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

Provides a stream interface for Intel RealSense RGB-D sensors. More...

Inheritance diagram for RealSenseStream:

Detailed Description

Provides a stream interface for Intel RealSense RGB-D sensors.

This class enables device enumeration, configuration, calibration management, and frame acquisition for a wide range of RealSense-compatible devices. It supports multiple streams (depth, color, infrared, fisheye, tracking), advanced property control, and hardware synchronization.

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

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

Note

Supports multiple RealSense sensor models and stream types.
Calibration and advanced property control are available.
Not thread-safe.

See also: RGBDStream, TrackingStream, SignalReceiver

Classes
struct	PropertyInfo
	Structure representing information about a property configuring the sensor. More...

struct	Range
	Structure representing a value range. More...

Public Types
enum class	Stream { Depth , Color , Infrared , Infrared2 , Fisheye , Tracking }
	Supported stream types.

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
	RealSenseStream (const std::string &serial, bool initDefault=true)
	Constructs a stream for the specified sensor serial.

	~RealSenseStream ()
	Destroys the stream and releases resources.

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

std::vector< std::pair< int, std::string > >	presets () const
	Returns available presets for sensor configuration.

int	preset () const
	Returns the current preset.

bool	setPreset (int preset)
	Sets the preset.

bool	isValid () const
	Returns true if the sensor object is valid. False otherwise.

bool	streamFormats (Stream stream, std::vector< FrameInfo > &formats)
	Returns supported formats for the given stream.

bool	setStreamFormat (Stream stream, const FrameInfo &format)
	Sets the format for the given stream.

bool	streamFormat (Stream stream, FrameInfo &format) const
	Returns the format for the given stream.

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

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

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

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

bool	setDepthFormat (const FrameInfo &format) override
	Sets the depth format.

bool	setColorFormat (const FrameInfo &format) override
	Sets the color format.

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

std::string	uuid () override
	Returns the device UUID.

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

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	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.

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

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

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

bool	isMeanIntensitySetPointSupported () const
	Returns true if mean intensity set point is supported.

bool	setMeanIntensitySetPoint (int value) const
	Sets the mean intensity set point.

int	meanIntensitySetPoint () const
	Returns the mean intensity set point.

PropertyInfo	meanIntensitySetPointInfo () const
	Returns property info for mean intensity set point.

bool	isColorBackLightCompensationSupported () const
	Returns true if color back light compensation is supported.

bool	setColorBackLightCompensation (bool enable)
	Enables or disables color back light compensation.

bool	colorBackLightCompensation () const
	Returns true if color back light compensation is enabled.

bool	isColorBrightnessSupported () const
	Returns true if color brightness is supported.

bool	setColorBrightness (int value)
	Sets the color brightness.

int	colorBrightness () const
	Returns the color brightness.

PropertyInfo	colorBrightnessInfo () const
	Returns property info for color brightness.

bool	isColorContrastSupported () const
	Returns true if color contrast is supported.

bool	setColorContrast (int value)
	Sets the color contrast.

int	colorContrast () const
	Returns the color contrast.

PropertyInfo	colorContrastInfo () const
	Returns property info for color contrast.

bool	isColorExposureSupported () const
	Returns true if color exposure is supported.

bool	setColorExposure (int value)
	Sets the color exposure.

int	colorExposure () const
	Returns the color exposure.

PropertyInfo	colorExposureInfo () const
	Returns property info for color exposure.

bool	setColorAutoExposure (bool enable)
	Enables or disables color auto exposure.

bool	colorAutoExposure () const
	Returns true if color auto exposure is enabled.

bool	isColorGainSupported () const
	Returns true if color gain is supported.

bool	setColorGain (int value)
	Sets the color gain.

int	colorGain () const
	Returns the color gain.

PropertyInfo	colorGainInfo () const
	Returns property info for color gain.

bool	isColorHueSupported () const
	Returns true if color hue is supported.

bool	setColorHue (int value)
	Sets the color hue.

int	colorHue () const
	Returns the color hue.

PropertyInfo	colorHueInfo () const
	Returns property info for color hue.

bool	isColorGammaSupported () const
	Returns true if color gamma is supported.

bool	setColorGamma (int value)
	Sets the color gamma.

int	colorGamma () const
	Returns the color gamma.

