org.bytedeco.librealsense

Class device

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.librealsense.device

All Implemented Interfaces:

AutoCloseable

@Namespace(value="rs")
 @Properties(inherit=RealSense.class)
public class device
extends Pointer

\brief Provides convenience methods relating to devices

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
device(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	disable_motion_tracking() \brief Disables events polling
void	disable_stream(int stream) \brief Disables specific stream
void	enable_motion_tracking(RealSense.MotionFunction motion_handler) \brief Sets the callback for motion module event.
void	enable_motion_tracking(RealSense.MotionFunction motion_handler, RealSense.TimestampFunction timestamp_handler) \brief Sets callback for motion module event.
void	enable_stream(int stream, int preset) \brief Enables specific stream and requests properties using preset
void	enable_stream(int stream, int width, int height, int format, int framerate)
void	enable_stream(int stream, int width, int height, int format, int framerate, int output_buffer_type) \brief Enables specific stream and requests specific properties
float	get_depth_scale() \brief Retrieves mapping between units of depth image and meters
extrinsics	get_extrinsics(int from_stream, int to_stream) \brief Retrieves extrinsic transformation between viewpoints of two different streams
BytePointer	get_firmware_version() \brief Retrieves version of firmware currently installed on device
Pointer	get_frame_data(int stream) \brief Retrieves contents of latest frame on a stream
long	get_frame_number(int stream) \brief Retrieves frame number
double	get_frame_timestamp(int stream) \brief Retrieves time at which the latest frame on a stream was captured
BytePointer	get_info(int info) \brief Retrieves camera-specific information such as versions of various components
extrinsics	get_motion_extrinsics_from(int from_stream) \brief Retrieves extrinsic transformation between viewpoints of specific stream and motion module
motion_intrinsics	get_motion_intrinsics() \brief Retrieves intrinsic camera parameters for motion module
BytePointer	get_name() \brief Retrieves human-readable device model string
BytePointer	get_option_description(int option) \brief Retrieves device-specific option description
void	get_option_range(int option, double[] min, double[] max, double[] step)
void	get_option_range(int option, double[] min, double[] max, double[] step, double[] def)
void	get_option_range(int option, DoubleBuffer min, DoubleBuffer max, DoubleBuffer step)
void	get_option_range(int option, DoubleBuffer min, DoubleBuffer max, DoubleBuffer step, DoubleBuffer def)
void	get_option_range(int option, DoublePointer min, DoublePointer max, DoublePointer step) \brief Retrieves available range of values of supported option
void	get_option_range(int option, DoublePointer min, DoublePointer max, DoublePointer step, DoublePointer def) \brief Retrieves available range of values of supported option
double	get_option(int option) \brief Retrieves current value of single option
void	get_options(int[] options, long count, double[] values)
void	get_options(IntBuffer options, long count, DoubleBuffer values)
void	get_options(IntPointer options, long count, DoublePointer values) \brief Efficiently retrieves value of arbitrary number of options, using minimal hardware IO
BytePointer	get_serial() \brief Retrieves unique serial number of device
int	get_stream_format(int stream) \brief Retrieves pixel format for specific stream
int	get_stream_framerate(int stream) \brief Retrieves frame rate for specific stream
int	get_stream_height(int stream) \brief Retrieves height, in pixels, of a specific stream, equivalent to the height field from the stream's intrinsic
intrinsics	get_stream_intrinsics(int stream) \brief Retrieves intrinsic camera parameters for specific stream
int	get_stream_mode_count(int stream) \brief Determines number of streaming modes available for given stream
void	get_stream_mode(int stream, int index, int[] width, int[] height, int[] format, int[] framerate)
void	get_stream_mode(int stream, int index, IntBuffer width, IntBuffer height, IntBuffer format, IntBuffer framerate)
void	get_stream_mode(int stream, int index, IntPointer width, IntPointer height, IntPointer format, IntPointer framerate) \brief Determines properties of specific streaming mode
int	get_stream_width(int stream) \brief Retrieves width, in pixels, of a specific stream, equivalent to the width field from the stream's intrinsic
BytePointer	get_usb_port_id() \brief Retrieves USB port number of device
int	is_motion_tracking_active() \brief Checks if data acquisition is active
boolean	is_stream_enabled(int stream) \brief Determines if specific stream is enabled
boolean	is_streaming() \brief Determines if device is currently streaming
boolean	poll_for_frames() \brief Checks if new frames are available, without blocking
void	send_blob_to_device(int type, Pointer data, int size) \brief Sends device-specific data to device
void	set_frame_callback(int stream, RealSense.FrameFunction frame_handler) \brief Sets callback for frame arrival event.
void	set_option(int option, double value) \brief Sets current value of single option
void	set_options(int[] options, long count, double[] values)
void	set_options(IntBuffer options, long count, DoubleBuffer values)
void	set_options(IntPointer options, long count, DoublePointer values) \brief Efficiently sets value of arbitrary number of options, using minimal hardware IO
void	start()
void	start(byte source) \brief Begins streaming on all enabled streams for this device
void	stop()
void	stop(byte source) \brief Ends streaming on all streams for this device
boolean	supports_option(int option) \brief Determines if device allows specific option to be queried and set
boolean	supports(int capability) \brief Determines device capabilities
void	wait_for_frames() \brief Blocks until new frames are available

