Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
Classes | Enumerations | Functions | Variables
librealsense::ds Namespace Reference

Classes

struct  coefficients_table
 
struct  depth_table_control
 
struct  ds5_calibration
 
struct  extrinsics_table
 
struct  fisheye_calibration_table
 
struct  fisheye_extrinsics_table
 
struct  imu_calibration_table
 
struct  imu_intrinsics
 
struct  rgb_calibration_table
 
struct  table_header
 
struct  tm1_calib_model
 
struct  tm1_calibration_table
 
struct  tm1_eeprom
 
struct  tm1_module_info
 
struct  tm1_serial_num_table
 

Enumerations

enum  fw_cmd : uint8_t {
  GLD = 0x0f, GVD = 0x10, GETINTCAL = 0x15, HWRST = 0x20,
  OBW = 0x29, SET_ADV = 0x2B, GET_ADV = 0x2C, EN_ADV = 0x2D,
  UAMG = 0X30, SETAEROI = 0x44, GETAEROI = 0x45, MMER = 0x4F,
  GET_EXTRINSICS = 0x53
}
 
enum  advanced_query_mode { GET_VAL = 0, GET_MIN = 1, GET_MAX = 2 }
 
enum  ds5_rect_resolutions : unsigned short {
  res_1920_1080, res_1280_720, res_640_480, res_848_480,
  res_640_360, res_424_240, res_320_240, res_480_270,
  res_1280_800, res_960_540, reserved_1, reserved_2,
  res_640_400, res_576_576, res_720_720, res_1152_1152,
  max_ds5_rect_resolutions
}
 
enum  gvd_fields { camera_fw_version_offset = 12, module_serial_offset = 48, motion_module_fw_version_offset = 212, is_camera_locked_offset = 25 }
 
enum  calibration_table_id {
  coefficients_table_id = 25, depth_calibration_id = 31, rgb_calibration_id = 32, fisheye_calibration_id = 33,
  imu_calibration_id = 34, lens_shading_id = 35, projector_id = 36, max_id = -1
}
 
enum  ds5_notifications_types {
  success = 0, hot_laser_power_reduce, hot_laser_disable, flag_B_laser_disable,
  stereo_module_not_connected, eeprom_corrupted, calibration_corrupted, mm_upd_fail,
  isp_upd_fail, mm_force_pause, mm_failure, usb_scp_overflow,
  usb_rec_overflow, usb_cam_overflow, mipi_left_error, mipi_right_error,
  mipi_rt_error, mipi_fe_error, i2c_cfg_left_error, i2c_cfg_right_error,
  i2c_cfg_rt_error, i2c_cfg_fe_error, stream_not_start_z, stream_not_start_y,
  stream_not_start_cam, rec_error
}
 

Functions

template<class T >
const T * check_calib (const std::vector< uint8_t > &raw_data)
 
rs2_motion_device_intrinsic create_motion_intrinsics (imu_intrinsics data)
 
ds5_rect_resolutions width_height_to_ds5_rect_resolutions (uint32_t width, uint32_t height)
 
rs2_intrinsics get_intrinsic_by_resolution (const std::vector< uint8_t > &raw_data, calibration_table_id table_id, uint32_t width, uint32_t height)
 
rs2_intrinsics get_intrinsic_by_resolution_coefficients_table (const std::vector< uint8_t > &raw_data, uint32_t width, uint32_t height)
 
rs2_intrinsics get_intrinsic_fisheye_table (const std::vector< uint8_t > &raw_data, uint32_t width, uint32_t height)
 
pose get_fisheye_extrinsics_data (const std::vector< uint8_t > &raw_data)
 
pose get_color_stream_extrinsic (const std::vector< uint8_t > &raw_data)
 
bool try_fetch_usb_device (std::vector< platform::usb_device_info > &devices, const platform::uvc_device_info &info, platform::usb_device_info &result)
 

