#include <ds5-motion.h>

Inheritance diagram for librealsense::ds5_motion:

[legend]

Public Member Functions
std::shared_ptr< synthetic_sensor >	create_hid_device (std::shared_ptr< context > ctx, const std::vector< platform::hid_device_info > &all_hid_infos, const firmware_version &camera_fw_version)

	ds5_motion (std::shared_ptr< context > ctx, const platform::backend_device_group &group)

rs2_motion_device_intrinsic	get_motion_intrinsics (rs2_stream) const

std::shared_ptr< auto_exposure_mechanism >	register_auto_exposure_options (synthetic_sensor ep, const platform::extension_unit fisheye_xu)

Public Member Functions inherited from librealsense::ds5_device
std::vector< uint8_t >	backup_flash (update_progress_callback_ptr callback) override

std::shared_ptr< synthetic_sensor >	create_depth_device (std::shared_ptr< context > ctx, const std::vector< platform::uvc_device_info > &all_device_infos)

void	create_snapshot (std::shared_ptr< debug_interface > &snapshot) const override

	ds5_device (std::shared_ptr< context > ctx, const platform::backend_device_group &group)

void	enable_recording (std::function< void(const debug_interface &)> record_action) override

void	enter_update_state () const override

synthetic_sensor &	get_depth_sensor ()

virtual double	get_device_time_ms () override

uvc_sensor &	get_raw_depth_sensor ()

platform::usb_spec	get_usb_spec () const

void	hardware_reset () override

std::vector< uint8_t >	send_receive_raw_data (const std::vector< uint8_t > &input) override

void	update_flash (const std::vector< uint8_t > &image, update_progress_callback_ptr callback, int update_mode) override

Public Member Functions inherited from librealsense::device
virtual bool	compress_while_record () const override

virtual bool	contradicts (const stream_profile_interface *a, const std::vector< stream_profile > &others) const override

virtual std::shared_ptr< matcher >	create_matcher (const frame_holder &frame) const override

size_t	find_sensor_idx (const sensor_interface &s) const

std::shared_ptr< context >	get_context () const override

platform::backend_device_group	get_device_data () const override

std::pair< uint32_t, rs2_extrinsics >	get_extrinsics (const stream_interface &stream) const override

sensor_interface &	get_sensor (size_t subdevice) override

const sensor_interface &	get_sensor (size_t subdevice) const override

size_t	get_sensors_count () const override

bool	is_valid () const override

virtual void	stop_activity () const

void	tag_profiles (stream_profiles profiles) const override

virtual	~device ()

Public Member Functions inherited from librealsense::device_interface
virtual std::vector< tagged_profile >	get_profiles_tags () const =0

virtual	~device_interface ()=default

Public Member Functions inherited from librealsense::info_interface
virtual	~info_interface ()=default

Public Member Functions inherited from librealsense::recordable< info_interface >
virtual	~recordable ()=default

Public Member Functions inherited from librealsense::info_container
void	create_snapshot (std::shared_ptr< info_interface > &snapshot) const override

void	enable_recording (std::function< void(const info_interface &)> record_action) override

const std::string &	get_info (rs2_camera_info info) const override

void	register_info (rs2_camera_info info, const std::string &val)

bool	supports_info (rs2_camera_info info) const override

void	update (std::shared_ptr< extension_snapshot > ext) override

void	update_info (rs2_camera_info info, const std::string &val)

Public Member Functions inherited from librealsense::extension_snapshot
virtual	~extension_snapshot ()=default

Public Member Functions inherited from librealsense::recordable< debug_interface >
virtual	~recordable ()=default

Public Member Functions inherited from librealsense::global_time_interface
virtual void	create_snapshot (std::shared_ptr< global_time_interface > &snapshot) const override

virtual void	enable_recording (std::function< void(const global_time_interface &)> record_action) override

void	enable_time_diff_keeper (bool is_enable)

	global_time_interface ()

	~global_time_interface ()

Public Member Functions inherited from librealsense::recordable< global_time_interface >
virtual	~recordable ()=default

