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	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	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	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
	timestamp
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.

process_frame()

def process_frame	(		self,
			theProcessor,
			figOut = False
	)

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

Will query bag file for single measurement and send obtained data to the passed function. The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	[False] Flag for including window output of raw data.

process_frames_selected()

def process_frames_selected	(		self,
			theProcessor,
			figOut = True
	)

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

Will loop through the bag file and send obtained data to the passed function. The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	[True] Flag for including window output of raw data.

process_loop()

def process_loop	(		self,
			theProcessor,
			figOut = False
	)

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

Will loop through the bag file and send obtained data to the passed function. The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	[False] Flag for including window output of raw data.

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

timestamp

timestamp

---

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

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