Provides convenience methods relating to devices. More...

#include <rs.hpp>

Public Member Functions
void	disable_motion_tracking (void)
	Disables events polling.
void	disable_stream (stream stream)
	Disables specific stream.
void	enable_motion_tracking (std::function< void(motion_data)> motion_handler, std::function< void(timestamp_data)> timestamp_handler)
	Sets callback for motion module event.
void	enable_motion_tracking (std::function< void(motion_data)> motion_handler)
	Sets the callback for motion module event.
void	enable_stream (stream stream, int width, int height, format format, int framerate, output_buffer_format output_buffer_type=output_buffer_format::continous)
	Enables specific stream and requests specific properties.
void	enable_stream (stream stream, preset preset)
	Enables specific stream and requests properties using preset.
float	get_depth_scale () const
	Retrieves mapping between units of depth image and meters.
extrinsics	get_extrinsics (stream from_stream, stream to_stream) const
	Retrieves extrinsic transformation between viewpoints of two different streams.
const char *	get_firmware_version () const
	Retrieves version of firmware currently installed on device.
const void *	get_frame_data (stream stream) const
	Retrieves contents of latest frame on a stream.
unsigned long long	get_frame_number (stream stream) const
	Retrieves frame number.
double	get_frame_timestamp (stream stream) const
	Retrieves time at which the latest frame on a stream was captured.
const char *	get_info (camera_info info) const
	Retrieves camera-specific information such as versions of various components.
extrinsics	get_motion_extrinsics_from (stream from_stream) const
	Retrieves extrinsic transformation between viewpoints of specific stream and motion module.
motion_intrinsics	get_motion_intrinsics () const
	Retrieves intrinsic camera parameters for motion module.
const char *	get_name () const
	Retrieves human-readable device model string.
double	get_option (option option)
	Retrieves current value of single option.
const char *	get_option_description (option option)
	Retrieves device-specific option description.
void	get_option_range (option option, double &min, double &max, double &step)
	Retrieves available range of values of supported option.
void	get_option_range (option option, double &min, double &max, double &step, double &def)
	Retrieves available range of values of supported option.
void	get_options (const option options, size_t count, double values)
	Efficiently retrieves value of arbitrary number of options, using minimal hardware IO.
const char *	get_serial () const
	Retrieves unique serial number of device.
format	get_stream_format (stream stream) const
	Retrieves pixel format for specific stream.
int	get_stream_framerate (stream stream) const
	Retrieves frame rate for specific stream.
int	get_stream_height (stream stream) const
	Retrieves height, in pixels, of a specific stream, equivalent to the height field from the stream's intrinsic.
intrinsics	get_stream_intrinsics (stream stream) const
	Retrieves intrinsic camera parameters for specific stream.
void	get_stream_mode (stream stream, int index, int &width, int &height, format &format, int &framerate) const
	Determines properties of specific streaming mode.
int	get_stream_mode_count (stream stream) const
	Determines number of streaming modes available for given stream.
int	get_stream_width (stream stream) const
	Retrieves width, in pixels, of a specific stream, equivalent to the width field from the stream's intrinsic.
const char *	get_usb_port_id () const
	Retrieves USB port number of device.
int	is_motion_tracking_active ()
	Checks if data acquisition is active.
bool	is_stream_enabled (stream stream) const
	Determines if specific stream is enabled.
bool	is_streaming () const
	Determines if device is currently streaming.
bool	poll_for_frames ()
	Checks if new frames are available, without blocking.
void	send_blob_to_device (rs::blob_type type, void *data, int size)
	Sends device-specific data to device.
void	set_frame_callback (rs::stream stream, std::function< void(frame)> frame_handler)
	Sets callback for frame arrival event.
void	set_option (option option, double value)
	Sets current value of single option.
void	set_options (const option options, size_t count, const double values)
	Efficiently sets value of arbitrary number of options, using minimal hardware IO.
void	start (rs::source source=rs::source::video)
	Begins streaming on all enabled streams for this device.
void	stop (rs::source source=rs::source::video)
	Ends streaming on all streams for this device.
bool	supports (capabilities capability) const
	Determines device capabilities.
bool	supports (camera_info info_param) const
	Determines device capabilities.
bool	supports_option (option option) const
	Determines if device allows specific option to be queried and set.
void	wait_for_frames ()
	Blocks until new frames are available.
Private Member Functions
	device ()
	device (const device &)
device &	operator= (const device &)
	~device ()

Detailed Description

Provides convenience methods relating to devices.

