4#ifndef LIBREALSENSE_RS2_DEVICE_HPP
5#define LIBREALSENSE_RS2_DEVICE_HPP
29 std::shared_ptr<rs2_sensor_list> list(
37 std::vector<sensor> results;
38 for (
auto i = 0; i < size; i++)
40 std::shared_ptr<rs2_sensor> dev(
46 results.push_back(rs2_dev);
76 std::ostringstream os;
81 os <<
"[" << type <<
"] ";
87 os << type <<
" device";
89 os <<
"unknown device";
101 if (
auto t = s.as<T>())
return t;
103 throw rs2::error(
"Could not find requested sensor type!");
116 return is_supported > 0;
158 operator bool()
const
160 return _dev !=
nullptr;
162 const std::shared_ptr<rs2_device>&
get()
const
199 explicit operator std::shared_ptr<rs2_device>() {
return _dev; };
200 explicit device(std::shared_ptr<rs2_device> dev) :
_dev(dev) {}
207 std::shared_ptr<rs2_device>
_dev;
254 std::vector<uint8_t> results;
257 std::shared_ptr<const rs2_raw_data_buffer> list(
267 results.insert(results.begin(), start, start + size);
275 std::vector<uint8_t> results;
278 std::shared_ptr<const rs2_raw_data_buffer> list(
288 results.insert(results.begin(), start, start + size);
337 void update(
const std::vector<uint8_t>& fw_image)
const
347 void update(
const std::vector<uint8_t>& fw_image, T callback)
const
437 std::vector<uint8_t> results;
450 results.insert(results.begin(), start, start + size);
491 std::vector<uint8_t> results;
504 results.insert(results.begin(), start, start + size);
543 std::vector<uint8_t> results;
555 results.insert(results.begin(), start, start + size);
592 std::vector<uint8_t> results;
604 results.insert(results.begin(), start, start + size);
620 std::vector<uint8_t> results;
632 results.insert(results.begin(), start, start + size);
646 std::vector<uint8_t> results;
658 results.insert(results.begin(), start, start + size);
669 std::vector<uint8_t> results;
672 std::shared_ptr<const rs2_raw_data_buffer> list(
682 results.insert(results.begin(), start, start + size);
710 float* ratio,
float* angle)
const
712 std::vector<uint8_t> results;
715 std::shared_ptr<const rs2_raw_data_buffer> list(
716 rs2_run_focal_length_calibration_cpp(
_dev.get(), left.
get().get(), right.
get().get(), target_w, target_h, adjust_both_sides, ratio, angle,
nullptr, &e),
725 results.insert(results.begin(), start, start + size);
743 float* ratio,
float* angle, T callback)
const
745 std::vector<uint8_t> results;
748 std::shared_ptr<const rs2_raw_data_buffer> list(
759 results.insert(results.begin(), start, start + size);
776 float* health,
int health_size)
const
778 std::vector<uint8_t> results;
781 std::shared_ptr<const rs2_raw_data_buffer> list(
791 results.insert(results.begin(), start, start + size);
810 float* health,
int health_size, T callback)
const
812 std::vector<uint8_t> results;
815 std::shared_ptr<const rs2_raw_data_buffer> list(
826 results.insert(results.begin(), start, start + size);
840 float target_width,
float target_height)
const
844 target_width, target_height,
nullptr, &e);
861 float target_width,
float target_height, T callback)
const
873 std::vector<uint8_t> result;
887 result.insert(result.begin(), start, start + size);
889 return std::string(result.begin(), result.end());
903 template<
class callback >
945 template<
typename T >
1000 uint32_t param1 = 0,
1001 uint32_t param2 = 0,
1002 uint32_t param3 = 0,
1003 uint32_t param4 = 0,
1004 std::vector<uint8_t>
const & data = {})
const
1006 std::vector<uint8_t> results;
1010 (
void*)data.data(), (uint32_t)data.size(), &e);
1020 results.insert(results.begin(), start, start + size);
1027 std::vector<uint8_t> results;
1030 std::shared_ptr<const rs2_raw_data_buffer> list(
1041 results.insert(results.begin(), start, start + size);
1051 return std::string(buffer);
1059 : _list(std::move(list)) {}
1064 operator std::vector<device>()
const
1066 std::vector<device> res;
1067 for (
auto&& dev : *
this) res.push_back(dev);
1081 _list = std::move(list);
1088 std::shared_ptr<rs2_device> dev(
1107 return std::move((*
this)[
size() - 1]);
1110 class device_list_iterator
1112 device_list_iterator(
1113 const device_list& device_list,
1115 : _list(device_list),
1123 return _list[_index];
1127 return other._index != _index || &other._list != &_list;
1131 return !(*
this != other);
1157 operator std::shared_ptr<rs2_device_list>() {
return _list; };
1160 std::shared_ptr<rs2_device_list> _list;
calibration_table process_calibration_frame(rs2::frame f, float *const health, T callback, int timeout_ms=5000) const
