This component handles a real sense RGBD camera and provides access to the color image, the depth image, and the 3D point cloud. More...

#include <SolARRGBDCameraRealSense.h>

Inheritance diagram for SolAR::MODULES::REALSENSE::SolARRGBDCamera:

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Collaboration diagram for SolAR::MODULES::REALSENSE::SolARRGBDCamera:

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Public Member Functions
org::bcom::xpcf::XPCFErrorCode	onConfigured () override

FrameworkReturnCode	getNextImage (SRef< datastructure::Image > &colorImg) override
	At the moment we are not able to deliver you only the RGB Image, as we aquiere both depth and image at the same time Please use getNextRGBDFrame() instead. More...

FrameworkReturnCode	getNextDepthFrame (SRef< datastructure::Image > &depthImg) override
	At the moment we are not able to deliver you only the Depth Image, as we aquiere both depth and image at the same time Please use getNextRGBDFrame() instead. More...

FrameworkReturnCode	getNextRGBDFrame (SRef< datastructure::Image > &colorImg, SRef< datastructure::Image > &depthImg) override
	Provides the last color image, depth image, corresponding 3D point cloud, and aligned images (RGB on depth and depth on RGB). If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature. More...

FrameworkReturnCode	getPointCloud (SRef< datastructure::PointCloud > &pc) override
	Provides the corresponding 3D point cloud to last depth image aquiered (getNextRGBDFrame()) Should have no effect if the user didn't call getNextRGBDFrame() beforehand. More...

FrameworkReturnCode	start () override
	Start the acquisition device reference. More...

FrameworkReturnCode	stop () override
	Stop the acquisition device. More...

virtual FrameworkReturnCode	alignDepthToColor (SRef< datastructure::Image > &alignedDepthImg) const override
	Provides a depth image aligned on the color image. More...

virtual FrameworkReturnCode	alignColorToDepth (SRef< datastructure::Image > &alignedColorImg) const override
	Provides a color image alingned on the depth image. More...

virtual datastructure::Point3Df	getPixelToWorld (const datastructure::Point2Di &inPixel) const override
	Provides the 3D point in the depth sensor coordinate system corresponding to a given pixel of the color image. More...

virtual datastructure::Point2Di	getWorldToPixel (const datastructure::CloudPoint &in3DPoint) const override
	Provides the pixel of the color image to the projection of a given 3D point. More...

virtual std::vector< datastructure::Point2Df >	getWorldToPixels (const std::vector< SRef< datastructure::CloudPoint > > &in3DPoints) const override
	Provides the pixels of the color image to the projection of given 3D points. More...

void	setResolution (const datastructure::Sizei &resolution) override
	Set the color image resolution of the acquisition device.

FrameworkReturnCode	setDepthResolution (datastructure::Sizei resolution) override
	Set the depth image resolution of the acquisition device.

void	setIntrinsicParameters (const datastructure::CamCalibration &intrinsic_parameters) override
	Set the intrinsic RGB camera parameters.

FrameworkReturnCode	setIntrinsicDepthParameters (const datastructure::CamCalibration &intrinsic_parameters) override
	Set the intrinsic parameters of the depth camera.

void	setDistortionParameters (const datastructure::CamDistortion &distortion_parameters) override
	Set the distortion intrinsic parameters of the RGB camera.

FrameworkReturnCode	setDistortionDepthParameters (const datastructure::CamDistortion &distortion_parameters) override
	Set the distortion intrinsic parameters of the depth camera.

void	setParameters (const datastructure::CameraParameters &parameters) override
	Set the distortion intrinsic camera parameters.

datastructure::Sizei	getResolution () const override
	Get the image resolution of the RGB acquisition device.

datastructure::Sizei	getDepthResolution () const override
	Get the image resolution of the depth acquisition device.

float	getDepthMinDistance () const override
	Get the min acquisition distance of the device.

const datastructure::CamCalibration &	getIntrinsicsParameters () const override

const datastructure::CameraParameters &	getParameters () const override

const datastructure::CamCalibration &	getIntrinsicsDepthParameters () const override

const datastructure::CamDistortion &	getDistortionParameters () const override

const datastructure::CamDistortion &	getDistortionDepthParameters () const override

void	unloadComponent () override final

Detailed Description

This component handles a real sense RGBD camera and provides access to the color image, the depth image, and the 3D point cloud.

Properties

rgb_width
	type: int; range : [0..MAX INT]; default: 0
rgb_height
	type: int; range : [0..MAX INT]; default: 0
rgb_framerate
	type: int; range : [0..MAX INT]; default: 30
depth_width
	type: int; range : [0..MAX INT]; default: 0
depth_height
	type: int; range : [0..MAX INT]; default: 0
depth_framerate
	type: int; range : [0..MAX INT]; default: 30
depth_colorize	call rs2::colorizer if >= 0
	type: int; range : [MIN INT..MAX INT]; default: -1
depth_minimum
	type: float; range : [0..MAX FLOAT]; default: 0.105f

Member Function Documentation

◆ alignColorToDepth()

virtual FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::alignColorToDepth ( SRef< datastructure::Image > & alignedColorImg ) const

overridevirtual

Provides a color image alingned on the depth image.

Parameters

alignedColorImg the RGB image captured by the RGBD camera and aligned on the depth image

◆ alignDepthToColor()

virtual FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::alignDepthToColor ( SRef< datastructure::Image > & alignedDepthImg ) const

overridevirtual

Provides a depth image aligned on the color image.

