RealSenseManager class is a class that abstracts the behavior of an Intel RealSense Camera, in order to capture frames, apply post-processing, and so on. More...

#include <RealSenseManager.hpp>

Inheritance diagram for RealSenseManager:

Public Member Functions
	RealSenseManager (void)
	Construct a new RealSenseManager object. More...

virtual	~RealSenseManager ()=default
	Destroy the RealSenseManager object. More...

unsigned int	getFrameID (void)
	Get the current frame ID value. More...

struct rs2_intrinsics &	get_color_intrin (void)
	Get the color intrinsics object. More...

virtual void	startEnvironment (rs2::pipeline &pipelineStream, struct rs2_intrinsics &color_intrin, float *scale, unsigned short int resX, unsigned short int resY, bool firstBoot)=0
	This method is useful to invoke at the boot of the program where we want to initialize the different mangers, start the camera and set up the related environment. This method can be overridden and specified according to camera model. More...

virtual void	getVideoFramesRS (unsigned int user_nFrame, rs2::pipeline &pipelineStream, rs2::depth_frame &depthFrame, rs2::frame &colorFrame, rs2::frame &colorizedDepthFrame, const unsigned short int framesToSkip)=0
	Get user_nFrame video frames from the pipeline by applying a specific scaling factor. This method can be overridden and specified according to camera model. More...

Protected Member Functions
void	setFrameID (unsigned int frameID)
	Set the Frame ID value. More...

void	set_align (rs2::align align)
	Set the align object. More...

void	set_depth_intrin (struct rs2_intrinsics depth_intrin)
	Set the depth intrinsics object. More...

void	set_color_intrin (struct rs2_intrinsics &color_intrin)
	Set the color intrinsics object. More...

void	set_depth_to_color (struct rs2_extrinsics depth_to_color)
	Set the depth extrinsics object. More...

void	set_color_to_depth (struct rs2_extrinsics color_to_depth)
	Set the color extrinsics object. More...

rs2::align	get_align (void)
	Get the align object. More...

struct rs2_intrinsics	get_depth_intrin (void)
	Get the depth intrinsics object. More...

struct rs2_extrinsics	get_depth_to_color (void)
	Get the depth extrinsics object. More...

struct rs2_extrinsics	get_color_to_depth (void)
	Get the color extrinsics object. More...

Private Attributes
unsigned int	frameID
	Current frame counter. More...

rs2::align	align
	Auxiliary processing block that performs image alignment using depth data and camera calibration. More...

struct rs2_intrinsics	depth_intrin
	Reference to depth stream intrinsics. More...

struct rs2_intrinsics	color_intrin
	Reference to color stream intrinsics. More...

struct rs2_extrinsics	depth_to_color
	Reference to depth stream extrinsics. More...

struct rs2_extrinsics	color_to_depth
	Reference to color stream extrinsics. More...

Detailed Description

RealSenseManager class is a class that abstracts the behavior of an Intel RealSense Camera, in order to capture frames, apply post-processing, and so on.

Definition at line 25 of file RealSenseManager.hpp.

Constructor & Destructor Documentation

◆ RealSenseManager()

RealSenseManager::RealSenseManager ( void )

Construct a new RealSenseManager object.

Definition at line 57 of file RealSenseManager.cpp.

                                        : align(RS2_STREAM_COLOR) {
    setFrameID(0);
}

References setFrameID().

◆ ~RealSenseManager()

virtual RealSenseManager::~RealSenseManager ( )

virtualdefault

Destroy the RealSenseManager object.

Member Function Documentation

◆ get_align()

rs2::align RealSenseManager::get_align ( void )

protected

Get the align object.

Returns: rs2::align

See also: http://docs.ros.org/en/kinetic/api/librealsense2/html/classrs2_1_1align.html

Definition at line 39 of file RealSenseManager.cpp.

                                          {
    return this->align;
}

References align.

Referenced by RealSenseD435Manager::getVideoFramesRS().

◆ get_color_intrin()

struct rs2_intrinsics & RealSenseManager::get_color_intrin ( void )

Get the color intrinsics object.

Returns: struct rs2_intrinsics &

Definition at line 65 of file RealSenseManager.cpp.

                                                                {
    return this->color_intrin;
}

References color_intrin.

Referenced by Skeleton::deprojectSkeletonPoints3D().

◆ get_color_to_depth()

struct rs2_extrinsics RealSenseManager::get_color_to_depth ( void )

protected

Get the color extrinsics object.

Returns: struct rs2_extrinsics

Definition at line 51 of file RealSenseManager.cpp.

                                                                {
    return this->color_to_depth;
}

◆ get_depth_intrin()

struct rs2_intrinsics RealSenseManager::get_depth_intrin ( void )

protected

Get the depth intrinsics object.

Returns: struct rs2_intrinsics

Definition at line 43 of file RealSenseManager.cpp.

                                                              {
    return this->depth_intrin;
}

◆ get_depth_to_color()

struct rs2_extrinsics RealSenseManager::get_depth_to_color ( void )

protected

Get the depth extrinsics object.

Returns: struct rs2_extrinsics

Definition at line 47 of file RealSenseManager.cpp.

                                                                {
    return this->depth_to_color;
}

◆ getFrameID()

unsigned int RealSenseManager::getFrameID ( void )

Get the current frame ID value.

Returns: unsigned int

Definition at line 61 of file RealSenseManager.cpp.

                                               {
    return this->frameID;
}

References frameID.

Referenced by OpenCV_Manager::getVideoFramesCV(), RealSenseD435Manager::getVideoFramesRS(), FacadeSingleton::sendData(), and OpenCV_Manager::showSkeletonsCV().

