RGBDSequence Class Reference

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

Interface for a single sequence of RGB-D images. More...

Detailed Description

Interface for a single sequence of RGB-D images.

This abstract class defines the interface for handling a sequence of RGB-D frames, including access to individual frames, cloning, and camera parameter management. Implementations provide retrieval of depth and color images, timestamps, and associated camera poses.

Usage:

• Use getFrame() to retrieve depth and color images, timestamps, and pose for a given frame index.
• Use frames() to query the number of frames in the sequence.
• Use isValid() to check if the sequence is usable.
• Use camera() and setCamera() to get or set sensor parameters.
• Use clone() to create a copy of the sequence.

Important aspects:

• This is an abstract base class; concrete implementations must provide all pure virtual methods.
• Frame indices are zero-based.
• Camera parameters are managed via the RGBDDataComponent.
• Not thread-safe.

Public Member Functions
virtual	~RGBDSequence ()
	Virtual destructor.
virtual std::unique_ptr< RGBDSequence >	clone ()=0
	Creates a deep copy of the sequence.
virtual bool	getFrame (int frame, TypedImage< float > *imgDepth, TypedImage< unsigned char > *imgColor, uint64_t *timestampDepth=nullptr, uint64_t *timestampColor=nullptr, mat4 *T=nullptr) const =0
	Retrieves a frame from the sequence.
virtual int	frames () const =0
	Returns the number of frames in the sequence.
virtual bool	isValid () const =0
	Returns whether the sequence is valid and usable.
virtual const RGBDDataComponent &	camera () const =0
	Returns the sensor parameters as an RGBDDataComponent.
virtual bool	setCamera (const RGBDDataComponent &camera)=0
	Sets the sensor parameters.

Member Function Documentation

clone()

virtual std::unique_ptr< RGBDSequence > clone ( )

pure virtual

Creates a deep copy of the sequence.

Returns

Unique pointer to the cloned sequence.

getFrame()

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

pure virtual

Retrieves a frame from the sequence.

Parameters

	frame	Frame index (zero-based).
[out]	imgDepth	Depth image for the frame.
[out]	imgColor	Color image for the frame.
[out]	timestampDepth	Optional: timestamp for the depth image.
[out]	timestampColor	Optional: timestamp for the color image.
[out]	T	Optional: camera pose for the frame.

Returns

True if the frame was successfully retrieved.

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

• RGBD/Include/ImFusion/RGBD/RGBDSequence.h