Definition at line 567 of file rs.hpp.

Constructor & Destructor Documentation

rs::device::device ( ) [private]

rs::device::device ( const device & ) [private]

rs::device::~device ( ) [private]

Member Function Documentation

void rs::device::disable_motion_tracking ( void ) [inline]

Disables events polling.

Definition at line 861 of file rs.hpp.

void rs::device::disable_stream ( stream stream ) [inline]

Disables specific stream.

Parameters:

[in] stream Stream

Definition at line 723 of file rs.hpp.

void rs::device::enable_motion_tracking	(	std::function< void(motion_data)>	motion_handler,
		std::function< void(timestamp_data)>	timestamp_handler
	)		`[inline]`

Sets callback for motion module event.

The provided callback will be called the instant new motion or timestamp event is available. Note:

The rs_enable_motion_tracking_cpp() method is responsible for activating the motion module on-board the device. One of the services it provides is to produce shared and high-resolution timestamps for all components that are connected to it. For Depth, IR, Color and Fisheye sensors, librealsense takes care of that and copies the timestamps on the relevant frames.

However, when you have an external device (such as a compass, magnetometer, light sensor, or other) and wish to synchronize it precisely with image and motion streams, you can connect that sensor to a GPIO that is available on some devices. Every time the sensor signals, you get a timestamp callback with a frame number, source ID, and a timestamp. This timestamp callback allows advanced users to synchronize compass events (presumably coming though I2C or some other method) with RealSense data.

Parameters:

[in]	motion_handler	Frame callback to be invoke on every new motion event
[in]	timestamp_handler	Frame callback to be invoke on every new timestamp event (can be left-out)

Returns:: Frame rate of the stream, in frames per second

Definition at line 841 of file rs.hpp.

void rs::device::enable_motion_tracking ( std::function< void(motion_data)> motion_handler ) [inline]

Sets the callback for motion module event.

The provided callback will be called the instant new motion event is available.

Parameters:

[in] motion_handler Frame callback to be invokes on every new motion event

Returns:: Frame rate of the stream, in frames per second

Definition at line 853 of file rs.hpp.

void rs::device::enable_stream	(	stream	stream,
		int	width,
		int	height,
		format	format,
		int	framerate,
		output_buffer_format	output_buffer_type = `output_buffer_format::continous`
	)		`[inline]`

Enables specific stream and requests specific properties.

Parameters:

[in]	stream	Stream
[in]	width	Desired width of frame image in pixels, or 0 if any width is acceptable
[in]	height	Desired height of frame image in pixels, or 0 if any height is acceptable
[in]	format	Pixel format of frame image, or ANY if any format is acceptable
[in]	framerate	Number of frames that will be streamed per second, or 0 if any frame rate is acceptable
[in]	output_buffer_type	output buffer format (continous in memory / native with pitch)

Definition at line 704 of file rs.hpp.

void rs::device::enable_stream	(	stream	stream,
		preset	preset
	)		`[inline]`

Enables specific stream and requests properties using preset.

Parameters:

[in]	stream	Stream to enable
[in]	preset	Preset to use to enable the stream

Definition at line 714 of file rs.hpp.

float rs::device::get_depth_scale ( ) const [inline]

Retrieves mapping between units of depth image and meters.

Returns:: Depth in meters corresponding to a depth value of 1

Definition at line 653 of file rs.hpp.

extrinsics rs::device::get_extrinsics	(	stream	from_stream,
		stream	to_stream
	)		const `[inline]`

Retrieves extrinsic transformation between viewpoints of two different streams.

