5 #ifndef LIBREALSENSE_DS_PRIVATE_H
6 #define LIBREALSENSE_DS_PRIVATE_H
17 const uvc::extension_unit lr_xu = {0, 2, 1, {0x18682d34, 0xdd2c, 0x4073, {0xad, 0x23, 0x72, 0x14, 0x73, 0x9a, 0x07, 0x4c}}};
59 case DS_LENS_DSL103:
return out <<
"Sunex DSL103: Internal standard";
65 case DS_LENS_AZW58:
return out <<
"58 degree lenses on the AZureWave boards (DS-526)";
67 case DS_LENS_DS6100:
return out <<
"Newmax 67.8 x 41.4 degs in 1080p";
68 case DS_LENS_DS6177:
return out <<
"Newmax 71.7 x 44.2 degs in 1080p";
69 case DS_LENS_DS6237:
return out <<
"Newmax 58.9 x 45.9 degs in VGA";
71 default:
return out <<
"Other lens type (" << (int)type <<
"), application needs update";
95 default:
return out <<
"Other lens coating type (" << (int)type <<
"), application needs update";
113 case DS_EMITTER_LD2:
return out <<
"Laser Driver 2, NO PWM Controls";
117 return out <<
"Other emitter type (" << (int)type <<
"), application needs update";
132 return out <<
"Unercognized OEM type (" << (int)type <<
"), application needs update";
147 return out <<
"Non-PRQ type (" << (int)type <<
")";
153 std::string date(
"Undefined value");
156 if (std::isnormal(val) && std::isfinite(val) && (!std::isnan(val)) )
158 auto time = time_t(val);
159 std::vector<char> outstr;
161 strftime(outstr.data(),outstr.size(),
"%Y-%m-%d %H:%M:%S",std::gmtime(&time));
162 date =
to_string()<< outstr.data() <<
" UTC";
294 #pragma pack(push, 1)
327 std::chrono::high_resolution_clock::duration _duration;
328 std::chrono::high_resolution_clock::time_point _start_time;
331 time_pad(std::chrono::high_resolution_clock::duration duration) : _duration(duration) {}
334 _start_time = std::chrono::high_resolution_clock::now();
339 auto elapsed = std::chrono::high_resolution_clock::now() - _start_time;
340 if (elapsed < _duration)
342 auto left = _duration - elapsed;
343 std::this_thread::sleep_for(left);
375 for (
auto& elem : ae_vec)
380 ret_val.exposure_top_edge = std::min((uint16_t)elem.max, ret_val.exposure_top_edge);
384 ret_val.exposure_bottom_edge = std::min((uint16_t)elem.max, ret_val.exposure_bottom_edge);
388 ret_val.exposure_left_edge = std::min((uint16_t)elem.max, ret_val.exposure_left_edge);
392 ret_val.exposure_right_edge = std::min((uint16_t)elem.max, ret_val.exposure_right_edge);
413 throw std::logic_error(
"set_lr_auto_exposure_params failed.");
423 #pragma pack(push, 1)
448 const uvc::extension_unit fisheye_xu = { 3, 3, 2,{ 0xf6c3c3d1, 0x5cde, 0x4477,{ 0xad, 0xf0, 0x41, 0x33, 0xf5, 0x8d, 0xa6, 0xf4 } } };
Definition: ds-private.h:326
void stop()
Definition: ds-private.h:337
time_pad(std::chrono::high_resolution_clock::duration duration)
Definition: ds-private.h:331
void start()
Definition: ds-private.h:332
void set_lr_exposure_discovery(uvc::device &device, discovery disc)
Definition: ds-private.h:417
void set_temperature(uvc::device &device, temperature temp)
Definition: ds-private.h:409
ds_emitter_type
Definition: ds-private.h:100
@ DS_EMITTER_LD2
Laser Driver 2, NO PWM Controls.
Definition: ds-private.h:102
@ DS_EMITTER_LD4_1
Laser Driver 4.1.
