open3d::t::io::RealSenseSensorConfig Class Reference

#include <RealSenseSensorConfig.h>

Inheritance diagram for open3d::t::io::RealSenseSensorConfig:

Public Member Functions
	RealSenseSensorConfig ()
	Default constructor, default configs will be used. More...
	RealSenseSensorConfig (const std::unordered_map< std::string, std::string > &config)
	Initialize config with a map. More...
bool	ConvertToJsonValue (Json::Value &value) const override
bool	ConvertFromJsonValue (const Json::Value &value) override
rs2::config	ConvertToNativeConfig () const
	Convert to RealSense config. More...
Public Member Functions inherited from open3d::utility::IJsonConvertible
virtual	~IJsonConvertible ()
virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Static Public Member Functions
static Json::Value	GetMetadataJson (const rs2::pipeline_profile &profile)
	Get metadata for a streaming RealSense camera or bag file. More...
static void	GetPixelDtypes (const rs2::pipeline_profile &profile, RGBDVideoMetadata &metadata)
static std::pair< core::Dtype, uint8_t >	get_dtype_channels (int rs2_format_enum)
Static Public Member Functions inherited from open3d::utility::IJsonConvertible
static bool	EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value)
static bool	EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value)
static bool	EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value)
static bool	EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value)
static bool	EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value)
static bool	EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value)
static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value)
static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value)
static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value)
static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value)
static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value)
static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value)
static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value)
static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value)

Data Fields
std::unordered_map< std::string, std::string >	config_

Detailed Description

Configuration for a RealSense camera

See RealSense documentation for the set of configuration values. Supported configuration options will be specific to a device and other chosen options. https://intelrealsense.github.io/librealsense/doxygen/rs__option_8h.html https://intelrealsense.github.io/librealsense/doxygen/rs__sensor_8h.html

{
// Pick a specific device, leave empty to pick the first available
// device
   {"serial": ""},
// pixel format for color frames
   {"color_format": "RS2_FORMAT_ANY"},
// (width, height): Leave 0 to let RealSense pick a supported width or
// height
   {"color_resolution": "0,0"},
// pixel format for depth frames
   {"depth_format": "RS2_FORMAT_ANY"},
// (width, height): Leave 0 to let RealSense pick a supported width or
// height
   {"depth_resolution": "0,0"},
// framerate for both color and depth streams. Leave 0 to let RealSense
// pick a supported framerate
   {"fps": "0"},
// Controls depth computation on the device. Supported values are
// specific to device family (SR300, RS400, L500). Leave empty to pick
// the default.
   {"visual_preset": ""}
}

Constructor & Destructor Documentation

RealSenseSensorConfig() [1/2]

open3d::t::io::RealSenseSensorConfig::RealSenseSensorConfig

(

)

Default constructor, default configs will be used.

RealSenseSensorConfig() [2/2]

open3d::t::io::RealSenseSensorConfig::RealSenseSensorConfig

(

const std::unordered_map< std::string, std::string > &

config

)

Initialize config with a map.

Member Function Documentation

ConvertFromJsonValue()

bool open3d::t::io::RealSenseSensorConfig::ConvertFromJsonValue ( const Json::Value &  value )

overridevirtual

Implements open3d::utility::IJsonConvertible.

ConvertToJsonValue()

bool open3d::t::io::RealSenseSensorConfig::ConvertToJsonValue ( Json::Value &  value ) const

overridevirtual

Implements open3d::utility::IJsonConvertible.

ConvertToNativeConfig()

rs2::config open3d::t::io::RealSenseSensorConfig::ConvertToNativeConfig

(

)

const

Convert to RealSense config.

get_dtype_channels()

std::pair< core::Dtype, uint8_t > open3d::t::io::RealSenseSensorConfig::get_dtype_channels ( int  rs2_format_enum )

static

Convert rs2_format enum to Open3D Dtype and number of channels

Parameters

rs2_format_enum

An int is accepted instead of rs2_format enum to prevent dependence on the realsense headers.

GetMetadataJson()

Json::Value open3d::t::io::RealSenseSensorConfig::GetMetadataJson ( const rs2::pipeline_profile &  profile )

static

Get metadata for a streaming RealSense camera or bag file.

GetPixelDtypes()

void open3d::t::io::RealSenseSensorConfig::GetPixelDtypes ( const rs2::pipeline_profile &  profile, RGBDVideoMetadata &  metadata  )

static

Get pixel data types for color and depth streams. These will be set in metadata.color_dt_, metadata.color_channels_ and metadata.depth_dt_

Field Documentation

config_

std::unordered_map<std::string, std::string> open3d::t::io::RealSenseSensorConfig::config_

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

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