d400-private.h
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2015 Intel Corporation. All Rights Reserved.
3 
4 #pragma once
5 
6 #include "ds/ds-private.h"
9 
10 namespace librealsense
11 {
12  class d400_info;
13 
14  namespace ds
15  {
16  const uint16_t RS400_PID = 0x0ad1; // PSR
17  const uint16_t RS410_PID = 0x0ad2; // ASR
18  const uint16_t RS415_PID = 0x0ad3; // ASRC
19  const uint16_t RS430_PID = 0x0ad4; // AWG
20  const uint16_t RS430_MM_PID = 0x0ad5; // AWGT
21  const uint16_t RS_USB2_PID = 0x0ad6; // USB2
24  const uint16_t RS400_IMU_PID = 0x0af2; // IMU
25  const uint16_t RS420_PID = 0x0af6; // PWG
26  const uint16_t RS420_MM_PID = 0x0afe; // PWGT
27  const uint16_t RS410_MM_PID = 0x0aff; // ASRT
28  const uint16_t RS400_MM_PID = 0x0b00; // PSR
29  const uint16_t RS430_MM_RGB_PID = 0x0b01; // AWGCT
30  const uint16_t RS460_PID = 0x0b03; // DS5U
31  const uint16_t RS435_RGB_PID = 0x0b07; // AWGC
32  const uint16_t RS405U_PID = 0x0b0c; // DS5U
33  const uint16_t RS435I_PID = 0x0b3a; // D435i
34  const uint16_t RS416_PID = 0x0b49; // F416
35  const uint16_t RS430I_PID = 0x0b4b; // D430i
36  const uint16_t RS416_RGB_PID = 0x0B52; // F416 RGB
37  const uint16_t RS405_PID = 0x0B5B; // D405
38  const uint16_t RS455_PID = 0x0B5C; // D455
39  const uint16_t RS457_PID = 0xabcd; // D457
40 
41  // d400 Devices supported by the current version
42  static const std::set<std::uint16_t> rs400_sku_pid = {
65  };
66 
67  static const std::set<std::uint16_t> d400_multi_sensors_pid = {
78  };
79 
80  static const std::set<std::uint16_t> d400_hid_sensors_pid = {
84  };
85 
86  static const std::set<std::uint16_t> d400_hid_bmi_055_pid = {
90  };
91 
92  static const std::set<std::uint16_t> d400_hid_bmi_085_pid = { };
93 
94  static const std::set<std::uint16_t> d400_fisheye_pid = {
100  };
101 
102  static const std::map<std::uint16_t, std::string> rs400_sku_names = {
103  { RS400_PID, "Intel RealSense D400"},
104  { RS410_PID, "Intel RealSense D410"},
105  { RS415_PID, "Intel RealSense D415"},
106  { RS430_PID, "Intel RealSense D430"},
107  { RS430_MM_PID, "Intel RealSense D430 with Tracking Module"},
108  { RS_USB2_PID, "Intel RealSense USB2" },
109  { RS_D400_RECOVERY_PID, "Intel RealSense D4XX Recovery"},
110  { RS_D400_USB2_RECOVERY_PID, "Intel RealSense D4XX USB2 Recovery"},
111  { RS400_IMU_PID, "Intel RealSense IMU" },
112  { RS420_PID, "Intel RealSense D420"},
113  { RS420_MM_PID, "Intel RealSense D420 with Tracking Module"},
114  { RS410_MM_PID, "Intel RealSense D410 with Tracking Module"},
115  { RS400_MM_PID, "Intel RealSense D400 with Tracking Module"},
116  { RS430_MM_RGB_PID, "Intel RealSense D430 with Tracking and RGB Modules"},
117  { RS460_PID, "Intel RealSense D460" },
118  { RS435_RGB_PID, "Intel RealSense D435"},
119  { RS405U_PID, "Intel RealSense DS5U" },
120  { RS435I_PID, "Intel RealSense D435I" },
121  { RS416_PID, "Intel RealSense F416"},
122  { RS430I_PID, "Intel RealSense D430I"},
123  { RS416_RGB_PID, "Intel RealSense F416 with RGB Module"},
124  { RS405_PID, "Intel RealSense D405" },
125  { RS455_PID, "Intel RealSense D455" },
126  { RS457_PID, "Intel RealSense D457" },
127  };
128 
129  static std::map<uint16_t, std::string> d400_device_to_fw_min_version = {
130  {RS400_PID, "5.8.15.0"},
131  {RS410_PID, "5.8.15.0"},
132  {RS415_PID, "5.8.15.0"},
133  {RS430_PID, "5.8.15.0"},
