device to start streaming.

Implements Stream.

◆ stopImpl()

bool stopImpl ( )

overrideprotectedvirtual

Requests the device to stop streaming.

Implements Stream.

◆ closeImpl()

bool closeImpl ( )

overrideprotectedvirtual

Requests the device to reset, but does not close the connection.

Implements Stream.

◆ pauseImpl()

bool pauseImpl ( )

overrideprotectedvirtual

Requests the device to pause streaming.

Reimplemented from Stream.

◆ resumeImpl()

bool resumeImpl ( )

overrideprotectedvirtual

Requests the device to resume, but does not close the connection.

Reimplemented from Stream.

◆ doWork()

std::optional< WorkContinuation > doWork ( )

overrideprotectedvirtual

Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.

Implements Stream.

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

RGBD/Include/ImFusion/RGBD/OrbbecRGBDStream.h

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ name()

◆ serialNumber()

◆ firmwareVersion()

◆ supportsColor()

◆ depthFormats()

◆ colorFormats()

◆ defaultColorResolution()

◆ defaultDepthResolution()

◆ setDepthFormat()

◆ setColorFormat()

◆ depthFormat()

◆ colorFormat()

◆ uuid()

◆ depthImageWidth()

◆ depthImageHeight()

◆ colorImageWidth()

◆ colorImageHeight()

◆ depthK()

◆ colorK()

◆ depthToColorT()

◆ enumerateDevices()

◆ setLaserState()

◆ laserState()

◆ supportsAutoWhiteBalance()

◆ setAutoWhiteBalanceEnabled()

◆ isAutoWhiteBalanceEnabled()

◆ supportsAutoExposure()

◆ setAutoExposureEnabled()

◆ isAutoExposureEnabled()

◆ saveCalibration()

◆ supportsPausing()

◆ isGainSupported()

◆ setGain()

◆ gain()

◆ isExposureSupported()

◆ setExposure()

◆ exposure()

◆ openImpl()

◆ startImpl()

◆ stopImpl()

◆ closeImpl()

◆ pauseImpl()

◆ resumeImpl()

◆ doWork()