t265 Namespace Reference

Classes
struct	bulk_message_accelerometer_stream
	Bulk raw accelerometer stream message. More...
struct	bulk_message_accelerometer_stream_metadata
	Bulk raw accelerometer stream metadata. More...
struct	bulk_message_gyro_stream
	Bulk raw gyro stream message. More...
struct	bulk_message_gyro_stream_metadata
	Bulk raw gyro stream metadata. More...
struct	bulk_message_large_stream
	Bulk Set Localization Data Stream Message. More...
struct	bulk_message_raw_stream_header
	Stream Endpoint Protocol. More...
struct	bulk_message_request_6dof_control
	Bulk 6DoF Control Message. More...
struct	bulk_message_request_get_and_clear_event_log
	Bulk Get and Clear Event Log Message. More...
struct	bulk_message_request_get_camera_intrinsics
struct	bulk_message_request_get_device_info
	Bulk Get Device Info Message. More...
struct	bulk_message_request_get_extrinsics
struct	bulk_message_request_get_localization_data
	Bulk Get Localization Data Message. More...
struct	bulk_message_request_get_motion_intrinsics
struct	bulk_message_request_get_pose
struct	bulk_message_request_get_static_node
	Bulk Get Static Node Message. More...
struct	bulk_message_request_get_supported_raw_streams
	Bulk Get Supported Raw Streams Message. More...
struct	bulk_message_request_get_temperature
struct	bulk_message_request_get_time
	Bulk Get Time Message. More...
struct	bulk_message_request_gpio_control
	Bulk GPIO control Message. More...
struct	bulk_message_request_header
	Bulk message request header struct. More...
struct	bulk_message_request_lock_configuration
	Bulk configuration Lock Message. More...
struct	bulk_message_request_lock_eeprom
	Bulk eeprom Lock Message. More...
struct	bulk_message_request_log_control
	Bulk Log Control Message. More...
struct	bulk_message_request_occupancy_map_control
	Bulk Occupancy Map Control Message. More...
struct	bulk_message_request_raw_streams_control
	Bulk Raw Streams Control Message. More...
struct	bulk_message_request_raw_streams_playback_control
	Bulk Raw Streams Playback Control Message. More...
struct	bulk_message_request_read_configuration
	Bulk read configuration Message. More...
struct	bulk_message_request_read_eeprom
	Bulk Read EEPROM Message. More...
struct	bulk_message_request_remove_static_node
struct	bulk_message_request_reset
	Bulk Reset Message. More...
struct	bulk_message_request_reset_configuration
	Bulk reset configuration Message. More...
struct	bulk_message_request_set_6dof_interrupt_rate
struct	bulk_message_request_set_camera_intrinsics
	Bulk Set Camera Intrinsics Message. More...
struct	bulk_message_request_set_exposure
struct	bulk_message_request_set_exposure_mode_control
	Bulk Set Exposure Control Message Enable/disable the auto-exposure management of the different video streams, and configure the powerline frequency rate. Calling this message is only supported before the streams are started. The default values for video streams 0 and 1 shall be auto-exposure enable with 50Hz flicker rate. The firmware only supports the following: More...
struct	bulk_message_request_set_extrinsics
struct	bulk_message_request_set_low_power_mode
	Bulk enable low power Message. More...
struct	bulk_message_request_set_motion_intrinsics
	Bulk Set Motion Module Intrinsics Message. More...
struct	bulk_message_request_set_static_node
struct	bulk_message_request_set_temperature_threshold
struct	bulk_message_request_slam_append_calibration
	Bulk SLAM override calibration Message. More...
struct	bulk_message_request_slam_calibration
	Bulk SLAM calibration Message. More...
struct	bulk_message_request_start
	Bulk Start Message. More...
struct	bulk_message_request_stop
	Bulk Stop Message. More...
struct	bulk_message_request_stream_config
	Bulk Device stream config Message. More...
struct	bulk_message_request_timeout_configuration
	Bulk timeout configuration Message. More...
struct	bulk_message_request_write_configuration
	Bulk write configuration Message. More...
struct	bulk_message_request_write_eeprom
	Bulk Write EEPROM data Message. More...
struct	bulk_message_response_6dof_control
struct	bulk_message_response_get_and_clear_event_log
struct	bulk_message_response_get_camera_intrinsics
struct	bulk_message_response_get_device_info
struct	bulk_message_response_get_extrinsics
struct	bulk_message_response_get_localization_data
struct	bulk_message_response_get_motion_intrinsics
struct	bulk_message_response_get_pose
