Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
rs.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 
10 #ifndef LIBREALSENSE_RS_H
11 #define LIBREALSENSE_RS_H
12 
13 #ifdef __cplusplus
14 extern "C" {
15 #endif
16 
17 #define RS_API_MAJOR_VERSION 1
18 #define RS_API_MINOR_VERSION 12
19 #define RS_API_PATCH_VERSION 4
20 
21 #define STRINGIFY(arg) #arg
22 #define VAR_ARG_STRING(arg) STRINGIFY(arg)
23 
24 /* Versioning rules : For each release at least one of [MJR/MNR/PTCH] triple is promoted */
25 /* : Versions that differ by RS_API_PATCH_VERSION only are interface-compatible, i.e. no user-code changes required */
26 /* : Versions that differ by MAJOR/MINOR VERSION component can introduce API changes */
27 /* Version in encoded integer format (1,9,x) -> 01090x. note that each component is limited into [0-99] range by design */
28 #define RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION))
29 /* Return version in "X.Y.Z" format */
30 #define RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION))
31 
33 typedef enum rs_stream
34 {
48 } rs_stream;
49 
53 typedef enum rs_format
54 {
70 } rs_format;
71 
74 {
79 
81 typedef enum rs_preset
82 {
87 } rs_preset;
88 
90 typedef enum rs_source
91 {
96 } rs_source;
97 
99 typedef enum rs_distortion
100 {
106 } rs_distortion;
107 
109 typedef enum rs_ivcam_preset
110 {
124 
128 typedef enum rs_option
129 {
200 } rs_option;
201 
203 typedef enum rs_frame_metadata
204 {
209 
213 typedef enum rs_capabilities
214 {
226 
228 typedef enum rs_blob_type {
231 } rs_blob_type;
232 
237 typedef enum rs_camera_info {
263 
265 typedef enum rs_log_severity {
274 
276 typedef enum rs_event_source
277 {
287 
293 {
298 
300 typedef struct rs_intrinsics
301 {
302  int width;
303  int height;
304  float ppx;
305  float ppy;
306  float fx;
307  float fy;
309  float coeffs[5];
310 } rs_intrinsics;
311 
314 {
315  /* Scale X cross axis cross axis Bias X */
316  /* cross axis Scale Y cross axis Bias Y */
317  /* cross axis cross axis Scale Z Bias Z */
318  float data[3][4];
320  float noise_variances[3];
321  float bias_variances[3];
323 
325 typedef struct rs_motion_intrinsics
326 {
330 
332 typedef struct rs_extrinsics
333 {
334  float rotation[9];
335  float translation[3];
336 } rs_extrinsics;
337 
339 typedef struct rs_timestamp_data
340 {
341  double timestamp;
343  unsigned long long frame_number;
345 
347 typedef struct rs_motion_data
348 {
350  unsigned int is_valid;
351  float axes[3];
353 
354 
355 typedef struct rs_context rs_context;
356 typedef struct rs_device rs_device;
357 typedef struct rs_error rs_error;
358 typedef struct rs_frameset rs_frameset;
359 typedef struct rs_frame_ref rs_frame_ref;
364 
365 typedef void (*rs_frame_callback_ptr)(rs_device * dev, rs_frame_ref * frame, void * user);
366 typedef void (*rs_motion_callback_ptr)(rs_device * , rs_motion_data, void * );
368 typedef void (*rs_log_callback_ptr)(rs_log_severity min_severity, const char * message, void * user);
369 
376 rs_context * rs_create_context(int api_version, rs_error ** error);
377 
385 void rs_delete_context(rs_context * context, rs_error ** error);
386 
393 int rs_get_device_count(const rs_context * context, rs_error ** error);
394 
402 rs_device * rs_get_device(rs_context * context, int index, rs_error ** error);
403 
410 const char * rs_get_device_name(const rs_device * device, rs_error ** error);
411 
418 const char * rs_get_device_serial(const rs_device * device, rs_error ** error);
419 
427 const char * rs_get_device_info(const rs_device * device, rs_camera_info info, rs_error ** error);
428 
435 const char * rs_get_device_usb_port_id(const rs_device * device, rs_error ** error);
436 
443 const char * rs_get_device_firmware_version(const rs_device * device, rs_error ** error);
444 
453 void rs_get_device_extrinsics(const rs_device * device, rs_stream from_stream, rs_stream to_stream, rs_extrinsics * extrin, rs_error ** error);
454 
462 void rs_get_motion_extrinsics_from(const rs_device * device, rs_stream from, rs_extrinsics * extrin, rs_error ** error);
463 
470 float rs_get_device_depth_scale(const rs_device * device, rs_error ** error);
471 
479 int rs_device_supports_option(const rs_device * device, rs_option option, rs_error ** error);
480 
488 int rs_get_stream_mode_count(const rs_device * device, rs_stream stream, rs_error ** error);
489 
501 void rs_get_stream_mode(const rs_device * device, rs_stream stream, int index, int * width, int * height, rs_format * format, int * framerate, rs_error ** error);
502 
514 void rs_enable_stream_ex(rs_device * device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_output_buffer_format output_format, rs_error ** error);
515 
526 void rs_enable_stream(rs_device * device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_error ** error);
527 
536 
543 void rs_disable_stream(rs_device * device, rs_stream stream, rs_error ** error);
544 
552 int rs_is_stream_enabled(const rs_device * device, rs_stream stream, rs_error ** error);
553 
561 int rs_get_stream_width(const rs_device * device, rs_stream stream, rs_error ** error);
562 
570 int rs_get_stream_height(const rs_device * device, rs_stream stream, rs_error ** error);
571 
580 
588 int rs_get_stream_framerate(const rs_device * device, rs_stream stream, rs_error ** error);
589 
597 void rs_get_stream_intrinsics(const rs_device * device, rs_stream stream, rs_intrinsics * intrin, rs_error ** error);
598 
605 void rs_get_motion_intrinsics(const rs_device * device, rs_motion_intrinsics * intrinsic, rs_error ** error);
606 
616 void rs_set_frame_callback(rs_device * device, rs_stream stream, rs_frame_callback_ptr on_frame, void * user, rs_error ** error);
617 
629  rs_motion_callback_ptr on_motion_event, void * motion_handler,
630  rs_timestamp_callback_ptr on_timestamp_event, void * timestamp_handler,
631  rs_error ** error);
632 
655  rs_motion_callback * motion_callback,
656  rs_timestamp_callback * timestamp_callback,
657  rs_error ** error);
658 
669 void rs_set_frame_callback_cpp(rs_device * device, rs_stream stream, rs_frame_callback * callback, rs_error ** error);
670 
676 void rs_disable_motion_tracking(rs_device * device, rs_error ** error);
677 
684 int rs_is_motion_tracking_active(rs_device * device, rs_error ** error);
685 
686 
692 void rs_start_device(rs_device * device, rs_error ** error);
693 
