Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
librealsense::pointcloud Class Reference

#include <pointcloud.h>

Inheritance diagram for librealsense::pointcloud:
Inheritance graph
[legend]

Public Member Functions

virtual rs2::points allocate_points (const rs2::frame_source &source, const rs2::frame &f)
 
virtual const float3 * depth_to_points (rs2::points output, const rs2_intrinsics &depth_intrinsics, const rs2::depth_frame &depth_frame, float depth_scale)
 
virtual void get_texture_map (rs2::points output, const float3 *points, const unsigned int width, const unsigned int height, const rs2_intrinsics &other_intrinsics, const rs2_extrinsics &extr, float2 *pixels_ptr)
 
 pointcloud ()
 
virtual void preprocess ()
 
virtual bool run__occlusion_filter (const rs2_extrinsics &extr)
 
- Public Member Functions inherited from librealsense::stream_filter_processing_block
 stream_filter_processing_block (const char *name)
 
virtual ~stream_filter_processing_block ()
 
- Public Member Functions inherited from librealsense::generic_processing_block
 generic_processing_block (const char *name)
 
virtual ~generic_processing_block ()
 
- Public Member Functions inherited from librealsense::processing_block
synthetic_source_interface & get_source () override
 
void invoke (frame_holder frames) override
 
 processing_block (const char *name)
 
void set_output_callback (frame_callback_ptr callback) override
 
void set_processing_callback (frame_processor_callback_ptr callback) override
 
virtual ~processing_block ()
 
- Public Member Functions inherited from librealsense::processing_block_interface
virtual ~processing_block_interface ()=default
 
- Public Member Functions inherited from librealsense::options_interface
virtual ~options_interface ()=default
 
- Public Member Functions inherited from librealsense::recordable< options_interface >
virtual ~recordable ()=default
 
- Public Member Functions inherited from librealsense::info_interface
virtual ~info_interface ()=default
 
- Public Member Functions inherited from librealsense::recordable< info_interface >
virtual ~recordable ()=default
 
- Public Member Functions inherited from librealsense::options_container
void create_snapshot (std::shared_ptr< options_interface > &snapshot) const override
 
void enable_recording (std::function< void(const options_interface &)> record_action) override
 
option & get_option (rs2_option id) override
 
const option & get_option (rs2_option id) const override
 
std::shared_ptr< option > get_option_handler (rs2_option id)
 
std::shared_ptr< option > get_option_handler (rs2_option id) const
 
virtual const char * get_option_name (rs2_option option) const override
 
std::vector< rs2_option > get_supported_options () const override
 
void register_option (rs2_option id, std::shared_ptr< option > option)
 
bool supports_option (rs2_option id) const override
 
void unregister_option (rs2_option id)
 
void update (std::shared_ptr< extension_snapshot > ext) override
 
- Public Member Functions inherited from librealsense::extension_snapshot
virtual ~extension_snapshot ()=default
 
- Public Member Functions inherited from librealsense::info_container
void create_snapshot (std::shared_ptr< info_interface > &snapshot) const override
 
void enable_recording (std::function< void(const info_interface &)> record_action) override
 
const std::string & get_info (rs2_camera_info info) const override
 
void register_info (rs2_camera_info info, const std::string &val)
 
bool supports_info (rs2_camera_info info) const override
 
void update (std::shared_ptr< extension_snapshot > ext) override
 
void update_info (rs2_camera_info info, const std::string &val)
 

Static Public Member Functions

static std::shared_ptr< pointcloud > create ()
 

Protected Member Functions

void inspect_depth_frame (const rs2::frame &depth)
 
void inspect_other_frame (const rs2::frame &other)
 
 pointcloud (const char *name)
 
rs2::frame process_depth_frame (const rs2::frame_source &source, const rs2::depth_frame &depth)
 
rs2::frame process_frame (const rs2::frame_source &source, const rs2::frame &f) override
 
void set_extrinsics ()
 
bool should_process (const rs2::frame &frame) override
 
- Protected Member Functions inherited from librealsense::stream_filter_processing_block
bool should_process (const rs2::frame &frame) override
 
- Protected Member Functions inherited from librealsense::generic_processing_block
virtual rs2::frame prepare_output (const rs2::frame_source &source, rs2::frame input, std::vector< rs2::frame > results)
 

Protected Attributes

optional_value< rs2_intrinsics > _depth_intrinsics
 
rs2::frame _depth_stream
 
optional_value< float > _depth_units
 
optional_value< rs2_extrinsics > _extrinsics
 
std::shared_ptr< occlusion_filter > _occlusion_filter
 
optional_value< rs2_intrinsics > _other_intrinsics
 
rs2::frame _other_stream
 
rs2::stream_profile _output_stream
 
std::vector< float2 > _pixels_map
 
stream_filter _prev_stream_filter
 
std::shared_ptr< pointcloud > _registered_auto_calib_cb
 
- Protected Attributes inherited from librealsense::stream_filter_processing_block
stream_filter _stream_filter
 
- Protected Attributes inherited from librealsense::processing_block
frame_processor_callback_ptr _callback
 
std::mutex _mutex
 
frame_source _source
 
synthetic_source _source_wrapper
 
- Protected Attributes inherited from librealsense::options_container
std::map< rs2_option, std::shared_ptr< option > > _options
 
std::function< void(const options_interface &)> _recording_function = [](const options_interface&) {}
 

Detailed Description

Definition at line 11 of file pointcloud.h.

