librealsense2 API

File-System Structure

Under librealsense2 folder you will find two subfolers:

h - Contains headers for the C language
hpp - Contains headers for the C++ language, depends on C headers

In addition, you can include <librealsense2/rs.h> and <librealsense2/rs.hpp> to get most of SDK functionality in C and C++ respectively.

<librealsense2/rs_advanced_mode.h> and <librealsense2/rs_advanced_mode.hpp> can be included to get the extra Advanced Mode functionality (in C and C++ respectively).

<librealsense2/rsutil.h> contains mathematical helper functions for projection of 2D points into 3D space and back.

Files and Classes

For full up-to-date class documentation see Doxygen class-list

<a href=”librealsense2/hpp/rs_types.hpp”>rs_types.hpp</a>:

This file contains common functionality like the exception types. See ..doc/error_handling.md “Error Handling”

Class	Description
error	Common base-class for all exceptions thrown from the SDK
recoverable_error	Base class for all recorverable (in software) errors
unrecoverable_error	Base class for non-recoverable errors
camera_disconnected_error	Camera Disconnected error
backend_error	Error from the underlying OS-specific driver
device_in_recovery_mode_error	Device requires firmware update
invalid_value_error	Invalid input was passed to a function
wrong_api_call_sequence_error	Methods were called in wrong order
not_implemented_error	Functionality is not available error

<a href=”librealsense2/hpp/rs_context.hpp”>rs_context.hpp</a>:

Context can be used to enumerate and iterate over connected device, and also get notifications of device events.

Class	Description
context	Context serve as a factory for all SDK devices
device_hub	Helper class that simplifies handling device change events
event_information	Information about device change

<a href=”librealsense2/hpp/rs_device.hpp”>rs_device.hpp</a>:

This file defines the concept of RealSense device.

Class	Description
device	Encapsulates Intel RealSense device
device_list	Wrapper around list of devices
debug_protocol	Debug-extension that allows to send data directly to the firmware

<a href=”librealsense2/hpp/rs_processing.hpp”>rs_processing.hpp</a>:

The SDK offers many types of post-processing in form of the Processing Blocks. These primitives can be pipelined using queues and configured using options.

Class	Description
syncer	Processing block that accepts frames one-by-one and outputs coherent framesets
frame_queue	Basic primitive abstracting a concurrent queue of frames
processing_block	Base class for frame processing functions
pointcloud	Processing block that accepts depth and texture frames and outputs 3D points with texture coordinates
asynchronous_syncer	Non-blocking version of the syncher processing block
align	Processing block that accepts frames from different viewports and generates new synthetic frames from a single given viewport
colorizer	Processing block that accepts depth frames in Z16 format and outputs depth frames in RGB format, applying some depth coloring
decimation_filter	Processing block that intelligently reduces the resolution of a depth frame
temporal_filter	Processing block that filters depth data by looking into previous frames
spatial_filter	Processing block that applies edge-preserving smoothing of depth data

<a href=”librealsense2/hpp/rs_sensor.hpp”>rs_sensor.hpp</a>:

RealSense devices contain sensors. Sensors are units of streaming, each sensor can be controlled individually.

Class	Description
sensor	Base class for all supported sensors
roi_sensor	Sensor that has the ability to focus on a given ROI
notification	Asynchronious message that can be passed to the application
depth_sensor	Sensor that can provide depth frames

<a href=”librealsense2/hpp/rs_frame.hpp”>rs_frame.hpp</a>:

The output of sensors are frames. There are different kinds of frames, not all video frames.

Class	Description
frame	Base class for all frames
points	Set of 3D points with texture coordinates
video_frame	2D image (with width, height and bpp)
depth_frame	Depth frame
frameset	A set of frames
stream_profile	Base class for sensor configuration
video_stream_profile	Video stream configuration

<a href=”librealsense2/hpp/rs_pipeline.hpp”>rs_pipeline.hpp</a>:

Pipeline is a high-level primitive combining several sensors and processing steps into one simple API.

Class	Description
pipeline	High level data-processor combining several sensors, queues and processing blocks
pipeline_profile	Selected pipeline configuration
config	Desired pipeline configuration

<a href=”librealsense2/hpp/rs_record_playback.hpp”>rs_record_playback.hpp</a>:

This file adds playback and record capability using ROS-bag files. See src/media

Class	Description
playback	Device that mimics live device from given input file
recorder	Device that records live device into an output file

<a href=”librealsense2\hpp\rs_internal.hpp”>rs_internal.hpp</a>:

This file is not intented to be included by SDK users, but rather is used in SDK unit-tests. It allows to record everything that will happen in a specific test into a file and later use that file for dependency injection.