Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
ivcam-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 "backend.h"
7 
8 namespace librealsense {
9  namespace ivcam {
10  // IVCAM depth XU identifiers
11  const uint8_t IVCAM_DEPTH_LASER_POWER = 1;
12  const uint8_t IVCAM_DEPTH_ACCURACY = 2;
13  const uint8_t IVCAM_DEPTH_MOTION_RANGE = 3;
14  const uint8_t IVCAM_DEPTH_ERROR = 4;
15  const uint8_t IVCAM_DEPTH_FILTER_OPTION = 5;
16  const uint8_t IVCAM_DEPTH_CONFIDENCE_THRESH = 6;
17  const uint8_t IVCAM_DEPTH_DYNAMIC_FPS = 7; // Only available on IVCAM 1.0 / F200
18 
19  // IVCAM color XU identifiers
20  const uint8_t IVCAM_COLOR_EXPOSURE_PRIORITY = 1;
21  const uint8_t IVCAM_COLOR_AUTO_FLICKER = 2;
22  const uint8_t IVCAM_COLOR_ERROR = 3;
23  const uint8_t IVCAM_COLOR_EXPOSURE_GRANULAR = 4;
24 
26  { 0xA55751A1, 0xF3C5, 0x4A5E, { 0x8D, 0x5A, 0x68, 0x54, 0xB8, 0xFA, 0x27, 0x16 } } };
27 
29  {
30  float Rmax;
31  float Kc[3][3]; // [3x3]: intrinsic calibration matrix of the IR camera
32  float Distc[5]; // [1x5]: forward distortion parameters of the IR camera
33  float Invdistc[5]; // [1x5]: the inverse distortion parameters of the IR camera
34  float Pp[3][4]; // [3x4]: projection matrix
35  float Kp[3][3]; // [3x3]: intrinsic calibration matrix of the projector
36  float Rp[3][3]; // [3x3]: extrinsic calibration matrix of the projector
37  float Tp[3]; // [1x3]: translation vector of the projector
38  float Distp[5]; // [1x5]: forward distortion parameters of the projector
39  float Invdistp[5]; // [1x5]: inverse distortion parameters of the projector
40  float Pt[3][4]; // [3x4]: IR to RGB (texture mapping) image transformation matrix
41  float Kt[3][3];
42  float Rt[3][3];
43  float Tt[3];
44  float Distt[5]; // [1x5]: The inverse distortion parameters of the RGB camera
45  float Invdistt[5];
46  float QV[6];
47  };
48 
50  {
51  int uniqueNumber; //Should be 0xCAFECAFE in Calibration version 1 or later. In calibration version 0 this is zero.
52  int16_t TableValidation;
53  int16_t TableVersion;
55  };
56 
58  {
59  int enableMvR;
61  int minMvR;
62  int maxMvR;
63  int startMvR;
64  int minLaser;
65  int maxLaser;
67  int ARUpperTh;
68  int ARLowerTh;
69  };
70 
71  enum fw_cmd : uint8_t
72  {
73  GetMEMSTemp = 0x0A,
74  DebugFormat = 0x0B,
77  HWReset = 0x28,
78  GVD = 0x3B,
83  GetIRTemp = 0x52,
84  GoToDFU = 0x80,
86  GetWakeReason = 0x93,
88  SetAutoRange = 0xA6,
92  UpdateCalib = 0xBC,
93  BIST = 0xFF,
95  GLD = 0x35
96  };
97 
99  {
102  };
103 
104  bool try_fetch_usb_device(std::vector<platform::usb_device_info>& devices,
106 
107  } // librealsense::ivcam
108 } // namespace librealsense
const uint8_t IVCAM_COLOR_ERROR
Definition: ivcam-private.h:22
float Kp[3][3]
Definition: ivcam-private.h:35
Definition: ivcam-private.h:57
float Tt[3]
Definition: ivcam-private.h:43
Definition: ivcam-private.h:77
float Invdistp[5]
Definition: ivcam-private.h:39
const uint8_t IVCAM_COLOR_EXPOSURE_GRANULAR
Definition: ivcam-private.h:23
int16_t TableVersion