Constructor & Destructor Documentation

librealsense::pointcloud::pointcloud ( )

Definition at line 295 of file pointcloud.cpp.

librealsense::pointcloud::pointcloud ( const char *  name)
protected

Definition at line 299 of file pointcloud.cpp.

Member Function Documentation

rs2::points librealsense::pointcloud::allocate_points ( const rs2::frame_source &  source,
const rs2::frame &  f 
)
virtual

Reimplemented in librealsense::gl::pointcloud_gl.

Definition at line 247 of file pointcloud.cpp.

std::shared_ptr< pointcloud > librealsense::pointcloud::create ( )
static

Definition at line 392 of file pointcloud.cpp.

const float3 * librealsense::pointcloud::depth_to_points ( rs2::points  output,
const rs2_intrinsics &  depth_intrinsics,
const rs2::depth_frame &  depth_frame,
float  depth_scale 
)
virtual

Reimplemented in librealsense::pointcloud_sse, librealsense::gl::pointcloud_gl, and librealsense::pointcloud_cuda.

Definition at line 39 of file pointcloud.cpp.

void librealsense::pointcloud::get_texture_map ( rs2::points  output,
const float3 *  points,
const unsigned int  width,
const unsigned int  height,
const rs2_intrinsics &  other_intrinsics,
const rs2_extrinsics &  extr,
float2 *  pixels_ptr 
)
virtual

Reimplemented in librealsense::pointcloud_sse, and librealsense::gl::pointcloud_gl.

Definition at line 211 of file pointcloud.cpp.

void librealsense::pointcloud::inspect_depth_frame ( const rs2::frame &  depth)
protected

Definition at line 67 of file pointcloud.cpp.

void librealsense::pointcloud::inspect_other_frame ( const rs2::frame &  other)
protected

Definition at line 116 of file pointcloud.cpp.

virtual void librealsense::pointcloud::preprocess ( )
inlinevirtual

Reimplemented in librealsense::pointcloud_sse.

Definition at line 32 of file pointcloud.h.

rs2::frame librealsense::pointcloud::process_depth_frame ( const rs2::frame_source &  source,
const rs2::depth_frame &  depth 
)
protected

Definition at line 252 of file pointcloud.cpp.

rs2::frame librealsense::pointcloud::process_frame ( const rs2::frame_source &  source,
const rs2::frame &  f 
)
overrideprotectedvirtual

Implements librealsense::generic_processing_block.

Definition at line 365 of file pointcloud.cpp.

bool librealsense::pointcloud::run__occlusion_filter ( const rs2_extrinsics &  extr)
virtual

Reimplemented in librealsense::gl::pointcloud_gl.

Definition at line 405 of file pointcloud.cpp.

void librealsense::pointcloud::set_extrinsics ( )
protected

Definition at line 52 of file pointcloud.cpp.

bool librealsense::pointcloud::should_process ( const rs2::frame &  frame)
overrideprotectedvirtual

Implements librealsense::generic_processing_block.

Definition at line 324 of file pointcloud.cpp.

Member Data Documentation

optional_value<rs2_intrinsics> librealsense::pointcloud::_depth_intrinsics
protected

Definition at line 41 of file pointcloud.h.

rs2::frame librealsense::pointcloud::_depth_stream
protected

Definition at line 52 of file pointcloud.h.

optional_value<float> librealsense::pointcloud::_depth_units
protected

Definition at line 43 of file pointcloud.h.

optional_value<rs2_extrinsics> librealsense::pointcloud::_extrinsics
protected

Definition at line 44 of file pointcloud.h.

std::shared_ptr<occlusion_filter> librealsense::pointcloud::_occlusion_filter
protected

Definition at line 45 of file pointcloud.h.

optional_value<rs2_intrinsics> librealsense::pointcloud::_other_intrinsics
protected

Definition at line 42 of file pointcloud.h.

rs2::frame librealsense::pointcloud::_other_stream
protected

Definition at line 51 of file pointcloud.h.

rs2::stream_profile librealsense::pointcloud::_output_stream
protected

Definition at line 50 of file pointcloud.h.

std::vector<float2> librealsense::pointcloud::_pixels_map
protected

Definition at line 48 of file pointcloud.h.

stream_filter librealsense::pointcloud::_prev_stream_filter
protected

Definition at line 59 of file pointcloud.h.

std::shared_ptr< pointcloud > librealsense::pointcloud::_registered_auto_calib_cb
protected

Definition at line 60 of file pointcloud.h.

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

librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:50:37