#include <Pipeline.hpp>

Public Member Functions
	Pipeline ()
	Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created.

	Pipeline (std::shared_ptr< Device > device)
	Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device and pipeline are bound through this interface.

	Pipeline (const char *filename)
	Construct a pipeline for playback of recorded stream files.

	~Pipeline () noexcept
	Destroy the pipeline object.

void	start (std::shared_ptr< Config > config)
	Start the pipeline with configuration parameters.

void	start ()
	Start the pipeline with default configuration parameters.

void	start (std::shared_ptr< Config > config, FrameSetCallback callback)
	Start the pipeline and set the frameset data callback.

void	stop ()
	Stop the pipeline.

std::shared_ptr< StreamProfileList >	getEnabledStreamProfileList ()
	get Enabled Stream Profile List,It must be called after the pipeline is started, otherwise it will return an empty list

std::shared_ptr< Config >	getConfig ()
	Get the pipeline configuration parameters.

std::shared_ptr< FrameSet >	waitForFrames (uint32_t timeout_ms=1000)
	Wait for frameset data.

std::shared_ptr< Device >	getDevice ()
	Get the device object.

std::shared_ptr< Playback >	getPlayback ()
	Get the playback object.

std::shared_ptr< StreamProfileList >	getStreamProfileList (OBSensorType sensorType)
	Get the stream profile of the specified sensor.

void	enableFrameSync ()
	Turn on frame synchronization.

void	disableFrameSync ()
	Turn off frame synchronization.

OBCameraParam	getCameraParam ()
	Get the camera parameters.

OBCameraParam	getCameraParamWithProfile (uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight)
	Get camera parameters by entering color and depth resolution.

OBCalibrationParam	getCalibrationParam (std::shared_ptr< Config > config)
	Get the calibration parameters.

std::shared_ptr< StreamProfileList >	getD2CDepthProfileList (std::shared_ptr< StreamProfile > colorProfile, OBAlignMode alignMode)
	Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution.

OBRect	getD2CValidArea (uint32_t minimumDistance, uint32_t maximumDistance=0)
	Get the valid area between the minimum distance and maximum distance after D2C.

void	switchConfig (std::shared_ptr< Config > config)
	Dynamically switch the corresponding config configuration.

void	startRecord (const char *filename)
	Start recording.

void	stopRecord ()
	Stop recording.

Detailed Description

Definition at line 28 of file Pipeline.hpp.

Constructor & Destructor Documentation

◆ Pipeline() [1/3]

ob::Pipeline::Pipeline ( )

Pipeline is a high-level interface for applications, algorithms related RGBD data streams. Pipeline can provide alignment inside and synchronized FrameSet. Pipeline() no parameter version, which opens the first device in the list of devices connected to the OS by default. If the application has obtained the device through the DeviceList, opening the Pipeline() at this time will throw an exception that the device has been created.

◆ Pipeline() [2/3]

ob::Pipeline::Pipeline ( std::shared_ptr< Device > device )

Pipeline(std::shared_ptr< Device > device ) Function for multi-device operations. Multiple devices need to be obtained through DeviceList, and the device and pipeline are bound through this interface.

◆ Pipeline() [3/3]

ob::Pipeline::Pipeline ( const char * filename )

Construct a pipeline for playback of recorded stream files.

Parameters

filename The file path of the recorded stream file to be played back

◆ ~Pipeline()

ob::Pipeline::~Pipeline ( )

noexcept

Destroy the pipeline object.

Member Function Documentation

◆ start() [1/3]

void ob::Pipeline::start ( std::shared_ptr< Config > config )

Start the pipeline with configuration parameters.

Parameters

config The parameter configuration of the pipeline

◆ start() [2/3]

void ob::Pipeline::start ( )

Start the pipeline with default configuration parameters.

◆ start() [3/3]

void ob::Pipeline::start	(	std::shared_ptr< Config >	config,
		FrameSetCallback	callback
	)

Start the pipeline and set the frameset data callback.

Parameters

config	The configuration of the pipeline
callback	The callback to be triggered when all frame data in the frameset arrives

◆ stop()

void ob::Pipeline::stop ( )

Stop the pipeline.

◆ getEnabledStreamProfileList()

std::shared_ptr< StreamProfileList > ob::Pipeline::getEnabledStreamProfileList ( )

get Enabled Stream Profile List,It must be called after the pipeline is started, otherwise it will return an empty list

◆ getConfig()

std::shared_ptr< Config > ob::Pipeline::getConfig ( )

Get the pipeline configuration parameters.

