Interface class to Intel RealSense cameras. More...

#include <src/PlusDataCollection/IntelRealSense/vtkPlusIntelRealSense.h>

Inheritance diagram for vtkPlusIntelRealSense:

Collaboration diagram for vtkPlusIntelRealSense:

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Public Types
typedef vtkPlusDevice	Superclass

Public Types inherited from vtkPlusDevice
typedef vtkImageAlgorithm	Superclass

Public Member Functions
virtual const char *	GetClassName ()

virtual PlusStatus	InternalConnect ()

virtual PlusStatus	InternalDisconnect ()

PlusStatus	InternalStartRecording ()

PlusStatus	InternalStopRecording ()

virtual PlusStatus	InternalUpdate ()

virtual int	IsA (const char *type)

bool	IsTracker () const

bool	IsVirtual () const

virtual PlusStatus	NotifyConfigured ()

virtual void	PrintSelf (ostream &os, vtkIndent indent)

virtual PlusStatus	ReadConfiguration (vtkXMLDataElement *config)

PlusStatus	WriteConfiguration (vtkXMLDataElement *config)

Public Member Functions inherited from vtkPlusDevice
PlusStatus	AddFieldDataSource (vtkPlusDataSource *aSource)

PlusStatus	AddInputChannel (vtkPlusChannel *aChannel)

PlusStatus	AddOutputChannel (vtkPlusChannel *aChannel)

PlusStatus	AddTool (vtkPlusDataSource *tool, bool requireUniquePortName=true)

PlusStatus	AddVideoSource (vtkPlusDataSource *anImage)

void	ClearAllBuffers ()

virtual PlusStatus	Connect ()

virtual PlusStatus	CreateDefaultOutputChannel (const char *channelId=NULL, bool addSource=true)

void	DeepCopy (const vtkPlusDevice &device)

virtual PlusStatus	Disconnect ()

virtual PlusStatus	ForceUpdate ()

virtual double	GetAcquisitionRate () const

virtual PlusStatus	GetBufferSize (vtkPlusChannel &aChannel, int &outVal, const std::string &aSourceId=std::string(""))

virtual int	GetConnected () const

virtual bool	GetCorrectlyConfigured () const

PlusStatus	GetDataSource (const char aSourceId, vtkPlusDataSource &aSource)

PlusStatus	GetDataSource (const std::string &aSourceId, vtkPlusDataSource *&aSource)

virtual double	GetDesiredTimestamp ()

virtual std::string	GetDeviceId () const

PlusStatus	GetFieldDataSource (const char aSourceId, vtkPlusDataSource &aSource) const

PlusStatus	GetFieldDataSource (const std::string &aSourceId, vtkPlusDataSource *&aSource) const

DataSourceContainerConstIterator	GetFieldDataSourcessIteratorBegin () const

DataSourceContainerConstIterator	GetFieldDataSourcessIteratorEnd () const

PlusStatus	GetFirstActiveOutputVideoSource (vtkPlusDataSource *&aVideoSource)

PlusStatus	GetFirstActiveTool (vtkPlusDataSource *&aTool) const

PlusStatus	GetFirstOutputChannel (vtkPlusChannel *&aChannel)

PlusStatus	GetFirstVideoSource (vtkPlusDataSource *&anImage)

virtual unsigned long	GetFrameNumber () const

virtual double	GetFrameTimeStamp () const

virtual PlusStatus	GetImage (const std::string &requestedImageId, std::string &assignedImageId, const std::string &imageReferencFrameName, vtkImageData imageData, vtkMatrix4x4 ijkToReferenceTransform)

virtual PlusStatus	GetImageMetaData (igsioCommon::ImageMetaDataList &imageMetaDataItems)

virtual US_IMAGE_TYPE	GetImageType (vtkPlusChannel &aChannel)

