// License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2017 Intel Corporation. All Rights Reserved. #ifndef LIBREALSENSE_RS2_DEVICE_HPP #define LIBREALSENSE_RS2_DEVICE_HPP #include "rs_types.hpp" #include "rs_sensor.hpp" #include namespace rs2 { class context; class device_list; class pipeline_profile; class device_hub; class device { public: /** * returns the list of adjacent devices, sharing the same physical parent composite device * \return the list of adjacent devices */ std::vector query_sensors() const { rs2_error* e = nullptr; std::shared_ptr list( rs2_query_sensors(_dev.get(), &e), rs2_delete_sensor_list); error::handle(e); auto size = rs2_get_sensors_count(list.get(), &e); error::handle(e); std::vector results; for (auto i = 0; i < size; i++) { std::shared_ptr dev( rs2_create_sensor(list.get(), i, &e), rs2_delete_sensor); error::handle(e); sensor rs2_dev(dev); results.push_back(rs2_dev); } return results; } template T first() const { for (auto&& s : query_sensors()) { if (auto t = s.as()) return t; } throw rs2::error("Could not find requested sensor type!"); } /** * check if specific camera info is supported * \param[in] info the parameter to check for support * \return true if the parameter both exist and well-defined for the specific device */ bool supports(rs2_camera_info info) const { rs2_error* e = nullptr; auto is_supported = rs2_supports_device_info(_dev.get(), info, &e); error::handle(e); return is_supported > 0; } /** * retrieve camera specific information, like versions of various internal components * \param[in] info camera info type to retrieve * \return the requested camera info string, in a format specific to the device model */ const char* get_info(rs2_camera_info info) const { rs2_error* e = nullptr; auto result = rs2_get_device_info(_dev.get(), info, &e); error::handle(e); return result; } /** * send hardware reset request to the device */ void hardware_reset() { rs2_error* e = nullptr; rs2_hardware_reset(_dev.get(), &e); error::handle(e); } device& operator=(const std::shared_ptr dev) { _dev.reset(); _dev = dev; return *this; } device& operator=(const device& dev) { *this = nullptr; _dev = dev._dev; return *this; } device() : _dev(nullptr) {} operator bool() const { return _dev != nullptr; } const std::shared_ptr& get() const { return _dev; } template bool is() const { T extension(*this); return extension; } template T as() const { T extension(*this); return extension; } virtual ~device() { } explicit operator std::shared_ptr() { return _dev; }; explicit device(std::shared_ptr dev) : _dev(dev) {} protected: friend class rs2::context; friend class rs2::device_list; friend class rs2::pipeline_profile; friend class rs2::device_hub; std::shared_ptr _dev; }; template class update_progress_callback : public rs2_update_progress_callback { T _callback; public: explicit update_progress_callback(T callback) : _callback(callback) {} void on_update_progress(const float progress) override { _callback(progress); } void release() override { delete this; } }; class updatable : public device { public: updatable() : device() {} updatable(device d) : device(d.get()) { rs2_error* e = nullptr; if (rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_UPDATABLE, &e) == 0 && !e) { _dev.reset(); } error::handle(e); } // Move the device to update state, this will cause the updatable device to disconnect and reconnect as an update device. void enter_update_state() const { rs2_error* e = nullptr; rs2_enter_update_state(_dev.get(), &e); error::handle(e); } // Create backup of camera flash memory. Such backup does not constitute valid firmware image, and cannot be // loaded back to the device, but it does contain all calibration and device information." std::vector create_flash_backup() const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_create_flash_backup_cpp(_dev.get(), nullptr, &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } template std::vector create_flash_backup(T callback) const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_create_flash_backup_cpp(_dev.get(), new update_progress_callback(std::move(callback)), &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } // check firmware compatibility with SKU bool check_firmware_compatibility(const std::vector& image) const { rs2_error* e = nullptr; auto res = !!rs2_check_firmware_compatibility(_dev.get(), image.data(), (int)image.size(), &e); error::handle(e); return res; } // Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread. void update_unsigned(const std::vector& image, int update_mode = RS2_UNSIGNED_UPDATE_MODE_UPDATE) const { rs2_error* e = nullptr; rs2_update_firmware_unsigned_cpp(_dev.get(), image.data(), (int)image.size(), nullptr, update_mode, &e); error::handle(e); } // Update an updatable device to the provided unsigned firmware. This call is executed on the caller's thread and it supports progress notifications via the callback. template void update_unsigned(const std::vector& image, T callback, int update_mode = RS2_UNSIGNED_UPDATE_MODE_UPDATE) const { rs2_error* e = nullptr; rs2_update_firmware_unsigned_cpp(_dev.get(), image.data(), int(image.size()), new update_progress_callback(std::move(callback)), update_mode, &e); error::handle(e); } }; class update_device : public device { public: update_device() : device() {} update_device(device d) : device(d.get()) { rs2_error* e = nullptr; if (rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_UPDATE_DEVICE, &e) == 0 && !e) { _dev.reset(); } error::handle(e); } // Update an updatable device to the provided firmware. // This call is executed on the caller's thread. void update(const std::vector& fw_image) const { rs2_error* e = nullptr; rs2_update_firmware_cpp(_dev.get(), fw_image.data(), (int)fw_image.size(), NULL, &e); error::handle(e); } // Update an updatable device to the provided firmware. // This call is executed on the caller's thread and it supports progress notifications via the callback. template void update(const std::vector& fw_image, T callback) const { rs2_error* e = nullptr; rs2_update_firmware_cpp(_dev.get(), fw_image.data(), int(fw_image.size()), new update_progress_callback(std::move(callback)), &e); error::handle(e); } }; typedef std::vector calibration_table; class calibrated_device : public device { public: calibrated_device(device d) : device(d.get()) {} /** * Write calibration that was set by set_calibration_table to device's EEPROM. */ void write_calibration() const { rs2_error* e = nullptr; rs2_write_calibration(_dev.get(), &e); error::handle(e); } /** * Reset device to factory calibration */ void reset_to_factory_calibration() { rs2_error* e = nullptr; rs2_reset_to_factory_calibration(_dev.get(), &e); error::handle(e); } }; class auto_calibrated_device : public calibrated_device { public: auto_calibrated_device(device d) : calibrated_device(d) { rs2_error* e = nullptr; if (rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_AUTO_CALIBRATED_DEVICE, &e) == 0 && !e) { _dev.reset(); } error::handle(e); } /** * On-chip calibration intended to reduce the Depth noise. Applies to D400 Depth cameras * \param[in] json_content Json string to configure regular speed on chip calibration parameters: { "calib type" : 0, "speed": 3, "scan parameter": 0, "adjust both sides": 0, "white wall mode": 0 } calib_type - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order speed - for regular calibration. value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.25) - Good [0.25, 0.75) - Can be Improved [0.75, ) - Requires Calibration The absolute value of focal length calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.15) - Good [0.15, 0.75) - Can be Improved [0.75, ) - Requires Calibration The two health numbers are encoded in one integer as follows for calib_type 2: Regular health number times 1000 are bits 0 to 11 Regular health number is negative if bit 24 is 1 Focal length health number times 1000 are bits 12 to 23 Focal length health number is negative if bit 25 is 1 * \param[in] callback Optional callback to get progress notifications * \param[in] timeout_ms Timeout in ms * \return New calibration table */ template calibration_table run_on_chip_calibration(std::string json_content, float* health, T callback, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; auto buf = rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), int(json_content.size()), health, new update_progress_callback(std::move(callback)), timeout_ms, &e); error::handle(e); std::shared_ptr list(buf, rs2_delete_raw_data); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * On-chip calibration intended to reduce the Depth noise. Applies to D400 Depth cameras * \param[in] json_content Json string to configure regular speed on chip calibration parameters: { "focal length" : 0, "speed": 3, "scan parameter": 0, "adjust both sides": 0, "white wall mode": 0 } focal_length - calibraton type: 0 = regular, 1 = focal length, 2 = both regular and focal length in order speed - for regular calibration. value can be one of: Very fast = 0, Fast = 1, Medium = 2, Slow = 3, White wall = 4, default is Slow for type 0 and Fast for type 2 scan_parameter - for regular calibration. value can be one of: Py scan (default) = 0, Rx scan = 1 adjust_both_sides - for focal length calibration. value can be one of: 0 = adjust right only, 1 = adjust both sides white_wall_mode - white wall mode: 0 for normal mode and 1 for white wall mode if json is nullptr it will be ignored and calibration will use the default parameters * \param[out] health The absolute value of regular calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.25) - Good [0.25, 0.75) - Can be Improved [0.75, ) - Requires Calibration The absolute value of focal length calibration Health-Check captures how far camera calibration is from the optimal one [0, 0.15) - Good [0.15, 0.75) - Can be Improved [0.75, ) - Requires Calibration The two health numbers are encoded in one integer as follows for calib_type 2: Regular health number times 1000 are bits 0 to 11 Regular health number is negative if bit 24 is 1 Focal length health number times 1000 are bits 12 to 23 Focal length health number is negative if bit 25 is 1 * \param[in] timeout_ms Timeout in ms * \return New calibration table */ calibration_table run_on_chip_calibration(std::string json_content, float* health, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_on_chip_calibration_cpp(_dev.get(), json_content.data(), static_cast< int >( json_content.size() ), health, nullptr, timeout_ms, &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Tare calibration adjusts the camera absolute distance to flat target. Applies to D400 Depth cameras * User needs to enter the known ground truth. * \param[in] ground_truth_mm Ground truth in mm must be between 60 and 10000 * \param[in] json_content Json string to configure tare calibration parameters: { "average step count": 20, "step count": 20, "accuracy": 2, "scan parameter": 0, "data sampling": 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters * \param[in] callback Optional callback to get progress notifications * \param[in] timeout_ms Timeout in ms * \return New calibration table */ template calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, T callback, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), int(json_content.size()), new update_progress_callback(std::move(callback)), timeout_ms, &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Tare calibration adjusts the camera absolute distance to flat target. Applies to D400 Depth cameras * User needs to enter the known ground truth. * \param[in] ground_truth_mm Ground truth in mm must be between 60 and 10000 * \param[in] json_content Json string to configure tare calibration parameters: { "average step count": 20, "step count": 20, "accuracy": 2, "scan parameter": 0, "data sampling": 0 } average step count - number of frames to average, must be between 1 - 30, default = 20 step count - max iteration steps, must be between 5 - 30, default = 10 accuracy - Subpixel accuracy level, value can be one of: Very high = 0 (0.025%), High = 1 (0.05%), Medium = 2 (0.1%), Low = 3 (0.2%), Default = Very high (0.025%), default is Medium scan_parameter - value can be one of: Py scan (default) = 0, Rx scan = 1 data_sampling - value can be one of:polling data sampling = 0, interrupt data sampling = 1 if json is nullptr it will be ignored and calibration will use the default parameters * \param[in] content_size Json string size if its 0 the json will be ignored and calibration will use the default parameters * \param[in] timeout_ms Timeout in ms * \return New calibration table */ calibration_table run_tare_calibration(float ground_truth_mm, std::string json_content, int timeout_ms = 5000) const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_tare_calibration_cpp(_dev.get(), ground_truth_mm, json_content.data(), static_cast< int >( json_content.size() ), nullptr, timeout_ms, &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Read current calibration table from flash. * \return Calibration table */ calibration_table get_calibration_table() { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_get_calibration_table(_dev.get(), &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Set current table to dynamic area. * \param[in] Calibration table */ void set_calibration_table(const calibration_table& calibration) { rs2_error* e = nullptr; rs2_set_calibration_table(_dev.get(), calibration.data(), static_cast< int >( calibration.size() ), &e); error::handle(e); } /** * Run target-based focal length calibration for D400 Stereo Cameras * \param[in] left_queue: container for left IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI. * \param[in] right_queue: container for right IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] target_w: the rectangle width in mm on the target * \param[in] target_h: the rectangle height in mm on the target * \param[in] adjust_both_sides: 1 for adjusting both left