699 void rs_stop_device(rs_device * device, rs_error ** error);
700 
707 void rs_start_source(rs_device * device, rs_source source, rs_error ** error);
708 
715 void rs_stop_source(rs_device * device, rs_source source, rs_error ** error);
716 
723 int rs_is_device_streaming(const rs_device * device, rs_error ** error);
724 
734 void rs_get_device_option_range(rs_device * device, rs_option option, double * min, double * max, double * step, rs_error ** error);
735 
746 void rs_get_device_option_range_ex(rs_device * device, rs_option option, double * min, double * max, double * step, double * def, rs_error ** error);
747 
756 void rs_get_device_options(rs_device * device, const rs_option * options, unsigned int count, double * values, rs_error ** error);
757 
766 void rs_set_device_options(rs_device * device, const rs_option * options, unsigned int count, const double * values, rs_error ** error);
767 
775 void rs_reset_device_options_to_default(rs_device * device, const rs_option* options, int count, rs_error ** error);
776 
784 double rs_get_device_option(rs_device * device, rs_option option, rs_error ** error);
785 
786 
794 const char * rs_get_device_option_description(rs_device * device, rs_option option, rs_error ** error);
795 
796 
804 void rs_set_device_option(rs_device * device, rs_option option, double value, rs_error ** error);
805 
811 void rs_wait_for_frames(rs_device * device, rs_error ** error);
812 
819 int rs_poll_for_frames(rs_device * device, rs_error ** error);
820 
828 int rs_supports(rs_device * device, rs_capabilities capability, rs_error ** error);
829 
837 int rs_supports_camera_info(rs_device * device, rs_camera_info info_param, rs_error ** error);
838 
847 
856 
864 double rs_get_frame_timestamp(const rs_device * device, rs_stream stream, rs_error ** error);
865 
873 unsigned long long rs_get_frame_number(const rs_device * device, rs_stream stream, rs_error ** error);
874 
882 const void * rs_get_frame_data(const rs_device * device, rs_stream stream, rs_error ** error);
883 
891 void rs_release_frame(rs_device * device, rs_frame_ref * frame, rs_error ** error);
892 
899 double rs_get_detached_frame_timestamp(const rs_frame_ref * frame, rs_error ** error);
900 
910 
917 unsigned long long rs_get_detached_frame_number(const rs_frame_ref * frame, rs_error ** error);
918 
925 const void * rs_get_detached_frame_data(const rs_frame_ref * frame, rs_error ** error);
926 
933 int rs_get_detached_frame_width(const rs_frame_ref * frame, rs_error ** error);
934 
941 int rs_get_detached_frame_height(const rs_frame_ref * frame, rs_error ** error);
942 
949 int rs_get_detached_framerate(const rs_frame_ref * frame, rs_error ** error);
950 
957 int rs_get_detached_frame_stride(const rs_frame_ref * frame, rs_error ** error);
958 
965 int rs_get_detached_frame_bpp(const rs_frame_ref * frame, rs_error ** error);
966 
974 
982 
992 void rs_send_blob_to_device(rs_device * device, rs_blob_type type, void * data, int size, rs_error ** error);
993 
999 int rs_get_api_version (rs_error ** error);
1000 
1006 const char * rs_get_failed_function (const rs_error * error);
1007 
1013 const char * rs_get_failed_args (const rs_error * error);
1014 
1020 const char * rs_get_error_message (const rs_error * error);
1021 
1026 void rs_free_error (rs_error * error);
1027 
1028 const char * rs_stream_to_string (rs_stream stream);
1029 const char * rs_format_to_string (rs_format format);
1030 const char * rs_preset_to_string (rs_preset preset);
1032 const char * rs_option_to_string (rs_option option);
1033 const char * rs_capabilities_to_string(rs_capabilities capability);
1034 const char * rs_source_to_string (rs_source source);
1036 const char * rs_blob_type_to_string (rs_blob_type type);
1037 const char * rs_camera_info_to_string(rs_camera_info info);
1038 const char * rs_camera_info_to_string(rs_camera_info info);
1041 
1047 void rs_log_to_console(rs_log_severity min_severity, rs_error ** error);
1048 
1055 void rs_log_to_file(rs_log_severity min_severity, const char * file_path, rs_error ** error);
1056 
1063 void rs_log_to_callback_cpp(rs_log_severity min_severity, rs_log_callback * callback, rs_error ** error);
1064 
1072 void rs_log_to_callback(rs_log_severity min_severity, rs_log_callback_ptr on_log, void * user, rs_error ** error);
1073 
1074 #ifdef __cplusplus
1075 }
1076 #endif
1077 #endif
rs_extrinsics
struct rs_extrinsics rs_extrinsics
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR
@ RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR
Definition: rs.h:45
rs_context
Definition: rscore.hpp:118
rs_option_to_string
const char * rs_option_to_string(rs_option option)
RS_DISTORTION_FTHETA
@ RS_DISTORTION_FTHETA
Definition: rs.h:104
rs_motion_device_intrinsic::data
float data[3][4]
Definition: rs.h:318
rs_motion_device_intrinsic::bias_variances
float bias_variances[3]
Definition: rs.h:321
RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE
@ RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE
Definition: rs.h:151
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD
Definition: rs.h:181
rs_get_frame_timestamp
double rs_get_frame_timestamp(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves time at which the latest frame on a stream was captured.
RS_CAPABILITIES_COLOR
@ RS_CAPABILITIES_COLOR
Definition: rs.h:216
rs_camera_info
rs_camera_info
Read-only strings that can be queried from the device.
Definition: rs.h:237
rs_supports_frame_metadata
int rs_supports_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
Determines device metadata.
RS_EVENT_IMU_DEPTH_CAM
@ RS_EVENT_IMU_DEPTH_CAM
Definition: rs.h:280
RS_BLOB_TYPE_MOTION_MODULE_FIRMWARE_UPDATE
@ RS_BLOB_TYPE_MOTION_MODULE_FIRMWARE_UPDATE
Definition: rs.h:229
RS_STREAM_COUNT
@ RS_STREAM_COUNT
Definition: rs.h:47
rs_get_device_option_description
const char * rs_get_device_option_description(rs_device *device, rs_option option, rs_error **error)
Retrieves a static description of what a particular option does on given device.
rs_enable_stream
void rs_enable_stream(rs_device *device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_error **error)
Enables a specific stream and requests specific properties.
rs_get_device_name
const char * rs_get_device_name(const rs_device *device, rs_error **error)
Retrieves human-readable device model string.
rs_stream
rs_stream
Streams are different types of data provided by RealSense devices.