struct	bulk_message_response_get_static_node
struct	bulk_message_response_get_supported_raw_streams
struct	bulk_message_response_get_temperature
struct	bulk_message_response_get_time
struct	bulk_message_response_gpio_control
struct	bulk_message_response_header
	Bulk message response header struct. More...
struct	bulk_message_response_lock_configuration
struct	bulk_message_response_lock_eeprom
struct	bulk_message_response_log_control
struct	bulk_message_response_occupancy_map_control
struct	bulk_message_response_raw_streams_control
struct	bulk_message_response_raw_streams_playback_control
struct	bulk_message_response_read_configuration
struct	bulk_message_response_read_eeprom
struct	bulk_message_response_remove_static_node
struct	bulk_message_response_reset
struct	bulk_message_response_reset_configuration
struct	bulk_message_response_set_6dof_interrupt_rate
struct	bulk_message_response_set_camera_intrinsics
struct	bulk_message_response_set_exposure
struct	bulk_message_response_set_exposure_mode_control
struct	bulk_message_response_set_extrinsics
struct	bulk_message_response_set_low_power_mode
struct	bulk_message_response_set_motion_intrinsics
struct	bulk_message_response_set_static_node
struct	bulk_message_response_set_temperature_threshold
struct	bulk_message_response_slam_append_calibration
struct	bulk_message_response_slam_calibration
struct	bulk_message_response_start
struct	bulk_message_response_stop
struct	bulk_message_response_stream_config
struct	bulk_message_response_timeout_configuration
struct	bulk_message_response_write_configuration
struct	bulk_message_response_write_eeprom
struct	bulk_message_velocimeter_stream
	Bulk raw velocimeter stream message. More...
struct	bulk_message_velocimeter_stream_metadata
	Bulk raw velocimeter stream metadata. More...
struct	bulk_message_video_stream
	Bulk raw video stream message. More...
struct	bulk_message_video_stream_metadata
	Bulk raw video stream metadata. More...
struct	camera_intrinsics
	Bulk Get Camera Intrinsics Message. More...
struct	control_message_request_get_interface_version
struct	control_message_request_header
	Control message request header struct. More...
struct	control_message_request_reset
	Control reset Message. More...
struct	control_message_response_get_interface_version
struct	device_event_log
struct	device_info_libtm_message
	Device Info libtm Message. More...
struct	interface_version_libtm_message
	Control get interface version Message. More...
struct	interrupt_message_accelerometer_stream
	Interrupt raw accelerometer stream message. More...
struct	interrupt_message_accelerometer_stream_metadata
	Interrupt raw accelerometer stream metadata. More...
struct	interrupt_message_general_error
	Interrupt error message. More...
struct	interrupt_message_get_localization_data_stream
	Interrupt Get Localization Data Stream message. More...
struct	interrupt_message_get_pose
	Interrupt get pose message. More...
struct	interrupt_message_gyro_stream
	Interrupt raw gyro stream message. More...
struct	interrupt_message_gyro_stream_metadata
	Interrupt raw gyro stream metadata. More...
struct	interrupt_message_header
	Interrupt Endpoint Protocol. More...
struct	interrupt_message_raw_stream_header
	Interrupt raw stream header. More...
struct	interrupt_message_set_localization_data_stream
	Interrupt Set Localization Data Stream message. More...
struct	interrupt_message_slam_error
	Interrupt SLAM error message. More...
struct	interrupt_message_slam_relocalization_event
	Interrupt SLAM Relocalization Event message. More...
struct	interrupt_message_status
	Interrupt status message. More...
struct	interrupt_message_velocimeter_stream
	Interrupt raw velocimeter stream message. More...
struct	interrupt_message_velocimeter_stream_metadata
	Interrupt raw velocimeter stream metadata. More...
struct	motion_intrinsics
	Bulk Get Motion Module Intrinsics Message. More...
struct	pose_data
	Bulk Get Pose Message. More...
struct	sensor_extrinsics
	Bulk Get Extrinsics Message. More...
struct	sensor_set_temperature
	Bulk Set Temperature Threshold Message. More...
struct	sensor_temperature
	Bulk Get Temperature Message. More...
struct	sixdof_interrupt_rate_libtm_message
	Bulk Set 6DoF Interrupt Rate Message. More...
struct	static_node_data
	Bulk Set Static Node Message. More...
struct	stream_exposure
	Bulk Set Exposure Message. More...
struct	supported_raw_stream_libtm_message
	Supported Raw Stream libtm Message. More...

