337 void acquire(std::vector<vpColVector> &pointcloud);
339 void acquire(pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
340 void acquire(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
345 std::vector<vpColVector> &pointcloud);
349 pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
351 pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
355 void acquire(
vpImage<vpRGBa> &color, std::vector<vpColVector> &pointcloud);
357 std::vector<vpColVector> &pointcloud);
359 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
360 std::vector<vpColVector> *
const data_pointCloud,
unsigned char *
const data_infrared,
361 unsigned char *
const data_infrared2 = NULL,
const rs::stream &stream_color = rs::stream::color,
362 const rs::stream &stream_depth = rs::stream::depth,
363 const rs::stream &stream_infrared = rs::stream::infrared,
364 const rs::stream &stream_infrared2 = rs::stream::infrared2);
367 void acquire(
vpImage<vpRGBa> &color, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
369 pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
371 pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
373 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
374 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
375 unsigned char *
const data_infrared,
unsigned char *
const data_infrared2 = NULL,
376 const rs::stream &stream_color = rs::stream::color,
const rs::stream &stream_depth = rs::stream::depth,
377 const rs::stream &stream_infrared = rs::stream::infrared,
378 const rs::stream &stream_infrared2 = rs::stream::infrared2);
379 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
380 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
381 unsigned char *
const data_infrared,
unsigned char *
const data_infrared2 = NULL,
382 const rs::stream &stream_color = rs::stream::color,
const rs::stream &stream_depth = rs::stream::depth,
383 const rs::stream &stream_infrared = rs::stream::infrared,
384 const rs::stream &stream_infrared2 = rs::stream::infrared2);
390 const rs::stream &stream,
395 rs::extrinsics getExtrinsics(
const rs::stream &from,
const rs::stream &to)
const;
396 rs::intrinsics getIntrinsics(
const rs::stream &stream)
const;
412 void setDeviceBySerialNumber(
const std::string &serial_no);
414 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpRealSense &rs);
423 : m_streamWidth(640), m_streamHeight(480), m_streamFormat(rs::format::rgba8), m_streamFramerate(30)
427 vpRsStreamParams(
const int streamWidth,
const int streamHeight,
const rs::format &streamFormat,
428 const int streamFramerate)
429 : m_streamWidth(streamWidth), m_streamHeight(streamHeight), m_streamFormat(streamFormat),
430 m_streamFramerate(streamFramerate)
435 void setEnableStream(
const rs::stream &stream,
bool status);
442 void setStreamSettings(
const rs::stream &stream,
const rs::preset &preset);
443 void setStreamSettings(
const rs::stream &stream,
const vpRsStreamParams ¶ms);