Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
rs_types.h
Go to the documentation of this file.
1 /* License: Apache 2.0. See LICENSE file in root directory.
2  Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
3 
9 #ifndef LIBREALSENSE_RS2_TYPES_H
10 #define LIBREALSENSE_RS2_TYPES_H
11 
12 #ifdef __cplusplus
13 extern "C" {
14 #endif
15 
27 
29 typedef enum rs2_exception_type
30 {
42 
44 typedef enum rs2_distortion
45 {
53 const char* rs2_distortion_to_string(rs2_distortion distortion);
54 
56 typedef struct rs2_intrinsics
57 {
58  int width;
59  int height;
60  float ppx;
61  float ppy;
62  float fx;
63  float fy;
65  float coeffs[5];
67 
70 {
71  /* \internal
72  * Scale X cross axis cross axis Bias X \n
73  * cross axis Scale Y cross axis Bias Y \n
74  * cross axis cross axis Scale Z Bias Z */
75  float data[3][4];
77  float noise_variances[3];
78  float bias_variances[3];
80 
83 typedef struct rs2_vertex
84 {
85  float xyz[3];
86 } rs2_vertex;
87 
89 typedef struct rs2_pixel
90 {
91  int ij[2];
92 } rs2_pixel;
93 
95 typedef struct rs2_vector
96 {
97  float x, y, z;
98 }rs2_vector;
99 
101 typedef struct rs2_quaternion
102 {
103  float x, y, z, w;
105 
106 typedef struct rs2_pose
107 {
114  unsigned int tracker_confidence;
115  unsigned int mapper_confidence;
116 } rs2_pose;
117 
119 typedef enum rs2_log_severity {
129 
131 typedef enum rs2_extension
132 {
170 } rs2_extension;
172 const char* rs2_extension_to_string(rs2_extension type);
173 
175 typedef enum rs2_matchers
176 {
177  RS2_MATCHER_DI, //compare depth and ir based on frame number
178 
179  RS2_MATCHER_DI_C, //compare depth and ir based on frame number,
180  //compare the pair of corresponding depth and ir with color based on closest timestamp,
181  //commonlly used by SR300
182 
183  RS2_MATCHER_DLR_C, //compare depth, left and right ir based on frame number,
184  //compare the set of corresponding depth, left and right with color based on closest timestamp,
185  //commonlly used by RS415, RS435
186 
187  RS2_MATCHER_DLR, //compare depth, left and right ir based on frame number,
188  //commonlly used by RS400, RS405, RS410, RS420, RS430
189 
190  RS2_MATCHER_DEFAULT, //the default matcher compare all the streams based on closest timestamp
191 
193 }rs2_matchers;
194 
196 typedef struct rs2_device rs2_device;
197 typedef struct rs2_error rs2_error;
199 typedef struct rs2_frame rs2_frame;
201 typedef struct rs2_pipeline rs2_pipeline;
203 typedef struct rs2_config rs2_config;
210 typedef struct rs2_syncer rs2_syncer;
212 typedef struct rs2_source rs2_source;
216 typedef struct rs2_context rs2_context;
219 typedef struct rs2_sensor rs2_sensor;
220 typedef struct rs2_options rs2_options;
227 typedef void (*rs2_frame_callback_ptr)(rs2_frame*, void*);
229 
230 typedef double rs2_time_t;
231 typedef long long rs2_metadata_type;
234 const char* rs2_get_failed_function (const rs2_error* error);
235 const char* rs2_get_failed_args (const rs2_error* error);
236 const char* rs2_get_error_message (const rs2_error* error);
237 void rs2_free_error (rs2_error* error);
238 
239 #ifdef __cplusplus
240 }
241 #endif
242 #endif
struct rs2_processing_block_list rs2_processing_block_list
Definition: rs_types.h:206
Definition: rs_types.h:123
struct rs2_device_serializer rs2_device_serializer
Definition: rs_types.h:211
Definition: rs_types.hpp:25
struct rs2_vertex rs2_vertex
3D coordinates with origin at topmost left corner of the lense, with positive Z pointing away from th...