Definition: rs.h:33
RS_PRESET_LARGEST_IMAGE
@ RS_PRESET_LARGEST_IMAGE
Definition: rs.h:84
RS_FORMAT_Y16
@ RS_FORMAT_Y16
Definition: rs.h:65
rs_frame_metadata
rs_frame_metadata
Types of value provided from the device with each frame.
Definition: rs.h:203
rs::stream
stream
Streams are different types of data provided by RealSense devices.
Definition: rs.hpp:24
RS_CAPABILITIES_COUNT
@ RS_CAPABILITIES_COUNT
Definition: rs.h:224
rs::preset
preset
Presets: general preferences that are translated by librealsense into concrete resolution and FPS.
Definition: rs.hpp:68
RS_FORMAT_Y8
@ RS_FORMAT_Y8
Definition: rs.h:64
rs_get_detached_frame_stride
int rs_get_detached_frame_stride(const rs_frame_ref *frame, rs_error **error)
Retrieves frame stride, meaning the actual line width in memory in bytes (not the logical image width...
rs_motion_intrinsics::gyro
rs_motion_device_intrinsic gyro
Definition: rs.h:328
rs_get_device_firmware_version
const char * rs_get_device_firmware_version(const rs_device *device, rs_error **error)
Retrieves the version of the firmware currently installed on the device.
rs_get_motion_extrinsics_from
void rs_get_motion_extrinsics_from(const rs_device *device, rs_stream from, rs_extrinsics *extrin, rs_error **error)
Retrieves extrinsic transformation between specific stream and the motion module.
rs_free_error
void rs_free_error(rs_error *error)
Frees memory of an error object.
rs_get_api_version
int rs_get_api_version(rs_error **error)
Retrieves API version from the source code. Evaluate that the value is conformant to the established ...
RS_OPTION_COLOR_SATURATION
@ RS_OPTION_COLOR_SATURATION
Definition: rs.h:137
RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN
@ RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN
Definition: rs.h:169
rs_motion_device_intrinsic::noise_variances
float noise_variances[3]
Definition: rs.h:320
RS_EVENT_IMU_MOTION_CAM
@ RS_EVENT_IMU_MOTION_CAM
Definition: rs.h:281
RS_FORMAT_COUNT
@ RS_FORMAT_COUNT
Definition: rs.h:69
rs_log_to_console
void rs_log_to_console(rs_log_severity min_severity, rs_error **error)
Starts logging to console.
rs_log_severity
rs_log_severity
Severity of the librealsense logger.
Definition: rs.h:265
RS_OPTION_COUNT
@ RS_OPTION_COUNT
Definition: rs.h:198
rs_log_to_file
void rs_log_to_file(rs_log_severity min_severity, const char *file_path, rs_error **error)
Starts logging to file.
RS_IVCAM_PRESET_IR_ONLY
@ RS_IVCAM_PRESET_IR_ONLY
Definition: rs.h:121
rs_get_stream_width
int rs_get_stream_width(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the width in pixels of a specific stream, equivalent to the width field from the stream's i...
rs_source_to_string
const char * rs_source_to_string(rs_source source)
rs_motion_data::axes
float axes[3]
Definition: rs.h:351
rs_get_stream_height
int rs_get_stream_height(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the height in pixels of a specific stream, equivalent to the height field from the stream's...
RS_CAMERA_INFO_DEVICE_SERIAL_NUMBER
@ RS_CAMERA_INFO_DEVICE_SERIAL_NUMBER
Definition: rs.h:239
RS_IVCAM_PRESET_MID_RANGE
@ RS_IVCAM_PRESET_MID_RANGE
Definition: rs.h:120
rs_set_frame_callback
void rs_set_frame_callback(rs_device *device, rs_stream stream, rs_frame_callback_ptr on_frame, void *user, rs_error **error)
Sets up a frame callback that is called immediately when an image is available, with no synchronizati...
RS_SOURCE_VIDEO
@ RS_SOURCE_VIDEO
Definition: rs.h:92
RS_FORMAT_RGB8
@ RS_FORMAT_RGB8
Definition: rs.h:60
RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE
@ RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE
Definition: rs.h:150
RS_IVCAM_PRESET_LONG_RANGE
@ RS_IVCAM_PRESET_LONG_RANGE
Definition: rs.h:112
rs_extrinsics::rotation
float rotation[9]
Definition: rs.h:334
rs_get_detached_frame_data
const void * rs_get_detached_frame_data(const rs_frame_ref *frame, rs_error **error)
Retrieves data from frame reference.
RS_OUTPUT_BUFFER_FORMAT_CONTINUOUS
@ RS_OUTPUT_BUFFER_FORMAT_CONTINUOUS
Definition: rs.h:75
RS_FORMAT_XYZ32F
@ RS_FORMAT_XYZ32F
Definition: rs.h:58
RS_OPTION_HARDWARE_LOGGER_ENABLED
@ RS_OPTION_HARDWARE_LOGGER_ENABLED
Definition: rs.h:196
rs_enable_motion_tracking
void rs_enable_motion_tracking(rs_device *device, rs_motion_callback_ptr on_motion_event, void *motion_handler, rs_timestamp_callback_ptr on_timestamp_event, void *timestamp_handler, rs_error **error)
Enables and configures motion-tracking data handlers.
RS_STREAM_INFRARED2
@ RS_STREAM_INFRARED2
Definition: rs.h:38
rs::distortion
distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs.hpp:76
RS_EVENT_G0_SYNC
@ RS_EVENT_G0_SYNC
Definition: rs.h:282
rs_release_frame
void rs_release_frame(rs_device *device, rs_frame_ref *frame, rs_error **error)
Releases frame handle.
RS_CAMERA_INFO_CAMERA_TYPE
@ RS_CAMERA_INFO_CAMERA_TYPE
Definition: rs.h:243
RS_OPTION_FISHEYE_EXPOSURE
@ RS_OPTION_FISHEYE_EXPOSURE
Definition: rs.h:186
rs_intrinsics::model
rs_distortion model
Definition: rs.h:308
rs_stream_to_string
const char * rs_stream_to_string(rs_stream stream)
RS_STREAM_POINTS
@ RS_STREAM_POINTS
Definition: rs.h:40
RS_IVCAM_PRESET_FACE_ANALYTICS
@ RS_IVCAM_PRESET_FACE_ANALYTICS
Definition: rs.h:116
rs_timestamp_data::frame_number
unsigned long long frame_number
Definition: rs.h:343
rs_motion_callback_ptr
void(* rs_motion_callback_ptr)(rs_device *, rs_motion_data, void *)
Definition: rs.h:366
rs_motion_device_intrinsic
struct rs_motion_device_intrinsic rs_motion_device_intrinsic
Motion device intrinsics: scale, bias, and variances.