Definition rs_device.hpp:618
calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, float *health, T callback, int timeout_ms=5000) const
Definition rs_device.hpp:541
auto_calibrated_device(device d)
Definition rs_device.hpp:388
float calculate_target_z(rs2::frame_queue queue1, rs2::frame_queue queue2, rs2::frame_queue queue3, float target_width, float target_height) const
Definition rs_device.hpp:839
std::string get_calibration_config() const
Definition rs_device.hpp:871
std::vector< uint8_t > run_focal_length_calibration(rs2::frame_queue left, rs2::frame_queue right, float target_w, float target_h, int adjust_both_sides, float *ratio, float *angle) const
Definition rs_device.hpp:709
calibration_table get_calibration_table()
Definition rs_device.hpp:667
std::vector< uint8_t > run_focal_length_calibration(rs2::frame_queue left, rs2::frame_queue right, float target_w, float target_h, int adjust_both_sides, float *ratio, float *angle, T callback) const
Definition rs_device.hpp:742
std::vector< uint8_t > run_uv_map_calibration(rs2::frame_queue left, rs2::frame_queue color, rs2::frame_queue depth, int py_px_only, float *health, int health_size) const
Definition rs_device.hpp:775
calibration_table run_on_chip_calibration(std::string json_content, float *health, int timeout_ms=5000) const
Definition rs_device.hpp:489
float calculate_target_z(rs2::frame_queue queue1, rs2::frame_queue queue2, rs2::frame_queue queue3, float target_width, float target_height, T callback) const
Definition rs_device.hpp:860
void set_calibration_table(const calibration_table &calibration)
Definition rs_device.hpp:691
calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, float *health, int timeout_ms=5000) const
Definition rs_device.hpp:590
std::vector< uint8_t > run_uv_map_calibration(rs2::frame_queue left, rs2::frame_queue color, rs2::frame_queue depth, int py_px_only, float *health, int health_size, T callback) const
Definition rs_device.hpp:809
void set_calibration_config(const std::string &calibration_config_json_str) const
Definition rs_device.hpp:892
calibration_table run_on_chip_calibration(std::string json_content, float *health, T callback, int timeout_ms=5000) const
Definition rs_device.hpp:435
calibration_table process_calibration_frame(rs2::frame f, float *const health, int timeout_ms=5000) const
Definition rs_device.hpp:644
calibrated_device(device d)
Definition rs_device.hpp:360
void write_calibration() const
Definition rs_device.hpp:367
void reset_to_factory_calibration()
Definition rs_device.hpp:377
Definition rs_device.hpp:905
calibration_change_callback(callback cb)
Definition rs_device.hpp:909
void on_calibration_change(rs2_calibration_status status) noexcept override
Definition rs_device.hpp:911
void release() override
Definition rs_device.hpp:919
calibration_change_device(device d)
Definition rs_device.hpp:926
void register_calibration_change_callback(T callback)
Definition rs_device.hpp:946
calibration_change_device()=default
Definition rs_context.hpp:97
std::string get_opcode_string(int opcode)
Definition rs_device.hpp:1046
debug_protocol(device d)
Definition rs_device.hpp:988
std::vector< uint8_t > send_and_receive_raw_data(const std::vector< uint8_t > &input) const
Definition rs_device.hpp:1025
std::vector< uint8_t > build_command(uint32_t opcode, uint32_t param1=0, uint32_t param2=0, uint32_t param3=0, uint32_t param4=0, std::vector< uint8_t > const &data={}) const
Definition rs_device.hpp:999
void trigger_device_calibration(rs2_calibration_type type)
Definition rs_device.hpp:977
device_calibration(device d)
Definition rs_device.hpp:964
device_calibration()=default
Definition rs_context.hpp:235
Definition rs_device.hpp:1111
device_list_iterator & operator++()
Definition rs_device.hpp:1133
device operator*() const
Definition rs_device.hpp:1121
bool operator==(const device_list_iterator &other) const
Definition rs_device.hpp:1129
bool operator!=(const device_list_iterator &other) const
Definition rs_device.hpp:1125
Definition rs_device.hpp:1056
device_list(std::shared_ptr< rs2_device_list > list)
Definition rs_device.hpp:1058
device back() const
Definition rs_device.hpp:1105
device operator[](uint32_t index) const
Definition rs_device.hpp:1085
bool contains(const device &dev) const
Definition rs_device.hpp:1071
device_list & operator=(std::shared_ptr< rs2_device_list > list)
Definition rs_device.hpp:1079