PlusStatus	GetInputDevices (std::vector< vtkPlusDevice * > &outDeviceList) const

PlusStatus	GetInputDevicesRecursive (std::vector< vtkPlusDevice * > &outDeviceList) const

virtual PlusStatus	GetInputFrameSize (vtkPlusChannel &aChannel, unsigned int &x, unsigned int &y, unsigned int &z) const

virtual PlusStatus	GetInputFrameSize (vtkPlusChannel &aChannel, FrameSizeType &dim) const

double	GetInternalUpdateRate () const

virtual double	GetLocalTimeOffsetSec () const

double	GetMissingInputGracePeriodSec () const

virtual int	GetNumberOfFieldDataSources () const

virtual int	GetNumberOfTools () const

virtual int	GetNumberOfVideoSources () const

PlusStatus	GetOutputChannelByName (vtkPlusChannel &aChannel, const char aChannelId)

PlusStatus	GetOutputChannelByName (vtkPlusChannel *&aChannel, const std::string &aChannelId)

ChannelContainerConstIterator	GetOutputChannelsEnd () const

ChannelContainerIterator	GetOutputChannelsEnd ()

ChannelContainerConstIterator	GetOutputChannelsStart () const

ChannelContainerIterator	GetOutputChannelsStart ()

virtual PlusStatus	GetOutputFrameSize (vtkPlusChannel &aChannel, unsigned int &x, unsigned int &y, unsigned int &z) const

virtual PlusStatus	GetOutputFrameSize (vtkPlusChannel &aChannel, FrameSizeType &dim) const

virtual std::string	GetParameter (const std::string &key) const

virtual PlusStatus	GetParameter (const std::string &key, std::string &outValue) const

virtual igsioCommon::VTKScalarPixelType	GetPixelType (vtkPlusChannel &aChannel)

virtual std::string	GetSdkVersion ()

virtual double	GetStartTime ()

virtual double	GetTimestampClosestToDesired ()

PlusStatus	GetTool (const char aToolSourceId, vtkPlusDataSource &aTool) const

PlusStatus	GetTool (const std::string &aToolSourceId, vtkPlusDataSource *&aTool) const

PlusStatus	GetToolByPortName (const char aPortName, vtkPlusDataSource &aSource)

PlusStatus	GetToolByPortName (const std::string &aPortName, vtkPlusDataSource *&aSource)

DataSourceContainerConstIterator	GetToolIteratorBegin () const

DataSourceContainerConstIterator	GetToolIteratorEnd () const

std::string	GetToolReferenceFrameName () const

virtual int	GetUpdateWithDesiredTimestamp ()

PlusStatus	GetVideoSource (const char aSourceId, vtkPlusDataSource &aVideoSource)

PlusStatus	GetVideoSourceByIndex (const unsigned int index, vtkPlusDataSource *&aVideoSource)

DataSourceContainerConstIterator	GetVideoSourceIteratorBegin () const

DataSourceContainerConstIterator	GetVideoSourceIteratorEnd () const

std::vector< vtkPlusDataSource * >	GetVideoSources () const

PlusStatus	GetVideoSourcesByPortName (const char aPortName, std::vector< vtkPlusDataSource > &sources)

PlusStatus	GetVideoSourcesByPortName (const std::string &aPortName, std::vector< vtkPlusDataSource * > &sources)

virtual bool	IsConnected () const

virtual bool	IsRecording () const

virtual bool	IsResettable ()

virtual int	OutputChannelCount () const

virtual PlusStatus	Probe ()

virtual int	RequestData (vtkInformation , vtkInformationVector , vtkInformationVector )

virtual int	RequestInformation (vtkInformation , vtkInformationVector , vtkInformationVector )

virtual PlusStatus	Reset ()

virtual PlusStatus	SendText (const std::string &textToSend, std::string *textReceived=NULL)