RS_PRESET_BEST_QUALITY
@ RS_PRESET_BEST_QUALITY
Definition: rs.h:83
RS_TIMESTAMP_DOMAIN_MICROCONTROLLER
@ RS_TIMESTAMP_DOMAIN_MICROCONTROLLER
Definition: rs.h:295
rs_motion_intrinsics
struct rs_motion_intrinsics rs_motion_intrinsics
Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type rs_motion_d...
rs_intrinsics::fy
float fy
Definition: rs.h:307
RS_IVCAM_PRESET_FACE_LOGIN
@ RS_IVCAM_PRESET_FACE_LOGIN
Definition: rs.h:117
rs_get_detached_frame_width
int rs_get_detached_frame_width(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic width in pixels.
RS_OPTION_FISHEYE_EXTERNAL_TRIGGER
@ RS_OPTION_FISHEYE_EXTERNAL_TRIGGER
Definition: rs.h:189
RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE
@ RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE
Definition: rs.h:152
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD
Definition: rs.h:180
RS_OPTION_R200_DEPTH_UNITS
@ RS_OPTION_R200_DEPTH_UNITS
Definition: rs.h:162
RS_TIMESTAMP_DOMAIN_CAMERA
@ RS_TIMESTAMP_DOMAIN_CAMERA
Definition: rs.h:294
RS_OPTION_COLOR_EXPOSURE
@ RS_OPTION_COLOR_EXPOSURE
Definition: rs.h:133
RS_FORMAT_Z16
@ RS_FORMAT_Z16
Definition: rs.h:56
rs_get_device_usb_port_id
const char * rs_get_device_usb_port_id(const rs_device *device, rs_error **error)
Retrieves the USB port number of the device.
rs_capabilities_to_string
const char * rs_capabilities_to_string(rs_capabilities capability)
rs_get_detached_frame_bpp
int rs_get_detached_frame_bpp(const rs_frame_ref *frame, rs_error **error)
Retrieves frame bits per pixel.
rs_intrinsics::ppx
float ppx
Definition: rs.h:304
RS_STREAM_INFRARED
@ RS_STREAM_INFRARED
Definition: rs.h:37
RS_EVENT_SOURCE_COUNT
@ RS_EVENT_SOURCE_COUNT
Definition: rs.h:285
rs_get_device_serial
const char * rs_get_device_serial(const rs_device *device, rs_error **error)
Retrieves unique serial number of the device.
rs_intrinsics::ppy
float ppy
Definition: rs.h:305
RS_DISTORTION_MODIFIED_BROWN_CONRADY
@ RS_DISTORTION_MODIFIED_BROWN_CONRADY
Definition: rs.h:102
RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD
Definition: rs.h:183
rs_get_detached_framerate
int rs_get_detached_framerate(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic frame rate.
RS_OPTION_FRAMES_QUEUE_SIZE
@ RS_OPTION_FRAMES_QUEUE_SIZE
Definition: rs.h:195
rs_get_stream_format
rs_format rs_get_stream_format(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the pixel format for a specific stream.
rs_preset
rs_preset
Presets: general preferences that are translated by librealsense into concrete resolution and FPS.
Definition: rs.h:81
RS_OPTION_COLOR_BACKLIGHT_COMPENSATION
@ RS_OPTION_COLOR_BACKLIGHT_COMPENSATION
Definition: rs.h:130
rs_distortion
rs_distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs.h:99
rs_enable_stream_ex
void rs_enable_stream_ex(rs_device *device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_output_buffer_format output_format, rs_error **error)
Enables a specific stream and requests specific properties.
RS_OPTION_R200_DISPARITY_SHIFT
@ RS_OPTION_R200_DISPARITY_SHIFT
Definition: rs.h:166
rs_motion_data
Motion data from gyroscope and accelerometer from the microcontroller.
Definition: rs.h:347
rs_reset_device_options_to_default
void rs_reset_device_options_to_default(rs_device *device, const rs_option *options, int count, rs_error **error)
Efficiently resets the value of an arbitrary number of options to default.
RS_CAMERA_INFO_OEM_ID
@ RS_CAMERA_INFO_OEM_ID
Definition: rs.h:244
rs_motion_intrinsics
Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type rs_motion_d...
Definition: rs.h:325
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD
Definition: rs.h:182
rs_intrinsics::fx
float fx
Definition: rs.h:306
RS_EVENT_IMU_ACCEL
@ RS_EVENT_IMU_ACCEL
Definition: rs.h:278
RS_LOG_SEVERITY_WARN
@ RS_LOG_SEVERITY_WARN
Definition: rs.h:268
rs_set_frame_callback_cpp
void rs_set_frame_callback_cpp(rs_device *device, rs_stream stream, rs_frame_callback *callback, rs_error **error)
Sets up a frame callback that is called immediately when an image is available, with no synchronizati...
rs_delete_context
void rs_delete_context(rs_context *context, rs_error **error)
Frees the relevant context object.
RS_STREAM_DEPTH_ALIGNED_TO_COLOR
@ RS_STREAM_DEPTH_ALIGNED_TO_COLOR
Definition: rs.h:44
rs_get_detached_frame_height
int rs_get_detached_frame_height(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic height.
RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE
@ RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE
Definition: rs.h:140
RS_SOURCE_ALL
@ RS_SOURCE_ALL
Definition: rs.h:94
RS_STREAM_COLOR_ALIGNED_TO_DEPTH
@ RS_STREAM_COLOR_ALIGNED_TO_DEPTH
Definition: rs.h:42
RS_CAMERA_INFO_COUNT
@ RS_CAMERA_INFO_COUNT
Definition: rs.h:261
RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT
@ RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT
Definition: rs.h:167
rs_get_stream_framerate
int rs_get_stream_framerate(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the frame rate for a specific stream.