and right camera calibration tables and 0 for adjusting right camera calibraion table only * \param[out] ratio: the corrected ratio from the calibration * \param[out] angle: the target's tilt angle * \return New calibration table */ std::vector 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 { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( 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), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Run target-based focal length calibration for D400 Stereo Cameras * \param[in] left_queue: container for left IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI. * \param[in] right_queue: container for right IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] target_w: the rectangle width in mm on the target * \param[in] target_h: the rectangle height in mm on the target * \param[in] adjust_both_sides: 1 for adjusting both left and right camera calibration tables and 0 for adjusting right camera calibraion table only * \param[out] ratio: the corrected ratio from the calibration * \param[out] angle: the target's tilt angle * \return New calibration table */ template std::vector 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 { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_focal_length_calibration_cpp(_dev.get(), left.get().get(), right.get().get(), target_w, target_h, adjust_both_sides, ratio, angle, new update_progress_callback(std::move(callback)), &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Depth-RGB UV-Map calibration. Applicable for D400 cameras * \param[in] left: container for left IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI. * \param[in] color: container for RGB frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] depth: container for Depth frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] py_px_only: 1 for calibrating color camera py and px only, 1 for calibrating color camera py, px, fy, and fx. * \param[out] health: The four health check numbers int the oorder of px, py, fx, fy for the calibration * \param[in] health_size: number of health check numbers, which is 4 by default * \param[in] callback: Optional callback for update progress notifications, the progress value is normailzed to 1 * \return New calibration table */ std::vector 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 { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_uv_map_calibration_cpp(_dev.get(), left.get().get(), color.get().get(), depth.get().get(), py_px_only, health, health_size, nullptr, &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Depth-RGB UV-Map calibration. Applicable for D400 cameras * \param[in] left: container for left IR frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI. * \param[in] color: container for RGB frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] depth: container for Depth frames with resoluton of 1280x720 and the target in the center of 320x240 pixels ROI * \param[in] py_px_only: 1 for calibrating color camera py and px only, 1 for calibrating color camera py, px, fy, and fx. * \param[out] health: The four health check numbers in order of px, py, fx, fy for the calibration * \param[in] health_size: number of health check numbers, which is 4 by default * \param[in] callback: Optional callback for update progress notifications, the progress value is normailzed to 1 * \param[in] client_data: Optional client data for the callback * \return New calibration table */ template std::vector 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 { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_run_uv_map_calibration_cpp(_dev.get(), left.get().get(), color.get().get(), depth.get().get(), py_px_only, health, health_size, new update_progress_callback(std::move(callback)), &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } /** * Calculate Z for calibration target - distance to the target's plane * \param[in] queue1-3: Frame queues of raw images used to calculate and extract the distance to a predefined target pattern. * For D400 the indexes 1-3 correspond to Left IR, Right IR and Depth with only the Left IR being used * \param[in] target_width: expected target's horizontal dimension in mm * \param[in] target_height: expected target's vertical dimension in mm * \return Calculated distance (Z) to target in millimeter, return negative number on failure */ float calculate_target_z(rs2::frame_queue queue1, rs2::frame_queue queue2, rs2::frame_queue queue3, float target_width, float target_height) const { rs2_error* e = nullptr; float result = rs2_calculate_target_z_cpp(_dev.get(), queue1.get().get(), queue2.get().get(), queue3.get().get(), target_width, target_height, nullptr, &e); error::handle(e); return