Returns the default configuration if the user has not configured it

Returns: std::shared_ptr<Config> The configured parameters

◆ waitForFrames()

std::shared_ptr< FrameSet > ob::Pipeline::waitForFrames ( uint32_t timeout_ms = 1000 )

Wait for frameset data.

Parameters

timeout_ms The waiting timeout in milliseconds

Returns: std::shared_ptr<FrameSet> The waiting frameset data

◆ getDevice()

std::shared_ptr< Device > ob::Pipeline::getDevice ( )

Get the device object.

Returns: std::shared_ptr<Device> The device object

◆ getPlayback()

std::shared_ptr< Playback > ob::Pipeline::getPlayback ( )

Get the playback object.

Returns: std::shared_ptr<Playback> The playback object

◆ getStreamProfileList()

std::shared_ptr< StreamProfileList > ob::Pipeline::getStreamProfileList ( OBSensorType sensorType )

Get the stream profile of the specified sensor.

Parameters

sensorType The type of sensor

Returns: std::shared_ptr<StreamProfileList> The stream profile list

◆ enableFrameSync()

void ob::Pipeline::enableFrameSync ( )

Turn on frame synchronization.

◆ disableFrameSync()

void ob::Pipeline::disableFrameSync ( )

Turn off frame synchronization.

◆ getCameraParam()

OBCameraParam ob::Pipeline::getCameraParam ( )

Get the camera parameters.

Note: If D2C is enabled, it will return the camera parameters after D2C. If not, it will return the default parameters.

Returns: OBCameraParam The camera parameters

◆ getCameraParamWithProfile()

OBCameraParam ob::Pipeline::getCameraParamWithProfile	(	uint32_t	colorWidth,
		uint32_t	colorHeight,
		uint32_t	depthWidth,
		uint32_t	depthHeight
	)

Get camera parameters by entering color and depth resolution.

Attention: If D2C is enabled, it will return the camera parameters after D2C, if not, it will return to the default parameters

Parameters

colorWidth	Width of color resolution
colorHeight	High of color resolution
depthWidth	Width of depth resolution
depthHeight	High of depth resolution

Returns: OBCameraParam returns camera parameters

◆ getCalibrationParam()

OBCalibrationParam ob::Pipeline::getCalibrationParam ( std::shared_ptr< Config > config )

Get the calibration parameters.

Parameters

config The configured parameters

Returns: OBCalibrationParam The calibration parameters

◆ getD2CDepthProfileList()

std::shared_ptr< StreamProfileList > ob::Pipeline::getD2CDepthProfileList	(	std::shared_ptr< StreamProfile >	colorProfile,
		OBAlignMode	alignMode
	)

Return a list of D2C-enabled depth sensor resolutions corresponding to the input color sensor resolution.

Parameters

colorProfile	The input color sensor resolution
alignMode	The input align mode

Returns: std::shared_ptr<StreamProfileList> A list of depth sensor resolutions

◆ getD2CValidArea()

OBRect ob::Pipeline::getD2CValidArea	(	uint32_t	minimumDistance,
		uint32_t	maximumDistance = `0`
	)

Get the valid area between the minimum distance and maximum distance after D2C.

Parameters

minimumDistance	The minimum working distance
maximumDistance	The maximum working distance (optional)

Returns: OBRect The area information valid after D2C at the working distance

◆ switchConfig()

void ob::Pipeline::switchConfig ( std::shared_ptr< Config > config )

Dynamically switch the corresponding config configuration.

Parameters

config The updated config configuration

◆ startRecord()

void ob::Pipeline::startRecord ( const char * filename )

Start recording.

Parameters

filename The name of the record file

◆ stopRecord()

void ob::Pipeline::stopRecord ( )

Stop recording.

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

E:/Projects/Jenkins/workspace/OrbbecSDK/libobsensor/include/libobsensor/hpp/Pipeline.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Pipeline() [1/3]

◆ Pipeline() [2/3]

◆ Pipeline() [3/3]

◆ ~Pipeline()

Member Function Documentation

◆ start() [1/3]

◆ start() [2/3]

◆ start() [3/3]

◆ stop()

◆ getEnabledStreamProfileList()

◆ getConfig()

◆ waitForFrames()

◆ getDevice()

◆ getPlayback()

◆ getStreamProfileList()

◆ enableFrameSync()

◆ disableFrameSync()

◆ getCameraParam()

◆ getCameraParamWithProfile()

◆ getCalibrationParam()

◆ getD2CDepthProfileList()

◆ getD2CValidArea()

◆ switchConfig()

◆ startRecord()

◆ stopRecord()