RealSenseClient

Client that receives point cloud data from a remote RealSense server. More...

Collaboration diagram for RealSenseClient:

Public Member Functions
Matrix< fltp08 >	cameraMatrix (UUID id, Time time, const Matrix< fltp08 > &fallback)
	Returns the camera matrix for a scanner at a given time.
bool	collectData ()
	Collects and processes one frame of data from the server.
const Dictionary< UUID, RealSenseScanner * > &	connectedScanners () const
	Returns the dictionary of connected scanners.
Buffer< QPointer< Connection > >	connections ()
	Returns all active connections.
void	init ()
	Initializes the client.
void	initConnections ()
	Initializes the UDP connections for data transfer.
bool	openPorts ()
	Opens the UDP ports for communication.
void	processCommandReturn (const String &s)
	Processes a command return string from the server.
void	sendConnectIfNeeded ()
	Sends a connection request to the server if not already connected.
void	sendMessage (const StringView &message)
	Sends a command message to the server.
void	sendPing ()
	Sends a ping to the server for latency measurement.
void	setLookup (const StringView &server, DesignObjectLookup *lookup)
	Sets the server address and design object lookup.
void	setOverrideMatrix (const UUID &id, const Matrix< fltp08 > &mat, Time matrix_time)
	Sets an override transformation matrix for a scanner.
void	startClient ()
	Starts the client background thread.

Static Public Member Functions
static RealSenseClient *	Default ()
	Returns the singleton RealSenseClient instance.

Protected Attributes
Dictionary< UUID, RealSenseScanner * >	m_connected_scanners
	Connected scanner instances.
Time	m_last_connection_attempt = Time(0)
	Time of last connection attempt.
DesignObjectLookup *	m_lookup = nullptr
	The design object lookup.
Dictionary< UUID, OverrideMatrixBuffer >	m_override_matrices
	Override matrices per scanner.
RasterPacketInfo	m_packet_info
	Current packet being assembled.
TimeSpan	m_ping_offset = Constant<TimeSpan>::Invalid
	Measured ping latency offset.
Time	m_ping_send = Constant<Time>::Invalid
	Time when last ping was sent.
String	m_rx_buffer
	Receive data buffer.
uint04	m_rx_buffer_offset = 0
	Current offset in the receive buffer.
Connection *	m_rx_connection = nullptr
	The receive UDP connection.
String	m_server_connection
	The server address string.
WorkerThread *	m_thread
	Background data collection thread.
Connection *	m_tx_connection = nullptr
	The transmit UDP connection.

Detailed Description

Client that receives point cloud data from a remote RealSense server.

Connects to a RealSense server via UDP, receives compressed point and color data, and creates local RealSenseScanner instances for each connected device.

Definition at line 30 of file RealSenseClient.h.

Member Function Documentation

cameraMatrix()

Matrix< fltp08 > RealSenseClient::cameraMatrix	(	UUID	id,
		Time	time,
		const Matrix< fltp08 > &	fallback )

Returns the camera matrix for a scanner at a given time.

Parameters

[in]	id	The scanner UUID.
[in]	time	The time to query.
[in]	fallback	The fallback matrix if no override exists.

Returns

The camera transformation matrix.

collectData()

bool RealSenseClient::collectData

(

)

Collects and processes one frame of data from the server.

Returns

True if data was collected.

connectedScanners()

const Dictionary< UUID, RealSenseScanner * > & RealSenseClient::connectedScanners

(

)

const

Returns the dictionary of connected scanners.

Returns

A reference to the scanner dictionary.

connections()

Buffer< QPointer< Connection > > RealSenseClient::connections

(

)

Returns all active connections.

Returns

A buffer of connection pointers.

Default()

RealSenseClient * RealSenseClient::Default ( )

static

Returns the singleton RealSenseClient instance.

Returns

A pointer to the default client.

openPorts()

bool RealSenseClient::openPorts

(

)

Opens the UDP ports for communication.

Returns

True if the ports were opened successfully.

processCommandReturn()

void RealSenseClient::processCommandReturn

(

const String &

s

)

Processes a command return string from the server.

Parameters

[in]

s

The command response string.

sendMessage()

void RealSenseClient::sendMessage

(

const StringView &

message

)

Sends a command message to the server.

Parameters

[in]

message

The command string to send.

setLookup()

void RealSenseClient::setLookup	(	const StringView &	server,
		DesignObjectLookup *	lookup )

Sets the server address and design object lookup.

Parameters

[in]	server	The server address string.
[in]	lookup	The design object lookup for scanner models.

setOverrideMatrix()

void RealSenseClient::setOverrideMatrix	(	const UUID &	id,
		const Matrix< fltp08 > &	mat,
		Time	matrix_time )

Sets an override transformation matrix for a scanner.

Parameters

[in]	id	The scanner UUID.
[in]	mat	The override matrix.
[in]	matrix_time	The time the matrix applies to.

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

• RealSenseInterface/Headers/RealSenseClient.h