134  {RS430_MM_PID, "5.8.15.0"},
135  {RS_USB2_PID, "5.8.15.0"},
136  {RS_D400_RECOVERY_PID, "5.8.15.0"},
137  {RS_D400_USB2_RECOVERY_PID, "5.8.15.0"},
138  {RS400_IMU_PID, "5.8.15.0"},
139  {RS420_PID, "5.8.15.0"},
140  {RS420_MM_PID, "5.8.15.0"},
141  {RS410_MM_PID, "5.8.15.0"},
142  {RS400_MM_PID, "5.8.15.0" },
143  {RS430_MM_RGB_PID, "5.8.15.0" },
144  {RS460_PID, "5.8.15.0" },
145  {RS435_RGB_PID, "5.8.15.0" },
146  {RS405U_PID, "5.8.15.0" },
147  {RS435I_PID, "5.12.7.100" },
148  {RS416_PID, "5.8.15.0" },
149  {RS430I_PID, "5.8.15.0" },
150  {RS416_RGB_PID, "5.8.15.0" },
151  {RS405_PID, "5.12.11.8" },
152  {RS455_PID, "5.13.0.50" },
153  {RS457_PID, "5.13.1.1" }
154  };
155 
156  std::vector<platform::uvc_device_info> filter_d400_device_by_capability(
157  const std::vector<platform::uvc_device_info>& devices, ds_caps caps);
158  bool d400_try_fetch_usb_device(std::vector<platform::usb_device_info>& devices,
160 
161  static const std::map<ds_caps, std::int8_t> d400_cap_to_min_gvd_version = {
162  {ds_caps::CAP_IP65, 0x4},
164  };
165 
166  // Checks if given capability supporting by current gvd (firmware data) version.
167  static bool is_capability_supports(const ds::ds_caps capability, const uint8_t cur_gvd_version)
168  {
169  auto cap = ds::d400_cap_to_min_gvd_version.find(capability);
171  {
172  throw invalid_value_exception("Not found capabilty in map of cabability--gvd version.");
173  }
174 
175  uint8_t min_gvd_version = cap->second;
176  return min_gvd_version <= cur_gvd_version;
177  }
178 
179  std::string extract_firmware_version_string( const std::vector< uint8_t > & fw_image );
180 
182  {
185  rgb_calibration_id = 32,
187  imu_calibration_id = 34,
188  lens_shading_id = 35,
189  projector_id = 36,
190  max_id = -1
191  };
192 
194  {
195  uint16_t version; // major.minor
202  std::map<d400_calibration_table_id, bool> data_present;
203 
206  {
207  for (auto i = 0; i < max_ds_rect_resolutions; i++)
208  depth_intrinsic[i] = {};
216  }
217  };
218 
220  {
222  float3x3 intrinsic_left; // left camera intrinsic data, normilized
223  float3x3 intrinsic_right; // right camera intrinsic data, normilized
224  float3x3 world2left_rot; // the inverse rotation of the left camera
225  float3x3 world2right_rot; // the inverse rotation of the right camera
226  float baseline; // the baseline between the cameras in mm units
227  uint32_t brown_model; // Distortion model: 0 - DS distorion model, 1 - Brown model
231  };
232 
233 
236  pose get_d400_color_stream_extrinsic(const std::vector<uint8_t>& raw_data);
237  rs2_intrinsics get_d400_color_stream_intrinsic(const std::vector<uint8_t>& raw_data, uint32_t width, uint32_t height);
238  bool try_get_d400_intrinsic_by_resolution_new(const std::vector<uint8_t>& raw_data,
240 
241  rs2_intrinsics get_intrinsic_fisheye_table(const std::vector<uint8_t>& raw_data, uint32_t width, uint32_t height);
242  pose get_fisheye_extrinsics_data(const std::vector<uint8_t>& raw_data);
243 
245  {
247  // RGB Intrinsic
248  float3x3 intrinsic; // normalized by [-1 1]
249  float distortion[5]; // RGB forward distortion coefficients, Brown model
250  // RGB Extrinsic
251  float3 rotation; // RGB rotation angles (Rodrigues)
252  float3 translation; // RGB translation vector, mm
253  // RGB Projection
254  float projection[12]; // Projection matrix from depth to RGB [3 X 4]
