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387 lines
12 KiB
387 lines
12 KiB
2 months ago
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/* License: Apache 2.0. See LICENSE file in root directory.
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Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
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#ifndef R4XX_ADVANCED_MODE_HPP
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#define R4XX_ADVANCED_MODE_HPP
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#include <cmath>
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#include "rs.hpp"
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#include "rs_advanced_mode.h"
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#include "hpp/rs_serializable_device.hpp"
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namespace rs400
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{
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class advanced_mode : public rs2::serializable_device
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{
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public:
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advanced_mode(rs2::device d)
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: rs2::serializable_device(d)
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{
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rs2_error* e = nullptr;
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if(_dev && rs2_is_device_extendable_to(_dev.get(), RS2_EXTENSION_ADVANCED_MODE, &e) == 0 && !e)
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{
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_dev = nullptr;
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}
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rs2::error::handle(e);
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}
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void toggle_advanced_mode(bool enable)
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{
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rs2_error* e = nullptr;
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rs2_toggle_advanced_mode(_dev.get(), enable, &e);
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rs2::error::handle(e);
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}
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bool is_enabled() const
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{
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rs2_error* e = nullptr;
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int enabled=0;
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rs2_is_enabled(_dev.get(), &enabled, &e);
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rs2::error::handle(e);
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return !!enabled;
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}
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void set_depth_control(const STDepthControlGroup& group)
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{
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rs2_error* e = nullptr;
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rs2_set_depth_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STDepthControlGroup get_depth_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STDepthControlGroup group{};
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rs2_get_depth_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_rsm(const STRsm& group)
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{
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rs2_error* e = nullptr;
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rs2_set_rsm(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STRsm get_rsm(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STRsm group{};
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rs2_get_rsm(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_rau_support_vector_control(const STRauSupportVectorControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_rau_support_vector_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STRauSupportVectorControl get_rau_support_vector_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STRauSupportVectorControl group{};
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rs2_get_rau_support_vector_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_color_control(const STColorControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_color_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STColorControl get_color_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STColorControl group{};
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rs2_get_color_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_rau_thresholds_control(const STRauColorThresholdsControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_rau_thresholds_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STRauColorThresholdsControl get_rau_thresholds_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STRauColorThresholdsControl group{};
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rs2_get_rau_thresholds_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_slo_color_thresholds_control(const STSloColorThresholdsControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_slo_color_thresholds_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STSloColorThresholdsControl get_slo_color_thresholds_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STSloColorThresholdsControl group{};
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rs2_get_slo_color_thresholds_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_slo_penalty_control(const STSloPenaltyControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_slo_penalty_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STSloPenaltyControl get_slo_penalty_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STSloPenaltyControl group{};
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rs2_get_slo_penalty_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_hdad(const STHdad& group)
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{
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rs2_error* e = nullptr;
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rs2_set_hdad(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STHdad get_hdad(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STHdad group{};
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rs2_get_hdad(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_color_correction(const STColorCorrection& group)
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{
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rs2_error* e = nullptr;
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rs2_set_color_correction(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STColorCorrection get_color_correction(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STColorCorrection group{};
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rs2_get_color_correction(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_depth_table(const STDepthTableControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_depth_table(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STDepthTableControl get_depth_table(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STDepthTableControl group{};
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rs2_get_depth_table(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_ae_control(const STAEControl& group)
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{
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rs2_error* e = nullptr;
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rs2_set_ae_control(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STAEControl get_ae_control(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STAEControl group{};
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rs2_get_ae_control(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_census(const STCensusRadius& group)
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{
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rs2_error* e = nullptr;
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rs2_set_census(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STCensusRadius get_census(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STCensusRadius group{};
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rs2_get_census(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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void set_amp_factor(const STAFactor& group)
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{
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rs2_error* e = nullptr;
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rs2_set_amp_factor(_dev.get(), &group, &e);
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rs2::error::handle(e);
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}
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STAFactor get_amp_factor(int mode = 0) const
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{
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rs2_error* e = nullptr;
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STAFactor group{};
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rs2_get_amp_factor(_dev.get(), &group, mode, &e);
