#include <Pipeline.hpp>

Public Types
typedef std::function< void(std::shared_ptr< FrameSet > frame)>	FrameSetCallback
	FrameSetCallback is a callback function type for frameset data arrival.

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 () noexcept
	Destroy the pipeline object.
void	start (std::shared_ptr< Config > config=nullptr) const
	Start the pipeline with configuration parameters.
void	start (std::shared_ptr< Config > config, FrameSetCallback callback)
	Start the pipeline and set the frameset data callback.
void	stop () const
	Stop the pipeline.
std::shared_ptr< Config >	getConfig () const
	Get the pipeline configuration parameters.
std::shared_ptr< FrameSet >	waitForFrameset (uint32_t timeoutMs=1000) const
	Wait for frameset.
std::shared_ptr< Device >	getDevice () const
	Get the device object.
std::shared_ptr< StreamProfileList >	getStreamProfileList (OBSensorType sensorType) const
	Get the stream profile of the specified sensor.
std::shared_ptr< StreamProfileList >	getD2CDepthProfileList (std::shared_ptr< StreamProfile > colorProfile, OBAlignMode alignMode)
	Get the stream profile list of supported depth-to-color alignments.
void	enableFrameSync () const
	Turn on frame synchronization.
void	disableFrameSync () const
	Turn off frame synchronization.
OBPipelineStatus	getStatus () const
	Get the current pipeline status observed during streaming.
void	enableHealthMonitor (std::function< void(OBPipelineStatus status)> callback, uint32_t intervalMs=3000)
	Enable pipeline health monitor with periodic status polling.
void	disableHealthMonitor () const
	Disable pipeline health monitor.
OBCameraParam	getCameraParam ()
OBCameraParam	getCameraParamWithProfile (uint32_t colorWidth, uint32_t colorHeight, uint32_t depthWidth, uint32_t depthHeight)
OBCalibrationParam	getCalibrationParam (std::shared_ptr< Config > config)
std::shared_ptr< FrameSet >	waitForFrames (uint32_t timeoutMs=1000) const

Static Public Member Functions
static void	frameSetCallback (ob_frame_t frameSet, void userData)
static void	healthMonitorCallback (ob_pipeline_status status, void *userData)

Detailed Description

Definition at line 282 of file Pipeline.hpp.

Member Typedef Documentation

◆ FrameSetCallback

typedef std::function<void(std::shared_ptr<FrameSet> frame)> ob::Pipeline::FrameSetCallback

FrameSetCallback is a callback function type for frameset data arrival.

Parameters

[in] frame The returned frameset data

Definition at line 289 of file Pipeline.hpp.

Constructor & Destructor Documentation

◆ Pipeline() [1/2]

ob::Pipeline::Pipeline ( )

inline

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.

Definition at line 302 of file Pipeline.hpp.

Referenced by frameSetCallback(), and healthMonitorCallback().

◆ Pipeline() [2/2]

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

inlineexplicit

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.

Definition at line 313 of file Pipeline.hpp.

◆ ~Pipeline()

ob::Pipeline::~Pipeline ( )

inlinenoexcept

Destroy the pipeline object.

Definition at line 322 of file Pipeline.hpp.

Member Function Documentation

◆ start() [1/2]

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

inline

Start the pipeline with configuration parameters.

Parameters

[in] config The parameter configuration of the pipeline

Definition at line 333 of file Pipeline.hpp.

◆ start() [2/2]

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

inline

Start the pipeline and set the frameset data callback.

Parameters

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

Definition at line 346 of file Pipeline.hpp.

◆ frameSetCallback()

void ob::Pipeline::frameSetCallback	(	ob_frame_t *	frameSet,
		void *	userData )

inlinestatic

Definition at line 353 of file Pipeline.hpp.

Referenced by start().

◆ healthMonitorCallback()

void ob::Pipeline::healthMonitorCallback	(	ob_pipeline_status	status,
		void *	userData )

inlinestatic

Definition at line 358 of file Pipeline.hpp.

Referenced by enableHealthMonitor().