RS_FRAME_METADATA_COUNT
@ RS_FRAME_METADATA_COUNT
Definition: rs.h:207
RS_OUTPUT_BUFFER_FORMAT_COUNT
@ RS_OUTPUT_BUFFER_FORMAT_COUNT
Definition: rs.h:77
RS_SOURCE_COUNT
@ RS_SOURCE_COUNT
Definition: rs.h:95
RS_CAPABILITIES_MOTION_EVENTS
@ RS_CAPABILITIES_MOTION_EVENTS
Definition: rs.h:220
rs_set_device_options
void rs_set_device_options(rs_device *device, const rs_option *options, unsigned int count, const double *values, rs_error **error)
Efficiently sets the value of an arbitrary number of options, using minimal hardware IO.
RS_CAPABILITIES_INFRARED2
@ RS_CAPABILITIES_INFRARED2
Definition: rs.h:218
RS_OPTION_R200_DEPTH_CLAMP_MIN
@ RS_OPTION_R200_DEPTH_CLAMP_MIN
Definition: rs.h:163
rs_timestamp_callback_ptr
void(* rs_timestamp_callback_ptr)(rs_device *, rs_timestamp_data, void *)
Definition: rs.h:367
rs_get_device
rs_device * rs_get_device(rs_context *context, int index, rs_error **error)
Retrieves connected device by index.
rs_blob_type_to_string
const char * rs_blob_type_to_string(rs_blob_type type)
RS_CAMERA_INFO_3RD_NOMINAL_BASELINE
@ RS_CAMERA_INFO_3RD_NOMINAL_BASELINE
Definition: rs.h:260
RS_CAPABILITIES_ENUMERATION
@ RS_CAPABILITIES_ENUMERATION
Definition: rs.h:223
rs_enable_stream_preset
void rs_enable_stream_preset(rs_device *device, rs_stream stream, rs_preset preset, rs_error **error)
Enables a specific stream and requests properties using a preset.
rs::event
event
Source device that triggered specific timestamp event from the motion module.
Definition: rs.hpp:227
rs_motion_intrinsics::acc
rs_motion_device_intrinsic acc
Definition: rs.h:327
RS_OPTION_SR300_AUTO_RANGE_MIN_LASER
@ RS_OPTION_SR300_AUTO_RANGE_MIN_LASER
Definition: rs.h:153
RS_DISTORTION_COUNT
@ RS_DISTORTION_COUNT
Definition: rs.h:105
RS_IVCAM_PRESET_GESTURE_RECOGNITION
@ RS_IVCAM_PRESET_GESTURE_RECOGNITION
Definition: rs.h:114
rs_get_stream_mode_count
int rs_get_stream_mode_count(const rs_device *device, rs_stream stream, rs_error **error)
Determines the number of streaming modes available for a given stream.
RS_LOG_SEVERITY_DEBUG
@ RS_LOG_SEVERITY_DEBUG
Definition: rs.h:266
rs_get_frame_number
unsigned long long rs_get_frame_number(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves frame number.
rs_get_detached_frame_format
rs_format rs_get_detached_frame_format(const rs_frame_ref *frame, rs_error **error)
Retrieves frame format.
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD
Definition: rs.h:179
rs_start_source
void rs_start_source(rs_device *device, rs_source source, rs_error **error)
Begins streaming on all enabled streams for this device.
RS_LOG_SEVERITY_INFO
@ RS_LOG_SEVERITY_INFO
Definition: rs.h:267
RS_STREAM_COLOR
@ RS_STREAM_COLOR
Definition: rs.h:36
RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE
@ RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE
Definition: rs.h:221
RS_CAPABILITIES_FISH_EYE
@ RS_CAPABILITIES_FISH_EYE
Definition: rs.h:219
RS_OPTION_COLOR_GAIN
@ RS_OPTION_COLOR_GAIN
Definition: rs.h:134
RS_OPTION_FISHEYE_STROBE
@ RS_OPTION_FISHEYE_STROBE
Definition: rs.h:188
rs_enable_motion_tracking_cpp
void rs_enable_motion_tracking_cpp(rs_device *device, rs_motion_callback *motion_callback, rs_timestamp_callback *timestamp_callback, rs_error **error)
Enables and configures motion-tracking data handlers.
RS_FORMAT_RGBA8
@ RS_FORMAT_RGBA8
Definition: rs.h:62
RS_CAMERA_INFO_CALIBRATION_DATE
@ RS_CAMERA_INFO_CALIBRATION_DATE
Definition: rs.h:250
rs_error
struct rs_error rs_error
Definition: rs.h:357
rs_get_device_count
int rs_get_device_count(const rs_context *context, rs_error **error)
Determines number of connected devices.
RS_FRAME_METADATA_ACTUAL_FPS
@ RS_FRAME_METADATA_ACTUAL_FPS
Definition: rs.h:206
rs_supports
int rs_supports(rs_device *device, rs_capabilities capability, rs_error **error)
Determines device capabilities.
RS_CAMERA_INFO_LENS_COATING__TYPE
@ RS_CAMERA_INFO_LENS_COATING__TYPE
Definition: rs.h:257
RS_PRESET_HIGHEST_FRAMERATE
@ RS_PRESET_HIGHEST_FRAMERATE
Definition: rs.h:85
RS_OPTION_F200_CONFIDENCE_THRESHOLD
@ RS_OPTION_F200_CONFIDENCE_THRESHOLD
Definition: rs.h:146
RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE
@ RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE
Definition: rs.h:191
rs_timestamp_domain
rs_timestamp_domain
Specifies the clock in relation to which the frame timestamp was measured.
Definition: rs.h:292
rs_poll_for_frames
int rs_poll_for_frames(rs_device *device, rs_error **error)
Checks if new frames are available, without blocking.
RS_LOG_SEVERITY_ERROR
@ RS_LOG_SEVERITY_ERROR
Definition: rs.h:269
RS_OPTION_SR300_AUTO_RANGE_MAX_LASER
@ RS_OPTION_SR300_AUTO_RANGE_MAX_LASER
Definition: rs.h:154
rs_timestamp_data::source_id
rs_event_source source_id
Definition: rs.h:342
RS_OPTION_COLOR_GAMMA
@ RS_OPTION_COLOR_GAMMA
Definition: rs.h:135
rs_is_stream_enabled
int rs_is_stream_enabled(const rs_device *device, rs_stream stream, rs_error **error)
Determines if a specific stream is enabled.
RS_EVENT_IMU_GYRO
@ RS_EVENT_IMU_GYRO
Definition: rs.h:279
rs_motion_data::timestamp_data
rs_timestamp_data timestamp_data
Definition: rs.h:349
RS_OPTION_R200_LR_EXPOSURE
@ RS_OPTION_R200_LR_EXPOSURE
Definition: rs.h:160
RS_OPTION_COLOR_WHITE_BALANCE
@ RS_OPTION_COLOR_WHITE_BALANCE
Definition: rs.h:139
rs_get_device_info
const char * rs_get_device_info(const rs_device *device, rs_camera_info info, rs_error **error)
Retrieves camera specific information, such as versions of various internal componnents.
