The Device class controls a single sensor device. More...

#include <osp/sdk/device.h>

Classes
struct	Info
	The Info struct holds some information about a device. More...

Public Types
enum	CaptureMode { CaptureMode::RAW, CaptureMode::RGBD }
	The capture modes. More...

enum	StereoConfiguration { Binocular, Trinocular }
	The stereo configuration modes.

Public Member Functions
virtual	~Device ()
	Destructor.

Status	open (std::string uri)
	Open device. More...

void	close ()
	close Device

Status	login (const PasswordCredentials &credentials)
	Log in to device using password credentials. More...

void	logout ()
	Log out from device.

bool	setPasswordCredentials (const PasswordCredentials &credentials)
	Set the password credentials for accessing the device. More...

Info	info ()
	Get device infomation. More...

bool	reboot ()
	Reboot the device. More...

bool	poweroff ()
	Shutdown the device. More...

Status	start ()
	Start processing of current mode. More...

void	stop ()
	Stop processing.

bool	running ()
	Check device running. More...

std::unique_ptr< osp::Frame >	getFrame (std::chrono::milliseconds timeout=std::chrono::milliseconds(0))
	Get a frame from the sensor. More...

float	temperature (TemperatureSensor sensor)
	Get temperature of the CPU. More...

Camera	getCameraModel (CameraModelType type)
	Request camera model params. More...

void	setCameraModel (CameraModelType type, Camera model)
	Set camera model params. More...

void	saveCurrentCameraModelsAsDefault ()
	Set current camera model params as default.

void	setExtrinsic (Extrinsic extrinsic)
	Set extrinsic camera parameters. More...

Extrinsic	getExtrinsic ()
	Request extrinsic camera parameters. More...

CaptureMode	captureMode () const
	Get current capture mode. More...

Status	setCaptureMode (CaptureMode mode)
	Set capture mode. More...

bool	exposureAutoLock ()
	Check if auto exposure is locked. More...

Range< uint64_t >	exposureRange ()
	Return exposure time range. More...

float	exposureCompensation ()
	Return exposure compensation. More...

Range< float >	gainRange ()
	Return analog gain range. More...

Range< float >	digitalGainRange ()
	Return digital gain range. More...

float	frameRate ()
	Return capture frame rate. More...

bool	setExposureAutoLock (bool lock)
	Lock/Unlock current exposure time. More...

bool	setExposureRange (Range< uint64_t > range)
	Set exposure time range. More...

bool	setExposureCompensation (float ev)
	Set exposure compensation. More...

bool	setGainRange (Range< float > range)
	Set analog gain range. More...

bool	setDigitalGainRange (Range< float > range)
	Set digital gain range. More...

bool	setFrameRate (float frameRate)
	Set capture frame rate. More...

StereoConfiguration	stereoConfiguration ()
	Get current stereo configuration. More...

bool	setStereoConfiguration (StereoConfiguration config)
	Set stereo configuration. More...

StereoMatchingMode	stereoMatchingMode ()
	Get current stereo matching mode. More...

bool	setStereoMatchingMode (StereoMatchingMode mode)
	Set stereo matching mode. More...

osp::Size< size_t >	stereoMatchingResolution ()
	Get current stereo matching resolution. More...

bool	setStereoMatchingResolution (const osp::Size< size_t > &resolution)
	Set stereo matching resolution. More...

StreamSettings	streamSettings () const
	Get current settings for streaming between device and client. More...

void	setStreamSettings (const StreamSettings &streamSettings)
	Set settings for streaming between device and client. More...

StereoMatchingParams	stereoMatchingParams () const
	Get the current stereo matching parameters. More...

bool	setStereoMatchingParams (const StereoMatchingParams &stereoMatchingParams)
	Set the parameters for stereo matching. More...

Detailed Description

The Device class controls a single sensor device.

Member Enumeration Documentation

◆ CaptureMode

enum osp::Device::CaptureMode

strong

The capture modes.