Public Member Functions inherited from librealsense::auto_calibrated
	auto_calibrated (std::shared_ptr< hw_monitor > &hwm)

std::vector< uint8_t >	get_calibration_table () const override

void	reset_to_factory_calibration () const override

std::vector< uint8_t >	run_on_chip_calibration (int timeout_ms, std::string json, float *health, update_progress_callback_ptr progress_callback) override

std::vector< uint8_t >	run_tare_calibration (int timeout_ms, float ground_truth_mm, std::string json, update_progress_callback_ptr progress_callback) override

void	set_calibration_table (const std::vector< uint8_t > &calibration) override

void	write_calibration () const override

Protected Attributes
std::shared_ptr< stream_interface >	_accel_stream

std::shared_ptr< stream_interface >	_fisheye_stream

std::shared_ptr< stream_interface >	_gyro_stream

Protected Attributes inherited from librealsense::ds5_device
lazy< std::vector< uint8_t > >	_coefficients_table_raw

lazy< std::vector< uint8_t > >	_color_calib_table_raw

std::shared_ptr< lazy< rs2_extrinsics > >	_color_extrinsic

std::shared_ptr< stream_interface >	_color_stream

uint8_t	_depth_device_idx

std::shared_ptr< stream_interface >	_depth_stream

ds::d400_caps	_device_capabilities

firmware_version	_fw_version

std::shared_ptr< hw_monitor >	_hw_monitor

bool	_is_locked = true

std::shared_ptr< stream_interface >	_left_ir_stream

std::shared_ptr< lazy< rs2_extrinsics > >	_left_right_extrinsics

lazy< std::vector< uint8_t > >	_new_calib_table_raw

uint16_t	_pid

std::shared_ptr< polling_error_handler >	_polling_error_handler

firmware_version	_recommended_fw_version

std::shared_ptr< stream_interface >	_right_ir_stream

std::shared_ptr< ds5_thermal_monitor >	_thermal_monitor

Protected Attributes inherited from librealsense::device
std::map< int, std::pair< uint32_t, std::shared_ptr< const stream_interface > > >	_extrinsics

Protected Attributes inherited from librealsense::global_time_interface
std::shared_ptr< time_diff_keeper >	_tf_keeper

Private Member Functions
void	initialize_fisheye_sensor (std::shared_ptr< context > ctx, const platform::backend_device_group &group)

Private Attributes
std::shared_ptr< lazy< ds::imu_intrinsic > >	_accel_intrinsic

std::shared_ptr< lazy< rs2_extrinsics > >	_depth_to_imu

lazy< std::vector< uint8_t > >	_fisheye_calibration_table_raw

optional_value< uint8_t >	_fisheye_device_idx

std::shared_ptr< lazy< ds::imu_intrinsic > >	_gyro_intrinsic

std::shared_ptr< mm_calib_handler >	_mm_calib

optional_value< uint8_t >	_motion_module_device_idx

uint16_t	_pid

std::map< rs2_stream, std::map< unsigned, unsigned > >	fps_and_sampling_frequency_per_rs2_stream

std::vector< std::pair< std::string, stream_profile > >	sensor_name_and_hid_profiles

Friends
class	ds5_fisheye_sensor

class	ds5_hid_sensor

Additional Inherited Members
Protected Member Functions inherited from librealsense::ds5_device
command	get_firmware_logs_command () const

command	get_flash_logs_command () const

std::vector< uint8_t >	get_new_calibration_table () const

std::vector< uint8_t >	get_raw_calibration_table (ds::calibration_table_id table_id) const

float	get_stereo_baseline_mm () const

void	init (std::shared_ptr< context > ctx, const platform::backend_device_group &group)

bool	is_camera_in_advanced_mode () const

ds::d400_caps	parse_device_capabilities () const

Protected Member Functions inherited from librealsense::device
int	add_sensor (const std::shared_ptr< sensor_interface > &sensor_base)

int	assign_sensor (const std::shared_ptr< sensor_interface > &sensor_base, uint8_t idx)

	device (std::shared_ptr< context > ctx, const platform::backend_device_group group, bool device_changed_notifications=false)

std::vector< rs2_format >	map_supported_color_formats (rs2_format source_format)

void	register_stream_to_extrinsic_group (const stream_interface &stream, uint32_t groupd_index)

Detailed Description

Definition at line 398 of file ds5-motion.h.

