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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <RGBD/Include/ImFusion/RGBD/RGBDStream.h>
Class for representing RGBD image. More...
Inheritance diagram for RGBDFrame:Class for representing RGBD image.
Stores color, depth, and infrared images, as well as pose and timestamps. Used for encapsulating a single RGB-D frame from a stream.
Objects of this class should be emitted in the signal signalStreamData of RGBDStream inside the doWork() method.
Public Member Functions | |
| RGBDFrame (RGBDStream *stream, TypedImage< unsigned char > *colorImg=nullptr, TypedImage< float > *depthImg=nullptr, TypedImage< unsigned short > *irImg=nullptr, mat4 *T=nullptr) | |
| Constructs an RGBDFrame from raw images and pose. | |
| RGBDFrame (RGBDStream *stream, const std::shared_ptr< const SharedImage > &colorImg=nullptr, const std::shared_ptr< const SharedImage > &depthImg=nullptr, const std::shared_ptr< const SharedImage > &irImg=nullptr, mat4 *T=nullptr) | |
| Constructs an RGBDFrame from shared images and pose. | |
| const TypedImage< unsigned char > * | colorImage () const |
| Returns the color image. | |
| const TypedImage< float > * | depthImage () const |
| Returns the depth image. | |
| const TypedImage< unsigned short > * | infraredImage () const |
| Returns the infrared image. | |
| const mat4 * | pose () const |
| Returns the pose. | |
| void | setPose (const mat4 &T) |
| Sets the pose. | |
| void | setTimestampColor (uint64_t t) |
| Sets the color frame timestamp (ms since epoch). | |
| void | setTimestampDepth (uint64_t t) |
| Sets the depth frame timestamp (ms since epoch). | |
| uint64_t | timestampColor () const |
| Returns the color frame timestamp (ms since epoch). | |
| uint64_t | timestampDepth () const |
| Returns the depth frame timestamp (ms since epoch). | |
| Public Member Functions inherited from ImageStreamData | |
| ImageStreamData (Stream *stream) | |
| Creates an empty ImageStreamData object with the given stream. | |
| ImageStreamData (Stream *stream, SharedImageSet &&imageSet) | |
| Moves the images and (possibly per element) components into the newly created object. | |
| ImageStreamData (Stream *stream, std::unique_ptr< SharedImage > &&img) | |
| Moves the single image into the newly created object. | |
| ImageStreamData (Stream *stream, const std::shared_ptr< SharedImage > &img) | |
| Shallow-copies the single image into the newly created object. | |
| ImageStreamData (Stream *stream, const std::shared_ptr< const SharedImage > &img) | |
| Shallow-copies the single image into the newly created object. | |
| ImageStreamData (Stream *stream, MemImage *img) | |
| Deprecated constructor. Creates an ImageStreamData object with the given stream and image. | |
| virtual void | setImageSet (const SharedImageSet &imageSet) |
| Sets the images and (possibly per element) components into this object, replacing all existing images and components. | |
| virtual void | setImages (const std::vector< std::shared_ptr< const SharedImage > > &sharedImages) |
| Sets the images into this object, replacing all existing images. Does not modify components. | |
| virtual std::vector< std::shared_ptr< const SharedImage > > | images2 () const |
| Return all images contained in sample. | |
| std::shared_ptr< SharedImageSet > | shallowCloneToSharedImageSet () const |
| Return all images and (possibly per element) DataComponents contained in sample. | |
| std::unique_ptr< StreamData > | clone () const override |
| int | size () const |
| Return the number of images in the stream data. | |
| bool | containsGlImage () const |
| Returns whether any of the images contains an OpenGL image and thus requires synchronization if moved to a thread different from the signaling thread. | |
| const DataComponentList & | components (int i) const |
| Returns the DataComponents associated to the element with that index. | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| Returns the list of DataComponents for this data. | |
| Public Member Functions inherited from StreamData | |
| virtual Stream * | stream () const |
| Returns the stream object which updates this data. | |
| virtual unsigned long long | timestampDevice () const |
| Timestamp in milliseconds. Set by the streaming device. | |
| virtual void | setTimestampDevice (unsigned long long time) |
| Set timestamp provided by the streaming device, in milliseconds. | |
| virtual unsigned long long | timestampArrival () const |
| Timestamp in milliseconds. Based on message's arrival time. | |
| virtual void | setTimestampArrival (std::chrono::system_clock::time_point time) |
| Set the system time when this streamData was arrived. It will be stored in milliseconds relative to epoch time. | |
| virtual void | setTimestampArrival (unsigned long long time) |
| Set arrival timestamp manually, in milliseconds. | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| Returns the list of DataComponents for this data. | |
| template<typename StreamDataClass> | |
| const StreamDataClass * | typed () const |
| Public Member Functions inherited from ElementwiseDataComponentData | |
| ElementwiseDataComponentList & | elementwiseComponents () |
| Returns elementwise data component list. | |
| const ElementwiseDataComponentList & | elementwiseComponents () const |
| Returns elementwise data component list. | |
| DataComponentList & | mutableComponents (int i) |
| Returns the DataComponents associated to the element with that index, creating it if necessary. | |
| const DataComponentList & | components (int i) const |
| Returns the DataComponents associated to the element with that index. | |
Protected Attributes | |
| std::shared_ptr< const SharedImage > | m_colorImg |
| Color image. | |
| std::shared_ptr< const SharedImage > | m_depthImg |
| Depth image. | |
| std::shared_ptr< const SharedImage > | m_irImg |
| Infrared image. | |
| mat4 * | m_T |
| Pose. | |
| uint64_t | m_timestampColor |
| Color frame timestamp. | |
| uint64_t | m_timestampDepth |
| Depth frame timestamp. | |
| Protected Attributes inherited from ImageStreamData | |
| std::vector< std::shared_ptr< const SharedImage > > | m_sharedImages |
| Protected Attributes inherited from StreamData | |
| Stream * | m_stream |
| The stream object which updates this data. | |
| unsigned long long | m_timestampDevice |
| Timestamp of the streaming device, in milliseconds. | |
| unsigned long long | m_timestampArrival |
| Timestamp when the data is received in ImFusion framework, in milliseconds. | |
| DataComponentList | m_dataComponentList |
| The list of DataComponents for this StreamData. | |
| Protected Attributes inherited from ElementwiseDataComponentData | |
| ElementwiseDataComponentList | m_elementwiseComponents |
| Encodes elementwise data components. | |
Additional Inherited Members | |
| Protected Member Functions inherited from StreamData | |
| StreamData (const StreamData &other)=default | |
| StreamData (Stream *stream) | |
| StreamData (Stream *stream, DataComponentList &&components) | |
