4#ifndef LIBREALSENSE_RS2_DEVICE_HPP
5#define LIBREALSENSE_RS2_DEVICE_HPP
15 class pipeline_profile;
28 std::shared_ptr<rs2_sensor_list> list(
36 std::vector<sensor> results;
37 for (
auto i = 0; i < size; i++)
39 std::shared_ptr<rs2_sensor> dev(
45 results.push_back(rs2_dev);
56 if (
auto t = s.as<T>())
return t;
58 throw rs2::error(
"Could not find requested sensor type!");
71 return is_supported > 0;
112 operator bool()
const
114 return _dev !=
nullptr;
116 const std::shared_ptr<rs2_device>&
get()
const
138 explicit operator std::shared_ptr<rs2_device>() {
return _dev; };
139 explicit device(std::shared_ptr<rs2_device> dev) :
_dev(dev) {}
146 std::shared_ptr<rs2_device>
_dev;
193 std::vector<uint8_t> results;
196 std::shared_ptr<const rs2_raw_data_buffer> list(
206 results.insert(results.begin(), start, start + size);
214 std::vector<uint8_t> results;
217 std::shared_ptr<const rs2_raw_data_buffer> list(
227 results.insert(results.begin(), start, start + size);
276 void update(
const std::vector<uint8_t>& fw_image)
const
286 void update(
const std::vector<uint8_t>& fw_image, T callback)
const
376 std::vector<uint8_t> results;
389 results.insert(results.begin(), start, start + size);
430 std::vector<uint8_t> results;
443 results.insert(results.begin(), start, start + size);
482 std::vector<uint8_t> results;
494 results.insert(results.begin(), start, start + size);
531 std::vector<uint8_t> results;
543 results.insert(results.begin(), start, start + size);
559 std::vector<uint8_t> results;
571 results.insert(results.begin(), start, start + size);
585 std::vector<uint8_t> results;
597 results.insert(results.begin(), start, start + size);
608 std::vector<uint8_t> results;
611 std::shared_ptr<const rs2_raw_data_buffer> list(
621 results.insert(results.begin(), start, start + size);
649 float* ratio,
float* angle)
const
651 std::vector<uint8_t> results;
654 std::shared_ptr<const rs2_raw_data_buffer> list(
655 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),
664 results.insert(results.begin(), start, start + size);
682 float* ratio,
float* angle, T callback)
const
684 std::vector<uint8_t> results;
687 std::shared_ptr<const rs2_raw_data_buffer> list(
698 results.insert(results.begin(), start, start + size);
715 float* health,
int health_size)
const
717 std::vector<uint8_t> results;
720 std::shared_ptr<const rs2_raw_data_buffer> list(
730 results.insert(results.begin(), start, start + size);
749 float* health,
int health_size, T callback)
const
751 std::vector<uint8_t> results;
754 std::shared_ptr<const rs2_raw_data_buffer> list(
765 results.insert(results.begin(), start, start + size);
779 float target_width,
float target_height)
const
783 target_width, target_height,
nullptr, &e);
800 float target_width,
float target_height, T callback)
const
814 template<
class callback >
852 template<
typename T >
911 std::vector<uint8_t>
const & data = {})
const
913 std::vector<uint8_t> results;
917 (
void*)data.data(), (uint32_t)data.size(), &e);
927 results.insert(results.begin(), start, start + size);
934 std::vector<uint8_t> results;
937 std::shared_ptr<const rs2_raw_data_buffer> list(
948 results.insert(results.begin(), start, start + size);
958 : _list(std::move(list)) {}
963 operator std::vector<device>()
const
965 std::vector<device> res;
966 for (
auto&& dev : *
this) res.push_back(dev);
980 _list = std::move(list);
987 std::shared_ptr<rs2_device> dev(
1006 return std::move((*
this)[
size() - 1]);
1022 return _list[_index];
1026 return other._index != _index || &other._list != &_list;
1030 return !(*
this != other);
1056 operator std::shared_ptr<rs2_device_list>() {
return _list; };
1059 std::shared_ptr<rs2_device_list> _list;
Definition: rs_device.hpp:325
calibration_table process_calibration_frame(rs2::frame f, float *const health, T callback, int timeout_ms=5000) const
Definition: rs_device.hpp:557
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:480
auto_calibrated_device(device d)
Definition: rs_device.hpp:327
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:778
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:648
calibration_table get_calibration_table()
Definition: rs_device.hpp:606
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:681
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:714
calibration_table run_on_chip_calibration(std::string json_content, float *health, int timeout_ms=5000) const
Definition: rs_device.hpp:428
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:799
void set_calibration_table(const calibration_table &calibration)
Definition: rs_device.hpp:630
calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, float *health, int timeout_ms=5000) const
Definition: rs_device.hpp:529
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:748
calibration_table run_on_chip_calibration(std::string json_content, float *health, T callback, int timeout_ms=5000) const
Definition: rs_device.hpp:374
calibration_table process_calibration_frame(rs2::frame f, float *const health, int timeout_ms=5000) const
Definition: rs_device.hpp:583
Definition: rs_device.hpp:297
calibrated_device(device d)
Definition: rs_device.hpp:299
void write_calibration() const
Definition: rs_device.hpp:306
void reset_to_factory_calibration()
Definition: rs_device.hpp:316
Definition: rs_device.hpp:816
calibration_change_callback(callback cb)
Definition: rs_device.hpp:820
void on_calibration_change(rs2_calibration_status status) noexcept override
