295 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
296 std::vector<vpColVector> *
const data_pointCloud,
unsigned char *
const data_infrared,
297 rs2::align *
const align_to = NULL,
double *ts = NULL);
298 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
299 std::vector<vpColVector> *
const data_pointCloud,
unsigned char *
const data_infrared1,
300 unsigned char *
const data_infrared2, rs2::align *
const align_to,
double *ts = NULL);
301#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
307 unsigned int *tracker_confidence = NULL,
double *ts = NULL);
311 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
312 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
313 unsigned char *
const data_infrared = NULL, rs2::align *
const align_to = NULL,
double *ts = NULL);
314 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
315 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
316 unsigned char *
const data_infrared1,
unsigned char *
const data_infrared2, rs2::align *
const align_to,
319 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
320 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
321 unsigned char *
const data_infrared = NULL, rs2::align *
const align_to = NULL,
double *ts = NULL);
322 void acquire(
unsigned char *
const data_image,
unsigned char *
const data_depth,
323 std::vector<vpColVector> *
const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
324 unsigned char *
const data_infrared1,
unsigned char *
const data_infrared2, rs2::align *
const align_to,
331 const rs2_stream &stream,
333 int index = -1)
const;
335 float getDepthScale();
337#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
338 void getIMUAcceleration(
vpColVector *imu_acc,
double *ts);
340 void getIMUVelocity(
vpColVector *imu_vel,
double *ts);
343 rs2_intrinsics getIntrinsics(
const rs2_stream &stream,
int index = -1)
const;
352 inline float getMaxZ()
const {
return m_max_Z; }
354#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
364 std::string getProductLine();
366 vpHomogeneousMatrix getTransformation(
const rs2_stream &from,
const rs2_stream &to,
int from_index = -1)
const;
368 bool open(
const rs2::config &cfg = rs2::config());
369 bool open(
const rs2::config &cfg, std::function<
void(rs2::frame)> &callback);
371 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const vpRealSense2 &rs);
380 inline void setMaxZ(
const float maxZ) { m_max_Z = maxZ; }
398 void getNativeFrameData(
const rs2::frame &frame,
unsigned char *
const data);
399 void getPointcloud(
const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud);
401 void getPointcloud(
const rs2::depth_frame &depth_frame, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
402 void getPointcloud(
const rs2::depth_frame &depth_frame,
const rs2::frame &color_frame,
403 pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);