PropertyInfo	colorGammaInfo () const
	Returns property info for color gamma.

bool	isColorSaturationSupported () const
	Returns true if color saturation is supported.

bool	setColorSaturation (int value)
	Sets the color saturation.

int	colorSaturation () const
	Returns the color saturation.

PropertyInfo	colorSaturationInfo () const
	Returns property info for color saturation.

bool	isColorSharpnessSupported () const
	Returns true if color sharpness is supported.

bool	setColorSharpness (int value)
	Sets the color sharpness.

int	colorSharpness () const
	Returns the color sharpness.

PropertyInfo	colorSharpnessInfo () const
	Returns property info for color sharpness.

bool	isColorWhiteBalanceSupported () const
	Returns true if color white balance is supported.

bool	setColorWhiteBalance (int value)
	Sets the color white balance.

int	colorWhiteBalance () const
	Returns the color white balance.

PropertyInfo	colorWhiteBalanceInfo () const
	Returns property info for color white balance.

bool	setColorAutoWhiteBalance (bool enable)
	Enables or disables color auto white balance.

bool	colorAutoWhiteBalance () const
	Returns true if color auto white balance is enabled.

bool	isInfraredExposureSupported () const
	Returns true if infrared exposure is supported.

bool	setInfraredExposure (int value)
	Sets the infrared exposure.

int	infraredExposure () const
	Returns the infrared exposure.

PropertyInfo	infraredExposureInfo () const
	Returns property info for infrared exposure.

bool	isInfraredAutoExposureSupported () const
	Returns true if infrared auto exposure is supported.

bool	setInfraredAutoExposure (bool enable)
	Enables or disables infrared auto exposure.

bool	infraredAutoExposure () const
	Returns true if infrared auto exposure is enabled.

bool	isInfraredGainSupported () const
	Returns true if infrared gain is supported.

bool	setInfraredGain (int value)
	Sets the infrared gain.

int	infraredGain () const
	Returns the infrared gain.

PropertyInfo	infraredGainInfo () const
	Returns property info for infrared gain.

bool	hasEmitter () const
	Returns true if the device has an emitter.

bool	setEmitterEnabled (bool value)
	Enables or disables the emitter.

bool	emitterEnabled () const
	Returns true if the emitter is enabled.

bool	isLaserPowerSupported () const
	Returns true if laser power is supported.

bool	setLaserPower (float value)
	Sets the laser power.

float	laserPower () const
	Returns the laser power.

PropertyInfo	laserPowerInfo () const
	Returns property info for laser power.

bool	isDepthUnitsSupported () const
	Returns true if depth units are supported.

bool	setDepthUnits (float value)
	Sets the depth units.

float	depthUnits () const
	Returns the depth units.

PropertyInfo	depthUnitsInfo () const
	Returns property info for depth units.

bool	isDisparityShiftSupported () const
	Returns true if disparity shift is supported.

bool	setDisparityShift (int value)
	Sets the disparity shift.

int	disparityShift () const
	Returns the disparity shift.

PropertyInfo	disparityShiftInfo () const
	Returns property info for disparity shift.

double	minDistance () const
	Returns the minimum measurable distance.

double	maxDistance () const
	Returns the maximum measurable distance.

bool	depthK (mat3 &K) const override
	Returns the intrinsics of the depth camera.Please note that the sensor must be opened at the time of calling of this function.

bool	colorK (mat3 &K) const override
	Returns the intrinsics of the color camera. Please note that the sensor must be opened at the time of calling of this function.

bool	depthToColorT (mat4 &T) const override
	Returns the transformation from depth to color camera. Please note that the sensor must be opened at the time of calling of this function.

bool	streamIntrinsics (Stream stream, mat3 &K)
	Returns the intrinsics of the specified stream. Please note that the sensor must be opened at the time of calling of this function.

bool	streamExtrinsics (Stream streamFrom, Stream streamTo, mat4 &T)
	Returns the extrinsics between two streams. Please note that the sensor must be opened at the time of calling of this function.

int	depthImageWidth () const override
	Returns the width of the depth image.

int	depthImageHeight () const override
	Returns the height of the depth image.

int	colorImageWidth () const override
	Returns the width of the color image.

int	colorImageHeight () const override
	Returns the height of the color image.

bool	supportsMotionDevice () const
	Returns true if a motion device is supported.

bool	enableMotionDevice (bool enable)
	Enables or disables the motion device.

bool	isMotionDeviceEnabled () const
	Returns true if the motion device is enabled.

std::vector< Stream >	supportedStreams ()
	Returns the supported stream types.

bool	setStreams (const std::vector< Stream > &streams)
	Specifies which streams should be captured. lease note, that this call resets stream formats.

std::vector< Stream >	streams ()
	Returns the currently active streams.

bool	selectDefaultFrameFormat () override
	Selects the default format for each stream. Please note, that setStreams should be called first in order this function to have an effect.

bool	grabImage (float depthData, unsigned char colorData, int timeOut=500) override
	Grabs a synchronized depth and color image.

