3D scanner implementation for Intel RealSense depth cameras. More...

Collaboration diagram for RealSenseScanner:

Public Member Functions
	RealSenseScanner (Model &model, RealSenseScannerConnection connection, DesignObjectLookup manager, QObject *parent=nullptr)
	Constructs a scanner from an existing model and connection.
	RealSenseScanner (RealSenseScannerConnection connection, DesignObjectLookup manager, QObject *parent=nullptr)
	Constructs a scanner from a connection (creates its own model).
	RealSenseScanner (UUID id, DesignObjectLookup manager, QObject parent=nullptr)
	Constructs a remote scanner by UUID.
virtual	~RealSenseScanner ()
	Destroys the scanner and releases all resources.
virtual Connection *	connection () const override
	Returns the connection for this scanner.
Vector< 3, Angle< fltp08 > >	headAngle () const override
	Returns the current head angle from the motor manager.
virtual Motor *	headMotor (uint01 axis) const override
	Returns the motor for a given head axis.
virtual bool	isOrientationValid () const override
	Returns whether the orientation sensor data is valid.
uint04	meshBlendFactor () const override
	Returns the mesh blend factor for point cloud meshing.
virtual void	orientHead (const Vector< 3, Angle< fltp08 > > &head_orientation) override
	Moves the scanner head to the specified orientation.
void	setDeviceType (RealSenseDeviceType device)
	Sets the device type for this scanner.
void	setupCameraModel () override
	Sets up the 3D camera model for visualization.
void	setupRSStream (const RealSenseIOSettings &settings)
	Configures the RealSense streams without starting them.
void	startRSStream (RealSenseIOSettings settings)
	Starts RealSense streaming with the given settings.
void	updateFW (const Buffer< uint01 > &fw_data)
	Updates the device firmware from a data buffer.
void	updateFW (File fw_file)
	Updates the device firmware from a file.

Static Public Attributes
static constexpr const char *const	fw_version = "Firmware/D4XX_FW_Image-5.16.0.1.bin"
	Expected firmware version path.

Protected Member Functions
bool	attemptConnection () override
	Attempts to establish a connection to the RealSense device.
bool	collectPoints () override
	Collects points from the current depth frame.
bool	finishActiveFrame ()
	Finalizes the active frame and publishes the point cloud.
void	initDevice ()
	Initializes the RealSense device and queries capabilities.
bool	processFrame (const rs2::frame &frame)
	Processes a single RealSense frame (depth, color, IMU, etc.).
virtual FileRequest	scanModelFile () const override
	Returns the file request for the scanner 3D model.
virtual Matrix< fltp08 >	scanModelFileTransform () const override
	Returns the transformation matrix for the scanner 3D model.
void	setupSLAM (const rs2::sensor &sensor, const rs2::video_stream_profile &video_profile, const rs2::video_stream_profile &depth, rs2::stream_profile gyro)
	Sets up the SLAM engine for visual-inertial tracking.
virtual void	update (Time time) override
	Performs a periodic update tick.
void	updateIOState () override
	Updates the IO state (stream settings) if changes are pending.

Protected Attributes
RealSenseIOSettings	m_active_io_settings
	The currently active IO settings.
bool	m_align_to_depth_frame = false
	Whether to align color to depth frame.
RealSenseScannerConnection *	m_connection = nullptr
	The device connection.
RealSenseDeviceType	m_device_type = RealSenseDeviceType::e_unknown
	The detected device type.
File	m_firmware_file
	Path to firmware file for updates.
rs2::frameset	m_frame_set
	The current synced frameset.
bool	m_has_imu = false
	Whether the device has an IMU.
fltp08	m_last_collect_time = Constant<fltp08>::Invalid
	Timestamp of last point collection.
RealSenseMotorManager *	m_motor_manager = nullptr
	The motor manager for head control.
RealSenseIOSettings	m_requested_io_settings
	The IO settings requested by the user.
rs2::device	m_rs_device
	The underlying RealSense device handle.
rs2::frameset	m_rs_frame
	The most recent raw RealSense frameset.
bool	m_rs_streaming_active = false
	Whether RealSense streaming is active.
uint01 *	m_swap_buffer = nullptr
	Temporary buffer for data swapping.
rs2::syncer *	m_syncer = nullptr
	Frame synchronizer for multi-stream alignment.
fltp04	m_usb_version = Constant<fltp04>::Invalid
	The USB version of the connection.

Detailed Description

3D scanner implementation for Intel RealSense depth cameras.

Manages RealSense device streaming, point cloud collection, SLAM integration, firmware updates, and optional motorized head control.

Definition at line 59 of file RealSenseScanner.h.

Constructor & Destructor Documentation

◆ RealSenseScanner() [1/3]

RealSenseScanner::RealSenseScanner	(	Model &	model,
		RealSenseScannerConnection *	connection,
		DesignObjectLookup *	manager,
		QObject *	parent = nullptr )

Constructs a scanner from an existing model and connection.

Parameters

[in]	model	The design model for this scanner.
[in]	connection	The RealSense device connection.
[in]	manager	The design object lookup.
[in]	parent	Optional parent QObject.

References connection().

◆ RealSenseScanner() [2/3]

RealSenseScanner::RealSenseScanner	(	RealSenseScannerConnection *	connection,
		DesignObjectLookup *	manager,
		QObject *	parent = nullptr )

Constructs a scanner from a connection (creates its own model).

Parameters

[in]	connection	The RealSense device connection.
[in]	manager	The design object lookup.
[in]	parent	Optional parent QObject.

