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

Base class for RGB-D streams. More...

Inheritance diagram for ImFusion::RGBDStream:

Detailed Description

Base class for RGB-D streams.

Provides an abstract interface for RGB-D sensor streams, including configuration, frame acquisition, calibration, and device-specific controls.

Classes
struct	FrameInfo
	Structure describing frame format and resolution. More...

Public Types
enum	PixelFormat { Rgb24 , Rgb32 , Depth16 , Gray8 , Gray16 , Yuv422 }
	Pixel format enumeration for RGB-D frames. More...
Public Types inherited from ImFusion::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 ImFusion::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
virtual bool	depthFormats (std::vector< FrameInfo > &formats)
virtual bool	colorFormats (std::vector< FrameInfo > &formats)
virtual bool	depthFormat (FrameInfo &format) const
virtual bool	colorFormat (FrameInfo &format) const
virtual bool	setDepthFormat (const FrameInfo &format)
virtual bool	setColorFormat (const FrameInfo &format)
virtual bool	grabSingleFrame ()
	Grabs a single RGBD frame.
virtual bool	isOpen () const
virtual std::string	name () const
virtual std::string	serialNumber () const
virtual std::string	firmwareVersion () const
virtual bool	isExposureSupported () const
virtual bool	setExposure (int value)
virtual int	exposure () const
	RGBDStream (const std::string &name="")
virtual bool	supportsColor () const =0
virtual bool	supportsAutoWhiteBalance () const
virtual bool	setAutoWhiteBalanceEnabled (bool enable)
virtual bool	isAutoWhiteBalanceEnabled () const
virtual bool	supportsAutoExposure () const
virtual bool	setAutoExposureEnabled (bool enable)
virtual bool	isAutoExposureEnabled () const
virtual bool	isGainSupported () const
virtual bool	setGain (int value)
virtual int	gain () const
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	depthK (mat3 &K) const
	Retrieve depth camera intrinsics if available.
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	colorK (mat3 &K) const
	Retrieve color camera intrinsics if available.
virtual bool	colorDist (Eigen::Matrix< double, 5, 1 > &dist) const
	Retrieve color camera distortion parameters if available.
virtual bool	depthToColorT (mat4 &T) const
	Retrieve depth to color camera coordinate transformation 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	setLaserState (bool enable)
virtual bool	laserState () const
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 int	depthImageWidth () const =0
virtual int	depthImageHeight () const =0
virtual int	colorImageWidth () const =0
virtual int	colorImageHeight () const =0
virtual bool	loadCalibration (const Properties *p)
virtual bool	saveCalibration (Properties *p) const
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 ImFusion::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 ImFusion::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.
virtual bool	supportsPausing () const
	Override and return true if this stream implements the pausing and resume operations.
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.
virtual std::string	uuid ()
	Unique identifier for stream.
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 ImFusion::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 ImFusion::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 ImFusion::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.

Protected Member Functions
virtual void	onRGBDDataComponentChanged ()
	Called when the RGBDDataComponent changes.
virtual bool	defaultColorResolution (int &width, int &height)
	Returns default color resolution.
virtual bool	defaultDepthResolution (int &width, int &height)
	Returns default depth resolution.
Protected Member Functions inherited from ImFusion::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 ImFusion::Stream
virtual bool	openImpl ()=0
	Open stream.
virtual bool	closeImpl ()=0
	Close stream.
virtual bool	startImpl ()=0
	Start stream.
virtual bool	stopImpl ()=0
	Stop stream.
virtual bool	pauseImpl ()
	Pause stream (not required to be supported).
virtual bool	resumeImpl ()
	Resume stream from pause (only required to be supported when pauseImpl() is supported).
virtual std::optional< WorkContinuation >	doWork ()=0
	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;.
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 ImFusion::Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.

Additional Inherited Members
Static Public Member Functions inherited from ImFusion::Stream
static std::string	stateToString (State state)
Static Public Member Functions inherited from ImFusion::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.
Public Attributes inherited from ImFusion::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 ImFusion::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 ImFusion::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 ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Public Attributes inherited from ImFusion::Selectable
ProtectedSignal	signalSelectionChanged
	Signals that the selection or size might have changed.
Protected Attributes inherited from ImFusion::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 ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.
Protected Attributes inherited from ImFusion::Selectable
std::mutex	m_selectionMutex
	Mutex protecting the selection.
Selection	m_sel

Member Enumeration Documentation

◆ PixelFormat

enum ImFusion::RGBDStream::PixelFormat

Pixel format enumeration for RGB-D frames.