PlusStatus	SetAcquisitionRate (double aRate)

virtual PlusStatus	SetBufferSize (vtkPlusChannel &aChannel, int FrameBufferSize, const std::string &aSourceId=std::string(""))

virtual void	SetDataCollector (vtkPlusDataCollector *_arg)

virtual void	SetDesiredTimestamp (double)

void	SetDeviceId (const std::string &id)

void	SetFieldDataSourcesBufferSize (int aBufferSize)

virtual PlusStatus	SetImageType (vtkPlusChannel &aChannel, US_IMAGE_TYPE imageType)

virtual PlusStatus	SetInputFrameSize (vtkPlusDataSource &aSource, unsigned int x, unsigned int y, unsigned int z)

virtual void	SetLocalTimeOffsetSec (double aTimeOffsetSec)

virtual void	SetMissingInputGracePeriodSec (double)

virtual PlusStatus	SetParameter (const std::string &key, const std::string &value)

virtual PlusStatus	SetPixelType (vtkPlusChannel &aChannel, igsioCommon::VTKScalarPixelType pixelType)

virtual void	SetStartTime (double startTime)

void	SetToolReferenceFrameName (const std::string &frameName)

void	SetToolsBufferSize (int aBufferSize)

virtual void	SetUpdateWithDesiredTimestamp (int)

virtual PlusStatus	StartRecording ()

virtual PlusStatus	StopRecording ()

virtual void	UpdateWithDesiredTimestampOff ()

virtual void	UpdateWithDesiredTimestampOn ()

virtual PlusStatus	WriteToolsToSequenceFile (const std::string &filename, bool useCompression=false)

Static Public Member Functions
static int	IsTypeOf (const char *type)

static vtkPlusIntelRealSense *	New ()

static vtkPlusIntelRealSense *	SafeDownCast (vtkObject *o)

Static Public Member Functions inherited from vtkPlusDevice
static PlusStatus	GetToolReferenceFrameFromTrackedFrame (igsioTrackedFrame &aFrame, std::string &aToolReferenceFrameName)

static int	IsTypeOf (const char *type)

static vtkPlusDevice *	New ()

static vtkPlusDevice *	SafeDownCast (vtkObject *o)

Protected Member Functions
	vtkPlusIntelRealSense ()

	~vtkPlusIntelRealSense ()

Protected Member Functions inherited from vtkPlusDevice
virtual PlusStatus	AddVideoItemToVideoSources (const std::vector< vtkPlusDataSource * > &videoSources, const igsioVideoFrame &frame, long frameNumber, double unfilteredTimestamp=UNDEFINED_TIMESTAMP, double filteredTimestamp=UNDEFINED_TIMESTAMP, const igsioFieldMapType *customFields=NULL)

virtual PlusStatus	AddVideoItemToVideoSources (const std::vector< vtkPlusDataSource * > &videoSources, void imageDataPtr, US_IMAGE_ORIENTATION usImageOrientation, const FrameSizeType &frameSizeInPx, igsioCommon::VTKScalarPixelType pixelType, unsigned int numberOfScalarComponents, US_IMAGE_TYPE imageType, int numberOfBytesToSkip, long frameNumber, double unfilteredTimestamp=UNDEFINED_TIMESTAMP, double filteredTimestamp=UNDEFINED_TIMESTAMP, const igsioFieldMapType customFields=NULL)

PlusStatus	EnsureUniqueDataSourceId (const std::string &aSourceId)

vtkXMLDataElement *	FindInputChannelElement (vtkXMLDataElement rootXMLElement, const char aChannelId)

vtkXMLDataElement *	FindOutputChannelElement (vtkXMLDataElement rootXMLElement, const char aChannelId)

vtkXMLDataElement *	FindThisDeviceElement (vtkXMLDataElement *rootXMLElement)

virtual vtkPlusDataCollector *	GetDataCollector ()

double	GetRecordingStartTime () const

bool	GetStartThreadForInternalUpdates () const

bool	HasGracePeriodExpired ()

virtual void	InternalWriteInputChannels (vtkXMLDataElement *rootXMLElement)

virtual void	InternalWriteOutputChannels (vtkXMLDataElement *rootXMLElement)

virtual void	SetCorrectlyConfigured (bool)

virtual void	SetRecordingStartTime (double)

virtual void	SetStartThreadForInternalUpdates (bool)

virtual PlusStatus	ToolTimeStampedUpdate (const std::string &aToolSourceId, vtkMatrix4x4 matrix, ToolStatus status, unsigned long frameNumber, double unfilteredtimestamp, const igsioFieldMapType customFields=NULL)

virtual PlusStatus	ToolTimeStampedUpdateWithoutFiltering (const std::string &aToolSourceId, vtkMatrix4x4 matrix, ToolStatus status, double unfilteredtimestamp, double filteredtimestamp, const igsioFieldMapType customFields=NULL)

	vtkPlusDevice ()

virtual	~vtkPlusDevice ()