Variables

const uint16_t RS400_PID = 0x0ad1
 
const uint16_t RS410_PID = 0x0ad2
 
const uint16_t RS415_PID = 0x0ad3
 
const uint16_t RS430_PID = 0x0ad4
 
const uint16_t RS430_MM_PID = 0x0ad5
 
const uint16_t RS_USB2_PID = 0x0ad6
 
const uint16_t RS420_PID = 0x0af6
 
const uint16_t RS420_MM_PID = 0x0afe
 
const uint16_t RS410_MM_PID = 0x0aff
 
const uint16_t RS400_MM_PID = 0x0b00
 
const uint16_t RS430_MM_RGB_PID = 0x0b01
 
const uint16_t RS460_PID = 0x0b03
 
const uint16_t RS435_RGB_PID = 0x0b07
 
const uint16_t RS405_PID = 0x0b0c
 
const uint8_t DS5_HWMONITOR = 1
 
const uint8_t DS5_DEPTH_EMITTER_ENABLED = 2
 
const uint8_t DS5_EXPOSURE = 3
 
const uint8_t DS5_LASER_POWER = 4
 
const uint8_t DS5_ERROR_REPORTING = 7
 
const uint8_t DS5_EXT_TRIGGER = 8
 
const uint8_t DS5_ASIC_AND_PROJECTOR_TEMPERATURES = 9
 
const uint8_t DS5_ENABLE_AUTO_WHITE_BALANCE = 0xA
 
const uint8_t DS5_ENABLE_AUTO_EXPOSURE = 0xB
 
const uint8_t FISHEYE_EXPOSURE = 1
 
const platform::extension_unit depth_xu
 
const platform::extension_unit fisheye_xu
 
const int etDepthTableControl = 9
 
const std::string DEPTH_STEREO = "Stereo Module"
 
constexpr size_t fisheye_calibration_table_size = sizeof(fisheye_calibration_table)
 
constexpr size_t imu_calibration_table_size = sizeof(imu_calibration_table)
 
constexpr size_t tm1_module_info_size = sizeof(tm1_module_info)
 
constexpr size_t tm1_calib_model_size = sizeof(tm1_calib_model)
 
constexpr size_t tm1_serial_num_table_size = sizeof(tm1_serial_num_table)
 
constexpr size_t tm1_calibration_table_size = sizeof(tm1_calibration_table)
 
constexpr size_t tm1_eeprom_size = sizeof(tm1_eeprom)
 
const std::map< uint8_t, std::string > ds5_fw_error_report
 

Enumeration Type Documentation

§ advanced_query_mode

Enumerator
GET_VAL 
GET_MIN 
GET_MAX 

§ calibration_table_id

Enumerator
coefficients_table_id 
depth_calibration_id 
rgb_calibration_id 
fisheye_calibration_id 
imu_calibration_id 
lens_shading_id 
projector_id 
max_id 

§ ds5_notifications_types

Enumerator
success 
hot_laser_power_reduce 
hot_laser_disable 
flag_B_laser_disable 
stereo_module_not_connected 
eeprom_corrupted 
calibration_corrupted 
mm_upd_fail 
isp_upd_fail 
mm_force_pause 
mm_failure 
usb_scp_overflow 
usb_rec_overflow 
usb_cam_overflow 
mipi_left_error 
mipi_right_error 
mipi_rt_error 
mipi_fe_error 
i2c_cfg_left_error 
i2c_cfg_right_error 
i2c_cfg_rt_error 
i2c_cfg_fe_error 
stream_not_start_z 
stream_not_start_y 
stream_not_start_cam 
rec_error 

§ ds5_rect_resolutions

Enumerator
res_1920_1080 
res_1280_720 
res_640_480 
res_848_480 
res_640_360 
res_424_240 
res_320_240 
res_480_270 
res_1280_800 
res_960_540 
reserved_1 
reserved_2 
res_640_400 
res_576_576 
res_720_720 
res_1152_1152 
max_ds5_rect_resolutions 

§ fw_cmd

enum librealsense::ds::fw_cmd : uint8_t
Enumerator
GLD 
GVD 
GETINTCAL 
HWRST 
OBW 
SET_ADV 
GET_ADV 
EN_ADV 
UAMG 
SETAEROI 
GETAEROI 
MMER 
GET_EXTRINSICS 

§ gvd_fields

Enumerator
camera_fw_version_offset 
module_serial_offset 
motion_module_fw_version_offset 
is_camera_locked_offset 