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

device

public device(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

get_name

@Cast(value="const char*")
public BytePointer get_name()

\brief Retrieves human-readable device model string

Returns:

Model string, such as "Intel RealSense F200" or "Intel RealSense R200"

get_serial

@Cast(value="const char*")
public BytePointer get_serial()

\brief Retrieves unique serial number of device

Returns:

Serial number, in a format specific to the device model

get_usb_port_id

@Cast(value="const char*")
public BytePointer get_usb_port_id()

\brief Retrieves USB port number of device

Returns:

USB port number, in a format that is specific to device model

get_firmware_version

@Cast(value="const char*")
public BytePointer get_firmware_version()

\brief Retrieves version of firmware currently installed on device

Returns:

Firmware version string, in a format that is specific to device model

get_info

@Cast(value="const char*")
public BytePointer get_info(@Cast(value="rs::camera_info")
                                                        int info)

\brief Retrieves camera-specific information such as versions of various components

Returns:

Camera info string, in a format that is specific to device model

get_extrinsics

@ByVal
public extrinsics get_extrinsics(@Cast(value="rs::stream")
                                         int from_stream,
                                         @Cast(value="rs::stream")
                                         int to_stream)

\brief Retrieves extrinsic transformation between viewpoints of two different streams

Parameters:

from_stream - [in] Stream whose coordinate space to transform from

to_stream - [in] Stream whose coordinate space to transform to

Returns:

Transformation between two streams

get_motion_extrinsics_from

@ByVal
public extrinsics get_motion_extrinsics_from(@Cast(value="rs::stream")
                                                     int from_stream)

\brief Retrieves extrinsic transformation between viewpoints of specific stream and motion module

Parameters:

from_stream - [in] Stream whose coordinate space to transform from

Returns:

Transformation between specific stream and motion module

get_depth_scale

public float get_depth_scale()

\brief Retrieves mapping between units of depth image and meters

Returns:

Depth in meters corresponding to a depth value of 1

supports_option

@Cast(value="bool")
public boolean supports_option(@Cast(value="rs::option")
                                                    int option)

\brief Determines if device allows specific option to be queried and set

Parameters:

option - [in] Option to check

Returns:

true if the option can be queried and set

get_stream_mode_count

public int get_stream_mode_count(@Cast(value="rs::stream")
                                 int stream)

\brief Determines number of streaming modes available for given stream

Parameters:

stream - [in] Stream whose modes will be enumerated

Returns:

Count of available modes

get_stream_mode

public void get_stream_mode(@Cast(value="rs::stream")
                            int stream,
                            int index,
                            @ByRef
                            IntPointer width,
                            @ByRef
                            IntPointer height,
                            @Cast(value="rs::format*") @ByRef
                            IntPointer format,
                            @ByRef
                            IntPointer framerate)