result; } /** * Calculate Z for calibration target - distance to the target's plane * \param[in] queue1-3: Frame queues of raw images used to calculate and extract the distance to a predefined target pattern. * For D400 the indexes 1-3 correspond to Left IR, Right IR and Depth with only the Left IR being used * \param[in] target_width: expected target's horizontal dimension in mm * \param[in] target_height: expected target's vertical dimension in mm * \param[in] callback: Optional callback for reporting progress status * \return Calculated distance (Z) to target in millimeter, return negative number on failure */ template 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 { rs2_error* e = nullptr; float result = rs2_calculate_target_z_cpp(_dev.get(), queue1.get().get(), queue2.get().get(), queue3.get().get(), target_width, target_height, new update_progress_callback(std::move(callback)), &e); error::handle(e); return result; } }; /* Wrapper around any callback function that is given to calibration_change_callback. */ template< class callback > class calibration_change_callback : public rs2_calibration_change_callback { //using callback = std::function< void( rs2_calibration_status ) >; callback _callback; public: calibration_change_callback( callback cb ) : _callback( cb ) {} void on_calibration_change( rs2_calibration_status status ) noexcept override { _callback( status ); } void release() override { delete this; } }; class calibration_change_device : public device { public: calibration_change_device() = default; calibration_change_device(device d) : device(d.get()) { rs2_error* e = nullptr; if( ! rs2_is_device_extendable_to( _dev.get(), RS2_EXTENSION_CALIBRATION_CHANGE_DEVICE, &e ) && ! e ) { _dev.reset(); } error::handle(e); } /* Your callback should look like this, for example: sensor.register_calibration_change_callback( []( rs2_calibration_status ) noexcept { ... }) */ template< typename T > void register_calibration_change_callback(T callback) { // We wrap the callback with an interface and pass it to librealsense, who will // now manage its lifetime. Rather than deleting it, though, it will call its // release() function, where (back in our context) it can be safely deleted: rs2_error* e = nullptr; rs2_register_calibration_change_callback_cpp( _dev.get(), new calibration_change_callback< T >(std::move(callback)), &e); error::handle(e); } }; class device_calibration : public calibration_change_device { public: device_calibration() = default; device_calibration( device d ) { rs2_error* e = nullptr; if( rs2_is_device_extendable_to( d.get().get(), RS2_EXTENSION_DEVICE_CALIBRATION, &e )) { _dev = d.get(); } error::handle( e ); } /** * This will trigger the given calibration, if available */ void trigger_device_calibration( rs2_calibration_type type ) { rs2_error* e = nullptr; rs2_trigger_device_calibration( _dev.get(), type, &e ); error::handle( e ); } }; class debug_protocol : public device { public: debug_protocol(device d) : device(d.get()) { rs2_error* e = nullptr; if(rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_DEBUG, &e) == 0 && !e) { _dev.reset(); } error::handle(e); } std::vector send_and_receive_raw_data(const std::vector& input) const { std::vector results; rs2_error* e = nullptr; std::shared_ptr list( rs2_send_and_receive_raw_data(_dev.get(), (void*)input.data(), (uint32_t)input.size(), &e), rs2_delete_raw_data); error::handle(e); auto size = rs2_get_raw_data_size(list.get(), &e); error::handle(e); auto start = rs2_get_raw_data(list.get(), &e); results.insert(results.begin(), start, start + size); return results; } }; class device_list { public: explicit device_list(std::shared_ptr list) : _list(move(list)) {} device_list() : _list(nullptr) {} operator std::vector() const { std::vector res; for (auto&& dev : *this) res.push_back(dev); return res; } bool contains(const device& dev) const { rs2_error* e = nullptr; auto res = !!(rs2_device_list_contains(_list.get(), dev.get().get(), &e)); error::handle(e); return res; } device_list& operator=(std::shared_ptr list) { _list = move(list); return *this; } device operator[](uint32_t index) const { rs2_error* e = nullptr; std::shared_ptr dev( rs2_create_device(_list.get(), index, &e), rs2_delete_device); error::handle(e); return device(dev); } uint32_t size() const { rs2_error* e = nullptr; auto size = rs2_get_device_count(_list.get(), &e); error::handle(e); return size; } device front() const { return std::move((*this)[0]); } device back() const { return std::move((*this)[size() - 1]); } class device_list_iterator { device_list_iterator( const device_list& device_list, uint32_t uint32_t) : _list(device_list), _index(uint32_t) { } public: device operator*() const { return _list[_index]; } bool operator!