OrbbecSDK  1.5.7
OrbbecSDK: Software-Development-Kit for Orbbec 3D-Sensor devices
Public Member Functions | List of all members
ob::Pipeline Class Reference

#include <Pipeline.hpp>

Public Member Functions

 Pipeline ()
 Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created. More...
 
 Pipeline (std::shared_ptr< Device > device)
 Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device and pipeline are bound through this interface. More...
 
 Pipeline (const char *filename)
 Create a pipeline for playback of recorded stream files. More...
 
 ~Pipeline () noexcept
 
void start (std::shared_ptr< Config > config)
 Start the pipeline with configuration parameters. More...
 
void start (std::shared_ptr< Config > config, FrameSetCallback callback)
 Start the pipeline and set the frameset data callback. More...
 
void stop ()
 Stop pipeline. More...
 
std::shared_ptr< ConfiggetConfig ()
 Get pipeline configuration parameters. More...
 
std::shared_ptr< FrameSetwaitForFrames (uint32_t timeout_ms)
 Waiting for frame set data. More...
 
std::shared_ptr< DevicegetDevice ()
 Get device object. More...
 
std::shared_ptr< PlaybackgetPlayback ()
 Get playback object. More...
 
std::shared_ptr< StreamProfileListgetStreamProfileList (OBSensorType sensorType)
 Get the stream profile of specified sensor. More...
 
void enableFrameSync ()
 Turn on frame synchronization. More...
 
void disableFrameSync ()
 Turn off frame synchronization. More...
 
OBCameraParam getCameraParam ()
 Get camera parameters. More...
 
std::shared_ptr< StreamProfileListgetD2CDepthProfileList (std::shared_ptr< StreamProfile > colorProfile, OBAlignMode alignMode)
 Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution. More...
 
OBRect getD2CValidArea (uint32_t minimumDistance, uint32_t maximumDistance=0)
 Get valid area between minimum distance and maximum distance after D2C. More...
 
void switchConfig (std::shared_ptr< Config > config)
 Dynamically switch the corresponding config configuration. More...
 
void startRecord (const char *filename)
 start recording More...
 
void stopRecord ()
 Stop recording. More...
 

Detailed Description

Definition at line 32 of file Pipeline.hpp.

Constructor & Destructor Documentation

ob::Pipeline::Pipeline ( )

Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created.

ob::Pipeline::Pipeline ( std::shared_ptr< Device device)

Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device and pipeline are bound through this interface.

ob::Pipeline::Pipeline ( const char *  filename)

Create a pipeline for playback of recorded stream files.

Parameters
filenamePlayback file path
ob::Pipeline::~Pipeline ( )
noexcept

Member Function Documentation

void ob::Pipeline::start ( std::shared_ptr< Config config)

Start the pipeline with configuration parameters.

Parameters
configParameter configuration of pipeline
void ob::Pipeline::start ( std::shared_ptr< Config config,
FrameSetCallback  callback 
)

Start the pipeline and set the frameset data callback.

Parameters
configparameter configuration of pipeline
callbackSet the callback to be triggered when all frame data in the frame set arrives
void ob::Pipeline::stop ( )

Stop pipeline.

std::shared_ptr<Config> ob::Pipeline::getConfig ( )

Get pipeline configuration parameters.

Returns
std::shared_ptr<Config> returns the configured parameters
std::shared_ptr<FrameSet> ob::Pipeline::waitForFrames ( uint32_t  timeout_ms)

Waiting for frame set data.

Parameters
timeout_msWaiting timeout (ms)
Returns
std::shared_ptr<FrameSet> returns the waiting frame set data
std::shared_ptr<Device> ob::Pipeline::getDevice ( )

Get device object.

Returns
std::shared_ptr<Device> returns the device object
std::shared_ptr<Playback> ob::Pipeline::getPlayback ( )

Get playback object.

Returns
std::shared_ptr<Playback> returns the playback object
std::shared_ptr<StreamProfileList> ob::Pipeline::getStreamProfileList ( OBSensorType  sensorType)

Get the stream profile of specified sensor.

Parameters
sensorTypeType of sensor
Returns
std::shared_ptr<StreamProfileList> returns the stream configuration list
void ob::Pipeline::enableFrameSync ( )

Turn on frame synchronization.

void ob::Pipeline::disableFrameSync ( )

Turn off frame synchronization.

OBCameraParam ob::Pipeline::getCameraParam ( )

Get camera parameters.

Attention
If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters
Returns
OBCameraParam returns camera parameters
std::shared_ptr<StreamProfileList> ob::Pipeline::getD2CDepthProfileList ( std::shared_ptr< StreamProfile colorProfile,
OBAlignMode  alignMode 
)

Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution.

Parameters
colorProfileInput color sensor resolution
alignModeInput align mode
Returns
std::shared_ptr<StreamProfileList> returns a list of depth sensor resolutions
OBRect ob::Pipeline::getD2CValidArea ( uint32_t  minimumDistance,
uint32_t  maximumDistance = 0 
)

Get valid area between minimum distance and maximum distance after D2C.

Parameters
minimumDistanceminimum working distance
maximumDistancemaximum working distance
Returns
OBRect returns the area information valid after D2C at the working distance
void ob::Pipeline::switchConfig ( std::shared_ptr< Config config)

Dynamically switch the corresponding config configuration.

Parameters
configUpdated config configuration
void ob::Pipeline::startRecord ( const char *  filename)

start recording

Parameters
filenameRecord file name
void ob::Pipeline::stopRecord ( )

Stop recording.


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