Definition: ds-private.h:104
@ DS_EMITTER_LD3
Laser Driver 3.
Definition: ds-private.h:103
@ DS_EMITTER_NONE
Definition: ds-private.h:101
@ DS_EMITTER_COUNT
Just count.
Definition: ds-private.h:105
void set_lr_auto_exposure_params(uvc::device &device, ae_params params)
Definition: ds-private.h:411
uint32_t get_depth_units(const uvc::device &device)
Definition: ds-private.h:365
ds_oem_id
Definition: ds-private.h:122
@ DS_OEM_NONE
Definition: ds-private.h:123
void get_stream_status(const uvc::device &device, uint32_t &status)
void force_firmware_reset(uvc::device &device)
uint32_t get_disparity_shift(const uvc::device &device)
Definition: ds-private.h:402
ds_lens_type
Definition: ds-private.h:34
@ DS_LENS_AZW58
58 degree lenses on the AZureWave boards (DS-526)
Definition: ds-private.h:42
@ DS_LENS_DS6237
Newmax 58.9 x 45.9 degs in VGA.
Definition: ds-private.h:46
@ DS_LENS_DS6100
Newmax 67.8 x 41.4 degs in 1080p.
Definition: ds-private.h:44
@ DS_LENS_COUNT
AEOT lens.
Definition: ds-private.h:50
@ DS_LENS_AEOT_1LS0901L
Definition: ds-private.h:49
@ DS_LENS_DSL821C
Sunex DSL 821C.
Definition: ds-private.h:37
@ DS_LENS_DSL924A
Sunex DSL 924a.
Definition: ds-private.h:41
@ DS_LENS_DSL202A
Sunex DSL 202A.
Definition: ds-private.h:38
@ DS_LENS_DSL203
Sunex DSL 203.
Definition: ds-private.h:39
@ DS_LENS_DSL103
Sunex DSL103: Internal standard.
Definition: ds-private.h:36
@ DS_LENS_DS917
RGB lens.
Definition: ds-private.h:48
@ DS_LENS_UNKNOWN
Lens either unknown or not needing special treatment.
Definition: ds-private.h:35
@ DS_LENS_DS6233
IR lens.
Definition: ds-private.h:47
@ DS_LENS_PENTAX2514
Pentax cmount lens 25mm.
Definition: ds-private.h:40
@ DS_LENS_DS6177
Newmax 71.7 x 44.2 degs in 1080p.
Definition: ds-private.h:45
@ DS_LENS_Largan9386
50 HFOV 38 VFOV (60DFOV): CTM2/6 Module L&R
Definition: ds-private.h:43
void set_depth_units(uvc::device &device, uint32_t units)
Definition: ds-private.h:406
uint8_t get_last_error(const uvc::device &device)
Definition: ds-private.h:370
bool get_emitter_state(const uvc::device &device, bool is_streaming, bool is_depth_enabled)
void set_disparity_shift(uvc::device &device, uint32_t shift)
Definition: ds-private.h:416
rate_value get_lr_exposure(const uvc::device &device)
Definition: ds-private.h:371
disp_mode get_disparity_mode(const uvc::device &device)
Definition: ds-private.h:367
const uvc::extension_unit lr_xu
Definition: ds-private.h:17
void set_lr_exposure_mode(uvc::device &device, uint8_t mode)
Definition: ds-private.h:415
discovery get_lr_gain_discovery(const uvc::device &device)
Definition: ds-private.h:404
void set_emitter_state(uvc::device &device, bool state)
void set_lr_exposure(uvc::device &device, rate_value exposure)
Definition: ds-private.h:419
std::ostream & operator<<(std::ostream &out, ds_lens_type type)
Definition: ds-private.h:54
void set_lr_gain(uvc::device &device, rate_value gain)
Definition: ds-private.h:420
const int STATUS_BIT_LR_STREAMING
Definition: ds-private.h:20
ds_prq_type
Definition: ds-private.h:137
@ DS_PRQ_READY
Definition: ds-private.h:138
const int STATUS_BIT_Z_STREAMING
Definition: ds-private.h:19
void set_lr_gain_discovery(uvc::device &device, discovery disc)
Definition: ds-private.h:418
void set_disparity_mode(uvc::device &device, disp_mode mode)
Definition: ds-private.h:408
std::string time_to_string(double val)
Definition: ds-private.h:151
ds_lens_coating_type
Definition: ds-private.h:76
@ DS_LENS_COATING_UNKNOWN
Definition: ds-private.h:77
@ DS_LENS_COATING_ALL_PASS
No IR coating.