◆ getVideoFramesRS()

virtual void RealSenseManager::getVideoFramesRS	(	unsigned int	user_nFrame,
		rs2::pipeline &	pipelineStream,
		rs2::depth_frame &	depthFrame,
		rs2::frame &	colorFrame,
		rs2::frame &	colorizedDepthFrame,
		const unsigned short int	framesToSkip
	)

pure virtual

Get user_nFrame video frames from the pipeline by applying a specific scaling factor. This method can be overridden and specified according to camera model.

Parameters

user_nFrame	frame's number to capture according to user choice.
pipelineStream	The pipeline simplifies the user interaction with the device and computer vision processing modules. The class abstracts the camera configuration and streaming, and the vision modules triggering and threading. It lets the application focus on the computer vision output of the modules, or the device output data. The pipeline can manage computer vision modules, which are implemented as a processing block. The pipeline is the consumer of the processing block interface, while the application consumes the computer vision interface.
depthFrame	Reference to depth frame object that will be captured.
colorFrame	Reference to color frame object that will be captured.
colorizedDepthFrame	Reference to colorized depth frame object that will be captured.
framesToSkip	Frames' number to skip in order to ignore a certain amount of frames and extend the recording interval. A '0' value means 'capture each frame'.

See also: https://dev.intelrealsense.com/docs/docs-get-started; getVideoFramesCV(unsigned int user_nFrame, rs2::pipeline & pipelineStream, float scale); getVideoFrames (unsigned int user_nFrame, rs2::pipeline & pipelineStream, float scale)

Implemented in RealSenseD435Manager.

Referenced by OpenCV_Manager::getVideoFramesCV().

◆ set_align()

void RealSenseManager::set_align ( rs2::align align )

protected

Set the align object.

See also: http://docs.ros.org/en/kinetic/api/librealsense2/html/classrs2_1_1align.html

Parameters

align Auxiliary processing block that performs image alignment using depth data and camera calibration.

Definition at line 19 of file RealSenseManager.cpp.

                                                {
    this->align = align;
}

References align.

Referenced by RealSenseD435Manager::startEnvironment().

◆ set_color_intrin()

void RealSenseManager::set_color_intrin ( struct rs2_intrinsics & color_intrin )

protected

Set the color intrinsics object.

Parameters

color_intrin Reference to color stream intrinsics.

Definition at line 27 of file RealSenseManager.cpp.

                                                                             {
    this->color_intrin = color_intrin;
}

References color_intrin.

Referenced by RealSenseD435Manager::startEnvironment().

◆ set_color_to_depth()

void RealSenseManager::set_color_to_depth ( struct rs2_extrinsics color_to_depth )

protected

Set the color extrinsics object.

Parameters

color_to_depth Reference to color stream extrinsics.

Definition at line 35 of file RealSenseManager.cpp.

                                                                               {
    this->color_to_depth = color_to_depth;
}

References color_to_depth.

Referenced by RealSenseD435Manager::startEnvironment().

◆ set_depth_intrin()

void RealSenseManager::set_depth_intrin ( struct rs2_intrinsics depth_intrin )

protected

Set the depth intrinsics object.

Parameters

depth_intrin Reference to depth stream intrinsics.

Definition at line 23 of file RealSenseManager.cpp.

                                                                           {
    this->depth_intrin = depth_intrin;
}

References depth_intrin.

Referenced by RealSenseD435Manager::startEnvironment().

◆ set_depth_to_color()

void RealSenseManager::set_depth_to_color ( struct rs2_extrinsics depth_to_color )

protected

Set the depth extrinsics object.

Parameters

depth_to_color Reference to depth stream extrinsics.

Definition at line 31 of file RealSenseManager.cpp.

                                                                               {
    this->depth_to_color = depth_to_color;
}

References depth_to_color.

Referenced by RealSenseD435Manager::startEnvironment().

◆ setFrameID()

void RealSenseManager::setFrameID ( unsigned int frameID )

protected

Set the Frame ID value.

Parameters

frameID Current frame counter.

Definition at line 15 of file RealSenseManager.cpp.

                                                       {
    this->frameID = frameID;
}

References frameID.

Referenced by RealSenseD435Manager::getVideoFramesRS(), and RealSenseManager().

◆ startEnvironment()

virtual void RealSenseManager::startEnvironment	(	rs2::pipeline &	pipelineStream,
		struct rs2_intrinsics &	color_intrin,
		float *	scale,
		unsigned short int	resX,
		unsigned short int	resY,
		bool	firstBoot
	)

pure virtual

This method is useful to invoke at the boot of the program where we want to initialize the different mangers, start the camera and set up the related environment. This method can be overridden and specified according to camera model.

Parameters

pipelineStream	The pipeline simplifies the user interaction with the device and computer vision processing modules. The class abstracts the camera configuration and streaming, and the vision modules triggering and threading. It lets the application focus on the computer vision output of the modules, or the device output data. The pipeline can manage computer vision modules, which are implemented as a processing block. The pipeline is the consumer of the processing block interface, while the application consumes the computer vision interface.
color_intrin	Reference to color video stream intrinsics.
scale	Pointer to scaling factor.
resX	x resoultion <->.
resY	y resolution.
firstBoot	true if the method is called for the first time (in this case a kind of camera calibration is done), false otherwise.

See also: https://dev.intelrealsense.com/docs/docs-get-started; startEnvironment(rs2::pipeline & pipelineStream, struct rs2_intrinsics & color_intrin, float * scale, unsigned short int resX, unsigned short int resY, const char * destinationKafkaTopic)

Implemented in RealSenseD435Manager.

Referenced by FacadeSingleton::startEnvironment().