Definition: rs_types.h:190
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:198
struct rs2_pixel rs2_pixel
Pixel location within 2D image. (0,0) is the topmost, left corner. Positive X is right,...
rs2_exception_type
Exception types are the different categories of errors that RealSense API might return.
Definition: rs_types.h:29
float y
Definition: rs_types.h:103
void rs2_free_error(rs2_error *error)
rs2_vector angular_acceleration
Definition: rs_types.h:113
Definition: rs_types.h:162
Definition: rs_types.h:136
Definition: rs_types.h:160
float z
Definition: rs_types.h:97
unsigned int tracker_confidence
Definition: rs_types.h:114
Definition: rs_types.h:161
Definition: rs_types.hpp:39
Definition: rs_types.h:47
void(* rs2_frame_processor_callback_ptr)(rs2_frame *, rs2_source *, void *)
Definition: rs_types.h:228
Definition: rs_types.h:163
Definition: rs_types.h:142
struct rs2_frame_queue rs2_frame_queue
Definition: rs_types.h:200
rs2_distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs_types.h:44
Definition: rs_types.h:36
const char * rs2_distortion_to_string(rs2_distortion distortion)
struct rs2_pipeline rs2_pipeline
Definition: rs_types.h:201
struct rs2_context rs2_context
Definition: rs_types.h:216
struct rs2_device_info rs2_device_info
Definition: rs_types.h:195
rs2_vector translation
Definition: rs_types.h:108
Definition: rs_types.h:122
struct rs2_sensor_list rs2_sensor_list
Definition: rs_types.h:218
Definition: rs_types.h:144
Definition: rs_types.h:51
float data[3][4]
Definition: rs_types.h:75
Definition: rs_types.hpp:60
Definition: rs_types.h:50
float coeffs[5]
Definition: rs_types.h:65
3D coordinates with origin at topmost left corner of the lense, with positive Z pointing away from th...
Definition: rs_types.h:83
Definition: rs_types.h:31
Definition: rs_types.h:156
const char * rs2_extension_to_string(rs2_extension type)
Definition: rs_types.h:140
Definition: rs_types.h:146
float x
Definition: rs_types.h:103
rs2_vector angular_velocity
Definition: rs_types.h:112
struct rs2_sensor rs2_sensor
Definition: rs_types.h:219
Definition: rs_types.hpp:46
Definition: rs_types.h:120
Definition: rs_types.h:152
float ppx
Definition: rs_types.h:60
const char * rs2_exception_type_to_string(rs2_exception_type type)
unsigned int mapper_confidence
Definition: rs_types.h:115
Quaternion used to represent rotation.
Definition: rs_types.h:101
Definition: rs_types.h:133
float y
Definition: rs_types.h:97
Definition: rs_types.h:157
struct rs2_pipeline_profile rs2_pipeline_profile
Definition: rs_types.h:202
float noise_variances[3]
Definition: rs_types.h:77
struct rs2_config rs2_config
Definition: rs_types.h:203
struct rs2_notification rs2_notification
Definition: rs_types.h:223
rs2_vector velocity
Definition: rs_types.h:109
Definition: rs_types.h:46
Definition: rs_types.h:39
Definition: rs_types.h:38
struct rs2_device_hub rs2_device_hub
Definition: rs_types.h:217
Definition: rs_types.h:177
Definition: rs_types.h:145
Definition: rs_types.h:139
Definition: rs_types.h:33
Definition: rs_types.hpp:32
Definition: rs_types.h:150
const char * rs2_get_error_message(const rs2_error *error)
rs2_matchers
Specifies types of different matchers.
