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61 std::vector<platform::uvc_device_info> color_devs_info;
72 color_devs_info = color_devs_info_mi3;
73 std::unique_ptr< frame_timestamp_reader > d400_timestamp_reader_backup(
new ds_timestamp_reader() );
80 std::unique_ptr<frame_timestamp_reader> ds_timestamp_reader_metadata(timestamp_reader_from_metadata);
82 auto enable_global_time_option = std::shared_ptr<global_time_option>(
new global_time_option());
85 info = color_devs_info[1];
87 info = color_devs_info.front();
90 auto raw_color_ep = std::make_shared<uvc_sensor>(
"Raw RGB Camera",
95 auto color_ep = std::make_shared<d400_color_sensor>(
this,
110 if (color_devs_info_mi0.size() == 1 || color_devs_info_mi0.size() == 3)
113 color_devs_info = color_devs_info_mi0;
120 << color_devs_info_mi0.size() <<
" found" );
165 std::map<float, std::string>{ { 0.f,
"Disabled"},
168 { 3.f,
"Auto" }, }));
235 auto uvc_dev = raw_color_ep->get_uvc_device();
236 if (uvc_dev->is_platform_jetson())
347 *_owner->_color_calib_table_raw,
357 for (
auto&&
p : results)
362 assign_stream(_owner->_color_stream,
p);
368 std::weak_ptr<d400_color_sensor> wp =
369 std::dynamic_pointer_cast<d400_color_sensor>(this->shared_from_this());
370 video->set_intrinsics([
profile, wp]()
374 return sp->get_intrinsics(
profile);
@ RS2_FRAME_METADATA_POWER_LINE_FREQUENCY
@ RS2_CAMERA_INFO_PHYSICAL_PORT
processing_blocks get_color_recommended_proccesing_blocks()
@ RS2_FRAME_METADATA_CONTRAST
@ RS2_FRAME_METADATA_FRAME_TIMESTAMP
rs2_intrinsics get_intrinsics(const stream_profile &profile) const override
std::shared_ptr< stream_interface > _depth_stream
std::shared_ptr< ds_color_common > _ds_color_common
@ RS2_FRAME_METADATA_SATURATION
uint8_t power_line_frequency
@ RS2_FRAME_METADATA_SENSOR_TIMESTAMP
std::map< uint32_t, rs2_format > d400_color_fourcc_to_rs2_format
@ RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE
uint8_t _color_device_idx
@ backlight_compensation_attribute
std::shared_ptr< d400_thermal_monitor > _thermal_monitor
uint8_t _depth_device_idx
uint8_t auto_exposure_mode
@ manual_exposure_attribute
void register_stream_to_extrinsic_group(const stream_interface &stream, uint32_t group_index)
constexpr int metadata_raw_mode_offset
void register_metadata(const synthetic_sensor &color_ep) const
@ RS2_OPTION_BACKLIGHT_COMPENSATION
@ RS2_OPTION_GLOBAL_TIME_ENABLED
@ RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE
void register_metadata(rs2_frame_metadata_value metadata, std::shared_ptr< md_attribute_parser_base > metadata_parser) const override
uint16_t manual_white_balance
std::shared_ptr< stream_interface > _color_stream
void register_stream_to_extrinsic_group(const stream_interface &stream, uint32_t groupd_index)
static processing_block_factory create_id_pbf(rs2_format format, rs2_stream stream, int idx=0)
void register_processing_blocks()
@ RS2_FRAME_METADATA_FRAME_COUNTER
uint8_t low_light_compensation
static environment & get_instance()
uint32_t rs_fourcc(const T a, const T b, const T c, const T d)
processing_blocks get_recommended_processing_blocks() const override
std::shared_ptr< hw_monitor > _hw_monitor
std::shared_ptr< md_attribute_parser_base > make_attribute_parser(Attribute S::*attribute, Flag flag, unsigned long long offset, attrib_modifyer mod=nullptr)
A helper function to create a specialized attribute parser. Return it as a pointer to a base-class.
@ low_light_compensation_attribute
int add_sensor(const std::shared_ptr< sensor_interface > &sensor_base)
@ RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION
@ RS2_FRAME_METADATA_BRIGHTNESS
bool val_in_range(const T &val, const std::initializer_list< T > &list)
std::map< uint32_t, rs2_stream > d400_color_fourcc_to_rs2_stream
@ RS2_CAMERA_INFO_FIRMWARE_VERSION
@ RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION
firmware_version _fw_version
d400_color(std::shared_ptr< const d400_info > const &)
std::vector< uint8_t > get_d400_raw_calibration_table(ds::d400_calibration_table_id table_id) const
std::shared_ptr< time_diff_keeper > _tf_keeper
@ RS2_FRAME_METADATA_GAMMA
@ auto_exposure_mode_attribute
long long rs2_metadata_type
void register_feature(std::shared_ptr< feature_interface > feature)
rs2_intrinsics get_d400_intrinsic_by_resolution(const vector< uint8_t > &raw_data, d400_calibration_table_id table_id, uint32_t width, uint32_t height)
rsutils::version firmware_version
std::shared_ptr< stream_interface > _color_stream
extrinsics_graph & get_extrinsics_graph()
void create_color_device(std::shared_ptr< context > ctx, const platform::backend_device_group &group)
stream_profile to_profile(const stream_profile_interface *sp)
@ RS2_FRAME_METADATA_SHARPNESS
@ auto_white_balance_temp_attribute
@ RS2_FRAME_METADATA_AUTO_EXPOSURE
rs2_extrinsics from_pose(pose a)
std::vector< std::shared_ptr< stream_profile_interface > > stream_profiles
@ RS2_OPTION_POWER_LINE_FREQUENCY
@ power_line_frequency_attribute
@ RS2_FRAME_METADATA_GAIN_LEVEL
std::shared_ptr< uvc_sensor > get_raw_color_sensor()
std::shared_ptr< md_attribute_parser_base > make_uvc_header_parser(Attribute St::*attribute, attrib_modifyer mod=nullptr)
A utility function to create UVC metadata header parser.
pose get_d400_color_stream_extrinsic(const std::vector< uint8_t > &raw_data)
@ RS2_OPTION_AUTO_EXPOSURE_PRIORITY
uint16_t auto_white_balance_temp
@ RS2_FRAME_METADATA_ACTUAL_EXPOSURE
void register_extrinsics(const stream_interface &from, const stream_interface &to, std::weak_ptr< rsutils::lazy< rs2_extrinsics > > extr)
std::shared_ptr< platform::backend > get_backend()
virtual stream_profiles init_stream_profiles() override
std::shared_ptr< rsutils::lazy< rs2_extrinsics > > _color_extrinsic
void register_color_features()
static const textual_icon lock
void register_metadata_mipi(const synthetic_sensor &color_ep) const
stream_profiles init_stream_profiles() override
const std::string & get_info(rs2_camera_info info) const override
uint8_t backlight_compensation
@ manual_white_balance_attribute
@ RS2_FRAME_METADATA_INPUT_WIDTH
rsutils::lazy< std::vector< uint8_t > > _color_calib_table_raw
@ RS2_FRAME_METADATA_INPUT_HEIGHT
std::vector< rs2_format > map_supported_color_formats(rs2_format source_format)
synthetic_sensor & get_color_sensor()
librealsense2
Author(s): LibRealSense ROS Team
autogenerated on Fri Aug 2 2024 08:30:02