Enumerator
Rgb24	24-bit RGB
Rgb32	32-bit RGB
Depth16	16-bit depth
Gray8	8-bit grayscale
Gray16	16-bit grayscale
Yuv422	YUV 4:2:2.

Member Function Documentation

◆ depthFormats()

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

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ colorFormats()

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

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ depthFormat()

virtual bool ImFusion::RGBDStream::depthFormat ( FrameInfo & format ) const

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ colorFormat()

virtual bool ImFusion::RGBDStream::colorFormat ( FrameInfo & format ) const

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setDepthFormat()

virtual bool ImFusion::RGBDStream::setDepthFormat ( const FrameInfo & format )

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setColorFormat()

virtual bool ImFusion::RGBDStream::setColorFormat ( const FrameInfo & format )

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ name()

virtual std::string ImFusion::RGBDStream::name ( ) const

inlinevirtual

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ serialNumber()

virtual std::string ImFusion::RGBDStream::serialNumber ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ firmwareVersion()

virtual std::string ImFusion::RGBDStream::firmwareVersion ( ) const

inlinevirtual

Reimplemented in ImFusion::OrbbecRGBDStream.

◆ isExposureSupported()

virtual bool ImFusion::RGBDStream::isExposureSupported ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setExposure()

virtual bool ImFusion::RGBDStream::setExposure ( int value )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ exposure()

virtual int ImFusion::RGBDStream::exposure ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ supportsColor()

virtual bool ImFusion::RGBDStream::supportsColor ( ) const

pure virtual

Implemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ supportsAutoWhiteBalance()

virtual bool ImFusion::RGBDStream::supportsAutoWhiteBalance ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setAutoWhiteBalanceEnabled()

virtual bool ImFusion::RGBDStream::setAutoWhiteBalanceEnabled ( bool enable )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ isAutoWhiteBalanceEnabled()

virtual bool ImFusion::RGBDStream::isAutoWhiteBalanceEnabled ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ supportsAutoExposure()

virtual bool ImFusion::RGBDStream::supportsAutoExposure ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setAutoExposureEnabled()

virtual bool ImFusion::RGBDStream::setAutoExposureEnabled ( bool enable )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ isAutoExposureEnabled()

virtual bool ImFusion::RGBDStream::isAutoExposureEnabled ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ isGainSupported()

virtual bool ImFusion::RGBDStream::isGainSupported ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ setGain()

virtual bool ImFusion::RGBDStream::setGain ( int value )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::OrbbecRGBDStream.

◆ gain()

virtual int ImFusion::RGBDStream::gain ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ grabImage()

virtual bool ImFusion::RGBDStream::grabImage	(	float *	depthData,
		unsigned char *	colorData,
		int	timeOut = 500 )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::RealSenseStream.

◆ usingFactoryCalibration()

virtual bool ImFusion::RGBDStream::usingFactoryCalibration ( ) const

inlinevirtual

Returns true when the sensor has a per-sensor factory calibration and it is currently being used.

Reimplemented in ImFusion::KinectAzureStream, and ImFusion::OpenNI2RGBDStream.

◆ depthK()

virtual bool ImFusion::RGBDStream::depthK ( mat3 & K ) const

inlinevirtual

Retrieve depth camera intrinsics if available.

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, ImFusion::RGBDPlayback, and ImFusion::ROS::ROSTopicRGBDStream.

◆ depthDist()

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

inlinevirtual

Retrieve depth camera distortion parameters if available.

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::ROS::ROSTopicRGBDStream.

◆ dropCorruptDepthData()

virtual bool ImFusion::RGBDStream::dropCorruptDepthData ( bool & drop ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setDropCorruptDepthData()

virtual bool ImFusion::RGBDStream::setDropCorruptDepthData ( bool drop )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ colorK()

virtual bool ImFusion::RGBDStream::colorK ( mat3 & K ) const

inlinevirtual

Retrieve color camera intrinsics if available.

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, ImFusion::RGBDPlayback, and ImFusion::ROS::ROSTopicRGBDStream.

◆ colorDist()

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

inlinevirtual

Retrieve color camera distortion parameters if available.

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::ROS::ROSTopicRGBDStream.

◆ depthToColorT()

virtual bool ImFusion::RGBDStream::depthToColorT ( mat4 & T ) const

inlinevirtual

Retrieve depth to color camera coordinate transformation if available.

Reimplemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, ImFusion::RGBDPlayback, and ImFusion::ROS::ROSTopicRGBDStream.