Definition: ivcam-private.h:53
Definition: ivcam-private.h:75
Definition: ivcam-private.h:100
Definition: ivcam-private.h:82
const uint8_t IVCAM_COLOR_EXPOSURE_PRIORITY
Definition: ivcam-private.h:20
Definition: ivcam-private.h:83
float Distt[5]
Definition: ivcam-private.h:44
float Distp[5]
Definition: ivcam-private.h:38
const uint8_t IVCAM_COLOR_AUTO_FLICKER
Definition: ivcam-private.h:21
float Pt[3][4]
Definition: ivcam-private.h:40
float Rp[3][3]
Definition: ivcam-private.h:36
const platform::extension_unit depth_xu
Definition: ivcam-private.h:25
Definition: ivcam-private.h:85
bool try_fetch_usb_device(std::vector< platform::usb_device_info > &devices, const platform::uvc_device_info &info, platform::usb_device_info &result)
int16_t TableValidation
Definition: ivcam-private.h:52
float Rmax
Definition: ivcam-private.h:30
int ARLowerTh
Definition: ivcam-private.h:68
fw_cmd
Definition: ivcam-private.h:71
Definition: ivcam-private.h:80
Definition: ivcam-private.h:78
float Kc[3][3]
Definition: ivcam-private.h:31
float Invdistt[5]
Definition: ivcam-private.h:45
Definition: ivcam-private.h:92
Definition: ivcam-private.h:84
Definition: algo.h:16
Definition: ivcam-private.h:89
int startMvR
Definition: ivcam-private.h:63
Definition: ivcam-private.h:90
float Invdistc[5]
Definition: ivcam-private.h:33
const uint8_t IVCAM_DEPTH_FILTER_OPTION
Definition: ivcam-private.h:15
Definition: ivcam-private.h:86
const uint8_t IVCAM_DEPTH_MOTION_RANGE
Definition: ivcam-private.h:13
Definition: ivcam-private.h:79
float Distc[5]
Definition: ivcam-private.h:32
float Pp[3][4]
Definition: ivcam-private.h:34
Definition: ivcam-private.h:49
Definition: ivcam-private.h:88
const uint8_t IVCAM_DEPTH_CONFIDENCE_THRESH
Definition: ivcam-private.h:16
Definition: ivcam-private.h:87
Definition: ivcam-private.h:101
Definition: ivcam-private.h:28
Definition: ivcam-private.h:93
Definition: ivcam-private.h:73
int enableLaser
Definition: ivcam-private.h:60
float QV[6]
Definition: ivcam-private.h:46
Definition: ivcam-private.h:81
gvd_fields
Definition: ivcam-private.h:98
const uint8_t IVCAM_DEPTH_LASER_POWER
Definition: ivcam-private.h:11
int maxMvR
Definition: ivcam-private.h:62
camera_calib_params CalibrationParameters
Definition: ivcam-private.h:54
int enableMvR
Definition: ivcam-private.h:59
float Tp[3]
Definition: ivcam-private.h:37
const uint8_t IVCAM_DEPTH_ACCURACY
Definition: ivcam-private.h:12
const uint8_t IVCAM_DEPTH_DYNAMIC_FPS
Definition: ivcam-private.h:17
Definition: ivcam-private.h:94
int minMvR
Definition: ivcam-private.h:61
int ARUpperTh
Definition: ivcam-private.h:67
Definition: ivcam-private.h:74
float Kt[3][3]
Definition: ivcam-private.h:41
int startLaser
Definition: ivcam-private.h:66
int uniqueNumber
Definition: ivcam-private.h:51
const uint8_t IVCAM_DEPTH_ERROR
Definition: ivcam-private.h:14
Definition: ivcam-private.h:76
int maxLaser
Definition: ivcam-private.h:65
float Rt[3][3]
Definition: ivcam-private.h:42
Definition: ivcam-private.h:95
int minLaser
Definition: ivcam-private.h:64