81 size_t sensor_index = 0,
82 const std::string &filename =
"");
84 size_t sensor_index = 0,
85 const std::string &filename =
"")
override {
88 sensor_index, filename);
93 virtual bool StartCapture(
bool start_record =
false)
override;
112 bool wait =
true,
bool align_depth_to_color =
true)
override;
130 virtual std::string
GetFilename()
const override {
return filename_; };
136 bool enable_recording_ =
false;
137 bool is_recording_ =
false;
138 bool is_capturing_ =
false;
139 std::string filename_;
143 std::unique_ptr<rs2::pipeline> pipe_;
144 std::unique_ptr<rs2::align> align_to_color_;
145 std::unique_ptr<rs2::config> rs_config_;
147 static const uint64_t MILLISEC_TO_MICROSEC = 1000;
Definition: RGBDSensorConfig.h:34
RGBDImage A pair of color and depth images.
Definition: RGBDImage.h:40
Interface class for control of RGBD cameras.
Definition: RGBDSensor.h:41
virtual const std::string ToString() const
Text Description.
Definition: RGBDSensor.h:100
Definition: RealSenseSensorConfig.h:81
RealSense camera discovery, configuration, streaming and recording.
Definition: RealSenseSensor.h:47
virtual void StopCapture() override
Stop capturing frames.
Definition: RealSenseSensor.cpp:307
virtual void PauseRecord() override
Definition: RealSenseSensor.cpp:246
virtual void ResumeRecord() override
Definition: RealSenseSensor.cpp:253
RealSenseSensor()
Default constructor. Initialize with default settings.
Definition: RealSenseSensor.cpp:134
virtual geometry::RGBDImage CaptureFrame(bool wait=true, bool align_depth_to_color=true) override
Definition: RealSenseSensor.cpp:274
virtual ~RealSenseSensor() override
Definition: RealSenseSensor.cpp:141
RealSenseSensor(const RealSenseSensor &)=delete
static std::vector< RealSenseValidConfigs > EnumerateDevices()
Definition: RealSenseSensor.cpp:64
virtual const RGBDVideoMetadata & GetMetadata() const override
Get metadata of the RealSense video capture.
Definition: RealSenseSensor.h:125
static bool ListDevices()
Definition: RealSenseSensor.cpp:43
virtual bool StartCapture(bool start_record=false) override
Definition: RealSenseSensor.cpp:216
virtual bool InitSensor(const RGBDSensorConfig &sensor_config, size_t sensor_index=0, const std::string &filename="") override
Definition: RealSenseSensor.h:83
virtual uint64_t GetTimestamp() const override
Definition: RealSenseSensor.h:119
RealSenseSensor & operator=(const RealSenseSensor &)=delete
virtual std::string GetFilename() const override
Get filename being written.
Definition: RealSenseSensor.h:130
virtual bool InitSensor(const RealSenseSensorConfig &sensor_config=RealSenseSensorConfig{}, size_t sensor_index=0, const std::string &filename="")
Definition: RealSenseSensor.cpp:143
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample uint64_t
Definition: K4aPlugin.cpp:362
Definition: PinholeCameraIntrinsic.cpp:35
Definition: RealSenseSensor.h:36