Sensor APIs

The sensor APIs are implemented by the following classes. You can find the corresponding header files in the c++/include/drivers/sensors directory to access the complete set of APIs.

Header File	Class Name	Description
sensor_factory.h	SensorFactory	A factory class for creating sensor instances of different types.
sensor_interface.h	SensorData	Base class for sensor data. All sensor data types should inherit from this class to provide timestamp information.
	SensorInterface	Base class for sensor interfaces, defining common sensor control interfaces. All specific sensors should inherit from this class.
	StreamableSensor	Sensor data stream class, derived from SensorInterface.
camera_data.h	RGBData	RGB image data class, derived from SensorData.
	RGBDData	RGB-D (Depth) image data class, derived from RGBData.
depth_camera_interface.h	DepthCamera	Depth camera interface class, inheriting from SensorInterface.

Sensors

Create a Sensor Instance

There are two ways to create a sensor instance.

1. Create a sensor instance by sensor parameters.

   • Method:

     static std::shared_ptr<SensorInterface> create_sensor(
         const std::unordered_map<std::string, std::string>& params)

   • Parameter:

     Parameter	Type	Description
     params	Input	Parameters related to the sensor, such as: { "sensor_name": "rs1", # Sensor name "sensor_type": "realsense", # Sensor vendor "serial_number": "215322070063", # Serial number "color_width": "640", # Color image width "color_height": "480", # Color image height "depth_width": "640", # Depth image width "depth_height": "480", # Depth image height "align_to_color": "true", # Whether to align depth image to color image "frame_rate": "30" # Frame rate }

   • Return Value:

     Returns a shared pointer to an object of a class derived from SensorInterface if the instance is created successfully; otherwise, returns nullptr.

2. Create a sensor instance from a configuration file.

   • Method:

     static std::shared_ptr<SensorInterface> create_sensor_from_config(
         const std::string& config_path)

   • Parameter:

     Parameter	Type	Description
     config_path	Input	Path to the configuration file. The configuration file must be a JSON file. { "sensor_name": "rs1", # Sensor name "sensor_type": "realsense", # Sensor vendor "serial_number": "215322070063", # Serial number "color_width": "640", # Color image width "color_height": "480", # Color image height "depth_width": "640", # Depth image width "depth_height": "480", # Depth image height "align_to_color": "true", # Whether to align depth image to color image "frame_rate": "30" # Frame rate }

   • Return Value:

     Returns a shared pointer to an object of a class derived from SensorInterface if the instance is created successfully; otherwise, returns nullptr.

Connect to the Sensor

• Method:

  AbcErrorCode connect()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Disconnect from the Sensor

• Method:

  AbcErrorCode disconnect()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Register Sensor Data Processing Callback Function

This method registers a callback function. When the sensor captures new data, the system automatically invokes this callback for data processing.

• Method:

  void set_data_callback(SensorCallback cb)

• Parameter:

  Parameter	Type	Description
  cb	Input	SensorCallback is a function pointer type. For details, please refer to SensorCallback. The callback function is called whenever sensor data update is received.

• Return Value:

  None (void).

Get Sensor Name

• Method:

  std::string get_name() const

• Return Value:

  The name of the sensor instance.

Get Sensor Type

• Method:

  SensorType get_type() const

• Return Value:

  The sensor type. For details, please refer to SensorType.

Get Sensor Status

• Method:

  SensorStatus get_status() const

• Return Value:

  The sensor status. For details, please refer to SensorStatus.

Set Sensor Status

• Method:

  void set_status(SensorStatus status)

• Parameter:

  Parameter	Type	Description
  status	Input	The sensor status. For details, please refer to SensorStatus.

• Return Value:

  None (void).

Sensor Data

Get Data Timestamp

• Method:

  std::chrono::system_clock::time_point get_timestamp()

• Return Value:

  Timestamp.

Set Data Timestamp

• Method:

  void set_timestamp(const std::chrono::system_clock::time_point& timestamp)

• Parameter:

  Parameter	Type	Description
  timestamp	Input	Timestamp.

• Return Value:

  None (void).

Sensor Data Stream

Start Data Stream

• Method:

  AbcErrorCode start_stream()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Stop Data Stream

• Method:

  AbcErrorCode stop_stream()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Image Data

Get Color Image Width

• Method:

  int get_width() const

• Return Value:

  Color image width.

Get Color Image Height

• Method:

  int get_height() const

• Return Value:

  Color image height.

Get Color Image Channels

• Method:

  int get_channels() const

• Return Value:

  Number of color image channels.