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

bool	loadConfig (const std::string &config)
	Loads configuration from a file.

void	configure (const Properties *p)
	Configures the stream from a Properties object.

void	configuration (Properties *p) const
	Writes the current configuration to a Properties object.

std::vector< TrackingInstrument >	devices () const override
	Returns the list of tracking instruments.

void	setApplyFiltersToDisparity (bool value)
	Enables or disables application of filters to disparity.

bool	applyFiltersToDisparity () const

void	setApplySpatialFilter (bool value)
	Enables or disables spatial filtering.

bool	applySpatialFilter () const

void	setApplyTemporalFilter (bool value)
	Enables or disables temporal filtering.

bool	applyTemporalFilter () const

bool	filtersSupported () const
	Returns true if filters are supported.

bool	customConfigSupported () const
	Returns true if custom configuration is supported.

bool	setSynchronizationMode (int v)
	Sets the hardware synchronization mode.

int	synchronizationMode ()

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

virtual bool	isOpen () const

virtual std::string	firmwareVersion () const

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

virtual bool	setGain (int value)

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	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 bool	loadCalibration (const Properties *p)

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.

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.

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`.

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	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.

Public Member Functions inherited from TrackingStream
	TrackingStream (const std::string &name="Tracking Stream")

virtual std::vector< TrackingInstrument >	instruments () const
	Returns a copy of all tracking instruments (active and inactive) with their last status.

virtual std::vector< TrackingInstrument >	activeInstruments () const
	Returns a copy of all active tracking instruments with their last status.

virtual int	numInstruments (bool activeOnly=false) const
	Returns the number of instruments (all or only active instruments).

Kind	kind () const override
	Returns the kind of stream.

void	setMainInstrument (unsigned int index)
	Sets the index of the main tracking target.

virtual bool	supportsMainInstrumentSelection () const
	Returns true if main instrument can be set from outside.

void	setMainInstrumentById (const std::string &id)
	Sets the main tracking target by the ID of the TrackingInstrument (TrackerID::m_id).

unsigned int	mainInstrumentIndex () const
	Returns the index of the main tracking target in the instruments array.

std::string	mainInstrumentId () const
	Returns the unique ID of the main instrument.

std::string	mainInstrumentName () const
	Returns the name of the main instrument.

virtual bool	supportsInstrumentRenaming () const
	Returns true if the name of an instrument can be set from outside.

void	setInstrumentName (const std::string &id, const std::string &name)
	Sets the name of the TrackingInstrument for the specified id.

void	setInstrumentActive (const std::string &id, bool active)
	Sets the tracking instrument with the given ID as either active or inactive.

bool	isInstrumentActive (const std::string &id) const
	Returns whether the instrument with the given ID is active.

std::optional< TrackingInstrument >	queryInstrument (const std::string &id) const
	Queries the instrument with the given ID from m_instruments.

std::string	describe () const override
	Provides a short description of the stream, including the number of instruments, latest stream state, and update rate information.

Public Member Functions inherited from SignalReceiver
	SignalReceiver ()=default
	Default constructor.

	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.

SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.

virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

Static Public Member Functions
static RealSenseStream *	createFromSerial (const std::string &serial, bool initDefault=true)
	Creates a stream from the sensor serial.

static std::string	streamName (Stream s)
	Returns the name of the stream type.

static int	enumerateDevices (std::vector< RealSenseStream * > &sensors, bool initDefault=true)
	Enumerates available RealSense devices (deprecated, use enumerate()).

static std::vector< std::unique_ptr< RealSenseStream > >	enumerate (bool initDefault=true)
	Enumerates available RealSense devices and returns them as unique pointers.

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.

