Class to get tracking results and raw outputs with a connected device. More...

#include <xv-sdk.h>

Public Member Functions
virtual std::map< std::string, std::string >	info ()=0
	Get informations (Serial Number, version ...) about the device. More...

virtual std::shared_ptr< Slam >	slam ()=0
	Get the SLAM component.

virtual std::shared_ptr< ImuSensor >	imuSensor ()=0
	Get the IMU sensor of the device.

virtual std::shared_ptr< EventStream >	eventStream ()=0
	Get the event component.

virtual std::shared_ptr< OrientationStream >	orientationStream ()=0
	Get the 3dof component.

virtual std::shared_ptr< FisheyeCameras >	fisheyeCameras ()=0
	Get the stereo cameras component of the device.

virtual std::shared_ptr< ColorCamera >	colorCamera ()=0
	Get the color camera component of the device.

virtual std::shared_ptr< TofCamera >	tofCamera ()=0
	Get the ToF component of the device.

virtual std::shared_ptr< SgbmCamera >	sgbmCamera ()=0
	Get the SGBM component of the device.

virtual std::shared_ptr< ThermalCamera >	thermalCamera ()=0
	Get the thermal component of the device.

virtual std::shared_ptr< EyetrackingCamera >	eyetracking ()=0
	Get the eyetracking component of the device.

virtual std::shared_ptr< GazeStream >	gaze ()=0
	Get the gaze data of the device.

virtual std::shared_ptr< GestureStream >	gesture ()=0
	Get the gesture component.

virtual std::shared_ptr< GestureStreamEX >	gestureEX ()=0

virtual std::shared_ptr< MicStream >	mic ()=0
	Get the MIC component of the device.

virtual std::shared_ptr< Speaker >	speaker ()=0
	Get the speaker component of the device.

virtual std::shared_ptr< Display >	display ()=0
	Get the display component.

virtual std::shared_ptr< ObjectDetector >	objectDetector ()=0
	Get the object detection component.

virtual std::shared_ptr< DeviceStatusStream >	deviceStatus ()=0
	Get the device status component.

virtual bool	sleep (int level=0)=0
	Let device sleep.

virtual bool	wakeup ()=0
	Wake up device.

virtual bool	control (const DeviceSetting &setting)=0
	Control device.

virtual bool	hidWriteAndRead (const std::vector< unsigned char > &command, std::vector< unsigned char > &result)=0
	Write HID control command and read result. HID command list: More...

virtual bool	uvcWriteAndRead (const std::vector< unsigned char > &command, std::vector< unsigned char > &result)=0
	Write UVC control command and read result.

virtual bool	vscWriteAndRead (const std::vector< unsigned char > &command, std::vector< unsigned char > &result)=0
	Write VSC control command and read result.

virtual bool	enableSync (bool isEnable)=0
	set enable camera synchronize.

virtual std::string	id () const =0
	Return the serial number of the device.

Detailed Description

Class to get tracking results and raw outputs with a connected device.

This class is the main entry point of the API, it gives access to the device and algorithms. See xv::getDevices() to have an instance corresponding to a device.

A device can have multiple components, accessible with member functions :

xv::Device::slam() : 6dof tracker doing the SLAM algorithm on host based on informations coming from device (stereo camera, IMU sensor, ..)
xv::Device::imuSensor() : sensor with at least 3-axis accelerometer and 3-axis gyrometer
xv::Device::fisheyeCameras(): typically 2 fisheye cameras used for Visual SLAM
xv::Device::tofCamera(): a depth camera sensor
#xv::Device::edge(): used to run some algorithm directly on embedded device (typically Visual SLAM) when it is possible to choose between host and edge processing
xv::Device::display(): used to handle informations about the display (if device can display like a HMD)
xv::Device::objectDetector(): used to run and get results of the CNN object detector

If a device does not support a component or doesn't have the component (for example ToF), the accessor function will return null_ptr. The data streams and processings under a component are activated only if at least one callback is registerd to the component. If all the callbacks are unregistered then steams can be deactivated.

