realsense2Driver.cpp File Reference

#include <cmath>
#include <algorithm>
#include <iomanip>
#include <cstdint>
#include <yarp/os/LogComponent.h>
#include <yarp/os/Value.h>
#include <yarp/sig/ImageUtils.h>
#include <librealsense2/rsutil.h>
#include "realsense2Driver.h"

Include dependency graph for realsense2Driver.cpp:

Go to the source code of this file.

Functions
static std::string	get_device_information (const rs2::device &dev)
static void	print_supported_options (const rs2::sensor &sensor)
static bool	isSupportedFormat (const rs2::sensor &sensor, const int width, const int height, const int fps, bool verbose=false)
static bool	optionPerc2Value (rs2_option option, const rs2::sensor *sensor, const float &perc, float &value)
static bool	optionValue2Perc (rs2_option option, const rs2::sensor *sensor, float &perc, const float &value)
static bool	setOption (rs2_option option, const rs2::sensor *sensor, float value)
static bool	getOption (rs2_option option, const rs2::sensor *sensor, float &value)
static int	pixFormatToCode (const rs2_format p)
static size_t	bytesPerPixel (const rs2_format format)
static YarpDistortion	rsDistToYarpDist (const rs2_distortion dist, const rs2_intrinsics &values)
static void	settingErrorMsg (const string &error, bool &ret)
static bool	setIntrinsic (Property &intrinsic, const rs2_intrinsics &values)
static bool	setExtrinsicParam (Matrix &extrinsic, const rs2_extrinsics &values)

Variables
constexpr char	accuracy [] = "accuracy"
constexpr char	clipPlanes [] = "clipPlanes"
constexpr char	depthRes [] = "depthResolution"
constexpr char	rgbRes [] = "rgbResolution"
constexpr char	framerate [] = "framerate"
constexpr char	enableEmitter [] = "enableEmitter"
constexpr char	needAlignment [] = "needAlignment"
constexpr char	alignmentFrame [] = "alignmentFrame"
static std::map< std::string, RGBDSensorParamParser::RGBDParam >	params_map
static const std::map< std::string, rs2_stream >	stringRSStreamMap

Function Documentation

bytesPerPixel()

static size_t bytesPerPixel ( const rs2_format  format )

static

Definition at line 331 of file realsense2Driver.cpp.

get_device_information()

static std::string get_device_information ( const rs2::device &  dev )

static

Definition at line 61 of file realsense2Driver.cpp.

getOption()

static bool getOption ( rs2_option  option, const rs2::sensor *  sensor, float &  value  )

static

Definition at line 263 of file realsense2Driver.cpp.

isSupportedFormat()

static bool isSupportedFormat ( const rs2::sensor &  sensor, const int  width, const int  height, const int  fps, bool  verbose = false  )

static

Definition at line 121 of file realsense2Driver.cpp.

optionPerc2Value()

static bool optionPerc2Value ( rs2_option  option, const rs2::sensor *  sensor, const float &  perc, float &  value  )

static

Definition at line 185 of file realsense2Driver.cpp.

optionValue2Perc()

static bool optionValue2Perc ( rs2_option  option, const rs2::sensor *  sensor, float &  perc, const float &  value  )

static

Definition at line 208 of file realsense2Driver.cpp.

pixFormatToCode()

static int pixFormatToCode ( const rs2_format  p )

static

Definition at line 292 of file realsense2Driver.cpp.

print_supported_options()

static void print_supported_options ( const rs2::sensor &  sensor )

static

Definition at line 81 of file realsense2Driver.cpp.

rsDistToYarpDist()

static YarpDistortion rsDistToYarpDist ( const rs2_distortion  dist, const rs2_intrinsics &  values  )

static

Definition at line 360 of file realsense2Driver.cpp.

setExtrinsicParam()

static bool setExtrinsicParam ( Matrix &  extrinsic, const rs2_extrinsics &  values  )

static

Definition at line 406 of file realsense2Driver.cpp.

setIntrinsic()

static bool setIntrinsic ( Property &  intrinsic, const rs2_intrinsics &  values  )

static

Definition at line 388 of file realsense2Driver.cpp.

setOption()

static bool setOption ( rs2_option  option, const rs2::sensor *  sensor, float  value  )

static

Definition at line 233 of file realsense2Driver.cpp.

settingErrorMsg()

static void settingErrorMsg ( const string &  error, bool &  ret  )

static

Definition at line 382 of file realsense2Driver.cpp.

Variable Documentation

accuracy

constexpr char accuracy[] = "accuracy"

constexpr

Definition at line 32 of file realsense2Driver.cpp.

alignmentFrame

constexpr char alignmentFrame[] = "alignmentFrame"

constexpr

Definition at line 39 of file realsense2Driver.cpp.

clipPlanes

constexpr char clipPlanes[] = "clipPlanes"

constexpr

Definition at line 33 of file realsense2Driver.cpp.

depthRes

constexpr char depthRes[] = "depthResolution"

constexpr

Definition at line 34 of file realsense2Driver.cpp.

enableEmitter

constexpr char enableEmitter[] = "enableEmitter"

constexpr

Definition at line 37 of file realsense2Driver.cpp.

framerate

constexpr char framerate[] = "framerate"

constexpr

Definition at line 36 of file realsense2Driver.cpp.

needAlignment

constexpr char needAlignment[] = "needAlignment"

constexpr

Definition at line 38 of file realsense2Driver.cpp.

params_map

std::map<std::string, RGBDSensorParamParser::RGBDParam> params_map

static

Initial value:

=
{
    {accuracy,       RGBDSensorParamParser::RGBDParam(accuracy,        1)},
    {clipPlanes,     RGBDSensorParamParser::RGBDParam(clipPlanes,      2)},
    {depthRes,       RGBDSensorParamParser::RGBDParam(depthRes,        2)},
    {rgbRes,         RGBDSensorParamParser::RGBDParam(rgbRes,          2)},
    {framerate,      RGBDSensorParamParser::RGBDParam(framerate,       1)},
    {enableEmitter,  RGBDSensorParamParser::RGBDParam(enableEmitter,   1)},
    {needAlignment,  RGBDSensorParamParser::RGBDParam(needAlignment,   1)},
    {alignmentFrame, RGBDSensorParamParser::RGBDParam(alignmentFrame,  1)}
}

Definition at line 42 of file realsense2Driver.cpp.

rgbRes

constexpr char rgbRes[] = "rgbResolution"

constexpr

Definition at line 35 of file realsense2Driver.cpp.

stringRSStreamMap

const std::map<std::string, rs2_stream> stringRSStreamMap

static

Initial value:

{
    {"None",  RS2_STREAM_ANY},
    {"RGB",  RS2_STREAM_COLOR},
    {"Depth", RS2_STREAM_DEPTH}
}

Definition at line 54 of file realsense2Driver.cpp.