Open3D (C++ API)  0.16.0
RGBDSensor.h
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26
27#pragma once
28
29#include <string>
30
34
35namespace open3d {
36using io::RGBDSensorConfig;
37namespace t {
38namespace io {
39
42public:
45 virtual ~RGBDSensor() {}
46
63 virtual bool InitSensor(const RGBDSensorConfig &sensor_config,
64 size_t sensor_index = 0,
65 const std::string &filename = "") = 0;
66
69 virtual bool StartCapture(bool start_record = false) = 0;
70
72 virtual void PauseRecord() = 0;
73
76 virtual void ResumeRecord() = 0;
77
85 bool wait = true, bool align_depth_to_color = true) = 0;
86
88 virtual uint64_t GetTimestamp() const = 0;
89
91 virtual void StopCapture() = 0;
92
94 virtual const RGBDVideoMetadata &GetMetadata() const = 0;
95
97 virtual std::string GetFilename() const = 0;
98
100 virtual const std::string ToString() const {
101 return fmt::format(
102 "RGBD sensor {} (serial {}){}{}", GetMetadata().device_name_,
103 GetMetadata().serial_number_,
104 GetTimestamp() == 0 ? ""
105 : "\nCapturing video: timestamp (us) = " +
106 std::to_string(GetTimestamp()),
107 GetFilename().empty() ? ""
108 : "\nRecording to file " + GetFilename());
109 }
110};
111
112} // namespace io
113} // namespace t
114} // namespace open3d
filament::Texture::InternalFormat format
Definition: FilamentResourceManager.cpp:214
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 geometry::RGBDImage CaptureFrame(bool wait=true, bool align_depth_to_color=true)=0
virtual void StopCapture()=0
Stop capturing frames.
virtual void ResumeRecord()=0
virtual std::string GetFilename() const =0
Get filename being written.
virtual ~RGBDSensor()
Definition: RGBDSensor.h:45
virtual bool InitSensor(const RGBDSensorConfig &sensor_config, size_t sensor_index=0, const std::string &filename="")=0
virtual void PauseRecord()=0
Pause recording to the file.
virtual uint64_t GetTimestamp() const =0
Get current timestamp (in us).
RGBDSensor()
Default constructor. Initialize with default settings.
Definition: RGBDSensor.h:44
virtual const RGBDVideoMetadata & GetMetadata() const =0
Get const reference to the metadata of the RGBD video capture.
virtual const std::string ToString() const
Text Description.
Definition: RGBDSensor.h:100
virtual bool StartCapture(bool start_record=false)=0
RGBD video metadata.
Definition: RGBDVideoMetadata.h:45
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