Public Attributes
Signal	disconnected
	Signal emitted when the sensor gets disconnected.

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.

Public Attributes inherited from TrackingStream
ProtectedSignal &	signalTrackingDevicesUpdated
	Emitted when the list of instruments is updated.

ProtectedSignal	signalInstrumentsUpdated
	Emitted when the list of instruments is altered (instrument added, instrument removed, or list cleared).

ProtectedSignal< const std::string & >	signalMainInstrumentChanged
	Emitted when the main instrument has changed, with the new instrument ID.

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

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

void	computeCalibration ()
	Computes the calibration.

bool	openImpl () override
	Opens the sensor.

bool	closeImpl () override
	Close stream.

bool	startImpl () override
	Start stream.

bool	stopImpl () override
	Stop stream.

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	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 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.

Protected Member Functions inherited from TrackingStream
void	emitSignals (const InstrumentUpdate &update)
	Convenience method to be called after any instrument modification.

std::unique_ptr< TrackingStreamData >	createTrackingStreamData ()
	Creates the TrackingStreamData with a copy of all instruments and sets the timestamps.

Protected Member Functions inherited from SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

Static Protected Member Functions
static bool	supportedByOS ()
	Returns true if the sensor is supported by the OS.

Additional Inherited Members
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

Protected Attributes inherited from TrackingStream
std::unique_ptr< ThreadSafeInstrumentsBase >	m_instruments
	Container for TrackingInstruments of this tracking stream.

Constructor & Destructor Documentation

◆ RealSenseStream()

RealSenseStream	(	const std::string &	serial,
		bool	initDefault = true )

Constructs a stream for the specified sensor serial.

Parameters

serial	Serial number of the sensor.
initDefault	If true, initializes with default streams and formats.

Member Function Documentation

◆ createFromSerial()

static RealSenseStream * createFromSerial	(	const std::string &	serial,
		bool	initDefault = true )

static

Creates a stream from the sensor serial.

Parameters

serial	Serial number of the sensor.
initDefault	If true, initializes with default streams and formats.

Returns: Pointer to RealSenseStream if successful, nullptr otherwise.

◆ enumerateDevices()

static int enumerateDevices	(	std::vector< RealSenseStream * > &	sensors,
		bool	initDefault = true )

static

Enumerates available RealSense devices (deprecated, use enumerate()).

Parameters

sensors	Vector to be filled with new sensors.
initDefault	If true, initializes with default streams and formats.

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

◆ serialNumber()

std::string serialNumber ( ) const

overridevirtual

Returns the serial number of the device.

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.

◆ depthFormats()

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

overridevirtual

Returns supported depth formats.

Reimplemented from RGBDStream.

◆ colorFormats()

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

overridevirtual

Returns supported color formats.

Reimplemented from RGBDStream.

◆ setDepthFormat()

bool setDepthFormat ( const FrameInfo & format )

overridevirtual

Sets the depth format.

Reimplemented from RGBDStream.

◆ setColorFormat()

bool setColorFormat ( const FrameInfo & format )

overridevirtual

Sets the color format.

Reimplemented from RGBDStream.

◆ supportsColor()

bool supportsColor ( ) const

overridevirtual

Returns true if the device supports color images.

Implements RGBDStream.

◆ uuid()

std::string uuid ( )

overridevirtual

Returns the device UUID.

Implements Stream.

◆ name()

std::string name ( ) const

overridevirtual

Returns the device name.

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.

◆ 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.

◆ isGainSupported()

bool isGainSupported ( ) const

overridevirtual

Returns true if gain is supported.

Reimplemented from RGBDStream.

◆ gain()

int gain ( ) const

overridevirtual

Returns the current gain value.

Reimplemented from RGBDStream.

◆ depthK()

bool depthK ( mat3 & K ) const

overridevirtual

Returns the intrinsics of the depth camera.Please note that the sensor must be opened at the time of calling of this function.

Reimplemented from RGBDStream.

◆ colorK()

bool colorK ( mat3 & K ) const

overridevirtual

Returns the intrinsics of the color camera. Please note that the sensor must be opened at the time of calling of this function.

Reimplemented from RGBDStream.

◆ depthToColorT()

bool depthToColorT ( mat4 & T ) const

overridevirtual

Returns the transformation from depth to color camera. Please note that the sensor must be opened at the time of calling of this function.

Reimplemented from RGBDStream.