uint32_t size() const
Definition rs_device.hpp:1096
device_list_iterator end() const
Definition rs_device.hpp:1148
device front() const
Definition rs_device.hpp:1104
const rs2_device_list * get_list() const
Definition rs_device.hpp:1152
device_list_iterator begin() const
Definition rs_device.hpp:1144
device_list()
Definition rs_device.hpp:1061
Definition rs_device.hpp:20
bool is_connected() const
Definition rs_device.hpp:174
std::string get_description() const
Definition rs_device.hpp:74
device(std::shared_ptr< rs2_device > dev)
Definition rs_device.hpp:200
virtual ~device()
Definition rs_device.hpp:195
void hardware_reset()
Definition rs_device.hpp:135
T as() const
Definition rs_device.hpp:190
bool operator<(device const &other) const
Definition rs_device.hpp:166
T first() const
Definition rs_device.hpp:97
device & operator=(const std::shared_ptr< rs2_device > dev)
Definition rs_device.hpp:142
std::string get_type() const
Definition rs_device.hpp:55
device & operator=(const device &dev)
Definition rs_device.hpp:148
const std::shared_ptr< rs2_device > & get() const
Definition rs_device.hpp:162
bool is() const
Definition rs_device.hpp:183
std::shared_ptr< rs2_device > _dev
Definition rs_device.hpp:207
std::vector< sensor > query_sensors() const
Definition rs_device.hpp:26
const char * get_info(rs2_camera_info info) const
Definition rs_device.hpp:124
device()
Definition rs_device.hpp:154
bool supports(rs2_camera_info info) const
Definition rs_device.hpp:111
Definition rs_types.hpp:111
static void handle(rs2_error *e)
Definition rs_types.hpp:162
Definition rs_processing.hpp:135
std::shared_ptr< rs2_frame_queue > get()
Definition rs_processing.hpp:240
Definition rs_frame.hpp:346
rs2_frame * get() const
Definition rs_frame.hpp:592
Definition rs_pipeline.hpp:19
Definition rs_sensor.hpp:103
bool check_firmware_compatibility(const std::vector< uint8_t > &image) const
Definition rs_device.hpp:294
updatable()
Definition rs_device.hpp:230
std::vector< uint8_t > create_flash_backup() const
Definition rs_device.hpp:252
void enter_update_state() const
Definition rs_device.hpp:243
void update_unsigned(const std::vector< uint8_t > &image, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition rs_device.hpp:303
updatable(device d)
Definition rs_device.hpp:231
void update_unsigned(const std::vector< uint8_t > &image, T callback, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition rs_device.hpp:312
std::vector< uint8_t > create_flash_backup(T callback) const
Definition rs_device.hpp:273
update_device()
Definition rs_device.hpp:323
update_device(device d)
Definition rs_device.hpp:324
void update(const std::vector< uint8_t > &fw_image) const
Definition rs_device.hpp:337
void update(const std::vector< uint8_t > &fw_image, T callback) const
Definition rs_device.hpp:347
Definition rs_device.hpp:213
void release() override
Definition rs_device.hpp:224
update_progress_callback(T callback)
Definition rs_device.hpp:217
void on_update_progress(const float progress) override
Definition rs_device.hpp:219
Definition rs_processing_gl.hpp:13
std::vector< uint8_t > calibration_table
Definition rs_device.hpp:355
const unsigned char * rs2_get_raw_data(const rs2_raw_data_buffer *buffer, rs2_error **error)
int rs2_get_raw_data_size(const rs2_raw_data_buffer *buffer, rs2_error **error)
void rs2_delete_raw_data(const rs2_raw_data_buffer *buffer)
void rs2_hw_monitor_get_opcode_string(int opcode, char *buffer, size_t buffer_size, rs2_device *device, rs2_error **error)
rs2_device * rs2_create_device(const rs2_device_list *info_list, int index, rs2_error **error)
void rs2_set_calibration_config(rs2_device *device, const char *calibration_config_json_str, rs2_error **error)
int rs2_get_device_count(const rs2_device_list *info_list, rs2_error **error)
void rs2_update_firmware_cpp(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback *callback, rs2_error **error)
int rs2_device_is_connected(const rs2_device *device, rs2_error **error)
rs2_calibration_type
Definition rs_device.h:403
void rs2_trigger_device_calibration(rs2_device *dev, rs2_calibration_type type, rs2_error **error)
void rs2_reset_to_factory_calibration(const rs2_device *device, rs2_error **e)
#define RS2_UNSIGNED_UPDATE_MODE_UPDATE
Definition rs_device.h:229
void rs2_set_calibration_table(const rs2_device *device, const void *calibration, int calibration_size, rs2_error **error)
