19 {{1920, 1080}, { 10,30 } },
20 {{1280, 720}, { 10,30,60 } },
21 {{ 960, 540}, { 10,30,60 } },
22 {{ 848, 480}, { 10,30,60 } },
23 {{ 640, 480}, { 10,30,60 } },
24 {{ 640, 360}, { 10,30,60 } },
25 {{ 424, 240}, { 10,30,60 } },
26 {{ 320, 240}, { 10,30,60 } },
27 {{ 320, 180}, { 10,30,60 } },
31 {{640, 480}, {10,30,60}},
32 {{640, 240}, {10,30,60,110}}
36 {{640, 480}, {30,60,120,200}}
41 LOG_INFO(
"Connecting to Intel RealSense SR300");
44 info.
name =
"Intel RealSense SR300";
48 for(
auto &
m : sr300_color_modes)
59 for(
auto &
m : sr300_ir_only_modes)
66 for(
auto &
m : sr300_depth_modes)
108 info.
stream_poses[
RS_STREAM_COLOR] = {{{1,0,0},{0,1,0},{0,0,1}}, {0,0,0}};
163 std::vector<rs_option> base_opt;
164 std::vector<double> base_opt_val;
167 ivcam::set_auto_range(
get_device(),
usbMutex,
r.enableMvR,
r.minMvR,
r.maxMvR,
r.startMvR,
r.enableLaser,
r.minLaser,
r.maxLaser,
r.startLaser,
r.ARUpperTh,
r.ARLowerTh);
171 for(
size_t i=0; i<
count; ++i)
188 default: base_opt.push_back(options[i]); base_opt_val.push_back(values[i]);
break;
202 std::vector<rs_option> base_opt;
203 std::vector<size_t> base_opt_index;
204 std::vector<double> base_opt_val;
209 for(
size_t i=0; i<
count; ++i)
211 LOG_INFO(
"Reading option " << options[i]);
234 default: base_opt.push_back(options[i]); base_opt_index.push_back(i);
break;
241 base_opt_val.resize(base_opt.size());
246 for (
auto i : base_opt_index)
247 values[i] = base_opt_val[i];
252 std::timed_mutex mutex;
282 return std::make_shared<sr300_camera>(
device, info, calib);
static static_device_info get_sr300_info(std::shared_ptr< uvc::device >, const ivcam::camera_calib_params &c)
int num_libuvc_transfer_buffers
const native_pixel_format pf_sr300_invi
static void update_device_info(rsimpl::static_device_info &info)
const std::shared_ptr< rsimpl::uvc::device > device
const rsimpl::uvc::device & get_device() const
pose stream_poses[RS_STREAM_NATIVE_COUNT]
void set_auto_range(uvc::device &device, std::timed_mutex &mutex, int enableMvR, int16_t minMvR, int16_t maxMvR, int16_t startMvR, int enableLaser, int16_t minLaser, int16_t maxLaser, int16_t startLaser, int16_t ARUpperTH, int16_t ARLowerTH)
unsigned get_fw_logger_option()
rs_option
Defines general configuration controls.
std::vector< subdevice_mode > subdevice_modes
void start_fw_logger(char fw_log_op_code, int grab_rate_in_ms, std::timed_mutex &mutex) override
ivcam::cam_auto_range_request arr
stream_request presets[RS_STREAM_NATIVE_COUNT][RS_PRESET_COUNT]
float nominal_depth_scale
int stream_subdevices[RS_STREAM_NATIVE_COUNT]
static const cam_mode sr300_color_modes[]
rs_intrinsics MakeDepthIntrinsics(const ivcam::camera_calib_params &c, const int2 &dims)
ivcam::camera_calib_params read_sr300_calibration(uvc::device &device, std::timed_mutex &mutex)
GLuint GLuint GLsizei count
sr300_camera(std::shared_ptr< uvc::device > device, const static_device_info &info, const ivcam::camera_calib_params &calib)
const native_pixel_format pf_sr300_inzi
std::timed_mutex usbMutex
void get_module_serial_string(uvc::device &device, std::timed_mutex &mutex, std::string &serial, int offset)
std::atomic< bool > keep_fw_logger_alive
std::vector< supported_option > options
void set_fw_logger_option(double value)
rs_intrinsics MakeColorIntrinsics(const ivcam::camera_calib_params &c, const int2 &dims)
GLsizei const GLfloat * value
const std::vector< std::pair< rs_option, char > > eu_SR300_depth_controls
void get_options(const rs_option options[], size_t count, double values[]) override
static const cam_mode sr300_depth_modes[]
void get_options(const rs_option options[], size_t count, double values[]) override
void set_options(const rs_option options[], size_t count, const double values[]) override
void get_firmware_version_string(uvc::device &device, std::timed_mutex &mutex, std::string &version, int gvd_cmd, int offset)
static const cam_mode sr300_ir_only_modes[]
void set_pu_control_with_retry(device &device, int subdevice, rs_option option, int value)
GLenum GLsizei GLsizei GLint * values
pose inverse(const pose &a)
std::shared_ptr< rs_device > make_sr300_device(std::shared_ptr< uvc::device > device)
void set_options(const rs_option options[], size_t count, const double values[]) override
virtual void start_fw_logger(char fw_log_op_code, int grab_rate_in_ms, std::timed_mutex &mutex) override
int get_pu_control_with_retry(const device &device, int subdevice, rs_option option)
void enable_timestamp(uvc::device &device, std::timed_mutex &mutex, bool colorEnable, bool depthEnable)
void stop_fw_logger() override
float3x3 transpose(const float3x3 &a)
const native_pixel_format pf_yuy2
bool is_pu_control(rs_option option)
void claim_ivcam_interface(uvc::device &device)
virtual void stop_fw_logger() override
GLdouble GLdouble GLdouble r
const native_pixel_format pf_invz