◆ stop()

void ob::Pipeline::stop ( ) const

inline

Stop the pipeline.

Definition at line 368 of file Pipeline.hpp.

◆ getConfig()

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

inline

Get the pipeline configuration parameters.

Returns the default configuration if the user has not configured it

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

Definition at line 380 of file Pipeline.hpp.

◆ waitForFrameset()

std::shared_ptr< FrameSet > ob::Pipeline::waitForFrameset ( uint32_t timeoutMs = 1000 ) const

inline

Wait for frameset.

Parameters

[in] timeoutMs The waiting timeout in milliseconds

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

Definition at line 394 of file Pipeline.hpp.

Referenced by waitForFrames().

◆ getDevice()

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

inline

Get the device object.

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

Definition at line 409 of file Pipeline.hpp.

◆ getStreamProfileList()

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

inline

Get the stream profile of the specified sensor.

Parameters

[in] sensorType The type of sensor

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

Definition at line 423 of file Pipeline.hpp.

◆ getD2CDepthProfileList()

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

inline

Get the stream profile list of supported depth-to-color alignments.

Parameters

[in]	colorProfile	The color stream profile, which is the target stream profile for the depth-to-color alignment.
[in]	alignMode	The alignment mode.

Attention: Currently, only ALIGN_D2C_HW_MODE supported. For other align modes, please using the AlignFilter interface.

Returns: std::shared_ptr<StreamProfileList> The stream profile list of supported depth-to-color alignments.

Definition at line 440 of file Pipeline.hpp.

◆ enableFrameSync()

void ob::Pipeline::enableFrameSync ( ) const

inline

Turn on frame synchronization.

Definition at line 450 of file Pipeline.hpp.

◆ disableFrameSync()

void ob::Pipeline::disableFrameSync ( ) const

inline

Turn off frame synchronization.

Definition at line 459 of file Pipeline.hpp.

◆ getStatus()

OBPipelineStatus ob::Pipeline::getStatus ( ) const

inline

Get the current pipeline status observed during streaming.

Returns: OBPipelineStatus The accumulated status since the last call or pipeline start. Status is reset after each call.

Definition at line 470 of file Pipeline.hpp.

◆ enableHealthMonitor()

void ob::Pipeline::enableHealthMonitor	(	std::function< void(OBPipelineStatus status)>	callback,
		uint32_t	intervalMs = 3000 )

inline

Enable pipeline health monitor with periodic status polling.

Parameters

[in]	callback	The callback function invoked when abnormal status is detected (from internal thread, avoid blocking).
[in]	intervalMs	Polling interval in milliseconds (recommended: 3000-5000, default: 3000).

Definition at line 483 of file Pipeline.hpp.

◆ disableHealthMonitor()

void ob::Pipeline::disableHealthMonitor ( ) const

inline

Disable pipeline health monitor.

Definition at line 493 of file Pipeline.hpp.

◆ getCameraParam()

OBCameraParam ob::Pipeline::getCameraParam ( )

inline

Definition at line 502 of file Pipeline.hpp.

◆ getCameraParamWithProfile()

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

inline

Definition at line 509 of file Pipeline.hpp.

◆ getCalibrationParam()

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

inline

Definition at line 516 of file Pipeline.hpp.

◆ waitForFrames()

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

inline

Definition at line 523 of file Pipeline.hpp.

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

Pipeline.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ FrameSetCallback

Constructor & Destructor Documentation

◆ Pipeline() [1/2]

◆ Pipeline() [2/2]

◆ ~Pipeline()

Member Function Documentation

◆ start() [1/2]

◆ start() [2/2]

◆ frameSetCallback()

◆ healthMonitorCallback()

◆ stop()

◆ getConfig()

◆ waitForFrameset()

◆ getDevice()

◆ getStreamProfileList()

◆ getD2CDepthProfileList()

◆ enableFrameSync()

◆ disableFrameSync()

◆ getStatus()

◆ enableHealthMonitor()

◆ disableHealthMonitor()

◆ getCameraParam()

◆ getCameraParamWithProfile()

◆ getCalibrationParam()

◆ waitForFrames()