RS_FORMAT_BGR8
@ RS_FORMAT_BGR8
Definition: rs.h:61
rs_get_failed_args
const char * rs_get_failed_args(const rs_error *error)
Returns static pointer to arguments of a failing function in case of error.
RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE
@ RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE
Definition: rs.h:190
RS_OPTION_R200_DEPTH_CLAMP_MAX
@ RS_OPTION_R200_DEPTH_CLAMP_MAX
Definition: rs.h:164
rs_get_stream_intrinsics
void rs_get_stream_intrinsics(const rs_device *device, rs_stream stream, rs_intrinsics *intrin, rs_error **error)
Retrieves intrinsic camera parameters for a specific stream.
rs::source
source
Allows the user to choose between available hardware subdevices.
Definition: rs.hpp:219
RS_FORMAT_RAW16
@ RS_FORMAT_RAW16
Definition: rs.h:67
rs_intrinsics::coeffs
float coeffs[5]
Definition: rs.h:309
RS_CAMERA_INFO_PROGRAM_DATE
@ RS_CAMERA_INFO_PROGRAM_DATE
Definition: rs.h:251
rs_get_device_option_range_ex
void rs_get_device_option_range_ex(rs_device *device, rs_option option, double *min, double *max, double *step, double *def, rs_error **error)
Retrieves the available range of values for a supported option.
rs_get_failed_function
const char * rs_get_failed_function(const rs_error *error)
Returns static pointer to name of a failing function in case of error.
RS_OPTION_F200_DYNAMIC_FPS
@ RS_OPTION_F200_DYNAMIC_FPS
Definition: rs.h:147
rs_frameset
struct rs_frameset rs_frameset
Definition: rs.h:358
rs_motion_device_intrinsic
Motion device intrinsics: scale, bias, and variances.
Definition: rs.h:313
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT
@ RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT
Definition: rs.h:176
RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED
@ RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED
Definition: rs.h:158
RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE
@ RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE
Definition: rs.h:148
rs_create_context
rs_context * rs_create_context(int api_version, rs_error **error)
Creates RealSense context that is required for the rest of the API.
rs_get_device_extrinsics
void rs_get_device_extrinsics(const rs_device *device, rs_stream from_stream, rs_stream to_stream, rs_extrinsics *extrin, rs_error **error)
Retrieves extrinsic transformation between the viewpoints of two different streams.
rs_device
Definition: rscore.hpp:64
RS_STREAM_FISHEYE
@ RS_STREAM_FISHEYE
Definition: rs.h:39
rs_motion_data
struct rs_motion_data rs_motion_data
Motion data from gyroscope and accelerometer from the microcontroller.
RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER
@ RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER
Definition: rs.h:149
RS_FORMAT_YUYV
@ RS_FORMAT_YUYV
Definition: rs.h:59
rs_start_device
void rs_start_device(rs_device *device, rs_error **error)
Begins streaming on all enabled streams for this device.
RS_OPTION_F200_LASER_POWER
@ RS_OPTION_F200_LASER_POWER
Definition: rs.h:142
RS_CAMERA_INFO_CONTENT_VERSION
@ RS_CAMERA_INFO_CONTENT_VERSION
Definition: rs.h:246
RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE
@ RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE
Definition: rs.h:174
RS_IVCAM_PRESET_DEFAULT
@ RS_IVCAM_PRESET_DEFAULT
Definition: rs.h:119
RS_IVCAM_PRESET_GR_CURSOR
@ RS_IVCAM_PRESET_GR_CURSOR
Definition: rs.h:118
rs_extrinsics
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.h:332
rs_format
rs_format
Formats: defines how each stream can be encoded.
Definition: rs.h:53
RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2
@ RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2
Definition: rs.h:46
RS_BLOB_TYPE_COUNT
@ RS_BLOB_TYPE_COUNT
Definition: rs.h:230
RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE
@ RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE
Definition: rs.h:173
RS_CAMERA_INFO_FOCUS_ALIGNMENT_DATE
@ RS_CAMERA_INFO_FOCUS_ALIGNMENT_DATE
Definition: rs.h:252
rs_event_to_string
const char * rs_event_to_string(rs_event_source event)
rs_intrinsics
struct rs_intrinsics rs_intrinsics
Video stream intrinsics.
RS_FORMAT_ANY
@ RS_FORMAT_ANY
Definition: rs.h:55
RS_CAMERA_INFO_BUILD_DATE
@ RS_CAMERA_INFO_BUILD_DATE
Definition: rs.h:249
RS_CAMERA_INFO_3RD_LENS_COATING_TYPE
@ RS_CAMERA_INFO_3RD_LENS_COATING_TYPE
Definition: rs.h:258
rs_frame_callback_ptr
void(* rs_frame_callback_ptr)(rs_device *dev, rs_frame_ref *frame, void *user)
Definition: rs.h:365
RS_OPTION_F200_ACCURACY
@ RS_OPTION_F200_ACCURACY
Definition: rs.h:143
RS_CAMERA_INFO_CAMERA_FIRMWARE_VERSION
@ RS_CAMERA_INFO_CAMERA_FIRMWARE_VERSION
Definition: rs.h:240
rs_get_device_options
void rs_get_device_options(rs_device *device, const rs_option *options, unsigned int count, double *values, rs_error **error)
Efficiently retrieves the value of an arbitrary number of options, using minimal hardware IO.
rs::format
format
Formats: defines how each stream can be encoded. rs_format specifies how a frame is represented in me...
Definition: rs.hpp:42
rs_source
rs_source
Source: allows you to choose between available hardware subdevices.
Definition: rs.h:90
RS_FORMAT_RAW8
@ RS_FORMAT_RAW8
Definition: rs.h:68
RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE
@ RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE
Definition: rs.h:141
rs_get_frame_data
const void * rs_get_frame_data(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the contents of the latest frame on a stream.
RS_DISTORTION_INVERSE_BROWN_CONRADY
@ RS_DISTORTION_INVERSE_BROWN_CONRADY
Definition: rs.h:103
rs::frame_metadata
frame_metadata
Types of value provided from the device with each frame.
