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RecFusion SDK
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RecFusion SDK
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#include <Sensor.h>
Provides access to RGB-D sensors supported by RecFusion, use SensorManager for instantiation. More...
Provides access to RGB-D sensors supported by RecFusion, use SensorManager for instantiation.
Classes | |
| struct | Format |
| Structure representing the sensor format. More... | |
Public Member Functions | |
| int | deviceName (char *name, int len) const |
| Get sensor name. More... | |
| int | uuid (char *name, int len) const |
| Get sensor uuid. More... | |
| int | depthFormatCount () |
| Returns a number of depth stream formats supported by the sensor. More... | |
| int | colorFormatCount () |
| Returns a number of color stream formats supported by the sensor. More... | |
| Format | depthFormat (int id) |
| Get a depth stream format. More... | |
| Format | colorFormat (int id) |
| Get a color stream format. More... | |
| bool | open (int colorWidth=640, int colorHeight=480, int depthWidth=640, int depthHeight=480, double maxFps=30) |
| Open sensor. More... | |
| bool | close () |
| Close sensor. | |
| bool | start () |
| Start callback-based capture. | |
| void | stop () |
| Stop callback-based capture. | |
| bool | isOpen () const |
| Return true when sensor is open and ready for acquisition. | |
| int | depthWidth () const |
| Return width of depth image returned by sensor. | |
| int | depthHeight () const |
| Return height of depth image returned by sensor. | |
| int | colorWidth () const |
| Return width of color image returned by sensor. | |
| int | colorHeight () const |
| Return height of color image returned by sensor. | |
| Mat3 | depthIntrinsics () const |
| Return depth sensor intrinsics as 3x3 matrix. Returns zero matrix when no depth intrinsics are available. | |
| Mat3 | colorIntrinsics () const |
| Return color sensor intrinsics as 3x3 matrix. Returns zero matrix when no color intrinsics are available. | |
| Mat4 | depthToColorTransformation () const |
| Return depth to color transformation as 4x4 matrix. Returns zero matrix when no transformation is available. | |
| bool | supportsColor () const |
| Return true if sensor supports color. | |
| bool | setLaserState (bool enable) |
| Turn laser on or off. More... | |
| bool | supportsAutoWhiteBalance () const |
| Return true if sensor supports auto white-balance. | |
| bool | setAutoWhiteBalanceEnabled (bool enable) |
| Set auto white-balance state. More... | |
| bool | isAutoWhiteBalanceEnabled () const |
| Get auto white-balance state. | |
| bool | supportsAutoExposure () const |
| Return true if sensor supports auto exposure. | |
| bool | setAutoExposureEnabled (bool enable) |
| Set auto exposure state. More... | |
| bool | isAutoExposureEnabled () const |
| Get auto exposure state. | |
| bool | setExposure (int exposureTimeMs) |
| Set auto exposure to specified value in ms. Only works when auto exposure is disabled. | |
| int | exposure () const |
| Get exposure time in non-auto mode in ms. | |
| void | addListener (SensorListener *listener) |
| Register sensor listener. More... | |
| void | removeListener (const SensorListener *listener) |
| Remove previously registered sensor listener. More... | |
| bool | readImage (DepthImage &imgDepth, ColorImage &imgColor, int timeOut=2000) |
| Read image from sensor. More... | |
| int deviceName | ( | char * | name, |
| int | len | ||
| ) | const |
Get sensor name.
| [out] | name | Output char buffer for sensor name. |
| [in] | len | Output buffer length. |
| int uuid | ( | char * | name, |
| int | len | ||
| ) | const |
Get sensor uuid.
| [out] | name | Output char buffer for sensor uuid. |
| [in] | len | Output buffer length. |
| int depthFormatCount | ( | ) |
Returns a number of depth stream formats supported by the sensor.
Returns 0 if available formats could not be queried. Must be called before depth formats can be queried.
| int colorFormatCount | ( | ) |
Returns a number of color stream formats supported by the sensor.
Returns 0 if available formats could not be queried. Must be called before color formats can be queried.
| Format depthFormat | ( | int | id | ) |
Get a depth stream format.
depthFormatCount must be called first.
| id | Format ID in the range 0 to depthFormatCount-1 |
| Format colorFormat | ( | int | id | ) |
Get a color stream format.
colorFormatCount must be called first.
| id | Format ID in the range 0 to colorFormatCount-1 |
| bool open | ( | int | colorWidth = 640, |
| int | colorHeight = 480, |
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| int | depthWidth = 640, |
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| int | depthHeight = 480, |
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| double | maxFps = 30 |
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| ) |
Open sensor.
Must be called before any other functions can be used.
| colorWidth | Desired color image width. |
| colorHeight | Desired color image height. |
| colorHeight | Desired color image height. |
| depthWidth | Desired depth image width. |
| depthHeight | Desired depth image height. |
| maxFps | Maximum framerate to use. |
| bool setLaserState | ( | bool | enable | ) |
Turn laser on or off.
| enable | True to enable, false to disable laser |
| bool setAutoWhiteBalanceEnabled | ( | bool | enable | ) |
Set auto white-balance state.
| enable | True to enable, false to disable auto white-balance |
| bool setAutoExposureEnabled | ( | bool | enable | ) |
Set auto exposure state.
| enable | True to enable, false to disable auto exposure |
| void addListener | ( | SensorListener * | listener | ) |
Register sensor listener.
| listener | Sensor listener |
| void removeListener | ( | const SensorListener * | listener | ) |
Remove previously registered sensor listener.
| listener | Sensor listener |
| bool readImage | ( | DepthImage & | imgDepth, |
| ColorImage & | imgColor, | ||
| int | timeOut = 2000 |
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| ) |
Read image from sensor.
The images passed in need to be allocated by the caller.
| imgDepth | Pointer to depth image of size width() x heigt(). Will contain depth measurements in mm for valid pixels and zero for other pixels upon return. |
| imgColor | Pointer to depth image of size width() x heigt(). Will contain color image in RGB-format upon return. |
| timeOut | Time out to wait for data in ms. |