◆ setDepthK()

virtual bool ImFusion::RGBDStream::setDepthK ( const mat3 & K )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setDepthDist()

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

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setColorK()

virtual bool ImFusion::RGBDStream::setColorK ( const mat3 & K )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setColorDist()

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

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setDepthToColorT()

virtual bool ImFusion::RGBDStream::setDepthToColorT ( const mat4 & T )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ setLaserState()

virtual bool ImFusion::RGBDStream::setLaserState ( bool enable )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::OrbbecRGBDStream.

◆ laserState()

virtual bool ImFusion::RGBDStream::laserState ( ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, and ImFusion::OrbbecRGBDStream.

◆ depthImageWidth()

virtual int ImFusion::RGBDStream::depthImageWidth ( ) const

pure virtual

Implemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ depthImageHeight()

virtual int ImFusion::RGBDStream::depthImageHeight ( ) const

pure virtual

Implemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ colorImageWidth()

virtual int ImFusion::RGBDStream::colorImageWidth ( ) const

pure virtual

Implemented in ImFusion::KinectAzureStream, ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ colorImageHeight()

virtual int ImFusion::RGBDStream::colorImageHeight ( ) const

pure virtual

Implemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, ImFusion::RealSenseStream, and ImFusion::RGBDPlayback.

◆ loadCalibration()

virtual bool ImFusion::RGBDStream::loadCalibration ( const Properties * p )

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream.

◆ saveCalibration()

virtual bool ImFusion::RGBDStream::saveCalibration ( Properties * p ) const

inlinevirtual

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ selectDefaultFrameFormat()

virtual bool ImFusion::RGBDStream::selectDefaultFrameFormat ( )

virtual

Reimplemented in ImFusion::KinectAzureStream, and ImFusion::RealSenseStream.

◆ createDefaultStreamController()

virtual bool ImFusion::RGBDStream::createDefaultStreamController ( )

finaloverridevirtual

Indicates whether a StreamController should be created for the stream.

Returns false, since we don't want the StreamController to be created in addition to our custom RGBDStreamController

Reimplemented from ImFusion::Stream.

◆ onRGBDDataComponentChanged()

virtual void ImFusion::RGBDStream::onRGBDDataComponentChanged ( )

protectedvirtual

Called when the RGBDDataComponent changes.

Reimplemented in ImFusion::RGBDPlayback.

◆ defaultColorResolution()

virtual bool ImFusion::RGBDStream::defaultColorResolution	(	int &	width,
		int &	height )

inlineprotectedvirtual

Returns default color resolution.

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

◆ defaultDepthResolution()

virtual bool ImFusion::RGBDStream::defaultDepthResolution	(	int &	width,
		int &	height )

inlineprotectedvirtual

Returns default depth resolution.

Reimplemented in ImFusion::OpenNI2RGBDStream, ImFusion::OrbbecRGBDStream, and ImFusion::RealSenseStream.

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

RGBD/Include/ImFusion/RGBD/RGBDStream.h

Detailed Description

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ PixelFormat

Member Function Documentation

◆ depthFormats()

◆ colorFormats()

◆ depthFormat()

◆ colorFormat()

◆ setDepthFormat()

◆ setColorFormat()

◆ name()

◆ serialNumber()

◆ firmwareVersion()

◆ isExposureSupported()

◆ setExposure()

◆ exposure()

◆ supportsColor()

◆ supportsAutoWhiteBalance()

◆ setAutoWhiteBalanceEnabled()

◆ isAutoWhiteBalanceEnabled()

◆ supportsAutoExposure()

◆ setAutoExposureEnabled()

◆ isAutoExposureEnabled()

◆ isGainSupported()

◆ setGain()

◆ gain()

◆ grabImage()

◆ usingFactoryCalibration()

◆ depthK()

◆ depthDist()

◆ dropCorruptDepthData()

◆ setDropCorruptDepthData()

◆ colorK()

◆ colorDist()

◆ depthToColorT()

◆ setDepthK()

◆ setDepthDist()

◆ setColorK()

◆ setColorDist()

◆ setDepthToColorT()

◆ setLaserState()

◆ laserState()

◆ depthImageWidth()

◆ depthImageHeight()

◆ colorImageWidth()

◆ colorImageHeight()

◆ loadCalibration()

◆ saveCalibration()

◆ selectDefaultFrameFormat()

◆ createDefaultStreamController()

◆ onRGBDDataComponentChanged()

◆ defaultColorResolution()

◆ defaultDepthResolution()