Definition: ds-private.h:79
@ DS_LENS_COATING_COUNT
Definition: ds-private.h:82
@ DS_LENS_COATING_IR_PASS
Visible-light block / IR pass: center 860, width 25nm.
Definition: ds-private.h:80
@ DS_LENS_COATING_IR_PASS_859_43
Visible-light block / IR pass center 859, width 43nm.
Definition: ds-private.h:81
@ DS_LENS_COATING_IR_CUT
IR coating DS4: Innowave 670 cut off.
Definition: ds-private.h:78
void get_register_value(uvc::device &device, uint32_t reg, uint32_t &value)
control
Definition: ds-private.h:260
@ lr_autoexposure_parameters
void xu_read(const uvc::device &device, uvc::extension_unit xu, control xu_ctrl, void *buffer, uint32_t length)
void set_register_value(uvc::device &device, uint32_t reg, uint32_t value)
const int STATUS_BIT_WEB_STREAMING
Definition: ds-private.h:21
void xu_write(uvc::device &device, uvc::extension_unit xu, control xu_ctrl, void *buffer, uint32_t length)
void set_depth_params(uvc::device &device, dc_params params)
Definition: ds-private.h:410
std::string read_isp_firmware_version(uvc::device &device)
discovery get_lr_exposure_discovery(const uvc::device &device)
Definition: ds-private.h:403
ds_info read_camera_info(uvc::device &device)
uint8_t get_lr_exposure_mode(const uvc::device &device)
Definition: ds-private.h:401
ae_params get_lr_auto_exposure_params(const uvc::device &device, std::vector< supported_option > ae_vec)
Definition: ds-private.h:372
void set_min_max_depth(uvc::device &device, range min_max)
Definition: ds-private.h:407
rate_value get_lr_gain(const uvc::device &device)
Definition: ds-private.h:400
std::string read_firmware_version(uvc::device &device)
void set_stream_intent(uvc::device &device, uint8_t &intent)
temperature get_temperature(const uvc::device &device)
Definition: ds-private.h:368
range get_min_max_depth(const uvc::device &device)
Definition: ds-private.h:366
dc_params get_depth_params(const uvc::device &device)
Definition: ds-private.h:369
void claim_motion_module_interface(uvc::device &device)
const uvc::extension_unit fisheye_xu
Definition: ds-private.h:448
uint8_t get_fisheye_strobe(const uvc::device &device)
uint16_t get_fisheye_exposure(const uvc::device &device)
uint8_t get_fisheye_external_trigger(const uvc::device &device)
void set_fisheye_exposure(uvc::device &device, uint16_t exposure)
void set_fisheye_strobe(uvc::device &device, uint8_t strobe)
void set_fisheye_external_trigger(uvc::device &device, uint8_t ext_trig)
@ RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE
Definition: rs.h:175
@ RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE
Definition: rs.h:172
@ RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE
Definition: rs.h:173
@ RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE
Definition: rs.h:174
Video stream intrinsics.
Definition: rs.h:301
Definition: ds-private.h:296
float kp_dark_threshold
Definition: ds-private.h:301
float mean_intensity_set_point
Definition: ds-private.h:297
float kp_exposure
Definition: ds-private.h:300
uint16_t exposure_left_edge
Definition: ds-private.h:304
float bright_ratio_set_point
Definition: ds-private.h:298
uint16_t exposure_right_edge
Definition: ds-private.h:305
uint16_t exposure_bottom_edge
Definition: ds-private.h:303
uint16_t exposure_top_edge
Definition: ds-private.h:302
float kp_gain
Definition: ds-private.h:299
Definition: ds-private.h:309
uint32_t robbins_munroe_plus_inc
Definition: ds-private.h:311
@ MAX_PRESETS
Definition: ds-private.h:321
uint32_t lr_thresh
Definition: ds-private.h:319
uint32_t texture_count_thresh
Definition: ds-private.h:315
uint32_t texture_diff_thresh
Definition: ds-private.h:316
uint32_t median_thresh
Definition: ds-private.h:312
uint32_t score_max_thresh
Definition: ds-private.h:314
uint32_t neighbor_thresh
Definition: ds-private.h:318
static const dc_params presets[MAX_PRESETS]
Definition: ds-private.h:322
uint32_t robbins_munroe_minus_inc
Definition: ds-private.h:310
uint32_t second_peak_thresh
Definition: ds-private.h:317
uint32_t score_min_thresh
Definition: ds-private.h:313
Definition: ds-private.h:425
uint32_t pad0
Definition: ds-private.h:436
uint32_t exposureLeftBrightCount
Definition: ds-private.h:431
uint32_t exposureLeftDarkCount
Definition: ds-private.h:430
uint32_t frameStatus
Definition: ds-private.h:428
uint32_t magicNumber
Definition: ds-private.h:426
uint32_t exposureRightBrightCount
Definition: ds-private.h:434
uint32_t exposureRightSum
Definition: ds-private.h:432
uint32_t VDFerrorStatus
Definition: ds-private.h:440
uint32_t exposureRightDarkCount
Definition: ds-private.h:433
uint32_t pad2
Definition: ds-private.h:438
uint32_t pad4
Definition: ds-private.h:441
uint32_t pad3
Definition: ds-private.h:439
uint32_t CAMmoduleStatus
Definition: ds-private.h:435
uint32_t pad1
Definition: ds-private.h:437
uint32_t frameCount
Definition: ds-private.h:427
uint32_t exposureLeftSum
Definition: ds-private.h:429
Definition: ds-private.h:352
uint32_t fps
Definition: ds-private.h:352
uint32_t default_value
Definition: ds-private.h:352
uint32_t min
Definition: ds-private.h:352
uint32_t max
Definition: ds-private.h:352
uint32_t resolution
Definition: ds-private.h:352
Definition: ds-private.h:349
uint32_t is_disparity_enabled
Definition: ds-private.h:349
double disparity_multiplier
Definition: ds-private.h:349
Definition: ds-private.h:24
float T[3]
Definition: ds-private.h:30
rs_intrinsics intrinsicsThird[2]
Definition: ds-private.h:28
rs_intrinsics modesThird[2][2]
Definition: ds-private.h:29
int version
Definition: ds-private.h:25
float B
Definition: ds-private.h:30
rs_intrinsics modesLR[3]
Definition: ds-private.h:27
float Rthird[9]
Definition: ds-private.h:30
uint32_t serial_number
Definition: ds-private.h:26
The struct is aligned with the data layout in device.