\brief Determines properties of specific streaming mode

Parameters:

stream - [in] Stream whose mode will be queried

index - [in] Zero-based index of streaming mode

width - [out] Width of a frame image in pixels

height - [out] Height of a frame image in pixels

format - [out] Pixel format of a frame image

framerate - [out] Number of frames that will be streamed per second

get_stream_mode

public void get_stream_mode(@Cast(value="rs::stream")
                            int stream,
                            int index,
                            @ByRef
                            IntBuffer width,
                            @ByRef
                            IntBuffer height,
                            @Cast(value="rs::format*") @ByRef
                            IntBuffer format,
                            @ByRef
                            IntBuffer framerate)

get_stream_mode

public void get_stream_mode(@Cast(value="rs::stream")
                            int stream,
                            int index,
                            @ByRef
                            int[] width,
                            @ByRef
                            int[] height,
                            @Cast(value="rs::format*") @ByRef
                            int[] format,
                            @ByRef
                            int[] framerate)

enable_stream

public void enable_stream(@Cast(value="rs::stream")
                          int stream,
                          int width,
                          int height,
                          @Cast(value="rs::format")
                          int format,
                          int framerate,
                          @Cast(value="rs::output_buffer_format")
                          int output_buffer_type)

\brief Enables specific stream and requests specific properties

Parameters:

stream - [in] Stream

width - [in] Desired width of frame image in pixels, or 0 if any width is acceptable

height - [in] Desired height of frame image in pixels, or 0 if any height is acceptable

format - [in] Pixel format of frame image, or ANY if any format is acceptable

framerate - [in] Number of frames that will be streamed per second, or 0 if any frame rate is acceptable

output_buffer_type - [in] output buffer format (continous in memory / native with pitch)

enable_stream

public void enable_stream(@Cast(value="rs::stream")
                          int stream,
                          int width,
                          int height,
                          @Cast(value="rs::format")
                          int format,
                          int framerate)

enable_stream

public void enable_stream(@Cast(value="rs::stream")
                          int stream,
                          @Cast(value="rs::preset")
                          int preset)

\brief Enables specific stream and requests properties using preset

Parameters:

stream - [in] Stream to enable

preset - [in] Preset to use to enable the stream

disable_stream

public void disable_stream(@Cast(value="rs::stream")
                           int stream)

\brief Disables specific stream

Parameters:

stream - [in] Stream

is_stream_enabled

@Cast(value="bool")
public boolean is_stream_enabled(@Cast(value="rs::stream")
                                                      int stream)

\brief Determines if specific stream is enabled

Parameters:

stream - [in] Stream to check

Returns:

true if the stream is currently enabled

get_stream_width

public int get_stream_width(@Cast(value="rs::stream")
                            int stream)

\brief Retrieves width, in pixels, of a specific stream, equivalent to the width field from the stream's intrinsic

Parameters:

stream - [in] Stream

Returns:

Width, in pixels of images from this stream

get_stream_height

public int get_stream_height(@Cast(value="rs::stream")
                             int stream)

\brief Retrieves height, in pixels, of a specific stream, equivalent to the height field from the stream's intrinsic

Parameters:

stream - [in] Stream

Returns:

Height, in pixels of images from this stream

get_stream_format

@Cast(value="rs::format")
public int get_stream_format(@Cast(value="rs::stream")
                                                        int stream)

\brief Retrieves pixel format for specific stream

Parameters:

stream - [in] Stream

Returns:

Pixel format of the stream

get_stream_framerate

public int get_stream_framerate(@Cast(value="rs::stream")
                                int stream)

\brief Retrieves frame rate for specific stream

Parameters:

stream - [in] Stream

Returns:

Frame rate of the stream, in frames per second

get_stream_intrinsics

@ByVal
public intrinsics get_stream_intrinsics(@Cast(value="rs::stream")
                                                int stream)

\brief Retrieves intrinsic camera parameters for specific stream

Parameters:

stream - [in] Stream

Returns:

Intrinsic parameters of the stream

get_motion_intrinsics

@ByVal
public motion_intrinsics get_motion_intrinsics()

\brief Retrieves intrinsic camera parameters for motion module

Returns:

Intrinsic parameters

set_frame_callback

public void set_frame_callback(@Cast(value="rs::stream")
                               int stream,
                               @ByVal
                               RealSense.FrameFunction frame_handler)

\brief Sets callback for frame arrival event. The provided callback will be called the instant new frame of given stream becomes available once callback is set on certain stream type, frames of this type will no longer be available throuhg wait/poll methods (those two approaches are mutually exclusive) while wait/poll methods provide consistent set of syncronized frames at the expense of extra latency, set frame callbacks provides low latency solution with no syncronization

Parameters:

stream - [in] Stream

frame_handler - [in] Frame callback to be invoked on every new frame

enable_motion_tracking

public void enable_motion_tracking(@ByVal
                                   RealSense.MotionFunction motion_handler,
                                   @ByVal
                                   RealSense.TimestampFunction timestamp_handler)

\brief Sets callback for motion module event. The provided callback will be called the instant new motion or timestamp event is available. Note: The \c rs_enable_motion_tracking_cpp() method is responsible for activating the motion module on-board the device. One of the services it provides is to produce shared and high-resolution timestamps for all components that are connected to it. For Depth, IR, Color and Fisheye sensors, librealsense takes care of that and copies the timestamps on the relevant frames. However, when you have an external device (such as a compass, magnetometer, light sensor, or other) and wish to synchronize it precisely with image and motion streams, you can connect that sensor to a GPIO that is available on some devices. Every time the sensor signals, you get a timestamp callback with a frame number, source ID, and a timestamp. This timestamp callback allows advanced users to synchronize compass events (presumably coming though I2C or some other method) with RealSense data.

Parameters:

motion_handler - [in] Frame callback to be invoke on every new motion event

timestamp_handler - [in] Frame callback to be invoke on every new timestamp event (can be left-out)

enable_motion_tracking

public void enable_motion_tracking(@ByVal
                                   RealSense.MotionFunction motion_handler)

\brief Sets the callback for motion module event. The provided callback will be called the instant new motion event is available.

Parameters:

motion_handler - [in] Frame callback to be invokes on every new motion event

disable_motion_tracking

public void disable_motion_tracking()

\brief Disables events polling

is_motion_tracking_active

public int is_motion_tracking_active()

\brief Checks if data acquisition is active

start

public void start(@Cast(value="rs::source")
                  byte source)

\brief Begins streaming on all enabled streams for this device

start

public void start()

stop

public void stop(@Cast(value="rs::source")
                 byte source)

\brief Ends streaming on all streams for this device

stop

public void stop()

is_streaming

@Cast(value="bool")
public boolean is_streaming()

\brief Determines if device is currently streaming

Returns:

true if device is currently streaming

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             DoublePointer min,
                             @ByRef
                             DoublePointer max,
                             @ByRef
                             DoublePointer step)

\brief Retrieves available range of values of supported option

Parameters:

option - [in] Option

min - [out] Minimum value that is acceptable for this option

max - [out] Maximum value that is acceptable for this option

step - [out] Granularity of options that accept discrete values, or zero if the option accepts continuous values

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             DoubleBuffer min,
                             @ByRef
                             DoubleBuffer max,
                             @ByRef
                             DoubleBuffer step)

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             double[] min,
                             @ByRef
                             double[] max,
                             @ByRef
                             double[] step)

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             DoublePointer min,
                             @ByRef
                             DoublePointer max,
                             @ByRef
                             DoublePointer step,
                             @ByRef
                             DoublePointer def)