255  uint16_t calib_width; // original calibrated resolution
257  // RGB Rectification Coefficients
258  float3x3 intrinsic_matrix_rect; // RGB intrinsic matrix after rectification
259  float3x3 rotation_matrix_rect; // Rotation matrix for rectification of RGB
260  float3 translation_rect; // Translation vector for rectification
262  };
263 
265  {
266  success = 0,
296  };
297 
298  // Elaborate FW XU report. The reports may be consequently extended for PU/CTL/ISP
299  const std::map< int, std::string > d400_fw_error_report = {
300  { success, "Success" },
301  { hot_laser_power_reduce, "Laser hot - power reduce" },
302  { hot_laser_disable, "Laser hot - disabled" },
303  { flag_B_laser_disable, "Flag B - laser disabled" },
304  { stereo_module_not_connected, "Stereo Module is not connected" },
305  { eeprom_corrupted, "EEPROM corrupted" },
306  { calibration_corrupted, "Calibration corrupted" },
307  { mm_upd_fail, "Motion Module update failed" },
308  { isp_upd_fail, "ISP update failed" },
309  { mm_force_pause, "Motion Module force pause" },
310  { mm_failure, "Motion Module failure" },
311  { usb_scp_overflow, "USB SCP overflow" },
312  { usb_rec_overflow, "USB REC overflow" },
313  { usb_cam_overflow, "USB CAM overflow" },
314  { mipi_left_error, "Left MIPI error" },
315  { mipi_right_error, "Right MIPI error" },
316  { mipi_rt_error, "RT MIPI error" },
317  { mipi_fe_error, "FishEye MIPI error" },
318  { i2c_cfg_left_error, "Left IC2 Config error" },
319  { i2c_cfg_right_error, "Right IC2 Config error" },
320  { i2c_cfg_rt_error, "RT IC2 Config error" },
321  { i2c_cfg_fe_error, "FishEye IC2 Config error" },
322  { stream_not_start_z, "Depth stream start failure" },
323  { stream_not_start_y, "IR stream start failure" },
324  { stream_not_start_cam, "Camera stream start failure" },
325  { rec_error, "REC error" },
326  { usb2_limit, "USB2 Limit" },
327  { cold_laser_disable, "Laser cold - disabled" },
328  { no_temperature_disable_laser, "Temperature read failure - laser disabled" },
329  { isp_boot_data_upload_failed, "ISP boot data upload failure" },
330  };
331 
332  } // namespace ds
333 } // namespace librealsense
librealsense::ds::d400_fisheye_pid
static const std::set< std::uint16_t > d400_fisheye_pid
Definition: d400-private.h:94
librealsense::ds::hot_laser_power_reduce
@ hot_laser_power_reduce
Definition: d400-private.h:267
librealsense
Definition: algo.h:18
librealsense::ds::d400_calibration_table_id::rgb_calibration_id
@ rgb_calibration_id
librealsense::ds::d400_coefficients_table::baseline
float baseline
Definition: d400-private.h:226
librealsense::ds::d400_rgb_calibration_table::rotation
float3 rotation
Definition: d400-private.h:251
uint8_t
unsigned char uint8_t
Definition: stdint.h:78
librealsense::ds::d400_calibration::left_imager_intrinsic
rs2_intrinsics left_imager_intrinsic
Definition: d400-private.h:196
librealsense::ds::mm_force_pause
@ mm_force_pause
Definition: d400-private.h:275
librealsense::ds::mipi_left_error
@ mipi_left_error
Definition: d400-private.h:280
librealsense::ds::d400_rgb_calibration_table::intrinsic_matrix_rect
float3x3 intrinsic_matrix_rect
Definition: d400-private.h:258
librealsense::invalid_value_exception
Definition: librealsense-exception.h:114
librealsense::ds::d400_rgb_calibration_table::intrinsic
float3x3 intrinsic
Definition: d400-private.h:248
librealsense::ds::RS457_PID
