#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.

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)

Detailed Description

Definition at line 249 of file Pipeline.hpp.

Member Typedef Documentation

◆ FrameSetCallback

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

FrameSetCallback is a callback function type for frameset data arrival.

Parameters

frame The returned frameset data

Definition at line 256 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 268 of file Pipeline.hpp.

◆ 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 279 of file Pipeline.hpp.

◆ ~Pipeline()

ob::Pipeline::~Pipeline ( )

inlinenoexcept

Destroy the pipeline object.

Definition at line 288 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

config The parameter configuration of the pipeline

Definition at line 299 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

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

Definition at line 312 of file Pipeline.hpp.

◆ frameSetCallback()

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

inlinestatic

Definition at line 319 of file Pipeline.hpp.

Referenced by start().

◆ stop()

void ob::Pipeline::stop ( ) const

inline

Stop the pipeline.

Definition at line 327 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 339 of file Pipeline.hpp.

◆ waitForFrameset()

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

inline

Wait for frameset.

Parameters

timeout_ms The waiting timeout in milliseconds

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

Definition at line 352 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 367 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

sensorType The type of sensor

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

Definition at line 380 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

colorProfile	The color stream profile, witch is the target stream profile for the depth-to-color alignment.
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 397 of file Pipeline.hpp.

◆ enableFrameSync()

void ob::Pipeline::enableFrameSync ( ) const

inline

Turn on frame synchronization.

Definition at line 407 of file Pipeline.hpp.

◆ disableFrameSync()

void ob::Pipeline::disableFrameSync ( ) const

inline

Turn off frame synchronization.

Definition at line 416 of file Pipeline.hpp.

◆ getCameraParam()

OBCameraParam ob::Pipeline::getCameraParam ( )

inline

Definition at line 425 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 432 of file Pipeline.hpp.

◆ getCalibrationParam()

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

inline

Definition at line 439 of file Pipeline.hpp.

◆ waitForFrames()

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

inline

Definition at line 446 of file Pipeline.hpp.

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

C:/Users/hzcyf/Projects/openorbbecsdkgroup/OpenOrbbecSDK/include/libobsensor/hpp/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()

◆ stop()

◆ getConfig()

◆ waitForFrameset()

◆ getDevice()

◆ getStreamProfileList()

◆ getD2CDepthProfileList()

◆ enableFrameSync()

◆ disableFrameSync()

◆ getCameraParam()

◆ getCameraParamWithProfile()

◆ getCalibrationParam()

◆ waitForFrames()