FAST
3.2.0
Framework for Heterogeneous Medical Image Computing and Visualization
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Streams data RGB and depth data from a kinect device. More...
#include <RealSenseStreamer.hpp>
Public Member Functions | |
void | setMaxRange (float range) |
void | setMinRange (float range) |
void | setMaxWidth (float range) |
void | setMinWidth (float range) |
void | setMaxHeight (float range) |
void | setMinHeight (float range) |
uint | getNrOfFrames () const |
MeshVertex | getPoint (int x, int y) |
~RealSenseStreamer () | |
Public Member Functions inherited from fast::Streamer | |
Streamer () | |
virtual | ~Streamer () |
virtual std::string | getNameOfClass () const =0 |
virtual void | stop () |
virtual void | setMaximumNrOfFrames (int maximumNrOfFrames) |
Public Member Functions inherited from fast::ProcessObject | |
virtual | ~ProcessObject () |
void | update (int executeToken=-1) |
RuntimeMeasurement::pointer | getRuntime () |
RuntimeMeasurement::pointer | getRuntime (std::string name) |
RuntimeMeasurementsManager::pointer | getAllRuntimes () |
void | enableRuntimeMeasurements () |
void | disableRuntimeMeasurements () |
void | setMainDevice (ExecutionDevice::pointer device) |
void | setMainDeviceCriteria (const DeviceCriteria &citeria) |
ExecutionDevice::pointer | getMainDevice () const |
void | setDevice (uint deviceNumber, ExecutionDevice::pointer device) |
void | setDeviceCriteria (uint deviceNumber, const DeviceCriteria &criteria) |
ExecutionDevice::pointer | getDevice (uint deviceNumber) const |
virtual DataChannel::pointer | getOutputPort (uint portID=0) |
virtual DataChannel::pointer | getInputPort (uint portID=0) |
virtual void | setInputConnection (DataChannel::pointer port) |
virtual void | setInputConnection (uint portID, DataChannel::pointer port) |
virtual void | setInputData (DataObject::pointer data) |
virtual void | setInputData (uint portID, DataObject::pointer data) |
int | getNrOfInputConnections () const |
int | getNrOfOutputPorts () const |
virtual void | loadAttributes () |
std::shared_ptr< Attribute > | getAttribute (std::string id) |
std::unordered_map< std::string, std::shared_ptr< Attribute > > | getAttributes () |
void | setAttributes (std::vector< std::shared_ptr< Attribute >> attributes) |
void | stopPipeline () |
void | setModified (bool modified) |
template<class DataType > | |
std::shared_ptr< DataType > | updateAndGetOutputData (uint portID=0) |
Public Member Functions inherited from fast::Object | |
Object () | |
virtual | ~Object () |
Reporter & | getReporter () |
Additional Inherited Members | |
Public Types inherited from fast::Streamer | |
typedef std::shared_ptr< Streamer > | pointer |
Public Types inherited from fast::ProcessObject | |
typedef std::shared_ptr< ProcessObject > | pointer |
Public Types inherited from fast::Object | |
typedef std::shared_ptr< Object > | pointer |
Static Public Member Functions inherited from fast::Streamer | |
static std::string | getStaticNameOfClass () |
Static Public Member Functions inherited from fast::ProcessObject | |
static std::string | getStaticNameOfClass () |
Static Public Member Functions inherited from fast::Object | |
static std::string | getStaticNameOfClass () |
Protected Member Functions inherited from fast::Streamer | |
virtual void | waitForFirstFrame () |
virtual void | startStream () |
virtual void | frameAdded () |
Protected Member Functions inherited from fast::ProcessObject | |
ProcessObject () | |
virtual void | preExecute () |
virtual void | postExecute () |
template<class DataType > | |
void | createInputPort (uint portID, bool required=true) |
template<class DataType > | |
void | createOutputPort (uint portID) |
template<class DataType > | |
std::shared_ptr< DataType > | getInputData (uint portID=0) |
template<class DataType > | |
std::shared_ptr< DataType > | getOutputData (uint portID=0) |
void | addOutputData (uint portID, DataObject::pointer data) |
bool | hasNewInputData (uint portID) |
virtual void | waitToFinish () |