Constructor & Destructor Documentation

librealsense::ds5_motion::ds5_motion	(	std::shared_ptr< context >	ctx,
		const platform::backend_device_group &	group
	)

Definition at line 306 of file ds5-motion.cpp.

Member Function Documentation

std::shared_ptr< synthetic_sensor > librealsense::ds5_motion::create_hid_device	(	std::shared_ptr< context >	ctx,
		const std::vector< platform::hid_device_info > &	all_hid_infos,
		const firmware_version &	camera_fw_version
	)

Definition at line 170 of file ds5-motion.cpp.

rs2_motion_device_intrinsic librealsense::ds5_motion::get_motion_intrinsics ( rs2_stream stream ) const

Definition at line 159 of file ds5-motion.cpp.

void librealsense::ds5_motion::initialize_fisheye_sensor	(	std::shared_ptr< context >	ctx,
		const platform::backend_device_group &	group
	)

private

Definition at line 351 of file ds5-motion.cpp.

std::shared_ptr< auto_exposure_mechanism > librealsense::ds5_motion::register_auto_exposure_options	(	synthetic_sensor *	ep,
		const platform::extension_unit *	fisheye_xu
	)

Definition at line 249 of file ds5-motion.cpp.

Friends And Related Function Documentation

friend class ds5_fisheye_sensor

friend

Definition at line 415 of file ds5-motion.h.

friend class ds5_hid_sensor

friend

Definition at line 416 of file ds5-motion.h.

Member Data Documentation

std::shared_ptr<lazy<ds::imu_intrinsic> > librealsense::ds5_motion::_accel_intrinsic

private

Definition at line 424 of file ds5-motion.h.

std::shared_ptr<stream_interface> librealsense::ds5_motion::_accel_stream

protected

Definition at line 444 of file ds5-motion.h.

std::shared_ptr<lazy<rs2_extrinsics> > librealsense::ds5_motion::_depth_to_imu

private

Definition at line 427 of file ds5-motion.h.

lazy<std::vector<uint8_t> > librealsense::ds5_motion::_fisheye_calibration_table_raw

private

Definition at line 426 of file ds5-motion.h.

optional_value<uint8_t> librealsense::ds5_motion::_fisheye_device_idx

private

Definition at line 420 of file ds5-motion.h.

std::shared_ptr<stream_interface> librealsense::ds5_motion::_fisheye_stream

protected

Definition at line 443 of file ds5-motion.h.

std::shared_ptr<lazy<ds::imu_intrinsic> > librealsense::ds5_motion::_gyro_intrinsic

private

Definition at line 425 of file ds5-motion.h.

std::shared_ptr<stream_interface> librealsense::ds5_motion::_gyro_stream

protected

Definition at line 445 of file ds5-motion.h.

std::shared_ptr<mm_calib_handler> librealsense::ds5_motion::_mm_calib

private

Definition at line 423 of file ds5-motion.h.

optional_value<uint8_t> librealsense::ds5_motion::_motion_module_device_idx

private

Definition at line 421 of file ds5-motion.h.

uint16_t librealsense::ds5_motion::_pid

private

Definition at line 429 of file ds5-motion.h.

std::map<rs2_stream, std::map<unsigned, unsigned> > librealsense::ds5_motion::fps_and_sampling_frequency_per_rs2_stream

private

Initial value:

=
        { { RS2_STREAM_GYRO,     {{unsigned(odr::IMU_FPS_200),  hid_fps_translation.at(odr::IMU_FPS_200)},
                                 { unsigned(odr::IMU_FPS_400),  hid_fps_translation.at(odr::IMU_FPS_400)}}} }

Definition at line 438 of file ds5-motion.h.

std::vector<std::pair<std::string, stream_profile> > librealsense::ds5_motion::sensor_name_and_hid_profiles

private

Initial value:

=
        { { gyro_sensor_name,     {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_GYRO, 0, 1, 1, int(odr::IMU_FPS_200)}},
          { gyro_sensor_name,     {RS2_FORMAT_MOTION_XYZ32F, RS2_STREAM_GYRO, 0, 1, 1, int(odr::IMU_FPS_400)}}}

Definition at line 433 of file ds5-motion.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation