4 #ifndef LIBREALSENSE_RS2_SENSOR_HPP 5 #define LIBREALSENSE_RS2_SENSOR_HPP 75 return _serialized_data;
79 std::string _description;
80 double _timestamp = -1;
83 std::string _serialized_data;
89 T on_notification_function;
131 return is_supported > 0;
152 void open(
const std::vector<stream_profile>& profiles)
const 156 std::vector<const rs2_stream_profile*> profs;
157 profs.reserve(profiles.size());
158 for (
auto& p : profiles)
160 profs.push_back(p.get());
165 static_cast<int>(profiles.size()),
223 std::vector<stream_profile> results{};
226 std::shared_ptr<rs2_stream_profile_list> list(
234 for (
auto i = 0; i < size; i++)
238 results.push_back(profile);
250 std::vector<filter> results{};
253 std::shared_ptr<rs2_processing_block_list> list(
261 for (
auto i = 0; i < size; i++)
263 auto f = std::shared_ptr<rs2_processing_block>(
267 results.push_back(f);
290 operator bool()
const 295 const std::shared_ptr<rs2_sensor>&
get()
const 314 explicit sensor(std::shared_ptr<rs2_sensor> dev)
318 explicit operator std::shared_ptr<rs2_sensor>() {
return _sensor; }
335 return std::make_shared<sensor>(psens);
361 operator bool()
const {
return _sensor.get() !=
nullptr; }
377 operator bool()
const {
return _sensor.get() !=
nullptr; }
393 operator bool()
const {
return _sensor.get() !=
nullptr; }
426 operator bool()
const {
return _sensor.get() !=
nullptr; }
454 operator bool()
const {
return _sensor.get() !=
nullptr; }
482 operator bool()
const {
return _sensor.get() !=
nullptr; }
524 std::vector<uint8_t> results;
538 results = std::vector<uint8_t>(
start,
start + size);
593 operator bool()
const {
return _sensor.get() !=
nullptr; }
637 operator bool()
const {
return _sensor.get() !=
nullptr; }
641 #endif // LIBREALSENSE_RS2_SENSOR_HPP notification(rs2_notification *nt)
Definition: rs_sensor.hpp:17
Definition: rs_frame.hpp:22
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
pose_sensor(std::shared_ptr< rs2_sensor > dev)
Definition: rs_sensor.hpp:594
Definition: rs_sensor.hpp:103
bool operator==(const sensor &lhs, const sensor &rhs)
Definition: rs_sensor.hpp:338
Definition: rs_frame.hpp:336
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:219
Definition: rs_types.hpp:170
float rs2_get_depth_scale(rs2_sensor *sensor, rs2_error **error)
bool supports(rs2_option option) const
Definition: rs_options.hpp:19
friend device
Definition: rs_sensor.hpp:323
void stop() const
Definition: rs_sensor.hpp:196
std::vector< stream_profile > get_stream_profiles() const
Definition: rs_sensor.hpp:221
region_of_interest get_region_of_interest() const
Definition: rs_sensor.hpp:417
Definition: rs_types.h:178
fisheye_sensor(sensor s)
Definition: rs_sensor.hpp:383
void on_notification(rs2_notification *_notification) override
Definition: rs_sensor.hpp:93
Definition: rs_types.hpp:39
Definition: rs_sensor.hpp:429
void start(T callback) const
Definition: rs_sensor.hpp:186
int min_x
Definition: rs_types.hpp:172
Definition: rs_sensor.h:24
int rs2_get_static_node(const rs2_sensor *sensor, const char *guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error **error)
Definition: rs_sensor.hpp:380
void rs2_set_region_of_interest(const rs2_sensor *sensor, int min_x, int min_y, int max_x, int max_y, rs2_error **error)
sets the active region of interest to be used by auto-exposure algorithm
depth_sensor(sensor s)
Definition: rs_sensor.hpp:432
const unsigned char * rs2_get_raw_data(const rs2_raw_data_buffer *buffer, rs2_error **error)
int rs2_import_localization_map(const rs2_sensor *sensor, const unsigned char *lmap_blob, unsigned int blob_size, rs2_error **error)
friend context
Definition: rs_sensor.hpp:321
void rs2_stop(const rs2_sensor *sensor, rs2_error **error)
std::vector< filter > get_recommended_filters() const
Definition: rs_sensor.hpp:248
depth_stereo_sensor(sensor s)
Definition: rs_sensor.hpp:461
std::vector< uint8_t > export_localization_map() const
Definition: rs_sensor.hpp:522
void release() override
Definition: rs_sensor.hpp:98
const char * rs2_get_notification_serialized_data(rs2_notification *notification, rs2_error **error)
Definition: rs_context.hpp:11
bool supports(rs2_camera_info info) const
Definition: rs_sensor.hpp:126
Definition: rs_sensor.h:23
rs2_log_severity rs2_get_notification_severity(rs2_notification *notification, rs2_error **error)
bool get_static_node(const std::string &guid, rs2_vector &pos, rs2_quaternion &orient) const
Definition: rs_sensor.hpp:573
void rs2_delete_raw_data(const rs2_raw_data_buffer *buffer)
Definition: rs_types.h:143
int max_y
Definition: rs_types.hpp:175
sensor(std::shared_ptr< rs2_sensor > dev)
Definition: rs_sensor.hpp:314
friend roi_sensor
Definition: rs_sensor.hpp:325
void set_region_of_interest(const region_of_interest &roi)
Definition: rs_sensor.hpp:410
int max_x
Definition: rs_types.hpp:174
Definition: rs_sensor.hpp:364
rs2_notification_category get_category() const
Definition: rs_sensor.hpp:38
int rs2_get_raw_data_size(const rs2_raw_data_buffer *buffer, rs2_error **error)
void rs2_open(rs2_sensor *device, const rs2_stream_profile *profile, rs2_error **error)
notifications_callback(T on_notification)
Definition: rs_sensor.hpp:91
bool load_wheel_odometery_config(const std::vector< uint8_t > &odometry_config_buf) const
Definition: rs_sensor.hpp:615
Quaternion used to represent rotation.
Definition: rs_types.h:103
Definition: rs_frame.hpp:1123
double get_timestamp() const
Definition: rs_sensor.hpp:55
void open(const stream_profile &profile) const
Definition: rs_sensor.hpp:112
void set_notifications_callback(T callback) const
Definition: rs_sensor.hpp:208
struct rs2_notification rs2_notification
Definition: rs_types.h:245
std::shared_ptr< rs2_sensor > _sensor
Definition: rs_sensor.hpp:327
Definition: rs_types.h:142
bool remove_static_node(const std::string &guid) const
Definition: rs_sensor.hpp:585
Definition: rs_sensor.hpp:14
float rs2_get_stereo_baseline(rs2_sensor *sensor, rs2_error **error)
friend device_base
Definition: rs_sensor.hpp:324
Definition: rs_types.h:153
Definition: rs_types.h:179
int rs2_get_recommended_processing_blocks_count(const rs2_processing_block_list *list, rs2_error **error)
void rs2_delete_sensor(rs2_sensor *sensor)
void rs2_get_region_of_interest(const rs2_sensor *sensor, int *min_x, int *min_y, int *max_x, int *max_y, rs2_error **error)
gets the active region of interest to be used by auto-exposure algorithm
rs2_time_t rs2_get_notification_timestamp(rs2_notification *notification, rs2_error **error)
sensor()
Definition: rs_sensor.hpp:288
int rs2_remove_static_node(const rs2_sensor *sensor, const char *guid, rs2_error **error)
Definition: rs_types.h:180
depth_sensor(std::shared_ptr< rs2_sensor > dev)
Definition: rs_sensor.hpp:455
const rs2_stream_profile * rs2_get_stream_profile(const rs2_stream_profile_list *list, int index, rs2_error **error)
void rs2_set_notifications_callback_cpp(const rs2_sensor *sensor, rs2_notifications_callback *callback, rs2_error **error)
Definition: rs_options.hpp:11
T as() const
Definition: rs_sensor.hpp:308
pose_sensor(sensor s)
Definition: rs_sensor.hpp:489
void rs2_delete_processing_block(rs2_processing_block *block)
int rs2_supports_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
struct rs2_options rs2_options
Definition: rs_types.h:242
void rs2_delete_recommended_processing_blocks(rs2_processing_block_list *list)
bool import_localization_map(const std::vector< uint8_t > &lmap_buf) const
Definition: rs_sensor.hpp:509
Definition: rs_sensor.hpp:87
static void handle(rs2_error *e)
Definition: rs_types.hpp:130
rs2_sensor * get_sensor()
Definition: rs_frame.hpp:438
std::string get_serialized_data() const
Definition: rs_sensor.hpp:73
bool is() const
Definition: rs_sensor.hpp:301
void close() const
Definition: rs_sensor.hpp:174
const rs2_stream_profile * get() const
Definition: rs_frame.hpp:137
Definition: rs_types.h:128
void open(const std::vector< stream_profile > &profiles) const
Definition: rs_sensor.hpp:152
wheel_odometer(sensor s)
Definition: rs_sensor.hpp:600
float get_stereo_baseline() const
Definition: rs_sensor.hpp:474
Definition: rs_types.h:25
int rs2_is_sensor_extendable_to(const rs2_sensor *sensor, rs2_extension extension, rs2_error **error)
3D vector in Euclidean coordinate space
Definition: rs_types.h:97
Definition: rs_types.h:171
rs2_log_severity get_severity() const
Definition: rs_sensor.hpp:64
Definition: rs_sensor.hpp:348
rs2_notification_category
Category of the librealsense notification.
Definition: rs_types.h:17
void rs2_delete_stream_profiles_list(rs2_stream_profile_list *list)
void rs2_close(const rs2_sensor *sensor, rs2_error **error)
bool set_static_node(const std::string &guid, const rs2_vector &pos, const rs2_quaternion &orient) const
Definition: rs_sensor.hpp:553
motion_sensor(sensor s)
Definition: rs_sensor.hpp:367
rs2_stream_profile_list * rs2_get_stream_profiles(rs2_sensor *device, rs2_error **error)
options & operator=(const options &other)
Definition: rs_options.hpp:134
Definition: rs_sensor.hpp:597
void rs2_open_multiple(rs2_sensor *device, const rs2_stream_profile **profiles, int count, rs2_error **error)
void rs2_start_cpp(const rs2_sensor *sensor, rs2_frame_callback *callback, rs2_error **error)
Definition: rs_sensor.hpp:396
friend device_list
Definition: rs_sensor.hpp:322
rs2_notification_category rs2_get_notification_category(rs2_notification *notification, rs2_error **error)
rs2_processing_block * rs2_get_processing_block(const rs2_processing_block_list *list, int index, rs2_error **error)
bool send_wheel_odometry(uint8_t wo_sensor_id, uint32_t frame_num, const rs2_vector &translational_velocity)
Definition: rs_sensor.hpp:629
int rs2_set_static_node(const rs2_sensor *sensor, const char *guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error **error)
Definition: rs_types.h:170
const rs2_raw_data_buffer * rs2_export_localization_map(const rs2_sensor *sensor, rs2_error **error)
std::string get_description() const
Definition: rs_sensor.hpp:46
float get_depth_scale() const
Definition: rs_sensor.hpp:446
const char * rs2_get_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
sensor & operator=(const sensor &other)
Definition: rs_sensor.hpp:281
const char * rs2_get_notification_description(rs2_notification *notification, rs2_error **error)
int rs2_get_stream_profiles_count(const rs2_stream_profile_list *list, rs2_error **error)
const std::shared_ptr< rs2_sensor > & get() const
Definition: rs_sensor.hpp:295
struct rs2_error rs2_error
Definition: rs_types.h:217
int rs2_load_wheel_odometry_config(const rs2_sensor *sensor, const unsigned char *odometry_config_buf, unsigned int blob_size, rs2_error **error)
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:121
Definition: rs_sensor.hpp:458
rs2_processing_block_list * rs2_get_recommended_processing_blocks(rs2_sensor *sensor, rs2_error **error)
int rs2_send_wheel_odometry(const rs2_sensor *sensor, char wo_sensor_id, unsigned int frame_num, const rs2_vector translational_velocity, rs2_error **error)
Definition: rs_sensor.hpp:486
color_sensor(sensor s)
Definition: rs_sensor.hpp:351
sensor & operator=(const std::shared_ptr< rs2_sensor > other)
Definition: rs_sensor.hpp:273
const char * get_info(rs2_camera_info info) const
Definition: rs_sensor.hpp:139
wheel_odometer(std::shared_ptr< rs2_sensor > dev)
Definition: rs_sensor.hpp:638
std::shared_ptr< sensor > sensor_from_frame(frame f)
Definition: rs_sensor.hpp:332
int min_y
Definition: rs_types.hpp:173
roi_sensor(sensor s)
Definition: rs_sensor.hpp:399