void | createOpenCLProgram (std::string sourceFilename, std::string name="") |
cl::Program | getOpenCLProgram (std::shared_ptr< OpenCLDevice > device, std::string name="", std::string buildOptions="") |
void | createFloatAttribute (std::string id, std::string name, std::string description, float initialValue) |
void | createIntegerAttribute (std::string id, std::string name, std::string description, int initialValue) |
void | createBooleanAttribute (std::string id, std::string name, std::string description, bool initialValue) |
void | createStringAttribute (std::string id, std::string name, std::string description, std::string initialValue) |
float | getFloatAttribute (std::string id) |
int | getIntegerAttribute (std::string id) |
bool | getBooleanAttribute (std::string id) |
std::string | getStringAttribute (std::string id) |
std::vector< float > | getFloatListAttribute (std::string id) |
std::vector< int > | getIntegerListAttribute (std::string id) |
std::vector< bool > | getBooleanListAttribute (std::string id) |
std::vector< std::string > | getStringListAttribute (std::string id) |
void | changeDeviceOnInputs (uint deviceNumber, ExecutionDevice::pointer device) |
void | validateInputPortExists (uint portID) |
void | validateOutputPortExists (uint portID) |
Protected Member Functions inherited from fast::Object | |
Reporter & | reportError () |
Reporter & | reportWarning () |
Reporter & | reportInfo () |
ReporterEnd | reportEnd () const |
Protected Attributes inherited from fast::Streamer | |
bool | m_firstFrameIsInserted = false |
bool | m_streamIsStarted = false |
bool | m_stop = false |
std::mutex | m_firstFrameMutex |
std::mutex | m_stopMutex |
std::unique_ptr< std::thread > | m_thread |
std::condition_variable | m_firstFrameCondition |
Protected Attributes inherited from fast::ProcessObject | |
bool | mIsModified |
int | m_lastExecuteToken = -1 |
RuntimeMeasurementsManager::pointer | mRuntimeManager |
std::unordered_map< uint, bool > | mRequiredInputs |
std::unordered_map< uint, std::vector< uint > > | mInputDevices |
std::unordered_map< uint, ExecutionDevice::pointer > | mDevices |
std::unordered_map< uint, DeviceCriteria > | mDeviceCriteria |
std::unordered_map< uint, DataChannel::pointer > | mInputConnections |
std::unordered_map< uint, std::vector< std::weak_ptr< DataChannel > > > | mOutputConnections |
std::unordered_map< uint, bool > | mInputPorts |
std::unordered_set< uint > | mOutputPorts |
std::unordered_map< uint, std::pair< DataObject::pointer, uint64_t > > | mLastProcessed |
std::unordered_map< std::string, std::shared_ptr< OpenCLProgram > > | mOpenCLPrograms |
std::unordered_map< std::string, std::shared_ptr< Attribute > > | mAttributes |
std::unordered_map< std::string, std::string > | m_frameData |
std::unordered_set< std::string > | m_lastFrame |
int | m_maximumNrOfFrames = -1 |
Protected Attributes inherited from fast::Object | |
std::weak_ptr< Object > | mPtr |
Streams data RGB and depth data from a kinect device.
The RGB camera and depth stream are registered so that a color value for each point in the point cloud is established.
Output port 0: Registered RGB image Output port 1: Registered depth image Output port 2: Registered point cloud
fast::RealSenseStreamer::~RealSenseStreamer | ( | ) |
uint fast::RealSenseStreamer::getNrOfFrames | ( | ) | const |
MeshVertex fast::RealSenseStreamer::getPoint | ( | int | x, |
int | y | ||
) |
Gets corresponding 3D point from rgb image coordinate
x | |
y |
void fast::RealSenseStreamer::setMaxHeight | ( | float | range | ) |
void fast::RealSenseStreamer::setMaxRange | ( | float | range | ) |
Set maximum range in millimeters. All points above this range will be dropped.
range |
void fast::RealSenseStreamer::setMaxWidth | ( | float | range | ) |
void fast::RealSenseStreamer::setMinHeight | ( | float | range | ) |
void fast::RealSenseStreamer::setMinRange | ( | float | range | ) |
Set minimum range in millimeters. All points below this range will be dropped.
range |
void fast::RealSenseStreamer::setMinWidth | ( | float | range | ) |