rs2::config Class Reference

#include <rs_pipeline.hpp>

Public Member Functions
	config ()
void	enable_stream (rs2_stream stream_type, int stream_index, int width, int height, rs2_format format=RS2_FORMAT_ANY, int framerate=0)
void	enable_stream (rs2_stream stream_type, int stream_index=-1)
void	enable_stream (rs2_stream stream_type, int width, int height, rs2_format format=RS2_FORMAT_ANY, int framerate=0)
void	enable_stream (rs2_stream stream_type, rs2_format format, int framerate=0)
void	enable_stream (rs2_stream stream_type, int stream_index, rs2_format format, int framerate=0)
void	enable_all_streams ()
void	enable_device (const std::string &serial)
void	enable_device_from_file (const std::string &file_name, bool repeat_playback=true)
void	enable_record_to_file (const std::string &file_name)
void	disable_stream (rs2_stream stream, int index=-1)
void	disable_all_streams ()
pipeline_profile	resolve (std::shared_ptr< rs2_pipeline > p) const
bool	can_resolve (std::shared_ptr< rs2_pipeline > p) const
std::shared_ptr< rs2_config >	get () const

Detailed Description

The config allows pipeline users to request filters for the pipeline streams and device selection and configuration. This is an optional step in pipeline creation, as the pipeline resolves its streaming device internally. Config provides its users a way to set the filters and test if there is no conflict with the pipeline requirements from the device. It also allows the user to find a matching device for the config filters and the pipeline, in order to select a device explicitly, and modify its controls before streaming starts.

Constructor & Destructor Documentation

config()

rs2::config::config ( )

inline

Member Function Documentation

can_resolve()

bool rs2::config::can_resolve ( std::shared_ptr< rs2_pipeline >  p ) const

inline

Check if the config can resolve the configuration filters, to find a matching device and streams profiles. The resolution conditions are as described in resolve().

Parameters

[in]

p

The pipeline for which the selected filters are applied

Returns

True if a valid profile selection exists, false if no selection can be found under the config filters and the available devices.

disable_all_streams()

void rs2::config::disable_all_streams ( )

inline

Disable all device stream explicitly, to remove any requests on the streams profiles. The streams can still be enabled due to pipeline computer vision module request. This call removes any filter on the streams configuration.

disable_stream()

void rs2::config::disable_stream ( rs2_stream  stream, int  index = -1  )

inline

Disable a device stream explicitly, to remove any requests on this stream profile. The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the stream configuration.

Parameters

[in]

stream

Stream type, for which the filters are cleared

enable_all_streams()

void rs2::config::enable_all_streams ( )

inline

Enable all device streams explicitly. The conditions and behavior of this method are similar to those of enable_stream(). This filter enables all raw streams of the selected device. The device is either selected explicitly by the application, or by the pipeline requirements or default. The list of streams is device dependent.

enable_device()

void rs2::config::enable_device ( const std::string &  serial )

inline

Select a specific device explicitly by its serial number, to be used by the pipeline. The conditions and behavior of this method are similar to those of enable_stream(). This method is required if the application needs to set device or sensor settings prior to pipeline streaming, to enforce the pipeline to use the configured device.

Parameters

[in]

serial

device serial number, as returned by RS2_CAMERA_INFO_SERIAL_NUMBER

enable_device_from_file()

void rs2::config::enable_device_from_file ( const std::string &  file_name, bool  repeat_playback = true  )

inline

Select a recorded device from a file, to be used by the pipeline through playback. The device available streams are as recorded to the file, and resolve() considers only this device and configuration as available. This request cannot be used if enable_record_to_file() is called for the current config, and vise versa

Parameters

[in]

file_name

The playback file of the device

enable_record_to_file()

void rs2::config::enable_record_to_file ( const std::string &  file_name )

inline

Requires that the resolved device would be recorded to file This request cannot be used if enable_device_from_file() is called for the current config, and vise versa as available.

Parameters

[in]

file_name

The desired file for the output record

enable_stream() [1/5]

void rs2::config::enable_stream ( rs2_stream  stream_type, int  stream_index, int  width, int  height, rs2_format  format = RS2_FORMAT_ANY, int  framerate = 0  )

inline

Enable a device stream explicitly, with selected stream parameters. The method allows the application to request a stream with specific configuration. If no stream is explicitly enabled, the pipeline configures the device and its streams according to the attached computer vision modules and processing blocks requirements, or default configuration for the first available device. The application can configure any of the input stream parameters according to its requirement, or set to 0 for don't care value. The config accumulates the application calls for enable configuration methods, until the configuration is applied. Multiple enable stream calls for the same stream override each other, and the last call is maintained. Upon calling resolve(), the config checks for conflicts between the application configuration requests and the attached computer vision modules and processing blocks requirements, and fails if conflicts are found. Before resolve() is called, no conflict check is done.

Parameters

[in]	stream_type	Stream type to be enabled
[in]	stream_index	Stream index, used for multiple streams of the same type. -1 indicates any.
[in]	width	Stream image width - for images streams. 0 indicates any.
[in]	height	Stream image height - for images streams. 0 indicates any.
[in]	format	Stream data format - pixel format for images streams, of data type for other streams. RS2_FORMAT_ANY indicates any.
[in]	framerate	Stream frames per second. 0 indicates any.

enable_stream() [2/5]

void rs2::config::enable_stream ( rs2_stream  stream_type, int  stream_index = -1  )

inline

enable_stream() [3/5]

void rs2::config::enable_stream ( rs2_stream  stream_type, int  width, int  height, rs2_format  format = RS2_FORMAT_ANY, int  framerate = 0  )

inline

enable_stream() [4/5]

void rs2::config::enable_stream ( rs2_stream  stream_type, rs2_format  format, int  framerate = 0  )

inline

enable_stream() [5/5]

void rs2::config::enable_stream ( rs2_stream  stream_type, int  stream_index, rs2_format  format, int  framerate = 0  )

inline

get()

std::shared_ptr<rs2_config> rs2::config::get ( ) const

inline

resolve()

pipeline_profile rs2::config::resolve ( std::shared_ptr< rs2_pipeline >  p ) const

inline

Resolve the configuration filters, to find a matching device and streams profiles. The method resolves the user configuration filters for the device and streams, and combines them with the requirements of the computer vision modules and processing blocks attached to the pipeline. If there are no conflicts of requests, it looks for an available device, which can satisfy all requests, and selects the first matching streams configuration. In the absence of any request, the rs2::config selects the first available device and the first color and depth streams configuration. The pipeline profile selection during start() follows the same method. Thus, the selected profile is the same, if no change occurs to the available devices. Resolving the pipeline configuration provides the application access to the pipeline selected device for advanced control. The returned configuration is not applied to the device, so the application doesn't own the device sensors. However, the application can call enable_device(), to enforce the device returned by this method is selected by pipeline start(), and configure the device and sensors options or extensions before streaming starts.

Parameters

[in]

p

The pipeline for which the selected filters are applied

Returns

A matching device and streams profile, which satisfies the filters and pipeline requests.

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

• C:/librealsense-2.13.0/include/librealsense2/hpp/rs_pipeline.hpp