Enumerations
enum	BULK_MESSAGE_ID {   DEV_GET_DEVICE_INFO = 0x0001, DEV_GET_TIME = 0x0002, DEV_GET_AND_CLEAR_EVENT_LOG = 0x0003, DEV_GET_SUPPORTED_RAW_STREAMS = 0x0004,   DEV_RAW_STREAMS_CONTROL = 0x0005, DEV_GET_CAMERA_INTRINSICS = 0x0006, DEV_GET_MOTION_INTRINSICS = 0x0007, DEV_GET_EXTRINSICS = 0x0008,   DEV_SET_CAMERA_INTRINSICS = 0x0009, DEV_SET_MOTION_INTRINSICS = 0x000A, DEV_SET_EXTRINSICS = 0x000B, DEV_LOG_CONTROL = 0x000C,   DEV_STREAM_CONFIG = 0x000D, DEV_RAW_STREAMS_PLAYBACK_CONTROL = 0x000E, DEV_READ_EEPROM = 0x000F, DEV_WRITE_EEPROM = 0x0010,   DEV_SAMPLE = 0x0011, DEV_START = 0x0012, DEV_STOP = 0x0013, DEV_STATUS = 0x0014,   DEV_GET_POSE = 0x0015, DEV_EXPOSURE_MODE_CONTROL = 0x0016, DEV_SET_EXPOSURE = 0x0017, DEV_GET_TEMPERATURE = 0x0018,   DEV_SET_TEMPERATURE_THRESHOLD = 0x0019, DEV_FIRMWARE_UPDATE = 0x001C, DEV_GPIO_CONTROL = 0x001D, DEV_TIMEOUT_CONFIGURATION = 0x001E,   DEV_SNAPSHOT = 0x001F, DEV_READ_CONFIGURATION = 0x0020, DEV_WRITE_CONFIGURATION = 0x0021, DEV_RESET_CONFIGURATION = 0x0022,   DEV_LOCK_CONFIGURATION = 0x0023, DEV_LOCK_EEPROM = 0x0024, DEV_SET_LOW_POWER_MODE = 0x0025, SLAM_STATUS = 0x1001,   SLAM_GET_OCCUPANCY_MAP_TILES = 0x1002, SLAM_GET_LOCALIZATION_DATA = 0x1003, SLAM_SET_LOCALIZATION_DATA_STREAM = 0x1004, SLAM_SET_6DOF_INTERRUPT_RATE = 0x1005,   SLAM_6DOF_CONTROL = 0x1006, SLAM_OCCUPANCY_MAP_CONTROL = 0x1007, SLAM_GET_LOCALIZATION_DATA_STREAM = 0x1009, SLAM_SET_STATIC_NODE = 0x100A,   SLAM_GET_STATIC_NODE = 0x100B, SLAM_APPEND_CALIBRATION = 0x100C, SLAM_CALIBRATION = 0x100D, SLAM_RELOCALIZATION_EVENT = 0x100E,   SLAM_REMOVE_STATIC_NODE = 0x100F, DEV_ERROR = 0x8000, SLAM_ERROR = 0x9000, MAX_MESSAGE_ID = 0xFFFF }
	Defines all bulk messages ids. More...
enum	CONTROL_MESSAGE_ID { CONTROL_USB_RESET = 0x0010, CONTROL_GET_INTERFACE_VERSION = 0x0011, MAX_CONTROL_ID = 0xFFFF }
	Defines all control messages ids. More...
enum	EEPROM_LOCK_STATE { EEPROM_LOCK_STATE_WRITEABLE = 0x0000, EEPROM_LOCK_STATE_LOCKED = 0x0001, EEPROM_LOCK_STATE_PERMANENT_LOCKED = 0x0003, EEPROM_LOCK_STATE_MAX = 0xFFFF }
	Defines EEPROM lock states. More...
enum	FW_STATUS_CODE { FW_STATUS_CODE_OK = 0, FW_STATUS_CODE_FAIL = 1, FW_STATUS_CODE_NO_CALIBRATION_DATA = 1000 }