Additional Inherited Members
Public Attributes inherited from vtkPlusDevice
double	InternalUpdateRate

vtkIGSIORecursiveCriticalSection *	UpdateMutex

vtkTimeStamp	UpdateTime

Static Public Attributes inherited from vtkPlusDevice
static const std::string	BMODE_PORT_NAME = "B"

static const std::string	PARAMETER_XML_ELEMENT_TAG = "Parameter"

static const std::string	PARAMETERS_XML_ELEMENT_TAG = "Parameters"

static const std::string	RFMODE_PORT_NAME = "Rf"

Static Protected Member Functions inherited from vtkPlusDevice
static void *	vtkDataCaptureThread (vtkMultiThreader::ThreadInfo *data)

Protected Attributes inherited from vtkPlusDevice
double	AcquisitionRate

int	Connected

bool	CorrectlyConfigured

StreamBufferItem *	CurrentStreamBufferItem

vtkPlusDataCollector *	DataCollector

double	DesiredTimestamp

std::string	DeviceId

DataSourceContainer	Fields

unsigned long	FrameNumber

double	FrameTimeStamp

ChannelContainer	InputChannels

double	LocalTimeOffsetSec

double	MissingInputGracePeriodSec

ChannelContainer	OutputChannels

int	OutputNeedsInitialization

std::map< std::string, std::string >	Parameters

int	Recording

double	RecordingStartTime

std::set< std::string >	ReportedUnknownTools

bool	RequireImageOrientationInConfiguration

bool	RequirePortNameInDeviceSetConfiguration

bool	StartThreadForInternalUpdates

bool	ThreadAlive

vtkMultiThreader *	Threader

int	ThreadId

double	TimestampClosestToDesired

std::string	ToolReferenceFrameName

DataSourceContainer	Tools

int	UpdateWithDesiredTimestamp

DataSourceContainer	VideoSources

Static Protected Attributes inherited from vtkPlusDevice
static const int	VIRTUAL_DEVICE_FRAME_RATE = 50

Detailed Description

Interface class to Intel RealSense cameras.

Definition at line 18 of file vtkPlusIntelRealSense.h.

Member Typedef Documentation

◆ Superclass

typedef vtkPlusDevice vtkPlusIntelRealSense::Superclass

Definition at line 24 of file vtkPlusIntelRealSense.h.

Constructor & Destructor Documentation

◆ vtkPlusIntelRealSense()

vtkPlusIntelRealSense::vtkPlusIntelRealSense ( )

protected

Definition at line 146 of file vtkPlusIntelRealSense.cxx.

◆ ~vtkPlusIntelRealSense()

vtkPlusIntelRealSense::~vtkPlusIntelRealSense ( )

protected

Definition at line 156 of file vtkPlusIntelRealSense.cxx.

Member Function Documentation

◆ GetClassName()

virtual const char* vtkPlusIntelRealSense::GetClassName ( )

virtual

Reimplemented from vtkPlusDevice.

◆ InternalConnect()

PlusStatus vtkPlusIntelRealSense::InternalConnect ( )

virtual

Should be overridden to connect to the hardware

Reimplemented from vtkPlusDevice.

Definition at line 249 of file vtkPlusIntelRealSense.cxx.

◆ InternalDisconnect()

PlusStatus vtkPlusIntelRealSense::InternalDisconnect ( )

virtual

Release the video driver. Should be overridden to disconnect from the hardware.