=(const device_list_iterator& other) const { return other._index != _index || &other._list != &_list; } bool operator==(const device_list_iterator& other) const { return !(*this != other); } device_list_iterator& operator++() { _index++; return *this; } private: friend device_list; const device_list& _list; uint32_t _index; }; device_list_iterator begin() const { return device_list_iterator(*this, 0); } device_list_iterator end() const { return device_list_iterator(*this, size()); } const rs2_device_list* get_list() const { return _list.get(); } operator std::shared_ptr() { return _list; }; private: std::shared_ptr _list; }; /** * The tm2 class is an interface for T2XX devices, such as T265. * * For T265, it provides RS2_STREAM_FISHEYE (2), RS2_STREAM_GYRO, RS2_STREAM_ACCEL, and RS2_STREAM_POSE streams, * and contains the following sensors: * * - pose_sensor: map and relocalization functions. * - wheel_odometer: input for odometry data. */ class tm2 : public calibrated_device // TODO: add to wrappers [Python done] { public: tm2(device d) : calibrated_device(d) { rs2_error* e = nullptr; if (rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_TM2, &e) == 0 && !e) { _dev.reset(); } error::handle(e); } /** * Enter the given device into loopback operation mode that uses the given file as input for raw data * \param[in] from_file Path to bag file with raw data for loopback */ void enable_loopback(const std::string& from_file) { rs2_error* e = nullptr; rs2_loopback_enable(_dev.get(), from_file.c_str(), &e); error::handle(e); } /** * Restores the given device into normal operation mode */ void disable_loopback() { rs2_error* e = nullptr; rs2_loopback_disable(_dev.get(), &e); error::handle(e); } /** * Checks if the device is in loopback mode or not * \return true if the device is in loopback operation mode */ bool is_loopback_enabled() const { rs2_error* e = nullptr; int is_enabled = rs2_loopback_is_enabled(_dev.get(), &e); error::handle(e); return is_enabled != 0; } /** * Connects to a given tm2 controller * \param[in] mac_addr The MAC address of the desired controller */ void connect_controller(const std::array& mac_addr) { rs2_error* e = nullptr; rs2_connect_tm2_controller(_dev.get(), mac_addr.data(), &e); error::handle(e); } /** * Disconnects a given tm2 controller * \param[in] id The ID of the desired controller */ void disconnect_controller(int id) { rs2_error* e = nullptr; rs2_disconnect_tm2_controller(_dev.get(), id, &e); error::handle(e); } /** * Set tm2 camera intrinsics * \param[in] fisheye_senor_id The ID of the fisheye sensor * \param[in] intrinsics value to be written to the device */ void set_intrinsics(int fisheye_sensor_id, const rs2_intrinsics& intrinsics) { rs2_error* e = nullptr; auto fisheye_sensor = get_sensor_profile(RS2_STREAM_FISHEYE, fisheye_sensor_id); rs2_set_intrinsics(fisheye_sensor.first.get().get(), fisheye_sensor.second.get(), &intrinsics, &e); error::handle(e); } /** * Set tm2 camera extrinsics * \param[in] from_stream only support RS2_STREAM_FISHEYE * \param[in] from_id only support left fisheye = 1 * \param[in] to_stream only support RS2_STREAM_FISHEYE * \param[in] to_id only support right fisheye = 2 * \param[in] extrinsics extrinsics value to be written to the device */ void set_extrinsics(rs2_stream from_stream, int from_id, rs2_stream to_stream, int to_id, rs2_extrinsics& extrinsics) { rs2_error* e = nullptr; auto from_sensor = get_sensor_profile(from_stream, from_id); auto to_sensor = get_sensor_profile(to_stream, to_id); rs2_set_extrinsics(from_sensor.first.get().get(), from_sensor.second.get(), to_sensor.first.get().get(), to_sensor.second.get(), &extrinsics, &e); error::handle(e); } /** * Set tm2 motion device intrinsics * \param[in] stream_type stream type of the motion device * \param[in] motion_intriniscs intrinsics value to be written to the device */ void set_motion_device_intrinsics(rs2_stream stream_type, const rs2_motion_device_intrinsic& motion_intriniscs) { rs2_error* e = nullptr; auto motion_sensor = get_sensor_profile(stream_type, 0); rs2_set_motion_device_intrinsics(motion_sensor.first.get().get(), motion_sensor.second.get(), &motion_intriniscs, &e); error::handle(e); } private: std::pair get_sensor_profile(rs2_stream stream_type, int stream_index) { for (auto s : query_sensors()) { for (auto p : s.get_stream_profiles()) { if (p.stream_type() == stream_type && p.stream_index() == stream_index) return std::pair(s, p); } } return std::pair(); } }; } #endif // LIBREALSENSE_RS2_DEVICE_HPP