Parameters:

[in]	from_stream	Stream whose coordinate space to transform from
[in]	to_stream	Stream whose coordinate space to transform to

Returns:: Transformation between two streams

Definition at line 630 of file rs.hpp.

const char* rs::device::get_firmware_version ( ) const [inline]

Retrieves version of firmware currently installed on device.

Returns:: Firmware version string, in a format that is specific to device model

Definition at line 608 of file rs.hpp.

const void* rs::device::get_frame_data ( stream stream ) const [inline]

Retrieves contents of latest frame on a stream.

Parameters:

[in] stream Stream

Returns:: Pointer to start of frame data

Definition at line 1050 of file rs.hpp.

unsigned long long rs::device::get_frame_number ( stream stream ) const [inline]

Retrieves frame number.

Parameters:

[in] stream Stream of interest

Returns:: Number of frame since device was started

Definition at line 1039 of file rs.hpp.

double rs::device::get_frame_timestamp ( stream stream ) const [inline]

Retrieves time at which the latest frame on a stream was captured.

Parameters:

[in] stream Stream of interest

Returns:: Timestamp of frame, in milliseconds since the device was started

Definition at line 1028 of file rs.hpp.

const char* rs::device::get_info ( camera_info info ) const [inline]

Retrieves camera-specific information such as versions of various components.

Returns:: Camera info string, in a format that is specific to device model

Definition at line 618 of file rs.hpp.

extrinsics rs::device::get_motion_extrinsics_from ( stream from_stream ) const [inline]

Retrieves extrinsic transformation between viewpoints of specific stream and motion module.

Parameters:

[in] from_stream Stream whose coordinate space to transform from

Returns:: Transformation between specific stream and motion module

Definition at line 642 of file rs.hpp.

motion_intrinsics rs::device::get_motion_intrinsics ( ) const [inline]

Retrieves intrinsic camera parameters for motion module.

Returns:: Intrinsic parameters

Definition at line 799 of file rs.hpp.

const char* rs::device::get_name ( ) const [inline]

Retrieves human-readable device model string.

Returns:: Model string, such as "Intel RealSense F200" or "Intel RealSense R200"

Definition at line 578 of file rs.hpp.

double rs::device::get_option ( option option ) [inline]

Retrieves current value of single option.

Parameters:

[in] option Option

Returns:: Option value

Definition at line 954 of file rs.hpp.

const char* rs::device::get_option_description ( option option ) [inline]

Retrieves device-specific option description.

Parameters:

[in] option Option

Returns:: Option value

Definition at line 965 of file rs.hpp.

void rs::device::get_option_range	(	option	option,
		double &	min,
		double &	max,
		double &	step
	)		`[inline]`

Retrieves available range of values of supported option.

Parameters:

[in]	option	Option
[out]	min	Minimum value that is acceptable for this option
[out]	max	Maximum value that is acceptable for this option
[out]	step	Granularity of options that accept discrete values, or zero if the option accepts continuous values

Definition at line 909 of file rs.hpp.

void rs::device::get_option_range	(	option	option,
		double &	min,
		double &	max,
		double &	step,
		double &	def
	)		`[inline]`

Retrieves available range of values of supported option.

Parameters:

[in]	option	Option
[out]	min	Minimum value that is acceptable for this option
[out]	max	Maximum value that is acceptable for this option
[out]	step	Granularity of options that accept discrete values, or zero if the option accepts continuous values
[out]	def	Default value of the option

Definition at line 922 of file rs.hpp.

void rs::device::get_options	(	const option *	options,
		size_t	count,
		double *	values
	)		`[inline]`

Efficiently retrieves value of arbitrary number of options, using minimal hardware IO.

Parameters:

[in]	options	Array of options that should be queried
[in]	count	Length of options and values arrays
[out]	values	Array that receives the values of the queried options

Definition at line 933 of file rs.hpp.

const char* rs::device::get_serial ( ) const [inline]

Retrieves unique serial number of device.