Reimplemented from vtkPlusDevice.

Definition at line 309 of file vtkPlusIntelRealSense.cxx.

◆ InternalStartRecording()

PlusStatus vtkPlusIntelRealSense::InternalStartRecording ( )

virtual

Record incoming data at the specified acquisition rate. The recording continues indefinitely until StopRecording() is called.

Reimplemented from vtkPlusDevice.

Definition at line 317 of file vtkPlusIntelRealSense.cxx.

◆ InternalStopRecording()

PlusStatus vtkPlusIntelRealSense::InternalStopRecording ( )

virtual

Stop recording

Reimplemented from vtkPlusDevice.

Definition at line 352 of file vtkPlusIntelRealSense.cxx.

◆ InternalUpdate()

PlusStatus vtkPlusIntelRealSense::InternalUpdate ( )

virtual

Get an update from the tracking system and push the new transforms to the tools. This function is called by the tracker thread.

Reimplemented from vtkPlusDevice.

Definition at line 366 of file vtkPlusIntelRealSense.cxx.

◆ IsA()

virtual int vtkPlusIntelRealSense::IsA ( const char * type )

virtual

Reimplemented from vtkPlusDevice.

◆ IsTracker()

bool vtkPlusIntelRealSense::IsTracker ( ) const

inlinevirtual

Is this device a tracker

Reimplemented from vtkPlusDevice.

Definition at line 42 of file vtkPlusIntelRealSense.h.

◆ IsTypeOf()

static int vtkPlusIntelRealSense::IsTypeOf ( const char * type )

static

◆ IsVirtual()

bool vtkPlusIntelRealSense::IsVirtual ( ) const

inlinevirtual

Reimplemented from vtkPlusDevice.

Definition at line 43 of file vtkPlusIntelRealSense.h.

◆ New()

static vtkPlusIntelRealSense* vtkPlusIntelRealSense::New ( )

static

◆ NotifyConfigured()

PlusStatus vtkPlusIntelRealSense::NotifyConfigured ( )

virtual

Verify the device is correctly configured

Reimplemented from vtkPlusDevice.

Definition at line 359 of file vtkPlusIntelRealSense.cxx.

◆ PrintSelf()

void vtkPlusIntelRealSense::PrintSelf	(	ostream &	os,
		vtkIndent	indent
	)

virtual

Reimplemented from vtkPlusDevice.

Definition at line 163 of file vtkPlusIntelRealSense.cxx.

◆ ReadConfiguration()

PlusStatus vtkPlusIntelRealSense::ReadConfiguration ( vtkXMLDataElement * config )

virtual

Read configuration from xml data

Reimplemented from vtkPlusDevice.

Definition at line 173 of file vtkPlusIntelRealSense.cxx.

◆ SafeDownCast()

static vtkPlusIntelRealSense* vtkPlusIntelRealSense::SafeDownCast ( vtkObject * o )

static

◆ WriteConfiguration()

PlusStatus vtkPlusIntelRealSense::WriteConfiguration ( vtkXMLDataElement * config )

virtual

Write configuration to xml data

Reimplemented from vtkPlusDevice.

Definition at line 221 of file vtkPlusIntelRealSense.cxx.

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

src/PlusDataCollection/IntelRealSense/vtkPlusIntelRealSense.h
src/PlusDataCollection/IntelRealSense/vtkPlusIntelRealSense.cxx

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Superclass

Constructor & Destructor Documentation

◆ vtkPlusIntelRealSense()

◆ ~vtkPlusIntelRealSense()

Member Function Documentation

◆ GetClassName()

◆ InternalConnect()

◆ InternalDisconnect()

◆ InternalStartRecording()

◆ InternalStopRecording()

◆ InternalUpdate()

◆ IsA()

◆ IsTracker()

◆ IsTypeOf()

◆ IsVirtual()

◆ New()

◆ NotifyConfigured()

◆ PrintSelf()

◆ ReadConfiguration()

◆ SafeDownCast()

◆ WriteConfiguration()