Definition: ds-private.h:170
uint32_t nominal_baseline
Definition: ds-private.h:232
double cx_qres
Definition: ds-private.h:200
uint8_t module_version
Definition: ds-private.h:180
uint32_t module_revision_number
Definition: ds-private.h:174
uint32_t calibration_type
Definition: ds-private.h:195
double ky_special
Definition: ds-private.h:216
uint32_t platform_camera_focus
Definition: ds-private.h:193
uint8_t camera_options_2
Definition: ds-private.h:221
double cz_special
Definition: ds-private.h:214
uint8_t model_data[64]
Definition: ds-private.h:175
ds_lens_coating_type lens_coating_type_third_imager
Definition: ds-private.h:186
uint8_t reserved3[37]
Definition: ds-private.h:239
double kx_big
Definition: ds-private.h:210
ds_prq_type prq_type
Definition: ds-private.h:188
double theta_z
Definition: ds-private.h:228
uint8_t platform_camera_support
Definition: ds-private.h:187
double rectification_data_padding[26]
Definition: ds-private.h:199
double calibration_date
Definition: ds-private.h:194
double ky_qres
Definition: ds-private.h:204
double cy_special
Definition: ds-private.h:213
double cz_qres
Definition: ds-private.h:202
uint32_t the_last_word
Definition: ds-private.h:238
uint32_t serial_number
Definition: ds-private.h:172
double ky_big
Definition: ds-private.h:211
double first_program_date
Definition: ds-private.h:177
double cx_big
Definition: ds-private.h:207
ds_lens_type lens_type
Definition: ds-private.h:233
double rectification_data_qres[54]
Definition: ds-private.h:198
double cy_big
Definition: ds-private.h:208
double kx_special
Definition: ds-private.h:215
double registration_translation[3]
Definition: ds-private.h:231
double kx_qres
Definition: ds-private.h:203
double theta_x
Definition: ds-private.h:226
double dz
Definition: ds-private.h:225
uint32_t camera_head_contents_version
Definition: ds-private.h:205
uint32_t imager_model_number
Definition: ds-private.h:173
double dx
Definition: ds-private.h:223
uint8_t camera_head_data_little_endian
Definition: ds-private.h:217
double calibration_y_error
Definition: ds-private.h:197
ds_lens_type lens_type_third_imager
Definition: ds-private.h:184
ds_oem_id oem_id
Definition: ds-private.h:185
uint8_t reserved1[2]
Definition: ds-private.h:189
uint8_t module_skew_version
Definition: ds-private.h:183
uint8_t camera_options_1
Definition: ds-private.h:220
uint32_t camera_head_contents_size_bytes
Definition: ds-private.h:206
double dy
Definition: ds-private.h:224
double cx_special
Definition: ds-private.h:212
double registration_date
Definition: ds-private.h:229
double cy_qres
Definition: ds-private.h:201
@ DS_HEADER_VERSION_NUMBER
Definition: ds-private.h:171
uint32_t camera_fpga_version
Definition: ds-private.h:192
int32_t nominal_baseline_third_imager
Definition: ds-private.h:179
uint8_t reserved2[4]
Definition: ds-private.h:191
double registration_rotation[9]
Definition: ds-private.h:230
double calibration_x_error
Definition: ds-private.h:196
uint8_t module_minor_version
Definition: ds-private.h:182
double theta_y
Definition: ds-private.h:227
double rectification_data_big[54]
Definition: ds-private.h:218
uint8_t body_serial_number[20]
Definition: ds-private.h:222
ds_lens_coating_type lens_coating_type
Definition: ds-private.h:234
double cz_big
Definition: ds-private.h:209
uint32_t lens_type_platform
Definition: ds-private.h:236
double focus_alignment_date
Definition: ds-private.h:178
uint8_t module_major_version
Definition: ds-private.h:181
double build_date
Definition: ds-private.h:176
uint32_t imager_type_platform
Definition: ds-private.h:237
double rectification_data_special[54]
Definition: ds-private.h:219
ds_emitter_type emitter_type
Definition: ds-private.h:190
int32_t nominal_baseline_platform[3]
Definition: ds-private.h:235
Definition: ds-private.h:245
ds_head_content head_content
Definition: ds-private.h:246
ds_calibration calibration
Definition: ds-private.h:247
Definition: ds-private.h:348
uint16_t min
Definition: ds-private.h:348
uint16_t max
Definition: ds-private.h:348
Definition: ds-private.h:350
uint32_t rate
Definition: ds-private.h:350
uint32_t value
Definition: ds-private.h:350
Definition: ds-private.h:351
int8_t current
Definition: ds-private.h:351
int8_t min
Definition: ds-private.h:351
int8_t max
Definition: ds-private.h:351
int8_t min_fault
Definition: ds-private.h:351