Detailed Description

Collection of multiple synchronized or unsynchronized RGB-D sequences.

This class manages a set of RGBDSequence objects, providing unified access to frames and sensor parameters across RGBDSequences. It supports construction from image sets or various file formats (rfms, rfs, bag), and handles frame synchronization if requested.

Usage:

Create an RGBDMultiSequence from RGBDSequence objects, SharedImageSets, or supported file formats.
Access frames and sensor parameters via getFrame() and camera().
Use sequences() to access individual sequences.

Important aspects:

Ownership of input sequences or image sets is transferred to RGBDMultiSequence.
Frame synchronization is optional and can be controlled via the constructor or factory methods.
Sensor parameters can be queried and set for each sequence.
The class is not copyable.

Example:

auto multiSeq = RGBDMultiSequence::createFromRFMS("data.rfms");
if (multiSeq && multiSeq->isValid()) {
    int nFrames = multiSeq->frames();
    int nSensors = multiSeq->size();
    // Access frames and sensor parameters
}

Public Member Functions
	RGBDMultiSequence (std::vector< std::unique_ptr< RGBDSequence > > &sequences, bool syncFrames=true)
	Constructor: takes ownership of the input sequences.

std::string	filename () const
	Returns the filename if the sequence was constructed from a file.

bool	isValid ()
	Returns whether the sequence is valid.

bool	getFrame (int frame, int sensor, TypedImage< float > imgDepth, TypedImage< unsigned char > imgColor, uint64_t timestampDepth=nullptr, uint64_t timestampColor=nullptr, mat4 T=nullptr, int sensorFrame=nullptr)
	Retrieves a frame from the sequence.

int	frames () const
	Returns the number of frames in the sequence.

RGBDDataComponent	camera (int sensor) const
	Returns the sensor parameters for a given sensor.

bool	setCamera (int sensor, const RGBDDataComponent &cam)
	Sets the sensor parameters for a given sensor.

std::vector< RGBDSequence * >	sequences () const
	Returns pointers to the individual sequences.

int	size () const
	Returns the number of sequences (sensors).

Static Public Member Functions
static std::unique_ptr< RGBDMultiSequence >	createFromImages (std::vector< std::unique_ptr< SharedImageSet > > &isDepth, std::vector< std::unique_ptr< SharedImageSet > > &isColor, const std::vector< std::vector< uint64_t > > &timestampsDepth=std::vector< std::vector< uint64_t > >(), const std::vector< std::vector< uint64_t > > &timestampsColor=std::vector< std::vector< uint64_t > >())
	Creates a multi-sequence from SharedImageSets. Ownership is transferred.

static std::unique_ptr< RGBDMultiSequence >	createFromRFMS (const std::string &filename, bool syncFrames=true)
	Creates a multi-sequence from an RFMS file.

static std::unique_ptr< RGBDMultiSequence >	createFromRFS (const std::string &filename, bool syncFrames=true)
	Creates a multi-sequence from an RFS file.

static std::unique_ptr< RGBDMultiSequence >	createFromBAG (const std::string &filename)
	Creates a multi-sequence from a ROS bag file.

Member Function Documentation

◆ getFrame()

bool getFrame	(	int	frame,
		int	sensor,
		TypedImage< float > *	imgDepth,
		TypedImage< unsigned char > *	imgColor,
		uint64_t *	timestampDepth = nullptr,
		uint64_t *	timestampColor = nullptr,
		mat4 *	T = nullptr,
		int *	sensorFrame = nullptr )

Retrieves a frame from the sequence.

Parameters

	frame	Frame index
	sensor	Sensor index
[out]	imgDepth	Depth image
[out]	imgColor	Color image
[out]	timestampDepth	Depth timestamp (optional)
[out]	timestampColor	Color timestamp (optional)
[out]	T	Sensor pose (optional)
[out]	sensorFrame	Frame index in the sensor sequence (optional)

Returns: true if frame retrieval was successful

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

RGBD/Include/ImFusion/RGBD/RGBDMultiSequence.h

Detailed Description

Public Member Functions

Static Public Member Functions

Member Function Documentation

◆ getFrame()