Function Documentation

§ check_calib()

template<class T >
const T* librealsense::ds::check_calib ( const std::vector< uint8_t > &  raw_data)

§ create_motion_intrinsics()

rs2_motion_device_intrinsic librealsense::ds::create_motion_intrinsics ( imu_intrinsics  data)
inline

§ get_color_stream_extrinsic()

pose librealsense::ds::get_color_stream_extrinsic ( const std::vector< uint8_t > &  raw_data)

§ get_fisheye_extrinsics_data()

pose librealsense::ds::get_fisheye_extrinsics_data ( const std::vector< uint8_t > &  raw_data)

§ get_intrinsic_by_resolution()

rs2_intrinsics librealsense::ds::get_intrinsic_by_resolution ( const std::vector< uint8_t > &  raw_data,
calibration_table_id  table_id,
uint32_t  width,
uint32_t  height 
)

§ get_intrinsic_by_resolution_coefficients_table()

rs2_intrinsics librealsense::ds::get_intrinsic_by_resolution_coefficients_table ( const std::vector< uint8_t > &  raw_data,
uint32_t  width,
uint32_t  height 
)

§ get_intrinsic_fisheye_table()

rs2_intrinsics librealsense::ds::get_intrinsic_fisheye_table ( const std::vector< uint8_t > &  raw_data,
uint32_t  width,
uint32_t  height 
)

§ try_fetch_usb_device()

bool librealsense::ds::try_fetch_usb_device ( std::vector< platform::usb_device_info > &  devices,
const platform::uvc_device_info info,
platform::usb_device_info result 
)

§ width_height_to_ds5_rect_resolutions()

ds5_rect_resolutions librealsense::ds::width_height_to_ds5_rect_resolutions ( uint32_t  width,
uint32_t  height 
)

Variable Documentation

§ DEPTH_STEREO

const std::string librealsense::ds::DEPTH_STEREO = "Stereo Module"

§ depth_xu

const platform::extension_unit librealsense::ds::depth_xu
Initial value:
= { 0, 3, 2,
{ 0xC9606CCB, 0x594C, 0x4D25,{ 0xaf, 0x47, 0xcc, 0xc4, 0x96, 0x43, 0x59, 0x95 } } }

