fast::RealSenseStreamer class
#include <FAST/Streamers/RealSenseStreamer.hpp>

Streams data RGB and depth data from an Intel RealSense camera.

Contents

The RGB camera and depth stream are registered so that a color value for each point in the point cloud is established.

Default streaming mode is StreamingMode::NewestFrameOnly

Output ports

  • 0: Image - Registered RGB image
  • 1: Image - Registered depth image
  • 2: Mesh - Registered point cloud

Base classes

class Streamer
Abstract base class for all Streamers.

Constructors, destructors, conversion operators

~RealSenseStreamer()

Public functions

void setMaxRange(float range)
void setMinRange(float range)
void setMaxWidth(float range)
void setMinWidth(float range)
void setMaxHeight(float range)
void setMinHeight(float range)
auto getNrOfFrames() const -> uint
auto getPoint(int x, int y) -> MeshVertex

Private functions

void execute() virtual
void generateStream() override

Function documentation

void fast::RealSenseStreamer::setMaxRange(float range)

Parameters
range

Set maximum range in millimeters. All points above this range will be dropped.

void fast::RealSenseStreamer::setMinRange(float range)

Parameters
range

Set minimum range in millimeters. All points below this range will be dropped.

MeshVertex fast::RealSenseStreamer::getPoint(int x, int y)

Parameters
x
y

Gets corresponding 3D point from rgb image coordinate

void fast::RealSenseStreamer::generateStream() override private

The function producing the data stream