	Defines all FW status codes. More...
enum	MESSAGE_STATUS {   SUCCESS = 0X0000, UNKNOWN_MESSAGE_ID = 0x0001, INVALID_REQUEST_LEN = 0x0002, INVALID_PARAMETER = 0x0003,   INTERNAL_ERROR = 0x0004, UNSUPPORTED = 0x0005, LIST_TOO_BIG = 0x0006, MORE_DATA_AVAILABLE = 0x0007,   DEVICE_BUSY = 0x0008, TIMEOUT = 0x0009, TABLE_NOT_EXIST = 0x000A, TABLE_LOCKED = 0x000B,   DEVICE_STOPPED = 0x000C, TEMPERATURE_WARNING = 0x0010, TEMPERATURE_STOP = 0x0011, CRC_ERROR = 0x0012,   INCOMPATIBLE = 0x0013, AUTH_ERROR = 0x0014, DEVICE_RESET = 0x0015, SLAM_NO_DICTIONARY = 0x9001 }
	Defines all bulk message return statuses. More...
enum	PixelFormat {   ANY = 0, Z16 = 1, DISPARITY16 = 2, XYZ32F = 3,   YUYV = 4, RGB8 = 5, BGR8 = 6, RGBA8 = 7,   BGRA8 = 8, Y8 = 9, Y16 = 10, RAW8 = 11,   RAW10 = 12, RAW16 = 13 }
enum	SensorType {   Color = 0, Depth = 1, IR = 2, Fisheye = 3,   Gyro = 4, Accelerometer = 5, Controller = 6, Rssi = 7,   Velocimeter = 8, Stereo = 9, Pose = 10, ControllerProperty = 11,   Mask = 12, Max }
	Defines all sensors types (bSensorID/bCameraID/bMotionID) More...
enum	SIXDOF_MODE {   SIXDOF_MODE_NORMAL = 0X0000, SIXDOF_MODE_FAST_PLAYBACK = 0x0001, SIXDOF_MODE_ENABLE_MAPPING = 0x0002, SIXDOF_MODE_ENABLE_RELOCALIZATION = 0x0004,   SIXDOF_MODE_DISABLE_JUMPING = 0x0008, SIXDOF_MODE_DISABLE_DYNAMIC_CALIBRATION = 0x0010, SIXDOF_MODE_ENABLE_MAP_PRESERVATION = 0x0020, SIXDOF_MODE_MAX = ((SIXDOF_MODE_FAST_PLAYBACK | SIXDOF_MODE_ENABLE_MAPPING | SIXDOF_MODE_ENABLE_RELOCALIZATION | SIXDOF_MODE_DISABLE_JUMPING | SIXDOF_MODE_DISABLE_DYNAMIC_CALIBRATION | SIXDOF_MODE_ENABLE_MAP_PRESERVATION) + 1) }
	Defines all 6dof modes. More...
enum	SKU_INFO_TYPE { SKU_INFO_TYPE_WITHOUT_BLUETOOTH = 0x0000, SKU_INFO_TYPE_WITH_BLUETOOTH = 0x0001, SKU_INFO_TYPE_MAX = 0xFFFF }
	Defines SKU info types. More...
enum	SLAM_ERROR_CODE { SLAM_ERROR_CODE_NONE = 0, SLAM_ERROR_CODE_VISION = 1, SLAM_ERROR_CODE_SPEED = 2, SLAM_ERROR_CODE_OTHER = 3 }
	Defines all SLAM error codes. More...
enum	SLAM_STATUS_CODE { SLAM_STATUS_CODE_SUCCESS = 0, SLAM_STATUS_CODE_LOCALIZATION_DATA_SET_SUCCESS = 1 }
	Defines all SLAM status codes. More...