const uint16_t RS457_PID
Definition: d400-private.h:39
rs2_extrinsics
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition: rs_sensor.h:102
librealsense::ds::success
@ success
Definition: d400-private.h:266
librealsense::ds::get_intrinsic_fisheye_table
rs2_intrinsics get_intrinsic_fisheye_table(const std::vector< uint8_t > &raw_data, uint32_t width, uint32_t height)
Definition: ds-private.cpp:23
uint16_t
unsigned short uint16_t
Definition: stdint.h:79
backend-device-group.h
librealsense::ds::d400_coefficients_table::intrinsic_right
float3x3 intrinsic_right
Definition: d400-private.h:223
librealsense::ds::RS415_PID
const uint16_t RS415_PID
Definition: d400-private.h:18
librealsense::ds::d400_rgb_calibration_table::calib_width
uint16_t calib_width
Definition: d400-private.h:255
rsutils::number::float4
Definition: third-party/rsutils/include/rsutils/number/float3.h:47
ds-private.h
librealsense::ds::d400_rgb_calibration_table::translation
float3 translation
Definition: d400-private.h:252
rs2_intrinsics
Video stream intrinsics.
Definition: rs_types.h:58
librealsense::ds::flag_B_laser_disable
@ flag_B_laser_disable
Definition: d400-private.h:269
librealsense::ds::table_header
Definition: ds-private.h:259
librealsense::ds::stereo_module_not_connected
@ stereo_module_not_connected
Definition: d400-private.h:270
librealsense::ds::d400_calibration::data_present
std::map< d400_calibration_table_id, bool > data_present
Definition: d400-private.h:202
string
GLsizei const GLchar *const * string
Definition: glad/glad/glad.h:2861
librealsense::ds::i2c_cfg_rt_error
@ i2c_cfg_rt_error
Definition: d400-private.h:286
librealsense::ds::d400_coefficients_table::rect_params
float4 rect_params[max_ds_rect_resolutions]
Definition: d400-private.h:229
librealsense::ds::d400_calibration::right_imager_extrinsic
rs2_extrinsics right_imager_extrinsic
Definition: d400-private.h:200
librealsense::ds::d400_calibration_table_id::max_id
@ max_id
devices
Definition: third-party/realdds/scripts/devices.py:1
librealsense::ds::ds_caps::CAP_IP65
@ CAP_IP65
librealsense::ds::RS455_PID
const uint16_t RS455_PID
Definition: d400-private.h:38
librealsense::ds::d400_calibration::version
uint16_t version
Definition: d400-private.h:195
librealsense::ds::is_capability_supports
static bool is_capability_supports(const ds::ds_caps capability, const uint8_t cur_gvd_version)
Definition: d400-private.h:167
librealsense::ds::mm_failure
@ mm_failure
Definition: d400-private.h:276
librealsense::ds::d400_fw_error_report
const std::map< int, std::string > d400_fw_error_report
Definition: d400-private.h:299
librealsense::ds::RS460_PID
const uint16_t RS460_PID
Definition: d400-private.h:30
librealsense::ds::d400_rgb_calibration_table
Definition: d400-private.h:244
librealsense::ds::d400_coefficients_table::world2right_rot
float3x3 world2right_rot
Definition: d400-private.h:225
librealsense::ds::isp_boot_data_upload_failed
@ isp_boot_data_upload_failed
Definition: d400-private.h:295
librealsense::ds::no_temperature_disable_laser
@ no_temperature_disable_laser
Definition: d400-private.h:294
librealsense::ds::RS416_RGB_PID
const uint16_t RS416_RGB_PID
Definition: d400-private.h:36
librealsense::ds::d400_calibration::left_imager_extrinsic
rs2_extrinsics left_imager_extrinsic
Definition: d400-private.h:199
librealsense::ds::filter_d400_device_by_capability