Definition: rs_device.hpp:822
void release() override
Definition: rs_device.hpp:826
Definition: rs_device.hpp:830
calibration_change_device(device d)
Definition: rs_device.hpp:833
void register_calibration_change_callback(T callback)
Definition: rs_device.hpp:853
calibration_change_device()=default
Definition: rs_context.hpp:97
Definition: rs_device.hpp:893
debug_protocol(device d)
Definition: rs_device.hpp:895
std::vector< uint8_t > send_and_receive_raw_data(const std::vector< uint8_t > &input) const
Definition: rs_device.hpp:932
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:906
Definition: rs_device.hpp:868
void trigger_device_calibration(rs2_calibration_type type)
Definition: rs_device.hpp:884
device_calibration(device d)
Definition: rs_device.hpp:871
device_calibration()=default
Definition: rs_context.hpp:225
Definition: rs_device.hpp:1010
device_list_iterator & operator++()
Definition: rs_device.hpp:1032
device operator*() const
Definition: rs_device.hpp:1020
bool operator==(const device_list_iterator &other) const
Definition: rs_device.hpp:1028
bool operator!=(const device_list_iterator &other) const
Definition: rs_device.hpp:1024
Definition: rs_device.hpp:955
device_list(std::shared_ptr< rs2_device_list > list)
Definition: rs_device.hpp:957
device back() const
Definition: rs_device.hpp:1004
device operator[](uint32_t index) const
Definition: rs_device.hpp:984
bool contains(const device &dev) const
Definition: rs_device.hpp:970
device_list & operator=(std::shared_ptr< rs2_device_list > list)
Definition: rs_device.hpp:978
uint32_t size() const
Definition: rs_device.hpp:995
device_list_iterator end() const
Definition: rs_device.hpp:1047
device front() const
Definition: rs_device.hpp:1003
const rs2_device_list * get_list() const
Definition: rs_device.hpp:1051
device_list_iterator begin() const
Definition: rs_device.hpp:1043
device_list()
Definition: rs_device.hpp:960
Definition: rs_device.hpp:19
device(std::shared_ptr< rs2_device > dev)
Definition: rs_device.hpp:139
virtual ~device()
Definition: rs_device.hpp:134
void hardware_reset()
Definition: rs_device.hpp:90
T as() const
Definition: rs_device.hpp:129
T first() const
Definition: rs_device.hpp:52
device & operator=(const std::shared_ptr< rs2_device > dev)
Definition: rs_device.hpp:98
device & operator=(const device &dev)
Definition: rs_device.hpp:104
const std::shared_ptr< rs2_device > & get() const
Definition: rs_device.hpp:116
bool is() const
Definition: rs_device.hpp:122
std::shared_ptr< rs2_device > _dev
Definition: rs_device.hpp:146
std::vector< sensor > query_sensors() const
Definition: rs_device.hpp:25
const char * get_info(rs2_camera_info info) const
Definition: rs_device.hpp:79
device()
Definition: rs_device.hpp:110
bool supports(rs2_camera_info info) const
Definition: rs_device.hpp:66
Definition: rs_types.hpp:93
static void handle(rs2_error *e)
Definition: rs_types.hpp:144
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
Definition: rs_device.hpp:167
bool check_firmware_compatibility(const std::vector< uint8_t > &image) const
Definition: rs_device.hpp:233
updatable()
Definition: rs_device.hpp:169
std::vector< uint8_t > create_flash_backup() const
Definition: rs_device.hpp:191
void enter_update_state() const
Definition: rs_device.hpp:182
void update_unsigned(const std::vector< uint8_t > &image, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition: rs_device.hpp:242
updatable(device d)
Definition: rs_device.hpp:170
void update_unsigned(const std::vector< uint8_t > &image, T callback, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition: rs_device.hpp:251
std::vector< uint8_t > create_flash_backup(T callback) const
Definition: rs_device.hpp:212
Definition: rs_device.hpp:260
update_device()
Definition: rs_device.hpp:262
update_device(device d)
Definition: rs_device.hpp:263
void update(const std::vector< uint8_t > &fw_image) const
Definition: rs_device.hpp:276
void update(const std::vector< uint8_t > &fw_image, T callback) const
Definition: rs_device.hpp:286
Definition: rs_device.hpp:152
void release() override
Definition: rs_device.hpp:163
update_progress_callback(T callback)
Definition: rs_device.hpp:156
void on_update_progress(const float progress) override
Definition: rs_device.hpp:158
Definition: rs_processing_gl.hpp:13
std::vector< uint8_t > calibration_table
Definition: rs_device.hpp:294
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)
rs2_device * rs2_create_device(const rs2_device_list *info_list, int index, 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)
rs2_calibration_type
Definition: rs_device.h:397
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:223
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)
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:409
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_EXTENSION_DEBUG
Definition: rs_types.h:169
@ RS2_EXTENSION_UPDATABLE
Definition: rs_types.h:205
@ RS2_EXTENSION_AUTO_CALIBRATED_DEVICE
Definition: rs_types.h:209
@ RS2_EXTENSION_DEVICE_CALIBRATION
Definition: rs_types.h:217
@ RS2_EXTENSION_UPDATE_DEVICE
Definition: rs_types.h:206
@ RS2_EXTENSION_CALIBRATION_CHANGE_DEVICE
Definition: rs_types.h:223
struct rs2_device_list rs2_device_list
Definition: rs_types.h:267
struct rs2_error rs2_error
Definition: rs_types.h:259
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:261
Definition: rs_types.hpp:63
Definition: rs_types.hpp:84