open3d::t::io::RGBDSensor Class Reference

Interface class for control of RGBD cameras. More...

#include <RGBDSensor.h>

Inheritance diagram for open3d::t::io::RGBDSensor:

Public Member Functions
	RGBDSensor ()
	Default constructor. Initialize with default settings. More...
virtual	~RGBDSensor ()
virtual bool	InitSensor (const RGBDSensorConfig &sensor_config, size_t sensor_index=0, const std::string &filename="")=0
virtual bool	StartCapture (bool start_record=false)=0
virtual void	PauseRecord ()=0
	Pause recording to the file. More...
virtual void	ResumeRecord ()=0
virtual geometry::RGBDImage	CaptureFrame (bool wait=true, bool align_depth_to_color=true)=0
virtual uint64_t	GetTimestamp () const =0
	Get current timestamp (in us). More...
virtual void	StopCapture ()=0
	Stop capturing frames. More...
virtual const RGBDVideoMetadata &	GetMetadata () const =0
	Get const reference to the metadata of the RGBD video capture. More...
virtual std::string	GetFilename () const =0
	Get filename being written. More...
virtual const std::string	ToString () const
	Text Description. More...

Detailed Description

Interface class for control of RGBD cameras.

Constructor & Destructor Documentation

RGBDSensor()

open3d::t::io::RGBDSensor::RGBDSensor ( )

inline

Default constructor. Initialize with default settings.

~RGBDSensor()

virtual open3d::t::io::RGBDSensor::~RGBDSensor ( )

inlinevirtual

Member Function Documentation

CaptureFrame()

virtual geometry::RGBDImage open3d::t::io::RGBDSensor::CaptureFrame ( bool  wait = true, bool  align_depth_to_color = true  )

pure virtual

Acquire the next synchronized RGBD frameset from the camera.

Parameters

align_depth_to_color	Enable aligning WFOV depth image to the color image in visualizer.
wait	If true wait for the next frame set, else return immediately with an empty RGBDImage if it is not yet available

Implemented in open3d::t::io::RealSenseSensor.

GetFilename()

virtual std::string open3d::t::io::RGBDSensor::GetFilename ( ) const

pure virtual

Get filename being written.

Implemented in open3d::t::io::RealSenseSensor.

GetMetadata()

virtual const RGBDVideoMetadata& open3d::t::io::RGBDSensor::GetMetadata ( ) const

pure virtual

Get const reference to the metadata of the RGBD video capture.

Implemented in open3d::t::io::RealSenseSensor.

GetTimestamp()

virtual uint64_t open3d::t::io::RGBDSensor::GetTimestamp ( ) const

pure virtual

Get current timestamp (in us).

Implemented in open3d::t::io::RealSenseSensor.

InitSensor()

virtual bool open3d::t::io::RGBDSensor::InitSensor ( const RGBDSensorConfig &  sensor_config, size_t  sensor_index = 0, const std::string &  filename = ""  )

pure virtual

Initialize sensor (optional).

Configure sensor with custom settings. If this is skipped, default settings will be used. You can enable recording to a file by specifying a filename.

Parameters

sensor_config	Camera configuration, such as resolution and framerate. A serial number can be entered here to connect to a specific camera.
sensor_index	Connect to a camera at this position in the enumeration of RealSense cameras that are currently connected. Use EnumerateDevices() or ListDevices() to obtain a list of connected cameras and their capabilities. This is ignored if sensor_config contains a "serial" entry.
filename	Save frames to this file.

Returns

true if a camera was found and initialized with the given settings, else false.

Implemented in open3d::t::io::RealSenseSensor.

PauseRecord()

virtual void open3d::t::io::RGBDSensor::PauseRecord ( )

pure virtual

Pause recording to the file.

Implemented in open3d::t::io::RealSenseSensor.

ResumeRecord()

virtual void open3d::t::io::RGBDSensor::ResumeRecord ( )

pure virtual

Resume recording to the file. The file will contain discontinuous segments.

Implemented in open3d::t::io::RealSenseSensor.

StartCapture()

virtual bool open3d::t::io::RGBDSensor::StartCapture ( bool  start_record = false )

pure virtual

Start capturing synchronized depth and color frames.

Parameters

start_record

start recording to the specified file as well.

Implemented in open3d::t::io::RealSenseSensor.

StopCapture()

virtual void open3d::t::io::RGBDSensor::StopCapture ( )

pure virtual

Stop capturing frames.

Implemented in open3d::t::io::RealSenseSensor.

ToString()

virtual const std::string open3d::t::io::RGBDSensor::ToString ( ) const

inlinevirtual

Text Description.

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/t/io/sensor/RGBDSensor.h (1e7b174 (Tue Jan 7 15:20:18 2025 -0800))