Enumerator
RAW	Capture source images [0..2]
RGBD	Capture undistorted image from camera 0 and corresponding distance map

Member Function Documentation

◆ captureMode()

CaptureMode osp::Device::captureMode ( ) const

Get current capture mode.

Returns: Current capture mode (RGBD/RAW)

◆ digitalGainRange()

Range<float> osp::Device::digitalGainRange ( )

Return digital gain range.

Returns: Range

◆ exposureAutoLock()

bool osp::Device::exposureAutoLock ( )

Check if auto exposure is locked.

Returns: true if locked, false otherwise

◆ exposureCompensation()

float osp::Device::exposureCompensation ( )

Return exposure compensation.

Returns: exposure compensation in ev

◆ exposureRange()

Range<uint64_t> osp::Device::exposureRange ( )

Return exposure time range.

Returns: Range in [ns]

◆ frameRate()

float osp::Device::frameRate ( )

Return capture frame rate.

Returns: frames per second

◆ gainRange()

Range<float> osp::Device::gainRange ( )

Return analog gain range.

Returns: Range

◆ getCameraModel()

Camera osp::Device::getCameraModel ( CameraModelType type )

Request camera model params.

Parameters

type	Type of the camera model to be returned

Returns: Camera model

◆ getExtrinsic()

Extrinsic osp::Device::getExtrinsic ( )

Request extrinsic camera parameters.

Returns: Extrinsic parameters

◆ getFrame()

std::unique_ptr<osp::Frame> osp::Device::getFrame ( std::chrono::milliseconds timeout = std::chrono::milliseconds(0) )

Get a frame from the sensor.

Parameters

timeout Timeout for receiving the frame. If timeout expires, the return value will be empty.

Returns: true if running, false otherwise

◆ info()

Info osp::Device::info ( )

Get device infomation.

Returns: Info about connected device

◆ login()

Status osp::Device::login ( const PasswordCredentials & credentials )

Log in to device using password credentials.

Parameters

credentials PasswordCredentials object containing the password

Returns: Status

◆ open()

Status osp::Device::open ( std::string uri )

Open device.

Parameters

uri	Device address

Returns: Status

◆ poweroff()

bool osp::Device::poweroff ( )

Shutdown the device.

Returns: true on success, false otherwise

◆ reboot()

bool osp::Device::reboot ( )

Reboot the device.

Returns: true on success, false otherwise

◆ running()

bool osp::Device::running ( )

Check device running.

Returns: true if running, false otherwise

◆ setCameraModel()

void osp::Device::setCameraModel	(	CameraModelType	type,
		Camera	model
	)

Set camera model params.

Parameters

type	Type of the camera model to be set
model

◆ setCaptureMode()

Status osp::Device::setCaptureMode ( CaptureMode mode )

Set capture mode.

Parameters

mode	Capture mode

Returns: Status

◆ setDigitalGainRange()

bool osp::Device::setDigitalGainRange ( Range< float > range )

Set digital gain range.

Parameters

range digital gain range [1...256]

Returns: true on success, false otherwise

◆ setExposureAutoLock()

bool osp::Device::setExposureAutoLock ( bool lock )

Lock/Unlock current exposure time.

Parameters

lock	If true, the current exposure time will be locked, otherwise the auto controls can change it.

Returns: true on success, false otherwise

◆ setExposureCompensation()

bool osp::Device::setExposureCompensation ( float ev )

Set exposure compensation.

Parameters

ev	exposure compensation in ev [-10...10]

Returns: true on success, false otherwise

◆ setExposureRange()

bool osp::Device::setExposureRange ( Range< uint64_t > range )

Set exposure time range.

Parameters

range exposure time range in ns [30000...400000000]

Note: The maximum reachable exposure time depends on the selected frame rate: \( \textrm{max\_exp\_ns} = 1e9/\textrm{fps} \) Therefore you should reduce the frame rate to increase the maximum exposure time.

Returns: true on success, false otherwise

◆ setExtrinsic()

void osp::Device::setExtrinsic ( Extrinsic extrinsic )

Set extrinsic camera parameters.

