D435_Runner Class Reference

Inheritance diagram for D435_Runner:

Collaboration diagram for D435_Runner:

Public Member Functions
None	__init__ (self, configs=CfgD435())
	Constructor for Intel Realsense D435 camera interface. More...
def	capture (self, before_scale=False)
	Get the next frame(s) with awareness of expected return. More...
def	captureRGBD (self, before_scale=False)
	Snag the next set of RGB and D frames. More...
def	display (self, rgb, depth)
def	get (self, key)
def	get_frames (self, before_scale=False)
	Get the next frame(s) More...
def	start (self)
	Start capturing the stream. More...
def	stop (self)
	Stop capturing the stream. More...
Public Member Functions inherited from Base
None	__init__ (self, configs, K=None)
	Base class instantiator for camera runners. More...
def	get_configs (self)
def	get_frames (self)
def	set (self, key, value)
def	set_configs (self, configs)
def	set_intrinsic (self, K)

Static Public Member Functions
def	buildFromFile (configFile)

Public Attributes
	align
	auto_exposure
	color_sensor
	depth_scale
	depth_sensor
	gCD
	K
	Kdepth
	pipeline
	profile
	rs_config
Public Attributes inherited from Base
	configs
	K

Detailed Description

D435_Runner

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
			configs = CfgD435()
	)

Constructor for Intel Realsense D435 camera interface.

Parameters

[in]

configs

Settings to apply.

Reimplemented in Replay.

Member Function Documentation

buildFromFile()

def buildFromFile (   configFile )

static

capture()

def capture	(		self,
			before_scale = False
	)

Get the next frame(s) with awareness of expected return.

Slightly more flexible version of get_frames agnostic to what is being captured. The setup determines configured returns and returns compatible output.

Returns arguments provided in prioritized order based on camera configuration: color, depth, flag.

Parameters

[in]	before_scale	[bool] If True, get integer depth map before scaling.
[out]	rgb	[np.ndarray] RGB image if set to read.
[out]	dep	[np.ndarray] Depth map in meters if set to read.
[out]	flag	[bool] Indicator status of fetch/capture operation. \ If true, then expected frame(s) fetched.

Reimplemented in Replay.

captureRGBD()

def captureRGBD	(		self,
			before_scale = False
	)

Snag the next set of RGB and D frames.

Captures the color and depth pair as an RGBD image instance. The depth map should be returned in standard units (meters). Unlike the standard capture routine, this one explicitly demands that the outcome be packed into an RGBD frame structure, irrespective of output configuration. That means a field can be None if it is not to be returned.

Parameters

[in]	before_scale	[bool] True = integer depth map before scaling.
[out]	data	RGBD image data as an ImageRGBD element.
[out]	flSuccess	Success flag. True = both frames fetched.

display()

def display	(		self,
			rgb,
			depth
	)

get()

def get	(		self,
			key
	)

Get attributes specified by the key

Args:
    key (str):      Choices: [exposure, gain, W_rgb, H_rgb, W_dep, H_dep, depth_scale, K]
Returns:
    value

Reimplemented from Base.

get_frames()

def get_frames	(		self,
			before_scale = False
	)

Get the next frame(s)

Args:
before_scale (bool). Before the scaling. If True, will get the integer depth map before scaling.

Returns: rgb [np.ndarray]: The rgb image dep [np.ndarray]: The depth map in meter succ_flag [bool]: The indicator for the status of fetching the next frames. \ If true, then both rgb and depth frames are successfully fetched.

Reimplemented in Replay.

start()

def start

(

self

)

Start capturing the stream.

Note

Right now the construction does this, which is poor design.

Todo:

Should implement start/stop functionality and capture boolean.

Reimplemented from Base.

Reimplemented in Replay.

stop()

def stop

(

self

)

Stop capturing the stream.

Note

Right now not implemented.

Todo:

Should implement start/stop functionality and capture boolean.

Reimplemented from Base.

Member Data Documentation

align

align

auto_exposure

auto_exposure

• auto exposure mode

color_sensor

color_sensor

depth_scale

depth_scale

depth_sensor

depth_sensor

gCD

gCD

K

K

Kdepth

Kdepth

pipeline

pipeline

profile

profile

rs_config

rs_config

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

• /home/pvela/python/camera/camera/d435/runner2.py