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);
267 void update(
const std::vector<uint8_t>& fw_image)
const 277 void update(
const std::vector<uint8_t>& fw_image, T callback)
const 301 std::vector<uint8_t> results;
304 std::shared_ptr<const rs2_raw_data_buffer> list(
314 results.insert(results.begin(), start, start + size);
324 : _list(move(list)) {}
329 operator std::vector<device>()
const 331 std::vector<device> res;
332 for (
auto&& dev : *
this) res.push_back(dev);
353 std::shared_ptr<rs2_device> dev(
372 return std::move((*
this)[
size() - 1]);
388 return _list[_index];
392 return other._index != _index || &other._list != &_list;
396 return !(*
this != other);
422 operator std::shared_ptr<rs2_device_list>() {
return _list; };
425 std::shared_ptr<rs2_device_list> _list;
481 return is_enabled != 0;
515 rs2_set_intrinsics(fisheye_sensor.first.get().get(), fisheye_sensor.second.get(), &intrinsics, &e);
530 auto from_sensor = get_sensor_profile(from_stream, from_id);
531 auto to_sensor = get_sensor_profile(to_stream, to_id);
532 rs2_set_extrinsics(from_sensor.first.get().get(), from_sensor.second.get(), to_sensor.first.get().get(), to_sensor.second.get(), &extrinsics, &e);
544 auto motion_sensor = get_sensor_profile(stream_type, 0);
575 std::pair<sensor, stream_profile> get_sensor_profile(
rs2_stream stream_type,
int stream_index) {
577 for (
auto p : s.get_stream_profiles()) {
578 if (p.stream_type() == stream_type && p.stream_index() == stream_index)
579 return std::pair<sensor, stream_profile>(s, p);
582 return std::pair<sensor, stream_profile>();
586 #endif // LIBREALSENSE_RS2_DEVICE_HPP Definition: rs_types.hpp:76
device operator*() const
Definition: rs_device.hpp:386
device back() const
Definition: rs_device.hpp:370
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
Definition: rs_sensor.hpp:103
update_device()
Definition: rs_device.hpp:253
bool is() const
Definition: rs_device.hpp:122
int rs2_device_list_contains(const rs2_device_list *info_list, const rs2_device *device, rs2_error **error)
int rs2_loopback_is_enabled(const rs2_device *device, rs2_error **error)
device_list(std::shared_ptr< rs2_device_list > list)
Definition: rs_device.hpp:323
std::vector< uint8_t > send_and_receive_raw_data(const std::vector< uint8_t > &input) const
Definition: rs_device.hpp:299
std::vector< uint8_t > create_flash_backup() const
Definition: rs_device.hpp:191
void release() override
Definition: rs_device.hpp:163
std::vector< sensor > query_sensors() const
Definition: rs_device.hpp:25
device()
Definition: rs_device.hpp:110
const char * get_info(rs2_camera_info info) const
Definition: rs_device.hpp:79
device & operator=(const device &dev)
Definition: rs_device.hpp:104
Definition: rs_pipeline.hpp:18
bool operator==(const device_list_iterator &other) const
Definition: rs_device.hpp:394
void update_unsigned(const std::vector< uint8_t > &image, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition: rs_device.hpp:233
void update(const std::vector< uint8_t > &fw_image) const
Definition: rs_device.hpp:267
void rs2_set_intrinsics(const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_intrinsics *intrinsics, rs2_error **error)
rs2_sensor * rs2_create_sensor(const rs2_sensor_list *list, int index, rs2_error **error)
void set_intrinsics(int fisheye_sensor_id, const rs2_intrinsics &intrinsics)
Definition: rs_device.hpp:511
void update_unsigned(const std::vector< uint8_t > &image, T callback, int update_mode=RS2_UNSIGNED_UPDATE_MODE_UPDATE) const
Definition: rs_device.hpp:242
void rs2_delete_device(rs2_device *device)
void connect_controller(const std::array< uint8_t, 6 > &mac_addr)
Definition: rs_device.hpp:488
Definition: rs_sensor.h:47
const unsigned char * rs2_get_raw_data(const rs2_raw_data_buffer *buffer, rs2_error **error)
void rs2_write_calibration(const rs2_device *device, rs2_error **e)
void disconnect_controller(int id)
Definition: rs_device.hpp:499
rs2_device * rs2_create_device(const rs2_device_list *info_list, int index, rs2_error **error)
device_list & operator=(std::shared_ptr< rs2_device_list > list)
Definition: rs_device.hpp:344
Definition: rs_device.hpp:151
Definition: rs_context.hpp:11
void rs2_delete_raw_data(const rs2_raw_data_buffer *buffer)
Definition: rs_context.hpp:96
int rs2_get_raw_data_size(const rs2_raw_data_buffer *buffer, rs2_error **error)
Definition: rs_device.hpp:166
T as() const
Definition: rs_device.hpp:129
void enter_update_state() const
Definition: rs_device.hpp:182
void rs2_connect_tm2_controller(const rs2_device *device, const unsigned char *mac_addr, rs2_error **error)
device_list_iterator begin() const
Definition: rs_device.hpp:409
void rs2_loopback_enable(const rs2_device *device, const char *from_file, rs2_error **error)
void rs2_disconnect_tm2_controller(const rs2_device *device, int id, rs2_error **error)
Definition: rs_device.hpp:285
void set_motion_device_intrinsics(rs2_stream stream_type, const rs2_motion_device_intrinsic &motion_intriniscs)
Definition: rs_device.hpp:541
bool is_loopback_enabled() const
Definition: rs_device.hpp:476
device operator[](uint32_t index) const
Definition: rs_device.hpp:350
int rs2_supports_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)
void reset_to_factory_calibration()
Definition: rs_device.hpp:554
#define RS2_UNSIGNED_UPDATE_MODE_UPDATE
Definition: rs_device.h:206
void rs2_delete_sensor(rs2_sensor *sensor)
int rs2_is_device_extendable_to(const rs2_device *device, rs2_extension extension, rs2_error **error)
device front() const
Definition: rs_device.hpp:369
uint32_t size() const
Definition: rs_device.hpp:361
void hardware_reset()
Definition: rs_device.hpp:90
void rs2_set_extrinsics(const rs2_sensor *from_sensor, const rs2_stream_profile *from_profile, rs2_sensor *to_sensor, const rs2_stream_profile *to_profile, const rs2_extrinsics *extrinsics, rs2_error **error)
const std::shared_ptr< rs2_device > & get() const
Definition: rs_device.hpp:116
void update(const std::vector< uint8_t > &fw_image, T callback) const
Definition: rs_device.hpp:277
std::shared_ptr< rs2_device > _dev
Definition: rs_device.hpp:146
std::vector< uint8_t > create_flash_backup(T callback) const
Definition: rs_device.hpp:212
void rs2_hardware_reset(const rs2_device *device, rs2_error **error)
Definition: rs_types.h:172
rs2_sensor_list * rs2_query_sensors(const rs2_device *device, 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)
update_device(device d)
Definition: rs_device.hpp:254
void set_extrinsics(rs2_stream from_stream, int from_id, rs2_stream to_stream, int to_id, rs2_extrinsics &extrinsics)
Definition: rs_device.hpp:527
void write_calibration()
Definition: rs_device.hpp:566
static void handle(rs2_error *e)
Definition: rs_types.hpp:128
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:41
void rs2_reset_to_factory_calibration(const rs2_device *device, rs2_error **e)
void rs2_set_motion_device_intrinsics(const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
Definition: rs_types.h:157
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition: rs_sensor.h:88
const rs2_raw_data_buffer * rs2_create_flash_backup_cpp(const rs2_device *device, rs2_update_progress_callback *callback, rs2_error **error)
bool contains(const device &dev) const
Definition: rs_device.hpp:336
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)
Definition: rs_types.hpp:67
Definition: rs_types.h:136
bool supports(rs2_camera_info info) const
Definition: rs_device.hpp:66
update_progress_callback(T callback)
Definition: rs_device.hpp:156
device & operator=(const std::shared_ptr< rs2_device > dev)
Definition: rs_device.hpp:98
device_list_iterator & operator++()
Definition: rs_device.hpp:398
device_list()
Definition: rs_device.hpp:326
updatable()
Definition: rs_device.hpp:169
Definition: rs_device.hpp:320
updatable(device d)
Definition: rs_device.hpp:170
void rs2_enter_update_state(const rs2_device *device, rs2_error **error)
Definition: rs_context.hpp:224
bool operator!=(const device_list_iterator &other) const
Definition: rs_device.hpp:390
Video stream intrinsics.
Definition: rs_types.h:58
Definition: rs_types.h:173
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)
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:71
void rs2_delete_sensor_list(rs2_sensor_list *info_list)
void enable_loopback(const std::string &from_file)
Definition: rs_device.hpp:455
void on_update_progress(const float progress) override
Definition: rs_device.hpp:158
struct rs2_device_list rs2_device_list
Definition: rs_types.h:217
debug_protocol(device d)
Definition: rs_device.hpp:288
void disable_loopback()
Definition: rs_device.hpp:465
tm2(device d)
Definition: rs_device.hpp:440
device_list_iterator end() const
Definition: rs_device.hpp:413
Definition: rs_device.hpp:437
struct rs2_error rs2_error
Definition: rs_types.h:210
Definition: rs_device.hpp:375
void rs2_loopback_disable(const rs2_device *device, rs2_error **error)
Definition: rs_device.hpp:18
int rs2_get_device_count(const rs2_device_list *info_list, rs2_error **error)
Definition: rs_device.hpp:250
const rs2_device_list * get_list() const
Definition: rs_device.hpp:417
T first() const
Definition: rs_device.hpp:52
virtual ~device()
Definition: rs_device.hpp:134
device(std::shared_ptr< rs2_device > dev)
Definition: rs_device.hpp:139
const char * rs2_get_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)