Parameters

extrinsic Extrinsic parameters

◆ setFrameRate()

bool osp::Device::setFrameRate ( float frameRate )

Set capture frame rate.

Parameters

frameRate frames per second [1...30]

Returns: true on success, false otherwise

◆ setGainRange()

bool osp::Device::setGainRange ( Range< float > range )

Set analog gain range.

Parameters

range analog gain range [1...251]

Returns: true on success, false otherwise

◆ setPasswordCredentials()

bool osp::Device::setPasswordCredentials ( const PasswordCredentials & credentials )

Set the password credentials for accessing the device.

Parameters

credentials PasswordCredentials object containing the new password

Returns: true on success, false otherwise

◆ setStereoConfiguration()

bool osp::Device::setStereoConfiguration ( StereoConfiguration config )

Set stereo configuration.

Parameters

config stereo configuration

Returns: true on success, false otherwise

◆ setStereoMatchingMode()

bool osp::Device::setStereoMatchingMode ( StereoMatchingMode mode )

Set stereo matching mode.

Parameters

mode	stereo matching mode

Returns: true on success, false otherwise

◆ setStereoMatchingParams()

bool osp::Device::setStereoMatchingParams ( const StereoMatchingParams & stereoMatchingParams )

Set the parameters for stereo matching.

Parameters

Stereo matching parameters

◆ setStereoMatchingResolution()

bool osp::Device::setStereoMatchingResolution ( const osp::Size< size_t > & resolution )

Set stereo matching resolution.

Parameters

resolution stereo matching resolution

Returns: true on success, false otherwise

◆ setStreamSettings()

void osp::Device::setStreamSettings ( const StreamSettings & streamSettings )

Set settings for streaming between device and client.

Parameters

Stream settings object

◆ start()

Status osp::Device::start ( )

Start processing of current mode.

Returns: Status

◆ stereoConfiguration()

StereoConfiguration osp::Device::stereoConfiguration ( )

Get current stereo configuration.

Returns: stereo configuration

◆ stereoMatchingMode()

StereoMatchingMode osp::Device::stereoMatchingMode ( )

Get current stereo matching mode.

Returns: stereo matching mode

◆ stereoMatchingParams()

StereoMatchingParams osp::Device::stereoMatchingParams ( ) const

Get the current stereo matching parameters.

Returns: Stereo matching parameters

◆ stereoMatchingResolution()

osp::Size<size_t> osp::Device::stereoMatchingResolution ( )

Get current stereo matching resolution.

Returns: stereo matching resolution

◆ streamSettings()

StreamSettings osp::Device::streamSettings ( ) const

Get current settings for streaming between device and client.

Returns: Stream settings object

◆ temperature()

float osp::Device::temperature ( TemperatureSensor sensor )

Get temperature of the CPU.

Parameters

sensor temperature sensor

Returns: temperature in °C

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

sdk/include/osp/sdk/device.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ CaptureMode

Member Function Documentation

◆ captureMode()

◆ digitalGainRange()

◆ exposureAutoLock()

◆ exposureCompensation()

◆ exposureRange()

◆ frameRate()

◆ gainRange()

◆ getCameraModel()

◆ getExtrinsic()

◆ getFrame()

◆ info()

◆ login()

◆ open()

◆ poweroff()

◆ reboot()

◆ running()

◆ setCameraModel()

◆ setCaptureMode()

◆ setDigitalGainRange()

◆ setExposureAutoLock()

◆ setExposureCompensation()

◆ setExposureRange()

◆ setExtrinsic()

◆ setFrameRate()

◆ setGainRange()

◆ setPasswordCredentials()

◆ setStereoConfiguration()

◆ setStereoMatchingMode()

◆ setStereoMatchingParams()

◆ setStereoMatchingResolution()

◆ setStreamSettings()

◆ start()

◆ stereoConfiguration()

◆ stereoMatchingMode()

◆ stereoMatchingParams()

◆ stereoMatchingResolution()

◆ streamSettings()

◆ temperature()