5#ifndef LIBREALSENSE_STREAM_H
6#define LIBREALSENSE_STREAM_H
21 virtual void get_mode(
int ,
int * ,
int * ,
rs_format * ,
int * )
const override {
throw std::logic_error(
"no modes"); }
37 std::vector<subdevice_mode_selection>
modes;
38 std::shared_ptr<syncronizing_archive>
archive;
68 mutable std::vector<uint8_t> image;
69 mutable unsigned long long number;
73 pose get_pose()
const override {
return {{{1,0,0},{0,1,0},{0,0,1}}, source.get_pose().position}; }
76 bool is_enabled()
const override {
return source.is_enabled(); }
84 unsigned long long get_frame_number()
const override {
return source.get_frame_number(); }
96 mutable std::vector<int> table;
97 mutable std::vector<uint8_t> image;
98 mutable unsigned long long number;
102 pose get_pose()
const override {
return {{{1,0,0},{0,1,0},{0,0,1}}, source.get_pose().position}; }
105 bool is_enabled()
const override {
return source.is_enabled(); }
125 mutable std::vector<uint8_t> image;
126 mutable unsigned long long number;
133 bool is_enabled()
const override {
return from.is_enabled() && to.is_enabled(); }
const unsigned char * get_frame_data() const override
pose get_pose() const override
Definition: stream.h:130
int get_frame_stride() const override
Definition: stream.h:146
float get_depth_scale() const override
Definition: stream.h:131
rs_intrinsics get_rectified_intrinsics() const override
Definition: stream.h:135
long long get_frame_system_time() const override
Definition: stream.h:143
rs_intrinsics get_intrinsics() const override
Definition: stream.h:134
bool supports_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:140
double get_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:139
double get_frame_timestamp() const override
Definition: stream.h:142
bool is_enabled() const override
Definition: stream.h:133
int get_framerate() const override
Definition: stream.h:137
unsigned long long get_frame_number() const override
Definition: stream.h:141
rs_format get_format() const override
Definition: stream.h:136
aligned_stream(const stream_interface &from, const stream_interface &to)
Definition: stream.h:128
int get_frame_bpp() const override
Definition: stream.h:147
rs_intrinsics get_intrinsics() const override
Definition: stream.h:77
double get_frame_timestamp() const override
Definition: stream.h:85
rs_format get_format() const override
Definition: stream.h:79
bool is_enabled() const override
Definition: stream.h:76
float get_depth_scale() const override
Definition: stream.h:74
unsigned long long get_frame_number() const override
Definition: stream.h:84
rs_intrinsics get_rectified_intrinsics() const override
Definition: stream.h:78
const uint8_t * get_frame_data() const override
point_stream(const stream_interface &source)
Definition: stream.h:71
bool supports_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:83
int get_frame_bpp() const override
Definition: stream.h:90
pose get_pose() const override
Definition: stream.h:73
double get_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:82
int get_frame_stride() const override
Definition: stream.h:89
int get_framerate() const override
Definition: stream.h:80
long long get_frame_system_time() const override
Definition: stream.h:86
rs_intrinsics get_rectified_intrinsics() const override
Definition: stream.h:107
unsigned long long get_frame_number() const override
Definition: stream.h:113
rs_intrinsics get_intrinsics() const override
Definition: stream.h:106
bool is_enabled() const override
Definition: stream.h:105
long long get_frame_system_time() const override
Definition: stream.h:115
rectified_stream(const stream_interface &source)
Definition: stream.h:100
bool supports_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:112
const uint8_t * get_frame_data() const override
int get_frame_bpp() const override
Definition: stream.h:119
float get_depth_scale() const override
Definition: stream.h:103
pose get_pose() const override
Definition: stream.h:102
int get_frame_stride() const override
Definition: stream.h:118
double get_frame_metadata(rs_frame_metadata frame_metadata) const override
Definition: stream.h:111
int get_framerate() const override
Definition: stream.h:109
double get_frame_timestamp() const override
Definition: stream.h:114
rs_format get_format() const override
Definition: stream.h:108
rs_stream
Streams are different types of data provided by RealSense devices.
Definition: rs.h:34
@ RS_STREAM_POINTS
Definition: rs.h:40
@ RS_STREAM_RECTIFIED_COLOR
Definition: rs.h:41
@ RS_STREAM_COLOR_ALIGNED_TO_DEPTH
Definition: rs.h:42
rs_frame_metadata
Types of value provided from the device with each frame.
Definition: rs.h:204
rs_format
Formats: defines how each stream can be encoded.
Definition: rs.h:54
@ RS_FORMAT_XYZ32F
Definition: rs.h:58
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.h:333
Video stream intrinsics.
Definition: rs.h:301
Definition: rscore.hpp:17
const static_device_info info
Definition: types.h:450
float depth_scale
Definition: types.h:456
std::shared_ptr< syncronizing_archive > archive
Definition: stream.h:38
const device_config & config
Definition: stream.h:35
rs_intrinsics get_intrinsics() const override
rs_intrinsics get_rectified_intrinsics() const override
float get_depth_scale() const override
Definition: stream.h:43
int get_frame_stride() const override
int get_mode_count() const override
Definition: stream.h:44
subdevice_mode_selection get_mode() const
unsigned long long get_frame_number() const override
bool is_enabled() const override
rs_format get_format() const override
Definition: stream.h:51
pose get_pose() const override
Definition: stream.h:42
void get_mode(int mode, int *w, int *h, rs_format *f, int *fps) const override
const uint8_t * get_frame_data() const override
double get_frame_timestamp() const override
std::vector< subdevice_mode_selection > modes
Definition: stream.h:37
bool supports_frame_metadata(rs_frame_metadata frame_metadata) const override
native_stream(device_config &config, rs_stream stream, calibration_validator in_validator)
long long get_frame_system_time() const override
double get_frame_metadata(rs_frame_metadata frame_metadata) const override
int get_framerate() const override
Definition: stream.h:52
int get_frame_bpp() const override
pose stream_poses[RS_STREAM_NATIVE_COUNT]
Definition: types.h:277
virtual rs_stream get_stream_type() const override
Definition: stream.h:22
virtual rsimpl::pose get_pose() const =0
virtual rs_extrinsics get_extrinsics_to(const rs_stream_interface &other) const override
stream_interface(calibration_validator in_validator, rs_stream in_stream)
Definition: stream.h:16
virtual void get_mode(int, int *, int *, rs_format *, int *) const override
Definition: stream.h:21
const rs_stream stream
Definition: stream.h:24
calibration_validator validator
Definition: stream.h:27
virtual int get_mode_count() const override
Definition: stream.h:20
rs_format get_format(rs_stream stream) const
Definition: types.h:316
int get_framerate() const
Definition: types.h:311