Definition: rs.hpp:160
RS_CAPABILITIES_DEPTH
@ RS_CAPABILITIES_DEPTH
Definition: rs.h:215
RS_OPTION_FISHEYE_GAIN
@ RS_OPTION_FISHEYE_GAIN
Definition: rs.h:187
RS_CAMERA_INFO_ISP_FW_VERSION
@ RS_CAMERA_INFO_ISP_FW_VERSION
Definition: rs.h:245
RS_OPTION_COLOR_CONTRAST
@ RS_OPTION_COLOR_CONTRAST
Definition: rs.h:132
RS_FORMAT_RAW10
@ RS_FORMAT_RAW10
Definition: rs.h:66
RS_OPTION_TOTAL_FRAME_DROPS
@ RS_OPTION_TOTAL_FRAME_DROPS
Definition: rs.h:197
rs_get_device_option
double rs_get_device_option(rs_device *device, rs_option option, rs_error **error)
Retrieves the current value of a single option.
RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE
@ RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE
Definition: rs.h:192
rs::option
option
Defines general configuration controls.
Definition: rs.hpp:87
RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES
@ RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES
Definition: rs.h:194
rs_format_to_string
const char * rs_format_to_string(rs_format format)
RS_OPTION_R200_DISPARITY_MULTIPLIER
@ RS_OPTION_R200_DISPARITY_MULTIPLIER
Definition: rs.h:165
rs_motion_data::is_valid
unsigned int is_valid
Definition: rs.h:350
RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE
@ RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE
Definition: rs.h:170
RS_LOG_SEVERITY_COUNT
@ RS_LOG_SEVERITY_COUNT
Definition: rs.h:272
RS_CAMERA_INFO_ADAPTER_BOARD_FIRMWARE_VERSION
@ RS_CAMERA_INFO_ADAPTER_BOARD_FIRMWARE_VERSION
Definition: rs.h:241
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT
@ RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT
Definition: rs.h:177
rs_capabilities
rs_capabilities
Specifies various capabilities of a RealSense device.
Definition: rs.h:213
rs_log_to_callback_cpp
void rs_log_to_callback_cpp(rs_log_severity min_severity, rs_log_callback *callback, rs_error **error)
Starts logging to user-provided callback.
rs_blob_type
rs_blob_type
Proprietary formats for direct communication with device firmware.
Definition: rs.h:228
RS_CAMERA_INFO_3RD_LENS_TYPE
@ RS_CAMERA_INFO_3RD_LENS_TYPE
Definition: rs.h:256
RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH
@ RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH
Definition: rs.h:43
rs_supports_camera_info
int rs_supports_camera_info(rs_device *device, rs_camera_info info_param, rs_error **error)
Returns true if given camera information parameter is supported by the device.
rs_intrinsics
Video stream intrinsics.
Definition: rs.h:300
RS_EVENT_G1_SYNC
@ RS_EVENT_G1_SYNC
Definition: rs.h:283
RS_LOG_SEVERITY_NONE
@ RS_LOG_SEVERITY_NONE
Definition: rs.h:271
RS_TIMESTAMP_DOMAIN_COUNT
@ RS_TIMESTAMP_DOMAIN_COUNT
Definition: rs.h:296
rs_option
rs_option
Defines general configuration controls.
Definition: rs.h:128
RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD
Definition: rs.h:185
rs_timestamp_callback
Definition: rscore.hpp:139
rs_get_detached_frame_number
unsigned long long rs_get_detached_frame_number(const rs_frame_ref *frame, rs_error **error)
Retrieves frame number from frame reference.
RS_CAMERA_INFO_LENS_TYPE
@ RS_CAMERA_INFO_LENS_TYPE
Definition: rs.h:255
RS_OPTION_SR300_AUTO_RANGE_START_LASER
@ RS_OPTION_SR300_AUTO_RANGE_START_LASER
Definition: rs.h:155
RS_SOURCE_MOTION_TRACKING
@ RS_SOURCE_MOTION_TRACKING
Definition: rs.h:93
RS_FRAME_METADATA_ACTUAL_EXPOSURE
@ RS_FRAME_METADATA_ACTUAL_EXPOSURE
Definition: rs.h:205
rs_intrinsics::width
int width
Definition: rs.h:302
RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE
@ RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE
Definition: rs.h:175
RS_DISTORTION_NONE
@ RS_DISTORTION_NONE
Definition: rs.h:101
RS_FORMAT_DISPARITY16
@ RS_FORMAT_DISPARITY16
Definition: rs.h:57
RS_LOG_SEVERITY_FATAL
@ RS_LOG_SEVERITY_FATAL
Definition: rs.h:270
rs_timestamp_data
Timestamp data from the motion microcontroller.
Definition: rs.h:339
RS_CAPABILITIES_ADAPTER_BOARD
@ RS_CAPABILITIES_ADAPTER_BOARD
Definition: rs.h:222
rs_get_detached_frame_stream_type
rs_stream rs_get_detached_frame_stream_type(const rs_frame_ref *frame, rs_error **error)
Retrieves frame stream type.
RS_IVCAM_PRESET_OBJECT_SCANNING
@ RS_IVCAM_PRESET_OBJECT_SCANNING
Definition: rs.h:115
RS_IVCAM_PRESET_SHORT_RANGE
@ RS_IVCAM_PRESET_SHORT_RANGE
Definition: rs.h:111
rs_get_device_depth_scale
float rs_get_device_depth_scale(const rs_device *device, rs_error **error)
Retrieves mapping between the units of the depth image and meters.
RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD
@ RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD
Definition: rs.h:157
RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD
@ RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD
Definition: rs.h:171
rs_log_to_callback
void rs_log_to_callback(rs_log_severity min_severity, rs_log_callback_ptr on_log, void *user, rs_error **error)
Starts logging to user-provided callback (C version)
rs_stop_source
void rs_stop_source(rs_device *device, rs_source source, rs_error **error)
Ends data acquisition for the specified source providers.
rs_get_stream_mode
void rs_get_stream_mode(const rs_device *device, rs_stream stream, int index, int *width, int *height, rs_format *format, int *framerate, rs_error **error)
Determines the properties of a specific streaming mode.
RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT
@ RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT
Definition: rs.h:168
rs_disable_stream
void rs_disable_stream(rs_device *device, rs_stream stream, rs_error **error)
Disables a specific stream.