std::vector< platform::uvc_device_info > filter_d400_device_by_capability(const std::vector< platform::uvc_device_info > &devices, ds_caps caps)
Definition: d400-private.cpp:66
librealsense::ds::d400_calibration_table_id::projector_id
@ projector_id
width
GLint GLsizei width
Definition: glad/glad/glad.h:1397
librealsense::ds::ds_caps::CAP_IR_FILTER
@ CAP_IR_FILTER
librealsense::ds::RS410_MM_PID
const uint16_t RS410_MM_PID
Definition: d400-private.h:27
librealsense::ds::RS416_PID
const uint16_t RS416_PID
Definition: d400-private.h:34
librealsense::ds::d400_rgb_calibration_table::distortion
float distortion[5]
Definition: d400-private.h:249
notification.h
librealsense::ds::rs400_sku_pid
static const std::set< std::uint16_t > rs400_sku_pid
Definition: d400-private.h:42
librealsense::ds::RS420_PID
const uint16_t RS420_PID
Definition: d400-private.h:25
uint32_t
unsigned int uint32_t
Definition: stdint.h:80
test-device-fw-compatibility.fw_image
fw_image
Definition: test-device-fw-compatibility.py:89
librealsense::ds::d400_calibration_table_id::coefficients_table_id
@ coefficients_table_id
librealsense::ds::d400_hid_bmi_085_pid
static const std::set< std::uint16_t > d400_hid_bmi_085_pid
Definition: d400-private.h:92
librealsense::ds::RS410_PID
const uint16_t RS410_PID
Definition: d400-private.h:17
height
GLint GLsizei GLsizei height
Definition: glad/glad/glad.h:1397
librealsense::ds::RS_D400_RECOVERY_PID
const uint16_t RS_D400_RECOVERY_PID
Definition: d400-private.h:22
librealsense::ds::RS420_MM_PID
const uint16_t RS420_MM_PID
Definition: d400-private.h:26
i
int i
Definition: rs-pcl-color.cpp:54
librealsense::ds::rs400_sku_names
static const std::map< std::uint16_t, std::string > rs400_sku_names
Definition: d400-private.h:102
librealsense::ds::RS435_RGB_PID
const uint16_t RS435_RGB_PID
Definition: d400-private.h:31
librealsense::ds::d400_multi_sensors_pid
static const std::set< std::uint16_t > d400_multi_sensors_pid
Definition: d400-private.h:67
librealsense::ds::d400_try_fetch_usb_device
bool d400_try_fetch_usb_device(std::vector< platform::usb_device_info > &devices, const platform::uvc_device_info &info, platform::usb_device_info &result)
Definition: d400-private.cpp:13
librealsense::ds::RS_USB2_PID
const uint16_t RS_USB2_PID
Definition: d400-private.h:21
librealsense::ds::d400_calibration_table_id::fisheye_calibration_id
@ fisheye_calibration_id
librealsense::ds::d400_coefficients_table::header
table_header header
Definition: d400-private.h:221
librealsense::ds::usb_rec_overflow
@ usb_rec_overflow
Definition: d400-private.h:278
rsutils::number::float3x3
Definition: third-party/rsutils/include/rsutils/number/float3.h:57
librealsense::ds::stream_not_start_y
@ stream_not_start_y
Definition: d400-private.h:289
librealsense::ds::try_get_d400_intrinsic_by_resolution_new
bool try_get_d400_intrinsic_by_resolution_new(const vector< uint8_t > &raw_data, uint32_t width, uint32_t height, rs2_intrinsics *result)
Definition: d400-private.cpp:294
librealsense::ds::d400_coefficients_table::brown_model
uint32_t brown_model
Definition: d400-private.h:227
librealsense::ds::RS_D400_USB2_RECOVERY_PID
const uint16_t RS_D400_USB2_RECOVERY_PID
Definition: d400-private.h:23
librealsense::ds::hot_laser_disable
@ hot_laser_disable
Definition: d400-private.h:268
librealsense::ds::d400_calibration_table_id::lens_shading_id
@ lens_shading_id