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rs2::error::handle(e);
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return group;
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}
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};
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}
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inline std::ostream & operator << (std::ostream & o, rs2_rs400_visual_preset preset) { return o << rs2_rs400_visual_preset_to_string(preset); }
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inline bool operator==(const STDepthControlGroup& a, const STDepthControlGroup& b)
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{
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return (a.plusIncrement == b.plusIncrement &&
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a.minusDecrement == b.minusDecrement &&
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a.deepSeaMedianThreshold == b.deepSeaMedianThreshold &&
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a.scoreThreshA == b.scoreThreshA &&
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a.scoreThreshB == b.scoreThreshB &&
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a.textureDifferenceThreshold == b.textureDifferenceThreshold &&
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a.textureCountThreshold == b.textureCountThreshold &&
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a.deepSeaSecondPeakThreshold == b.deepSeaSecondPeakThreshold &&
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a.deepSeaNeighborThreshold == b.deepSeaNeighborThreshold &&
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a.lrAgreeThreshold == b.lrAgreeThreshold);
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}
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inline bool operator==(const STRsm& a, const STRsm& b)
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{
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return (a.rsmBypass == b.rsmBypass &&
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a.diffThresh == b.diffThresh &&
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a.sloRauDiffThresh == b.sloRauDiffThresh &&
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a.removeThresh == b.removeThresh);
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}
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inline bool operator==(const STRauSupportVectorControl& a, const STRauSupportVectorControl& b)
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{
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return (a.minWest == b.minWest &&
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a.minEast == b.minEast &&
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a.minWEsum == b.minWEsum &&
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a.minNorth == b.minNorth &&
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a.minSouth == b.minSouth &&
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a.minNSsum == b.minNSsum &&
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a.uShrink == b.uShrink &&
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a.vShrink == b.vShrink);
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}
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inline bool operator==(const STColorControl& a, const STColorControl& b)
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{
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return (a.disableSADColor == b.disableSADColor &&
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a.disableRAUColor == b.disableRAUColor &&
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a.disableSLORightColor == b.disableSLORightColor &&
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a.disableSLOLeftColor == b.disableSLOLeftColor &&
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a.disableSADNormalize == b.disableSADNormalize);
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}
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inline bool operator==(const STRauColorThresholdsControl& a, const STRauColorThresholdsControl& b)
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{
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return (a.rauDiffThresholdRed == b.rauDiffThresholdRed &&
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a.rauDiffThresholdGreen == b.rauDiffThresholdGreen &&
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a.rauDiffThresholdBlue == b.rauDiffThresholdBlue);
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}
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inline bool operator==(const STSloColorThresholdsControl& a, const STSloColorThresholdsControl& b)
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{
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return (a.diffThresholdRed == b.diffThresholdRed &&
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a.diffThresholdGreen == b.diffThresholdGreen &&
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a.diffThresholdBlue == b.diffThresholdBlue);
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}
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inline bool operator==(const STSloPenaltyControl& a, const STSloPenaltyControl& b)
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{
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return (a.sloK1Penalty == b.sloK1Penalty &&
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a.sloK2Penalty == b.sloK2Penalty &&
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a.sloK1PenaltyMod1 == b.sloK1PenaltyMod1 &&
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a.sloK2PenaltyMod1 == b.sloK2PenaltyMod1 &&
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a.sloK1PenaltyMod2 == b.sloK1PenaltyMod2 &&
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a.sloK2PenaltyMod2 == b.sloK2PenaltyMod2);
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}
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inline bool operator==(const STHdad& a, const STHdad& b)
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{
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return (a.lambdaCensus == b.lambdaCensus &&
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a.lambdaAD == b.lambdaAD &&
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a.ignoreSAD == b.ignoreSAD);
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}
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inline bool operator==(const STColorCorrection& a, const STColorCorrection& b)
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{
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return (a.colorCorrection1 == b.colorCorrection1 &&
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a.colorCorrection2 == b.colorCorrection2 &&
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a.colorCorrection3 == b.colorCorrection3 &&
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a.colorCorrection4 == b.colorCorrection4 &&
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a.colorCorrection5 == b.colorCorrection5 &&
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a.colorCorrection6 == b.colorCorrection6 &&
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a.colorCorrection7 == b.colorCorrection7 &&
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a.colorCorrection8 == b.colorCorrection8 &&
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a.colorCorrection9 == b.colorCorrection9 &&
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a.colorCorrection10 == b.colorCorrection10 &&
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a.colorCorrection11 == b.colorCorrection11 &&
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a.colorCorrection12 == b.colorCorrection12);
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}
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inline bool operator==(const STAEControl& a, const STAEControl& b)
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{
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return (a.meanIntensitySetPoint == b.meanIntensitySetPoint);
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}
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inline bool operator==(const STDepthTableControl& a, const STDepthTableControl& b)
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{
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return (a.depthUnits == b.depthUnits &&
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a.depthClampMin == b.depthClampMin &&
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a.depthClampMax == b.depthClampMax &&
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|
a.disparityMode == b.disparityMode &&
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||
|
|
a.disparityShift == b.disparityShift);
|
||
|
|
}
|
||
|
|
|
||
|
|
inline bool operator==(const STCensusRadius& a, const STCensusRadius& b)
|
||
|
|
{
|
||
|
|
return (a.uDiameter == b.uDiameter &&
|
||
|
|
a.vDiameter == b.vDiameter);
|
||
|
|
}
|
||
|
|
|
||
|
|
inline bool operator==(const STAFactor& a, const STAFactor& b)
|
||
|
|
{
|
||
|
|
return (fabs(a.amplitude - b.amplitude) < std::numeric_limits<float>::epsilon());
|
||
|
|
}
|
||
|
|
|
||
|
|
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||
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#endif // R4XX_ADVANCED_MODE_HPP
|