◆ depthImageWidth()

int depthImageWidth ( ) const

overridevirtual

Returns the width of the depth image.

Implements RGBDStream.

◆ depthImageHeight()

int depthImageHeight ( ) const

overridevirtual

Returns the height of the depth image.

Implements RGBDStream.

◆ colorImageWidth()

int colorImageWidth ( ) const

overridevirtual

Returns the width of the color image.

Implements RGBDStream.

◆ colorImageHeight()

int colorImageHeight ( ) const

overridevirtual

Returns the height of the color image.

Implements RGBDStream.

◆ selectDefaultFrameFormat()

bool selectDefaultFrameFormat ( )

overridevirtual

Selects the default format for each stream. Please note, that setStreams should be called first in order this function to have an effect.

Reimplemented from RGBDStream.

◆ grabImage()

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

overridevirtual

Grabs a synchronized depth and color image.

Reimplemented from RGBDStream.

◆ saveCalibration()

bool saveCalibration ( Properties * p ) const

overridevirtual

Saves the current calibration to a Properties object.

Reimplemented from RGBDStream.

◆ configure()

void configure ( const Properties * p )

virtual

Configures the stream from a Properties object.

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

virtual

Writes the current configuration to a Properties object.

Reimplemented from Configurable.

◆ devices()

std::vector< TrackingInstrument > devices ( ) const

overridevirtual

Returns the list of tracking instruments.

Reimplemented from TrackingStream.

◆ setSynchronizationMode()

bool setSynchronizationMode ( int v )

Sets the hardware synchronization mode.

0 = default, 1 = sync master, 2 = sync slave

◆ defaultColorResolution()

bool defaultColorResolution	(	int &	width,
		int &	height )

overrideprotectedvirtual

Returns the default color resolution.

Reimplemented from RGBDStream.

◆ defaultDepthResolution()

bool defaultDepthResolution	(	int &	width,
		int &	height )

overrideprotectedvirtual

Returns the default depth resolution.

Reimplemented from RGBDStream.

◆ openImpl()

bool openImpl ( )

overrideprotectedvirtual

Opens the sensor.

Implements Stream.

◆ closeImpl()

bool closeImpl ( )

overrideprotectedvirtual

Close stream.

Returns whether the operation was successful. This method should be used to free any resources that were allocated during the openImpl() call and to disconnect from any devices. Implementers must ensure that all resources are properly released to avoid memory leaks.

Implements Stream.

◆ startImpl()

bool startImpl ( )

overrideprotectedvirtual

Start stream.

Returns whether the operation was successful. This method is intended to initiate the actual data readout process or to connect a callback function for data handling. Implementers should ensure that the stream is ready and producing data after this call.

Implements Stream.

◆ stopImpl()

bool stopImpl ( )

overrideprotectedvirtual

Stop stream.

Returns whether the operation was successful. This method should halt any ongoing data readouts or callbacks, effectively pausing the data flow to reduce CPU load. Implementers should ensure that the stream can be restarted after this call.

Implements 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/RealSenseStream.h

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ RealSenseStream()

Member Function Documentation

◆ createFromSerial()

◆ enumerateDevices()

◆ serialNumber()

◆ depthFormat()

◆ colorFormat()

◆ depthFormats()

◆ colorFormats()

◆ setDepthFormat()

◆ setColorFormat()

◆ supportsColor()

◆ uuid()

◆ name()

◆ supportsAutoWhiteBalance()

◆ setAutoWhiteBalanceEnabled()

◆ isAutoWhiteBalanceEnabled()

◆ supportsAutoExposure()

◆ setAutoExposureEnabled()

◆ isAutoExposureEnabled()

◆ isExposureSupported()

◆ setExposure()

◆ exposure()

◆ isGainSupported()

◆ gain()

◆ depthK()

◆ colorK()

◆ depthToColorT()

◆ depthImageWidth()

◆ depthImageHeight()

◆ colorImageWidth()

◆ colorImageHeight()

◆ selectDefaultFrameFormat()

◆ grabImage()

◆ saveCalibration()

◆ configure()

◆ configuration()

◆ devices()

◆ setSynchronizationMode()

◆ defaultColorResolution()

◆ defaultDepthResolution()

◆ openImpl()

◆ closeImpl()

◆ startImpl()

◆ stopImpl()

◆ doWork()