RGBD Class Reference

Realsense SR 305 class to capture color images and depth. More...

Inheritance diagram for RGBD:

Collaboration diagram for RGBD:

Public Member Functions
def	__init__ (self, str yamlInitFilePath=None)
	constructor More...
def	capture (self, bool normalization=True)
	Gets RGBD frames in ImageRGBD() class format. More...
def	get_frames (self, bool normalization=False)
	Gets the next frames. More...
def	process_frame (self, theProcessor, figOut=False)
	process a single frame More...
def	process_frames_selected (self, theProcessor, bool figOut=True)
	Replay and process data from the bag file attached to this instance. More...
def	process_loop (self, theProcessor, bool figOut=False)
	ill loop through indefinitely and send the obtained data to the passed function. More...
Public Member Functions inherited from Depth
def	capture (self)
	Alias for get_frames. More...
def	display (self, np.ndarray frame, str windowName='frame')
	displays a frame More...
def	get_configs (self)
	returns the configs of the camera More...
def	getCameraIntrinsics (self)
	Returns the intrinsic camera matrix and distortion coefficients. More...
tuple	getImagePixelWidthAndHeight (self)
	returns the width and height of the color image return out image width, image height More...
def	printConfigs (self)
	Prints out the configurations in a more human readable way. More...
def	set_configs (self, str yamlFilePath)
	sets all of the configs of the camera More...
def	start (self)
	Start the capture stream. More...
def	stop (self)
	Stop the capture stream and release the device from use. More...
Public Member Functions inherited from Base
None	__init__ (self, configs, K=None)
	Base class instantiator for camera runners. More...
def	get (self, key)
def	get_frames (self)
def	readClicks (self)
	Read the mouse clicks recorded on a window. More...
def	registerMouseClicks (self, str windowName)
	Register a window to record mouse clicks. More...
def	set (self, key, value)
def	set_configs (self, configs)
def	set_intrinsic (self, K)

Additional Inherited Members
Public Attributes inherited from Depth
	align
	alignment variable to align depth frames with color frames (rs.align object) More...
	cameraMatrix
	camera intrinsic matrix More...
	config
	configuration for a realsense camera (rs.config object) More...
	depthCameraMatrix
	intrinsic matrix for depth camera More...
	depthDistortionCoeffs
	distortion coefficients for depth camera More...
	depthScale
	scale factor to convert depth sensor units to meters More...
	distortionCoeffs
	distortion coefficients for the camera More...
	K
	camera intrinsic matrix More...
	pipeline
	camera pipeline (rs.pipeline object) More...
	ready
	indicates if the camera is ready to stream images More...
Public Attributes inherited from Base
	configs
	configuration dictionary for the camera More...
	K
	the camera's intrinsic matrix More...
	pts
	callback to append clicks to points list More...

Detailed Description

Realsense SR 305 class to capture color images and depth.

Realsense305 class to capture color images and depth

The depth images are aligned to the color camera

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
		str	yamlInitFilePath = None
	)

constructor

Parameters

[in]

yamlInitFilePath

path of yaml file to use for camera initialization

Realsense305 class to capture color images and depth
Args:
yamlInitFilePath (str):
    path of yaml file to use for camera initialization

Reimplemented from Depth.

Member Function Documentation

capture()

def capture	(		self,
		bool	normalization = True
	)

Gets RGBD frames in ImageRGBD() class format.

Parameters

[in]

normalization

if True, will normalize depth frame [0,255] for viewing. If False, depth frame is in meters return images ImageRGBD object with .color and .depth images populated

Gets RGBD frames in ImageRGBD() class format
Args:
    normalization (bool):
        - if True, the depth frame will be normalized to 0-255 for better visulaization
        - if False, the depth frame will not be normalized and is returned in units of meters

get_frames()

def get_frames	(		self,
		bool	normalization = False
	)

Gets the next frames.

Parameters

[in]

normalization

if True, will normalize depth frame [0,255] for viewing. If False, depth frame is in meters

Returns

out colorFrame, depthFrame

Gets the next frame.
Args:
    normalization (bool):
        - if True, the depth frame will be normalized to 0-255 for better visulaization
        - if False, the depth frame will not be normalized and is returned in units of meters
Returns:
    (colorFrame, depthFrame):
        - colorFrame = color frame of camera
        - depthFrame = depth frame of camera

Reimplemented from Depth.

process_frame()

def process_frame	(		self,
			theProcessor,
			figOut = False
	)

process a single frame

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Processes a single frame
Args:
    theProcessor (any) :
        - RGBD stream data processor. Should handle input.
    figOut (optional) :
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

process_frames_selected()

def process_frames_selected	(		self,
			theProcessor,
		bool	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 visulaized 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	if True, show raw data. if False, do NOT show raw data

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 visulaized if set, otherwise the processing function is responsible
for handling output of raw, intermediate, or final data.

Args:
    theProcessor (any) :
        - RGBD stream data processor. Should handle input.
    figOut (optional) :
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

process_loop()

def process_loop	(		self,
			theProcessor,
		bool	figOut = False
	)

ill loop through indefinitely and send the 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, intermediat, or final data

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Will loop through indefinitely and send the 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, intermediat, or final data
    
Args:
    theProcessor (any) : 
        - RGBD stream data processor. Should handle input
    figOut (optional) : 
        - true -> automatically show raw data
        - false -> do NOT automatically show raw data

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

• /home/mary/python/camera/camera/realsense305.py