\brief Retrieves available range of values of supported option

Parameters:

option - [in] Option

min - [out] Minimum value that is acceptable for this option

max - [out] Maximum value that is acceptable for this option

step - [out] Granularity of options that accept discrete values, or zero if the option accepts continuous values

def - [out] Default value of the option

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             DoubleBuffer min,
                             @ByRef
                             DoubleBuffer max,
                             @ByRef
                             DoubleBuffer step,
                             @ByRef
                             DoubleBuffer def)

get_option_range

public void get_option_range(@Cast(value="rs::option")
                             int option,
                             @ByRef
                             double[] min,
                             @ByRef
                             double[] max,
                             @ByRef
                             double[] step,
                             @ByRef
                             double[] def)

get_options

public void get_options(@Cast(value="const rs::option*")
                        IntPointer options,
                        @Cast(value="size_t")
                        long count,
                        DoublePointer values)

\brief Efficiently retrieves value of arbitrary number of options, using minimal hardware IO

Parameters:

options - [in] Array of options that should be queried

count - [in] Length of options and values arrays

values - [out] Array that receives the values of the queried options

get_options

public void get_options(@Cast(value="const rs::option*")
                        IntBuffer options,
                        @Cast(value="size_t")
                        long count,
                        DoubleBuffer values)

get_options

public void get_options(@Cast(value="const rs::option*")
                        int[] options,
                        @Cast(value="size_t")
                        long count,
                        double[] values)

set_options

public void set_options(@Cast(value="const rs::option*")
                        IntPointer options,
                        @Cast(value="size_t")
                        long count,
                        @Const
                        DoublePointer values)

\brief Efficiently sets value of arbitrary number of options, using minimal hardware IO

Parameters:

options - [in] Array of options that should be set

count - [in] Length of options and values arrays

values - [in] Array of values to which the options should be set

set_options

public void set_options(@Cast(value="const rs::option*")
                        IntBuffer options,
                        @Cast(value="size_t")
                        long count,
                        @Const
                        DoubleBuffer values)

set_options

public void set_options(@Cast(value="const rs::option*")
                        int[] options,
                        @Cast(value="size_t")
                        long count,
                        @Const
                        double[] values)

get_option

public double get_option(@Cast(value="rs::option")
                         int option)

\brief Retrieves current value of single option

Parameters:

option - [in] Option

Returns:

Option value

get_option_description

@Cast(value="const char*")
public BytePointer get_option_description(@Cast(value="rs::option")
                                                                      int option)

\brief Retrieves device-specific option description

Parameters:

option - [in] Option

Returns:

Option value

set_option

public void set_option(@Cast(value="rs::option")
                       int option,
                       double value)

\brief Sets current value of single option

Parameters:

option - [in] Option

value - [in] Option value

wait_for_frames

public void wait_for_frames()

\brief Blocks until new frames are available

poll_for_frames

@Cast(value="bool")
public boolean poll_for_frames()

\brief Checks if new frames are available, without blocking

Returns:

true if new frames are available; false if no new frames have arrived.

supports

@Cast(value="bool")
public boolean supports(@Cast(value="rs::capabilities")
                                             int capability)

\brief Determines device capabilities

Parameters:

capability - [in] Capability to check

Returns:

true if device has this capability

get_frame_timestamp

public double get_frame_timestamp(@Cast(value="rs::stream")
                                  int stream)

\brief Retrieves time at which the latest frame on a stream was captured

Parameters:

stream - [in] Stream of interest

Returns:

Timestamp of frame, in milliseconds since the device was started

get_frame_number

@Cast(value="unsigned long long")
public long get_frame_number(@Cast(value="rs::stream")
                                                                int stream)

\brief Retrieves frame number

Parameters:

stream - [in] Stream of interest

Returns:

Number of frame since device was started

get_frame_data

@Const
public Pointer get_frame_data(@Cast(value="rs::stream")
                                      int stream)

\brief Retrieves contents of latest frame on a stream

Parameters:

stream - [in] Stream

Returns:

Pointer to start of frame data

send_blob_to_device

public void send_blob_to_device(@Cast(value="rs::blob_type")
                                int type,
                                Pointer data,
                                int size)

\brief Sends device-specific data to device

Parameters:

type - [in] Type of raw data to send to the device

data - [in] Raw data pointer to send

size - [in] Size, in bytes of the raw data to send