Functions
SIXDOF_MODE	operator& (SIXDOF_MODE x, SIXDOF_MODE y)
SIXDOF_MODE &	operator&= (SIXDOF_MODE &x, SIXDOF_MODE y)
SIXDOF_MODE	operator| (SIXDOF_MODE x, SIXDOF_MODE y)
SIXDOF_MODE &	operator|= (SIXDOF_MODE &x, SIXDOF_MODE y)
SIXDOF_MODE	operator~ (SIXDOF_MODE x)

Enumeration Type Documentation

enum t265::BULK_MESSAGE_ID

Defines all bulk messages ids.

Enumerator
DEV_GET_DEVICE_INFO
DEV_GET_TIME
DEV_GET_AND_CLEAR_EVENT_LOG
DEV_GET_SUPPORTED_RAW_STREAMS
DEV_RAW_STREAMS_CONTROL
DEV_GET_CAMERA_INTRINSICS
DEV_GET_MOTION_INTRINSICS
DEV_GET_EXTRINSICS
DEV_SET_CAMERA_INTRINSICS
DEV_SET_MOTION_INTRINSICS
DEV_SET_EXTRINSICS
DEV_LOG_CONTROL
DEV_STREAM_CONFIG
DEV_RAW_STREAMS_PLAYBACK_CONTROL
DEV_READ_EEPROM
DEV_WRITE_EEPROM
DEV_SAMPLE
DEV_START
DEV_STOP
DEV_STATUS
DEV_GET_POSE
DEV_EXPOSURE_MODE_CONTROL
DEV_SET_EXPOSURE
DEV_GET_TEMPERATURE
DEV_SET_TEMPERATURE_THRESHOLD
DEV_FIRMWARE_UPDATE
DEV_GPIO_CONTROL
DEV_TIMEOUT_CONFIGURATION
DEV_SNAPSHOT
DEV_READ_CONFIGURATION
DEV_WRITE_CONFIGURATION
DEV_RESET_CONFIGURATION
DEV_LOCK_CONFIGURATION
DEV_LOCK_EEPROM
DEV_SET_LOW_POWER_MODE
SLAM_STATUS
SLAM_GET_OCCUPANCY_MAP_TILES
SLAM_GET_LOCALIZATION_DATA
SLAM_SET_LOCALIZATION_DATA_STREAM
SLAM_SET_6DOF_INTERRUPT_RATE
SLAM_6DOF_CONTROL
SLAM_OCCUPANCY_MAP_CONTROL
SLAM_GET_LOCALIZATION_DATA_STREAM
SLAM_SET_STATIC_NODE
SLAM_GET_STATIC_NODE
SLAM_APPEND_CALIBRATION
SLAM_CALIBRATION
SLAM_RELOCALIZATION_EVENT
SLAM_REMOVE_STATIC_NODE
DEV_ERROR
SLAM_ERROR
MAX_MESSAGE_ID

Definition at line 111 of file t265-messages.h.

enum t265::CONTROL_MESSAGE_ID

Defines all control messages ids.

Enumerator
CONTROL_USB_RESET
CONTROL_GET_INTERFACE_VERSION
MAX_CONTROL_ID

Definition at line 223 of file t265-messages.h.

enum t265::EEPROM_LOCK_STATE

Defines EEPROM lock states.

Enumerator
EEPROM_LOCK_STATE_WRITEABLE
EEPROM_LOCK_STATE_LOCKED
EEPROM_LOCK_STATE_PERMANENT_LOCKED
EEPROM_LOCK_STATE_MAX

Definition at line 204 of file t265-messages.h.

enum t265::FW_STATUS_CODE

Defines all FW status codes.

Enumerator
FW_STATUS_CODE_OK
FW_STATUS_CODE_FAIL
FW_STATUS_CODE_NO_CALIBRATION_DATA

Definition at line 234 of file t265-messages.h.

enum t265::MESSAGE_STATUS

Defines all bulk message return statuses.