librealsense::ds::get_d400_intrinsic_by_resolution
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)
Definition: d400-private.cpp:105
librealsense::ds::RS435I_PID
const uint16_t RS435I_PID
Definition: d400-private.h:33
librealsense::ds::d400_rgb_calibration_table::header
table_header header
Definition: d400-private.h:246
librealsense::ds::RS405U_PID
const uint16_t RS405U_PID
Definition: d400-private.h:32
librealsense::ds::i2c_cfg_left_error
@ i2c_cfg_left_error
Definition: d400-private.h:284
librealsense::ds::ds_caps
ds_caps
Definition: ds-private.h:191
librealsense::ds::d400_calibration::right_imager_intrinsic
rs2_intrinsics right_imager_intrinsic
Definition: d400-private.h:197
librealsense::ds::d400_coefficients_table::world2left_rot
float3x3 world2left_rot
Definition: d400-private.h:224
librealsense::ds::mipi_rt_error
@ mipi_rt_error
Definition: d400-private.h:282
librealsense::ds::d400_calibration_table_id::imu_calibration_id
@ imu_calibration_id
librealsense::ds::mipi_fe_error
@ mipi_fe_error
Definition: d400-private.h:283
librealsense::ds::RS400_IMU_PID
const uint16_t RS400_IMU_PID
Definition: d400-private.h:24
librealsense::ds::isp_upd_fail
@ isp_upd_fail
Definition: d400-private.h:274
librealsense::ds::d400_coefficients_table::reserved2
uint8_t reserved2[64]
Definition: d400-private.h:230
fps.info
info
Definition: fps.py:50
librealsense::ds::d400_rgb_calibration_table::translation_rect
float3 translation_rect
Definition: d400-private.h:260
librealsense::ds::d400_calibration::depth_extrinsic
rs2_extrinsics depth_extrinsic
Definition: d400-private.h:201
librealsense::ds::cold_laser_disable
@ cold_laser_disable
Definition: d400-private.h:293
librealsense::ds::i2c_cfg_right_error
@ i2c_cfg_right_error
Definition: d400-private.h:285
librealsense::ds::d400_rgb_calibration_table::reserved
uint8_t reserved[24]
Definition: d400-private.h:261
librealsense::ds::RS400_MM_PID
const uint16_t RS400_MM_PID
Definition: d400-private.h:28
librealsense::ds::get_d400_color_stream_intrinsic
rs2_intrinsics get_d400_color_stream_intrinsic(const std::vector< uint8_t > &raw_data, uint32_t width, uint32_t height)
Definition: d400-private.cpp:240
librealsense::ds::RS405_PID
const uint16_t RS405_PID
Definition: d400-private.h:37
librealsense::ds::d400_calibration
Definition: d400-private.h:193
librealsense::ds::d400_rgb_calibration_table::rotation_matrix_rect
float3x3 rotation_matrix_rect
Definition: d400-private.h:259
test-fps.ds
ds
Definition: test-fps.py:77
librealsense::ds::get_d400_color_stream_extrinsic
pose get_d400_color_stream_extrinsic(const std::vector< uint8_t > &raw_data)
Definition: d400-private.cpp:226
librealsense::ds::d400_notifications_types
d400_notifications_types
Definition: d400-private.h:264
librealsense::ds::d400_hid_bmi_055_pid
static const std::set< std::uint16_t > d400_hid_bmi_055_pid
Definition: d400-private.h:86
librealsense::ds::rec_error
@ rec_error
Definition: d400-private.h:291
librealsense::ds::get_fisheye_extrinsics_data
pose get_fisheye_extrinsics_data(const std::vector< uint8_t > &raw_data)
librealsense::ds::get_d400_intrinsic_by_resolution_coefficients_table
rs2_intrinsics get_d400_intrinsic_by_resolution_coefficients_table(const std::vector< uint8_t > &raw_data, uint32_t width, uint32_t height)
Definition: d400-private.cpp:126
librealsense::ds::extract_firmware_version_string