Member Function Documentation

virtual bool xv::Device::hidWriteAndRead	(	const std::vector< unsigned char > &	command,
		std::vector< unsigned char > &	result
	)

pure virtual

Write HID control command and read result. HID command list:

Refresh rate Setting command:

Header: 0x02, 0xfe, 0x20, 0x03, 0x01, 0x09

Data: 0x02-72hz, 0x03-90hz
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xfe, 0x20, 0x03, 0x01, 0x09, 0x03}, result);
Breathing lamp chip standby setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x01

Data: 0x01

Comment: If you want to wake up the sensor, send mode set command to the needed mode.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x01, 0x01}, result);
Monochrome breathing lamp cycle setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x02,0x01

Data: 0x01-FF0000 color cycle, 0x02-FFF300 color cycle, 0x03-36FF48 color cycle, 0x04-62F1FF color cycle, 0x05-000CFF color cycle, 0x06-8000FF color cycle.

Comment: The default rise time is 1.04s, storage time is 0.004s, fall time is 1.04s, closing time is 0.04s, and other times are 0. To change time, refer to breathing speed setting command.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x02, 0x01, 0x01}, result);
4-color breathing lamp cycle setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x02, 0x02

Data: 0x04

Comment: The default rise time is 1.04s, storage time is 0.004s, fall time is 1.04s, closing time is 0.04s, and other times are 0. To change time, refer to breathing speed setting command. 4-color breathing cycle: 00F5A9->00CBF5->0C61F5->D700EF.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x02, 0x02, 0x04}, result);
Breathing lamp speed setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x05, 0x30-rise time and storage time setting, 0x05, 0x31-fall time and closing time setting.

Data: The upper four bits are rise time or fall time, the lower four bits are storage time or closing time.

Comment: Rise time or fall time: 0000-0s, 0001-0.13s, 0010-0.26s, 0011-0.38s, 0100-0.51s, 0101-0.77s, 0110-1.04s, 0111-1.6s, 1000-2.1s, 1001-2.6s, 1010-3.1s, 1011-4.2s, 1100-5.2s, 1101-6.2s, 1110-7.3s, 1111-8.3s. Storage time or closing time: 0000-0.04s, 0001-0.13s, 0010-0.26s, 0011-0.38s, 0100-0.51s, 0101-0.77s, 0110-1.04s, 0111-1.6s, 1000-2.1s, 1001-2.6s, 1010-3.1s, 1011-4.2s, 1100-5.2s, 1101-6.2s, 1110-7.3s, 1111-8.3s.
example:

std::vector<unsigned char> result;

//set rise time to 1.04s

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x05, 0x30, 0x60}, result);
Constant breathing lamp light cycle switch setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x02, 0x03

Data: 0x08-8 color constant light cycle, 0x14-20 color constant light cycle, 0x60-96 color constant light cycle

Comment: The default change time is 0.1s. To change time, refer to constant breathing lamp light cycle switch speed setting command. 8 colors cycle: FF18FF->FF1010->FF8000->EFFF00 ->00FF00->00FFFF ->1858FF ->8A00FF. 20 colors cycle: E000FF->E80093->FF000D->E82400->FF5300->E87500->FFA400->E8B200->FFE100->E8E800->97FF00->2DE800->00FF2B->00EB7C->00FFE5->00B0EB->0069FF->0012EB->4000FF->8500EB. 96 colors cycle: FF00FE->F000FF->E000FF->CF00FE->C001FF->B000FF->A000FF->8F00FF->7F00FF->700FF->6000FF->5000FF->3F00FF->2F00FE->2001FF->1000FF->0000FE->0110FF->0020FF->0030FF->0140FF->0050FF->0060FF->0071FE->0080FF->0090FF->00A0FE->00AFFE->00C0FF->00D0FF->01E0FF->00F0FF->01FFFF->00FFF1->00FFE1->00FFD0->01FFC1->00FFB1->00FFA1->01FE91->00FE81->00FF71->00FF61->01FF51->00FF41->00FF31->00FE20->01FF11->00FF01->10FF01->1FFF00->30FF00->40FF01->50FF00->5FFF00->6FFF00->80FF00->90FF00->A0FF01->AFFF00->C0FF00->D0FF00->E0FF01->EFFF00->FFFF01->FFF001->FFE001->FED000->FFC000->FFB001->FF9F00->FF9000->FF7F00->FF7000->FF6100->FF5001->FF4001->FE3000->FF2000->FF1001->FE0000->FF0010->FF0020->FF0030->FF0140->FF0050->FF0060->FE0070->FF0080->FF0090->FF01A1->FE00B0->FF00C0->FF00D0->FF00E0->FF00F0
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x02, 0x03, 0x08}, result);
Constant breathing lamp light cycle switch speed setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x07, 0x03