Enumerator
SUCCESS
UNKNOWN_MESSAGE_ID
INVALID_REQUEST_LEN
INVALID_PARAMETER
INTERNAL_ERROR
UNSUPPORTED
LIST_TOO_BIG
MORE_DATA_AVAILABLE
DEVICE_BUSY
TIMEOUT
TABLE_NOT_EXIST
TABLE_LOCKED
DEVICE_STOPPED
TEMPERATURE_WARNING
TEMPERATURE_STOP
CRC_ERROR
INCOMPATIBLE
AUTH_ERROR
DEVICE_RESET
SLAM_NO_DICTIONARY

Definition at line 178 of file t265-messages.h.

enum t265::PixelFormat

Enumerator
ANY	Any pixel format
Z16	16-bit per pixel - linear depth values. The depth is meters is equal to depth scale * pixel value
DISPARITY16	16-bit per pixel - linear disparity values. The depth in meters is equal to depth scale / pixel value
XYZ32F	96-bit per pixel - 32 bit floating point 3D coordinates.
YUYV	16-bit per pixel - Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV
RGB8	24-bit per pixel - 8-bit Red, Green and Blue channels
BGR8	24-bit per pixel - 8-bit Blue, Green and Red channels, suitable for OpenCV
RGBA8	32-bit per pixel - 8-bit Red, Green, Blue channels + constant alpha channel equal to FF
BGRA8	32-bit per pixel - 8-bit Blue, Green, Red channels + constant alpha channel equal to FF
Y8	8-bit per pixel - grayscale image
Y16	16-bit per-pixel - grayscale image
RAW8	8-bit per pixel - raw image
RAW10	10-bit per pixel - Four 10-bit luminance values encoded into a 5-byte macropixel
RAW16	16-bit per pixel - raw image

Definition at line 62 of file t265-messages.h.

enum t265::SensorType

Defines all sensors types (bSensorID/bCameraID/bMotionID)

Enumerator
Color
Depth
IR
Fisheye
Gyro
Accelerometer
Controller
Rssi
Velocimeter
Stereo
Pose
ControllerProperty
Mask
Max

Definition at line 44 of file t265-messages.h.

enum t265::SIXDOF_MODE

Defines all 6dof modes.

Enumerator
SIXDOF_MODE_NORMAL
SIXDOF_MODE_FAST_PLAYBACK
SIXDOF_MODE_ENABLE_MAPPING
SIXDOF_MODE_ENABLE_RELOCALIZATION
SIXDOF_MODE_DISABLE_JUMPING
SIXDOF_MODE_DISABLE_DYNAMIC_CALIBRATION
SIXDOF_MODE_ENABLE_MAP_PRESERVATION
SIXDOF_MODE_MAX

Definition at line 83 of file t265-messages.h.

enum t265::SKU_INFO_TYPE

Defines SKU info types.

Enumerator
SKU_INFO_TYPE_WITHOUT_BLUETOOTH
SKU_INFO_TYPE_WITH_BLUETOOTH
SKU_INFO_TYPE_MAX

Definition at line 214 of file t265-messages.h.

enum t265::SLAM_ERROR_CODE

Defines all SLAM error codes.

Enumerator
SLAM_ERROR_CODE_NONE	No error has occurred.
SLAM_ERROR_CODE_VISION	No visual features were detected in the most recent image. This is normal in some circumstances, such as quick motion or if the device temporarily looks at a blank wall.
SLAM_ERROR_CODE_SPEED	The device moved more rapidly than expected for typical handheld motion. This may indicate that rc_Tracker has failed and is providing invalid data.
SLAM_ERROR_CODE_OTHER	A fatal internal error has occurred.

Definition at line 251 of file t265-messages.h.

enum t265::SLAM_STATUS_CODE

Defines all SLAM status codes.

Enumerator
SLAM_STATUS_CODE_SUCCESS	No error has occurred.
SLAM_STATUS_CODE_LOCALIZATION_DATA_SET_SUCCESS	Reading all localization data chunks completed successfully

Definition at line 243 of file t265-messages.h.

Function Documentation

SIXDOF_MODE t265::operator& ( SIXDOF_MODE  x, SIXDOF_MODE  y  )

inline

Definition at line 106 of file t265-messages.h.

SIXDOF_MODE& t265::operator&= ( SIXDOF_MODE &  x, SIXDOF_MODE  y  )

inline

Definition at line 98 of file t265-messages.h.

SIXDOF_MODE t265::operator| ( SIXDOF_MODE  x, SIXDOF_MODE  y  )

inline

Definition at line 105 of file t265-messages.h.

SIXDOF_MODE& t265::operator|= ( SIXDOF_MODE &  x, SIXDOF_MODE  y  )

inline

Definition at line 94 of file t265-messages.h.

SIXDOF_MODE t265::operator~ ( SIXDOF_MODE  x )

inline

Definition at line 102 of file t265-messages.h.