Get Color Image Data

• Method:

  std::vector<uint8_t>& get_rgb_data()

• Return Value:

  Color image data.

Set Color Image Data

• Method:

  void set_rgb_data(const std::vector<uint8_t>& data)

• Parameter:

  Parameter	Type	Description
  data	Input	Color image data.

• Return Value:

  None (void).

Get Color Camera Intrinsic Parameters

• Method:

  const AbcIntrinsic& get_color_intrinsic() const

• Return Value:

  Color camera intrinsic parameters. For details, please refer to AbcIntrinsic.

Set Color Camera Intrinsic Parameters

• Method:

  void set_color_intrinsic(const AbcIntrinsic& intrinsic)

• Parameter:

  Parameter	Type	Description
  intrinsic	Input	Color camera intrinsic parameters. For details, please refer to AbcIntrinsic.

• Return Value:

  None (void).

Get Depth Image Data

• Method:

  const std::vector<float>& get_depth_data() const
  std::vector<float>& get_depth_data()

• Return Value:

  Depth image data, in meters.

Set Depth Image Data

• Method:

  void set_depth_data(const std::vector<float>& data)

• Parameter:

  Parameter	Type	Description
  data	Input	Depth image data, in meters.

• Return Value:

  None (void).

Get Depth Image Width

• Method:

  int get_depth_width() const

• Return Value:

  Depth image width.

Get Depth Image Height

• Method:

  int get_depth_height() const

• Return Value:

  Depth image height.

Get Depth Camera Intrinsic Parameters

• Method:

  const AbcIntrinsic& get_depth_intrinsic() const

• Return Value:

  Depth camera intrinsic parameters. For details, please refer to AbcIntrinsic.

Set Depth Camera Intrinsic Parameters

• Method:

  void set_depth_intrinsic(const AbcIntrinsic& intrinsic)

• Parameter:

  Parameter	Type	Description
  intrinsic	Input	Depth camera intrinsic parameters. For details, please refer to AbcIntrinsic.

• Return Value:

  None (void).

Depth Camera

Create a Depth Camera Instance

There are two ways to create a depth camera instance.

1. Create a depth camera instance by depth camera parameters.

   • Method:

     static std::shared_ptr<DepthCamera> create_depth_camera(
         const DepthSensorParam& param)

   • Parameter:

     Parameter	Type	Description
     param	Input	Parameters related to the depth camera. For details, please refer to DepthSensorParam.

   • Return Value:

     Returns a shared pointer to an object of a class derived from DepthCamera if the instance is created successfully; otherwise, returns nullptr.

2. Create a depth camera instance from a configuration file.

   • Method:

     static std::shared_ptr<DepthCamera> create_depth_camera_from_config(
         const std::string& config_path)

   • Parameter:

     Parameter	Type	Description
     config_path	Input	Path to the configuration file. The configuration file must be a JSON file. { "sensor_name": "rs1", # Sensor name "sensor_type": "realsense", # Sensor vendor "serial_number": "215322070063", # Serial number "color_width": "640", # Color image width "color_height": "480", # Color image height "depth_width": "640", # Depth image width "depth_height": "480", # Depth image height "align_to_color": "true", # Whether to align depth image to color image "frame_rate": "30" # Frame rate }

   • Return Value:

     Returns a shared pointer to an object of a class derived from DepthCamera if the instance is created successfully; otherwise, returns nullptr.

Get Depth Image Data

• Method:

  std::shared_ptr<const RGBDData> get_data()

• Return Value:

  A shared pointer to the RGBDData object.

Start Data Stream

• Method:

  AbcErrorCode start_stream()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Stop Data Stream

• Method:

  AbcErrorCode stop_stream()

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Color Image Resolution

• Method:

  AbcErrorCode set_color_resolution(int width, int height)

• Parameters:

  Parameter	Type	Description
  width	Input	Image width.
  height	Input	Image height.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Depth Image Resolution

• Method:

  AbcErrorCode set_depth_resolution(int width, int height)

• Parameters:

  Parameter	Type	Description
  width	Input	Image width.
  height	Input	Image height.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Frame Rate

• Method:

  AbcErrorCode set_framerate(int fps)

• Parameter:

  Parameter	Type	Description
  fps	Input	Frame rate.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Set Depth Image Alignment to Color Image

• Method:

  AbcErrorCode set_align_to_color(bool align)

• Parameter:

  Parameter	Type	Description
  align	Input	Whether to align the depth image to the color image.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Current Alignment Setting

• Method:

  bool is_aligned_to_color()

• Return Value:

  true indicates the depth image is aligned to the color image; false indicates it is not.