References connection().

◆ RealSenseScanner() [3/3]

RealSenseScanner::RealSenseScanner	(	UUID	id,
		DesignObjectLookup *	manager,
		QObject *	parent = nullptr )

Constructs a remote scanner by UUID.

Parameters

[in]	id	The UUID of the remote scanner.
[in]	manager	The design object lookup.
[in]	parent	Optional parent QObject.

Member Function Documentation

◆ attemptConnection()

bool RealSenseScanner::attemptConnection ( )

overrideprotected

Attempts to establish a connection to the RealSense device.

Returns: True if the connection was successful.

◆ collectPoints()

bool RealSenseScanner::collectPoints ( )

overrideprotected

Collects points from the current depth frame.

Returns: True if points were collected.

◆ connection()

virtual Connection * RealSenseScanner::connection ( ) const

nodiscardoverridevirtual

Returns the connection for this scanner.

Returns: A pointer to the connection.

Referenced by RealSenseScanner(), and RealSenseScanner().

◆ finishActiveFrame()

bool RealSenseScanner::finishActiveFrame ( )

protected

Finalizes the active frame and publishes the point cloud.

Returns: True if a frame was successfully finished.

◆ headAngle()

Vector< 3, Angle< fltp08 > > RealSenseScanner::headAngle ( ) const

nodiscardoverride

Returns the current head angle from the motor manager.

Returns: A 3D vector of angles (pan, tilt, roll).

◆ headMotor()

virtual Motor * RealSenseScanner::headMotor ( uint01 axis ) const

nodiscardoverridevirtual

Returns the motor for a given head axis.

Parameters

[in] axis The axis index.

Returns: A pointer to the motor, or nullptr.

◆ isOrientationValid()

virtual bool RealSenseScanner::isOrientationValid ( ) const

overridevirtual

Returns whether the orientation sensor data is valid.

Returns: True if orientation is valid.

◆ meshBlendFactor()

uint04 RealSenseScanner::meshBlendFactor ( ) const

inlinenodiscardoverride

Returns the mesh blend factor for point cloud meshing.

Returns: Always returns 1.

Definition at line 92 of file RealSenseScanner.h.

◆ orientHead()

virtual void RealSenseScanner::orientHead ( const Vector< 3, Angle< fltp08 > > & head_orientation )

overridevirtual

Moves the scanner head to the specified orientation.

Parameters

[in] head_orientation The target orientation angles.

◆ processFrame()

bool RealSenseScanner::processFrame ( const rs2::frame & frame )

protected

Processes a single RealSense frame (depth, color, IMU, etc.).

Parameters

[in] frame The RealSense frame to process.

Returns: True if the frame was successfully processed.

◆ scanModelFile()

virtual FileRequest RealSenseScanner::scanModelFile ( ) const

overrideprotectedvirtual

Returns the file request for the scanner 3D model.

Returns: The model file request.

◆ scanModelFileTransform()

virtual Matrix< fltp08 > RealSenseScanner::scanModelFileTransform ( ) const

overrideprotectedvirtual

Returns the transformation matrix for the scanner 3D model.

Returns: The model file transform matrix.

◆ setDeviceType()

void RealSenseScanner::setDeviceType ( RealSenseDeviceType device )

Sets the device type for this scanner.

Parameters

[in] device The RealSense device type.

◆ setupRSStream()

void RealSenseScanner::setupRSStream ( const RealSenseIOSettings & settings )

Configures the RealSense streams without starting them.

Parameters

[in] settings The stream settings to configure.

◆ setupSLAM()

void RealSenseScanner::setupSLAM	(	const rs2::sensor &	sensor,
		const rs2::video_stream_profile &	video_profile,
		const rs2::video_stream_profile &	depth,
		rs2::stream_profile	gyro )

protected

Sets up the SLAM engine for visual-inertial tracking.

Parameters

[in]	sensor	The RealSense sensor providing video data.
[in]	video_profile	The video stream profile for SLAM input.
[in]	depth	The depth stream profile.
[in]	gyro	The gyroscope stream profile.

◆ startRSStream()

void RealSenseScanner::startRSStream ( RealSenseIOSettings settings )

Starts RealSense streaming with the given settings.

Parameters

[in] settings The stream settings to start with.

◆ update()

virtual void RealSenseScanner::update ( Time time )

overrideprotectedvirtual

Performs a periodic update tick.

Parameters

[in] time The current system time.

◆ updateFW() [1/2]

void RealSenseScanner::updateFW ( const Buffer< uint01 > & fw_data )

Updates the device firmware from a data buffer.

Parameters

[in] fw_data The firmware binary data.

◆ updateFW() [2/2]

void RealSenseScanner::updateFW ( File fw_file )

Updates the device firmware from a file.

Parameters

[in] fw_file The firmware file to flash.

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

RealSenseInterface/Headers/RealSenseScanner.h

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RealSenseScanner() [1/3]

◆ RealSenseScanner() [2/3]

◆ RealSenseScanner() [3/3]

Member Function Documentation

◆ attemptConnection()

◆ collectPoints()

◆ connection()

◆ finishActiveFrame()

◆ headAngle()

◆ headMotor()

◆ isOrientationValid()

◆ meshBlendFactor()

◆ orientHead()

◆ processFrame()

◆ scanModelFile()

◆ scanModelFileTransform()

◆ setDeviceType()

◆ setupRSStream()

◆ setupSLAM()

◆ startRSStream()

◆ update()

◆ updateFW() [1/2]

◆ updateFW() [2/2]