void rs2_delete_device(rs2_device *device)
const rs2_raw_data_buffer * rs2_get_calibration_table(const rs2_device *dev, rs2_error **error)
const rs2_raw_data_buffer * rs2_get_calibration_config(rs2_device *device, rs2_error **error)
int rs2_is_device_extendable_to(const rs2_device *device, rs2_extension extension, rs2_error **error)
void rs2_write_calibration(const rs2_device *device, rs2_error **e)
void rs2_enter_update_state(const rs2_device *device, rs2_error **error)
int rs2_check_firmware_compatibility(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_error **error)
const rs2_raw_data_buffer * rs2_send_and_receive_raw_data(rs2_device *device, void *raw_data_to_send, unsigned size_of_raw_data_to_send, rs2_error **error)
void rs2_update_firmware_unsigned_cpp(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback *callback, int update_mode, rs2_error **error)
int rs2_supports_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)
const rs2_raw_data_buffer * rs2_process_calibration_frame(rs2_device *dev, const rs2_frame *f, float *const health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_create_flash_backup_cpp(const rs2_device *device, rs2_update_progress_callback *callback, rs2_error **error)
int rs2_device_list_contains(const rs2_device_list *info_list, const rs2_device *device, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_on_chip_calibration_cpp(rs2_device *device, const void *json_content, int content_size, float *health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_build_debug_protocol_command(rs2_device *device, unsigned opcode, unsigned param1, unsigned param2, unsigned param3, unsigned param4, void *data, unsigned size_of_data, rs2_error **error)
void rs2_hardware_reset(const rs2_device *device, rs2_error **error)
rs2_sensor_list * rs2_query_sensors(const rs2_device *device, rs2_error **error)
const char * rs2_get_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)
void rs2_register_calibration_change_callback_cpp(rs2_device *dev, rs2_calibration_change_callback *callback, rs2_error **error)
rs2_calibration_status
Definition rs_device.h:415
const rs2_raw_data_buffer * rs2_run_uv_map_calibration_cpp(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *color_queue, rs2_frame_queue *depth_queue, int py_px_only, float *health, int health_size, rs2_update_progress_callback *progress_callback, rs2_error **error)
float rs2_calculate_target_z_cpp(rs2_device *device, rs2_frame_queue *queue1, rs2_frame_queue *queue2, rs2_frame_queue *queue3, float target_width, float target_height, rs2_update_progress_callback *callback, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_tare_calibration_cpp(rs2_device *dev, float ground_truth_mm, const void *json_content, int content_size, float *health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_focal_length_calibration_cpp(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *right_queue, float target_width, float target_height, int adjust_both_sides, float *ratio, float *angle, rs2_update_progress_callback *progress_callback, rs2_error **error)
void rs2_delete_sensor_list(rs2_sensor_list *info_list)
void rs2_delete_sensor(rs2_sensor *sensor)
rs2_sensor * rs2_create_sensor(const rs2_sensor_list *list, int index, rs2_error **error)
int rs2_get_sensors_count(const rs2_sensor_list *info_list, rs2_error **error)
rs2_camera_info
Read-only strings that can be queried from the device. Not all information attributes are available o...
Definition rs_sensor.h:22
@ RS2_CAMERA_INFO_PRODUCT_ID
Definition rs_sensor.h:30
@ RS2_CAMERA_INFO_SERIAL_NUMBER
Definition rs_sensor.h:24
@ RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR
Definition rs_sensor.h:32
@ RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID
Definition rs_sensor.h:35
@ RS2_CAMERA_INFO_NAME
Definition rs_sensor.h:23
@ RS2_EXTENSION_DEBUG
Definition rs_types.h:139
@ RS2_EXTENSION_UPDATABLE
Definition rs_types.h:176
@ RS2_EXTENSION_AUTO_CALIBRATED_DEVICE
Definition rs_types.h:180
@ RS2_EXTENSION_DEVICE_CALIBRATION
Definition rs_types.h:188
@ RS2_EXTENSION_UPDATE_DEVICE
Definition rs_types.h:177
@ RS2_EXTENSION_CALIBRATION_CHANGE_DEVICE
Definition rs_types.h:194
struct rs2_device_list rs2_device_list
Definition rs_types.h:238
struct rs2_error rs2_error
Definition rs_types.h:230
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition rs_types.h:232
Definition rs_types.hpp:69
Definition rs_types.hpp:93