Replay Class Reference

Replay a recorded stream from a bag file. More...

Inheritance diagram for Replay:

Collaboration diagram for Replay:

Public Member Functions
None	__init__ (self, configs)
	Constructor for Intel Realsense D435 camera bag replay instance. More...
def	capture (self, before_scale=False)
	Get the next frame(s) with awareness of expected return. More...
def	get_frames (self, before_scale=False)
	Get the next frame(s) More...
def	replay_loop (self)
	Replay the data from the bag file attached to this instance. More...
def	start (self)
	Start capturing the stream. More...
Public Member Functions inherited from D435_Runner
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	process_frame (self, theProcessor, figOut=False)
	Replay and process data from the bag file attached to this instance. More...
def	process_frames_selected (self, theProcessor, figOut=True)
	Replay and process data from the bag file attached to this instance. More...
def	process_loop (self, theProcessor, figOut=False)
	Replay and process data from the bag file attached to this instance. 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)

Public Attributes
	align
	depth_scale
	gCD
	Kdepth
	pipeline
	rs_config
Public Attributes inherited from D435_Runner
	align
	auto_exposure
	color_sensor
	depth_scale
	depth_sensor
	gCD
	K
	Kdepth
	pipeline
	profile
	rs_config
Public Attributes inherited from Base
	configs
	K

Additional Inherited Members
Static Public Member Functions inherited from D435_Runner
def	buildFromFile (configFile)

Detailed Description

Replay a recorded stream from a bag file.

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
			configs
	)

Constructor for Intel Realsense D435 camera bag replay instance.

Parameters

[in]

configs

Settings to apply (indicates topics and alignment).

Reimplemented from D435_Runner.

Member Function Documentation

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 from D435_Runner.

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 from D435_Runner.

replay_loop()

def replay_loop

(

self

)

Replay the data from the bag file attached to this instance.

Basically will display the color and depth information. See process_loop for performing actual processing on the data.

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 D435_Runner.

Member Data Documentation

align

align

depth_scale

depth_scale

gCD

gCD

Kdepth

Kdepth

pipeline

pipeline

rs_config

rs_config

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

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