Definition: rs_types.h:175
const char * rs2_extension_type_to_string(rs2_extension type)
Definition: rs_types.h:137
Definition: rs_types.h:49
Definition: rs_types.h:143
Definition: rs_types.h:106
struct rs2_motion_device_intrinsic rs2_motion_device_intrinsic
Motion device intrinsics: scale, bias, and variances.
int ij[2]
Definition: rs_types.h:91
struct rs2_stream_profile_list rs2_stream_profile_list
Definition: rs_types.h:205
Definition: rs_types.h:151
void(* rs2_devices_changed_callback_ptr)(rs2_device_list *, rs2_device_list *, void *)
Definition: rs_types.h:226
rs2_quaternion rotation
Definition: rs_types.h:111
int width
Definition: rs_types.h:58
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:207
Definition: rs_types.h:125
Definition: rs_types.h:147
rs2_exception_type rs2_get_librealsense_exception_type(const rs2_error *error)
struct rs2_options rs2_options
Definition: rs_types.h:220
struct rs2_syncer rs2_syncer
Definition: rs_types.h:210
struct rs2_vector rs2_vector
3D vector in Euclidean coordinate space
Definition: rs_types.h:48
float x
Definition: rs_types.h:97
Definition: rs_types.h:138
struct rs2_source rs2_source
Definition: rs_types.h:212
Definition: rs_types.h:192
Definition: rs_types.h:124
Definition: rs_types.h:158
Definition: rs_types.h:166
Definition: rs_types.h:126
Definition: rs_types.h:169
Definition: rs_types.h:155
Definition: rs_types.h:141
Definition: rs_types.h:121
Definition: rs_types.h:24
struct rs2_intrinsics rs2_intrinsics
Video stream intrinsics.
3D vector in Euclidean coordinate space
Definition: rs_types.h:95
Definition: rs_types.h:168
rs2_distortion model
Definition: rs_types.h:64
float w
Definition: rs_types.h:103
struct rs2_processing_block rs2_processing_block
Definition: rs_types.h:213
Definition: rs_types.h:134
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition: rs_types.h:131
rs2_notification_category
Category of the librealsense notifications.
Definition: rs_types.h:17
void(* rs2_notification_callback_ptr)(rs2_notification *, void *)
Definition: rs_types.h:225
long long rs2_metadata_type
Definition: rs_types.h:231
Definition: rs_types.h:148
float fy
Definition: rs_types.h:63
float fx
Definition: rs_types.h:62
Definition: rs_types.h:135
struct rs2_device rs2_device
Definition: rs_types.h:196
Definition: rs_types.h:165
Video stream intrinsics.
Definition: rs_types.h:56
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:69
rs2_vector acceleration
Definition: rs_types.h:110
void(* rs2_frame_callback_ptr)(rs2_frame *, void *)
Definition: rs_types.h:227
Definition: rs_types.h:167
int height
Definition: rs_types.h:59
Definition: rs_types.h:179
struct rs2_device_list rs2_device_list
Definition: rs_types.h:204
struct rs2_pose rs2_pose
const char * rs2_notification_category_to_string(rs2_notification_category category)
Definition: rs_types.h:159
const char * rs2_log_severity_to_string(rs2_log_severity info)
struct rs2_quaternion rs2_quaternion
Quaternion used to represent rotation.
Definition: rs_types.hpp:53
Definition: rs_types.h:153
Definition: rs_types.h:154
struct rs2_error rs2_error
Definition: rs_types.h:197
double rs2_time_t
Definition: rs_types.h:230
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:119
Definition: rs_types.h:187
Definition: rs_types.h:149
struct rs2_options_list rs2_options_list
Definition: rs_types.h:221
const char * rs2_get_failed_function(const rs2_error *error)
const char * rs2_get_failed_args(const rs2_error *error)
Definition: rs_types.h:183
float bias_variances[3]
Definition: rs_types.h:78
float xyz[3]
Definition: rs_types.h:85
Definition: rs_types.h:34
float z
Definition: rs_types.h:103
struct rs2_frame rs2_frame
Definition: rs_types.h:199
float ppy
Definition: rs_types.h:61
Pixel location within 2D image. (0,0) is the topmost, left corner. Positive X is right,...
Definition: rs_types.h:89
Definition: rs_types.h:164