Data: 0~255

Comment: The unit is 100ms, set single color light time, only effect in constant light cycle switch.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x07, 0x03, 0x00}, result);
Breathing lamp real color mode setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x02

Data: 0x04

Comment: Composed of red, green and blue lights. The real color can be formed if the on-off time of the three lights is inconsistent.The default red color rise time is 1.04s, red color storage time is 2.1s, red color fall time is 1.04s, red color closing time is 2.6s, red color delay time is 0s. The default green color rise time is 1.04s, green color storage time is 2.1s, green color fall time is 1.04s, green color closing time is 1.6s, green color delay time is 1.04s. The default blue color rise time is 1.04s, blue color storage time is 2.1s, blue color fall time is 1.04s, blue color closing time is 0.004s, blue color delay time is 3.1s. To change time, refer to breathing lamp real color mode speed setting command.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x02, 0x04}, result);
Breathing lamp real color mode speed setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x05, 0x30-red color rise time and storage time setting, 0x05, 0x31-red color fall time and closing time setting, 0x05, 0x32-red color delay time. 0x05, 0x35-blue color rise time and storage time setting, 0x05, 0x36-blue color fall time and closing time setting, 0x05, 0x37-blue color delay time. 0x05, 0x3a-green color rise time and storage time setting, 0x05, 0x3b-green color fall time and closing time setting, 0x05, 0x3c-green color delay time.

Data: The upper four bits are rise time or fall time, the lower four bits are storage time, closing time or delay time.

Comment: Rise time or fall time: 0000-0s, 0001-0.13s, 0010-0.26s, 0011-0.38s, 0100-0.51s, 0101-0.77s, 0110-1.04s, 0111-1.6s, 1000-2.1s, 1001-2.6s, 1010-3.1s, 1011-4.2s, 1100-5.2s, 1101-6.2s, 1110-7.3s, 1111-8.3s. Storage time or closing time: 0000-0.04s, 0001-0.13s, 0010-0.26s, 0011-0.38s, 0100-0.51s, 0101-0.77s, 0110-1.04s, 0111-1.6s, 1000-2.1s, 1001-2.6s, 1010-3.1s, 1011-4.2s, 1100-5.2s, 1101-6.2s, 1110-7.3s, 1111-8.3s. Delay time: 0000-0s, 0001-0.13s, 0010-0.26s, 0011-0.38s, 0100-0.51s, 0101-0.77s, 0110-1.04s, 0111-1.6s, 1000-2.1s, 1001-2.6s, 1010-3.1s, 1011-4.2s, 1100-5.2s, 1101-6.2s, 1110-7.3s, 1111-8.3s.
example:

std::vector<unsigned char> result;

//set red color delay time to 1.04s

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x05, 0x30, 0x06}, result);
Breathing lamp status display setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x03-green, 0x04-red

Data: 0x01
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x03, 0x01}, result);
Breathing lamp brightness setting command:

Header: 0x02, 0xbe, 0x9a

Type: 0x05, 0x03

Data: 0x00-3.1875 Ma, 0x01-6.375 Ma, 0x10-12.75Ma, 0x11-25.5 Ma
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x05, 0x03, 0x00}, result);
Breathing lamp register write command:

Header: 0x02, 0xbe, 0x9a

Type: 0x05

Data: value0-register address, value1-register value.

Comment: For detailed information, please refer to AW2026 chip register manual.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x05, 0x00, 0x00}, result);
Breathing lamp register read command:

Header: 0x02, 0xbe, 0x9a

Type: 0x06

Data: value0-register address, value1-register value.

Comment: The data will be saved in result data. For detailed information, please refer to AW2026 chip register manual.
example:

std::vector<unsigned char> result;

bool bOK = hidWriteAndRead({0x02, 0xbe, 0x9a, 0x06, 0x00, 0x00}, result);

virtual std::map<std::string, std::string> xv::Device::info ( )

pure virtual

Get informations (Serial Number, version ...) about the device.

Returns: A map with key and values of the informations.

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

E:/build/xvsdk/include/xv-sdk.h

Public Member Functions

Detailed Description

Member Function Documentation