std::string extract_firmware_version_string(const std::vector< uint8_t > &fw_image)
Definition: d400-private.cpp:88
librealsense::ds::d400_coefficients_table::reserved1
uint8_t reserved1[88]
Definition: d400-private.h:228
librealsense::ds::d400_rgb_calibration_table::calib_height
uint16_t calib_height
Definition: d400-private.h:256
librealsense::ds::RS430_PID
const uint16_t RS430_PID
Definition: d400-private.h:19
librealsense::ds::RS430_MM_RGB_PID
const uint16_t RS430_MM_RGB_PID
Definition: d400-private.h:29
librealsense::ds::max_ds_rect_resolutions
@ max_ds_rect_resolutions
Definition: ds-private.h:287
librealsense::ds::stream_not_start_z
@ stream_not_start_z
Definition: d400-private.h:288
librealsense::ds::d400_coefficients_table::intrinsic_left
float3x3 intrinsic_left
Definition: d400-private.h:222
librealsense::ds::d400_calibration_table_id
d400_calibration_table_id
Definition: d400-private.h:181
librealsense::ds::i2c_cfg_fe_error
@ i2c_cfg_fe_error
Definition: d400-private.h:287
librealsense::ds::d400_calibration::d400_calibration
d400_calibration()
Definition: d400-private.h:204
end
GLuint GLuint end
Definition: glad/glad/glad.h:2395
librealsense::ds::d400_coefficients_table
Definition: d400-private.h:219
librealsense::ds::stream_not_start_cam
@ stream_not_start_cam
Definition: d400-private.h:290
librealsense::ds::d400_hid_sensors_pid
static const std::set< std::uint16_t > d400_hid_sensors_pid
Definition: d400-private.h:80
librealsense::ds::d400_calibration_table_id::depth_calibration_id
@ depth_calibration_id
test-depth.result
result
Definition: test-depth.py:183
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const uint16_t RS400_PID
Definition: d400-private.h:16
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rs2_intrinsics depth_intrinsic[max_ds_rect_resolutions]
Definition: d400-private.h:198
librealsense::ds::usb_scp_overflow
@ usb_scp_overflow
Definition: d400-private.h:277
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const uint16_t RS430I_PID
Definition: d400-private.h:35
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static const std::map< ds_caps, std::int8_t > d400_cap_to_min_gvd_version
Definition: d400-private.h:161
librealsense::platform::uvc_device_info
Definition: uvc-device-info.h:15
rsutils::number::float3
Definition: third-party/rsutils/include/rsutils/number/float3.h:35
librealsense::ds::RS430_MM_PID
const uint16_t RS430_MM_PID
Definition: d400-private.h:20
librealsense::ds::eeprom_corrupted
@ eeprom_corrupted
Definition: d400-private.h:271
librealsense::ds::usb_cam_overflow
@ usb_cam_overflow
Definition: d400-private.h:279
librealsense::ds::calibration_corrupted
@ calibration_corrupted
Definition: d400-private.h:272
librealsense::ds::d400_device_to_fw_min_version
static std::map< uint16_t, std::string > d400_device_to_fw_min_version
Definition: d400-private.h:129
librealsense::pose
Definition: src/pose.h:16
librealsense::platform::usb_device_info
Definition: usb-types.h:146
librealsense::ds::mipi_right_error
@ mipi_right_error
Definition: d400-private.h:281
librealsense::ds::usb2_limit
@ usb2_limit
Definition: d400-private.h:292
librealsense::ds::d400_rgb_calibration_table::projection
float projection[12]
Definition: d400-private.h:254
librealsense::ds::mm_upd_fail
@ mm_upd_fail
Definition: d400-private.h:273


librealsense2
Author(s): LibRealSense ROS Team
autogenerated on Fri Aug 2 2024 08:30:02