RS_STREAM_RECTIFIED_COLOR
@ RS_STREAM_RECTIFIED_COLOR
Definition: rs.h:41
RS_OPTION_COLOR_BRIGHTNESS
@ RS_OPTION_COLOR_BRIGHTNESS
Definition: rs.h:131
rs_distortion_to_string
const char * rs_distortion_to_string(rs_distortion distortion)
rs_get_detached_frame_metadata
double rs_get_detached_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
Retrieves metadata from a frame reference.
rs_extrinsics::translation
float translation[3]
Definition: rs.h:335
RS_IVCAM_PRESET_COUNT
@ RS_IVCAM_PRESET_COUNT
Definition: rs.h:122
RS_CAMERA_INFO_IMAGER_MODEL_NUMBER
@ RS_CAMERA_INFO_IMAGER_MODEL_NUMBER
Definition: rs.h:248
rs_motion_callback
Definition: rscore.hpp:125
rs_log_callback_ptr
void(* rs_log_callback_ptr)(rs_log_severity min_severity, const char *message, void *user)
Definition: rs.h:368
RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE
@ RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE
Definition: rs.h:193
rs_intrinsics::height
int height
Definition: rs.h:303
RS_OPTION_COLOR_HUE
@ RS_OPTION_COLOR_HUE
Definition: rs.h:136
rs_frame_metadata_to_string
const char * rs_frame_metadata_to_string(rs_frame_metadata md)
rs_device_supports_option
int rs_device_supports_option(const rs_device *device, rs_option option, rs_error **error)
Determines if the device allows a specific option to be queried and set.
rs_stop_device
void rs_stop_device(rs_device *device, rs_error **error)
Ends data acquisition for the specified source providers.
rs_get_detached_frame_timestamp_domain
rs_timestamp_domain rs_get_detached_frame_timestamp_domain(const rs_frame_ref *frame, rs_error **error)
Retrieves timestamp domain from frame reference.
rs_camera_info_to_string
const char * rs_camera_info_to_string(rs_camera_info info)
rs_is_motion_tracking_active
int rs_is_motion_tracking_active(rs_device *device, rs_error **error)
Checks if data acquisition is active.
rs_frame_ref
Definition: rscore.hpp:44
RS_OPTION_R200_LR_GAIN
@ RS_OPTION_R200_LR_GAIN
Definition: rs.h:159
RS_CAMERA_INFO_DEVICE_NAME
@ RS_CAMERA_INFO_DEVICE_NAME
Definition: rs.h:238
rs_is_device_streaming
int rs_is_device_streaming(const rs_device *device, rs_error **error)
Determines if the device is currently streaming.
RS_CAMERA_INFO_NOMINAL_BASELINE
@ RS_CAMERA_INFO_NOMINAL_BASELINE
Definition: rs.h:259
rs_frame_callback
Definition: rscore.hpp:132
RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE
@ RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE
Definition: rs.h:172
RS_CAMERA_INFO_EMITTER_TYPE
@ RS_CAMERA_INFO_EMITTER_TYPE
Definition: rs.h:253
RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION
@ RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION
Definition: rs.h:113
RS_OPTION_COLOR_SHARPNESS
@ RS_OPTION_COLOR_SHARPNESS
Definition: rs.h:138
rs_preset_to_string
const char * rs_preset_to_string(rs_preset preset)
rs_get_error_message
const char * rs_get_error_message(const rs_error *error)
Returns static pointer to error message.
rs_ivcam_preset
rs_ivcam_preset
For SR300 devices: provides optimized settings (presets) for specific types of usage.
Definition: rs.h:109
rs_get_motion_intrinsics
void rs_get_motion_intrinsics(const rs_device *device, rs_motion_intrinsics *intrinsic, rs_error **error)
Retrieves intrinsic camera parameters for a motion module.
RS_CAMERA_INFO_MOTION_MODULE_FIRMWARE_VERSION
@ RS_CAMERA_INFO_MOTION_MODULE_FIRMWARE_VERSION
Definition: rs.h:242
RS_EVENT_G2_SYNC
@ RS_EVENT_G2_SYNC
Definition: rs.h:284
rs_send_blob_to_device
void rs_send_blob_to_device(rs_device *device, rs_blob_type type, void *data, int size, rs_error **error)
Sends arbitrary binary data to the device.
RS_CAMERA_INFO_FOCUS_VALUE
@ RS_CAMERA_INFO_FOCUS_VALUE
Definition: rs.h:254
rs_log_callback
Definition: rscore.hpp:146
RS_PRESET_COUNT
@ RS_PRESET_COUNT
Definition: rs.h:86
rs_event_source
rs_event_source
Source device that triggered a specific timestamp event from the motion module.
Definition: rs.h:276
rs_set_device_option
void rs_set_device_option(rs_device *device, rs_option option, double value, rs_error **error)
Sets the current value of a single option.
RS_OPTION_R200_EMITTER_ENABLED
@ RS_OPTION_R200_EMITTER_ENABLED
Definition: rs.h:161
rs_timestamp_data::timestamp
double timestamp
Definition: rs.h:341
RS_FORMAT_BGRA8
@ RS_FORMAT_BGRA8
Definition: rs.h:63
RS_OUTPUT_BUFFER_FORMAT_NATIVE
@ RS_OUTPUT_BUFFER_FORMAT_NATIVE
Definition: rs.h:76
RS_OPTION_F200_FILTER_OPTION
@ RS_OPTION_F200_FILTER_OPTION
Definition: rs.h:145
rs_disable_motion_tracking
void rs_disable_motion_tracking(rs_device *device, rs_error **error)
Disables motion-tracking handlers.
RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD
Definition: rs.h:178
rs_timestamp_data
struct rs_timestamp_data rs_timestamp_data
Timestamp data from the motion microcontroller.
RS_OPTION_F200_MOTION_RANGE
@ RS_OPTION_F200_MOTION_RANGE
Definition: rs.h:144
rs_wait_for_frames
void rs_wait_for_frames(rs_device *device, rs_error **error)
Blocks until new frames are available.
RS_CAPABILITIES_INFRARED
@ RS_CAPABILITIES_INFRARED
Definition: rs.h:217
rs_output_buffer_format
rs_output_buffer_format
Output buffer format: sets how librealsense works with frame memory.
Definition: rs.h:73
RS_CAMERA_INFO_MODULE_VERSION
@ RS_CAMERA_INFO_MODULE_VERSION
Definition: rs.h:247
RS_STREAM_DEPTH
@ RS_STREAM_DEPTH
Definition: rs.h:35
rs_timestamp_domain_to_string
const char * rs_timestamp_domain_to_string(rs_timestamp_domain info)
rs_get_detached_frame_timestamp
double rs_get_detached_frame_timestamp(const rs_frame_ref *frame, rs_error **error)
Retrieves timestamp from frame reference.
RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD
@ RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD
Definition: rs.h:184
RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD
@ RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD
Definition: rs.h:156
rs_get_device_option_range
void rs_get_device_option_range(rs_device *device, rs_option option, double *min, double *max, double *step, rs_error **error)
Retrieves the available range of values for a supported option.