§ DS5_ASIC_AND_PROJECTOR_TEMPERATURES

const uint8_t librealsense::ds::DS5_ASIC_AND_PROJECTOR_TEMPERATURES = 9

§ DS5_DEPTH_EMITTER_ENABLED

const uint8_t librealsense::ds::DS5_DEPTH_EMITTER_ENABLED = 2

§ DS5_ENABLE_AUTO_EXPOSURE

const uint8_t librealsense::ds::DS5_ENABLE_AUTO_EXPOSURE = 0xB

§ DS5_ENABLE_AUTO_WHITE_BALANCE

const uint8_t librealsense::ds::DS5_ENABLE_AUTO_WHITE_BALANCE = 0xA

§ DS5_ERROR_REPORTING

const uint8_t librealsense::ds::DS5_ERROR_REPORTING = 7

§ DS5_EXPOSURE

const uint8_t librealsense::ds::DS5_EXPOSURE = 3

§ DS5_EXT_TRIGGER

const uint8_t librealsense::ds::DS5_EXT_TRIGGER = 8

§ ds5_fw_error_report

const std::map< uint8_t, std::string> librealsense::ds::ds5_fw_error_report
Initial value:
= {
{ success, "Success" },
{ hot_laser_power_reduce, "Laser hot - power reduce" },
{ hot_laser_disable, "Laser hot - disabled" },
{ flag_B_laser_disable, "Flag B - laser disabled" },
{ stereo_module_not_connected, "Stered Module is not connected" },
{ eeprom_corrupted, "EEPROM corrupted" },
{ calibration_corrupted, "Calibration corrupted" },
{ mm_upd_fail, "Moton Module update failed" },
{ isp_upd_fail, "ISP update failed" },
{ mm_force_pause, "Motion Module force pause" },
{ mm_failure, "Motion Module failure" },
{ usb_scp_overflow, "USB SCP overflow" },
{ usb_rec_overflow, "USB REC overflow" },
{ usb_cam_overflow, "USB CAM overflow" },
{ mipi_left_error, "Left MIPI error" },
{ mipi_right_error, "Right MIPI error" },
{ mipi_rt_error, "RT MIPI error" },
{ mipi_fe_error, "FishEye MIPI error" },
{ i2c_cfg_left_error, "Left IC2 Config error" },
{ i2c_cfg_right_error, "Right IC2 Config error" },
{ i2c_cfg_rt_error, "RT IC2 Config error" },
{ i2c_cfg_fe_error, "FishEye IC2 Config error" },
{ stream_not_start_z, "Depth stream start failure" },
{ stream_not_start_y, "IR stream start failure" },
{ stream_not_start_cam, "Camera stream start failure" },
{ rec_error, "REC error" },
}
Definition: ds5-private.h:420
Definition: ds5-private.h:418
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Definition: ds5-private.h:426

§ DS5_HWMONITOR

const uint8_t librealsense::ds::DS5_HWMONITOR = 1

§ DS5_LASER_POWER

const uint8_t librealsense::ds::DS5_LASER_POWER = 4

§ etDepthTableControl

const int librealsense::ds::etDepthTableControl = 9

§ fisheye_calibration_table_size

constexpr size_t librealsense::ds::fisheye_calibration_table_size = sizeof(fisheye_calibration_table)

§ FISHEYE_EXPOSURE

const uint8_t librealsense::ds::FISHEYE_EXPOSURE = 1

§ fisheye_xu

const platform::extension_unit librealsense::ds::fisheye_xu
Initial value:
= { 3, 12, 2,
{ 0xf6c3c3d1, 0x5cde, 0x4477,{ 0xad, 0xf0, 0x41, 0x33, 0xf5, 0x8d, 0xa6, 0xf4 } } }

§ imu_calibration_table_size

constexpr size_t librealsense::ds::imu_calibration_table_size = sizeof(imu_calibration_table)

§ RS400_MM_PID

const uint16_t librealsense::ds::RS400_MM_PID = 0x0b00

§ RS400_PID

const uint16_t librealsense::ds::RS400_PID = 0x0ad1

§ RS405_PID

const uint16_t librealsense::ds::RS405_PID = 0x0b0c

§ RS410_MM_PID

const uint16_t librealsense::ds::RS410_MM_PID = 0x0aff

§ RS410_PID

const uint16_t librealsense::ds::RS410_PID = 0x0ad2

§ RS415_PID

const uint16_t librealsense::ds::RS415_PID = 0x0ad3

§ RS420_MM_PID

const uint16_t librealsense::ds::RS420_MM_PID = 0x0afe

§ RS420_PID

const uint16_t librealsense::ds::RS420_PID = 0x0af6

§ RS430_MM_PID

const uint16_t librealsense::ds::RS430_MM_PID = 0x0ad5

§ RS430_MM_RGB_PID

const uint16_t librealsense::ds::RS430_MM_RGB_PID = 0x0b01

§ RS430_PID

const uint16_t librealsense::ds::RS430_PID = 0x0ad4

§ RS435_RGB_PID

const uint16_t librealsense::ds::RS435_RGB_PID = 0x0b07

§ RS460_PID

const uint16_t librealsense::ds::RS460_PID = 0x0b03

§ RS_USB2_PID

const uint16_t librealsense::ds::RS_USB2_PID = 0x0ad6

§ tm1_calib_model_size

constexpr size_t librealsense::ds::tm1_calib_model_size = sizeof(tm1_calib_model)

§ tm1_calibration_table_size

constexpr size_t librealsense::ds::tm1_calibration_table_size = sizeof(tm1_calibration_table)

§ tm1_eeprom_size

constexpr size_t librealsense::ds::tm1_eeprom_size = sizeof(tm1_eeprom)

§ tm1_module_info_size

constexpr size_t librealsense::ds::tm1_module_info_size = sizeof(tm1_module_info)

§ tm1_serial_num_table_size

constexpr size_t librealsense::ds::tm1_serial_num_table_size = sizeof(tm1_serial_num_table)