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OrbbecSDK
1.5.7
OrbbecSDK: Software-Development-Kit for Orbbec 3D-Sensor devices
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#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< Config > | getConfig () |
Get pipeline configuration parameters. More... | |
std::shared_ptr< FrameSet > | waitForFrames (uint32_t timeout_ms) |
Waiting for frame set data. More... | |
std::shared_ptr< Device > | getDevice () |
Get device object. More... | |
std::shared_ptr< Playback > | getPlayback () |
Get playback object. More... | |
std::shared_ptr< StreamProfileList > | getStreamProfileList (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< StreamProfileList > | getD2CDepthProfileList (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... | |
Definition at line 32 of file Pipeline.hpp.
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.
filename | Playback file path |
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noexcept |
void ob::Pipeline::start | ( | std::shared_ptr< Config > | config | ) |
Start the pipeline with configuration parameters.
config | Parameter configuration of pipeline |
void ob::Pipeline::start | ( | std::shared_ptr< Config > | config, |
FrameSetCallback | callback | ||
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Start the pipeline and set the frameset data callback.
config | parameter configuration of pipeline |
callback | Set 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.
std::shared_ptr<FrameSet> ob::Pipeline::waitForFrames | ( | uint32_t | timeout_ms | ) |
Waiting for frame set data.
timeout_ms | Waiting timeout (ms) |
std::shared_ptr<Device> ob::Pipeline::getDevice | ( | ) |
Get device object.
std::shared_ptr<Playback> ob::Pipeline::getPlayback | ( | ) |
Get playback object.
std::shared_ptr<StreamProfileList> ob::Pipeline::getStreamProfileList | ( | OBSensorType | sensorType | ) |
Get the stream profile of specified sensor.
sensorType | Type of sensor |
void ob::Pipeline::enableFrameSync | ( | ) |
Turn on frame synchronization.
void ob::Pipeline::disableFrameSync | ( | ) |
Turn off frame synchronization.
OBCameraParam ob::Pipeline::getCameraParam | ( | ) |
Get camera parameters.
std::shared_ptr<StreamProfileList> ob::Pipeline::getD2CDepthProfileList | ( | std::shared_ptr< StreamProfile > | colorProfile, |
OBAlignMode | alignMode | ||
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Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution.
colorProfile | Input color sensor resolution |
alignMode | Input align mode |
OBRect ob::Pipeline::getD2CValidArea | ( | uint32_t | minimumDistance, |
uint32_t | maximumDistance = 0 |
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) |
Get valid area between minimum distance and maximum distance after D2C.
minimumDistance | minimum working distance |
maximumDistance | maximum working distance |
void ob::Pipeline::switchConfig | ( | std::shared_ptr< Config > | config | ) |
Dynamically switch the corresponding config configuration.
config | Updated config configuration |
void ob::Pipeline::startRecord | ( | const char * | filename | ) |
start recording
filename | Record file name |
void ob::Pipeline::stopRecord | ( | ) |
Stop recording.