Parameters

alignedDepthImg the depth image captured by the RGBD camera and aligned on the color image

◆ getDistortionDepthParameters()

const datastructure::CamDistortion & SolAR::MODULES::REALSENSE::SolARRGBDCamera::getDistortionDepthParameters ( ) const

override

Returns: Return the distortion depth camera lens parameters

◆ getDistortionParameters()

const datastructure::CamDistortion & SolAR::MODULES::REALSENSE::SolARRGBDCamera::getDistortionParameters ( ) const

override

Returns: Return the distortion RGB camera lens parameters

◆ getIntrinsicsDepthParameters()

const datastructure::CamCalibration & SolAR::MODULES::REALSENSE::SolARRGBDCamera::getIntrinsicsDepthParameters ( ) const

override

Returns: Return the intrinsic depth camera parameters

◆ getIntrinsicsParameters()

const datastructure::CamCalibration & SolAR::MODULES::REALSENSE::SolARRGBDCamera::getIntrinsicsParameters ( ) const

override

Returns: Return the intrinsic RGB camera parameters

◆ getNextDepthFrame()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::getNextDepthFrame ( SRef< datastructure::Image > & depthImg )

override

At the moment we are not able to deliver you only the Depth Image, as we aquiere both depth and image at the same time Please use getNextRGBDFrame() instead.

Parameters

depthImg Will always be null

See also: getNextRGBDFrame()

Returns: FrameworkReturnCode Return fail event

◆ getNextImage()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::getNextImage ( SRef< datastructure::Image > & colorImg )

override

At the moment we are not able to deliver you only the RGB Image, as we aquiere both depth and image at the same time Please use getNextRGBDFrame() instead.

Parameters

colorImg Will always be null

See also: getNextRGBDFrame()

Returns: FrameworkReturnCode Return fail event

◆ getNextRGBDFrame()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::getNextRGBDFrame	(	SRef< datastructure::Image > &	colorImg,
		SRef< datastructure::Image > &	depthImg
	)

override

Provides the last color image, depth image, corresponding 3D point cloud, and aligned images (RGB on depth and depth on RGB). If output parameters are null (nullptr), it means that the implementation, or the requested mode does not provide this feature.

Parameters

colorImg	the RGB image captured by the RGBD camera
depthImg	the depth image captured by the RGBD camera

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ getParameters()

const datastructure::CameraParameters & SolAR::MODULES::REALSENSE::SolARRGBDCamera::getParameters ( ) const

override

Returns: Return the camera parameters

◆ getPixelToWorld()

virtual datastructure::Point3Df SolAR::MODULES::REALSENSE::SolARRGBDCamera::getPixelToWorld ( const datastructure::Point2Di & inPixel ) const

overridevirtual

Provides the 3D point in the depth sensor coordinate system corresponding to a given pixel of the color image.

Parameters

inPixel The pixel for which we want the 3 position

Returns: a 3D point corresponding to the input pixel

◆ getPointCloud()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::getPointCloud ( SRef< datastructure::PointCloud > & pc )

override

Provides the corresponding 3D point cloud to last depth image aquiered (getNextRGBDFrame()) Should have no effect if the user didn't call getNextRGBDFrame() beforehand.

Parameters

pc	the 3D point cloud reconstructed from the depth image. Points coordinates are defined according to the RGBD camera coordinate system.

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ getWorldToPixel()

virtual datastructure::Point2Di SolAR::MODULES::REALSENSE::SolARRGBDCamera::getWorldToPixel ( const datastructure::CloudPoint & in3DPoint ) const

overridevirtual

Provides the pixel of the color image to the projection of a given 3D point.

Parameters

in3DPoint The 3Dpoint we want to project on the color image

Returns: a 2D point representing a pixel of the color image on which the 3D point in projected

◆ getWorldToPixels()

virtual std::vector< datastructure::Point2Df > SolAR::MODULES::REALSENSE::SolARRGBDCamera::getWorldToPixels ( const std::vector< SRef< datastructure::CloudPoint > > & in3DPoints ) const

overridevirtual

Provides the pixels of the color image to the projection of given 3D points.

Parameters

in3DPoints The 3D points we want to project on the color image

Returns: a 2D points vector representing the pixels of the color image on which the 3D points are projected

◆ start()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::start ( )

override

Start the acquisition device reference.

Returns: FrameworkReturnCode to track sucessful or failing event.

◆ stop()

FrameworkReturnCode SolAR::MODULES::REALSENSE::SolARRGBDCamera::stop ( )

override

Stop the acquisition device.

Returns: FrameworkReturnCode::SUCCESS if sucessful, eiher FrameworkRetunrnCode::_ERROR.

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

SolARModuleRealSense/interfaces/SolARRGBDCameraRealSense.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ alignColorToDepth()

◆ alignDepthToColor()

◆ getDistortionDepthParameters()

◆ getDistortionParameters()

◆ getIntrinsicsDepthParameters()

◆ getIntrinsicsParameters()

◆ getNextDepthFrame()

◆ getNextImage()

◆ getNextRGBDFrame()

◆ getParameters()

◆ getPixelToWorld()

◆ getPointCloud()

◆ getWorldToPixel()

◆ getWorldToPixels()

◆ start()

◆ stop()