Returns:: Serial number, in a format specific to the device model

Definition at line 588 of file rs.hpp.

format rs::device::get_stream_format ( stream stream ) const [inline]

Retrieves pixel format for specific stream.

Parameters:

[in] stream Stream

Returns:: Pixel format of the stream

Definition at line 766 of file rs.hpp.

int rs::device::get_stream_framerate ( stream stream ) const [inline]

Retrieves frame rate for specific stream.

Parameters:

[in] stream Stream

Returns:: Frame rate of the stream, in frames per second

Definition at line 777 of file rs.hpp.

int rs::device::get_stream_height ( stream stream ) const [inline]

Retrieves height, in pixels, of a specific stream, equivalent to the height field from the stream's intrinsic.

Parameters:

[in] stream Stream

Returns:: Height, in pixels of images from this stream

Definition at line 755 of file rs.hpp.

intrinsics rs::device::get_stream_intrinsics ( stream stream ) const [inline]

Retrieves intrinsic camera parameters for specific stream.

Parameters:

[in] stream Stream

Returns:: Intrinsic parameters of the stream

Definition at line 788 of file rs.hpp.

void rs::device::get_stream_mode	(	stream	stream,
		int	index,
		int &	width,
		int &	height,
		format &	format,
		int &	framerate
	)		const `[inline]`

Determines properties of specific streaming mode.

Parameters:

[in]	stream	Stream whose mode will be queried
[in]	index	Zero-based index of streaming mode
[out]	width	Width of a frame image in pixels
[out]	height	Height of a frame image in pixels
[out]	format	Pixel format of a frame image
[out]	framerate	Number of frames that will be streamed per second

Definition at line 690 of file rs.hpp.

int rs::device::get_stream_mode_count ( stream stream ) const [inline]

Determines number of streaming modes available for given stream.

Parameters:

[in] stream Stream whose modes will be enumerated

Returns:: Count of available modes

Definition at line 675 of file rs.hpp.

int rs::device::get_stream_width ( stream stream ) const [inline]

Retrieves width, in pixels, of a specific stream, equivalent to the width field from the stream's intrinsic.

Parameters:

[in] stream Stream

Returns:: Width, in pixels of images from this stream

Definition at line 744 of file rs.hpp.

const char* rs::device::get_usb_port_id ( ) const [inline]

Retrieves USB port number of device.

Returns:: USB port number, in a format that is specific to device model

Definition at line 598 of file rs.hpp.

int rs::device::is_motion_tracking_active ( ) [inline]

Checks if data acquisition is active.

Definition at line 869 of file rs.hpp.

bool rs::device::is_stream_enabled ( stream stream ) const [inline]

Determines if specific stream is enabled.

Parameters:

[in] stream Stream to check

Returns:: true if the stream is currently enabled

Definition at line 733 of file rs.hpp.

bool rs::device::is_streaming ( ) const [inline]

Determines if device is currently streaming.

Returns:: true if device is currently streaming

Definition at line 896 of file rs.hpp.

device& rs::device::operator= ( const device & ) [private]

bool rs::device::poll_for_frames ( ) [inline]

Checks if new frames are available, without blocking.

Returns:: true if new frames are available; false if no new frames have arrived.

Definition at line 994 of file rs.hpp.

void rs::device::send_blob_to_device	(	rs::blob_type	type,
		void *	data,
		int	size
	)		`[inline]`

Sends device-specific data to device.

Parameters:

[in]	type	Type of raw data to send to the device
[in]	data	Raw data pointer to send
[in]	size	Size, in bytes of the raw data to send

Definition at line 1062 of file rs.hpp.

void rs::device::set_frame_callback	(	rs::stream	stream,
		std::function< void(frame)>	frame_handler
	)		`[inline]`

Sets callback for frame arrival event.

The provided callback will be called the instant new frame of given stream becomes available once callback is set on certain stream type, frames of this type will no longer be available throuhg wait/poll methods (those two approaches are mutually exclusive) while wait/poll methods provide consistent set of syncronized frames at the expense of extra latency, set frame callbacks provides low latency solution with no syncronization

Parameters:

[in]	stream	Stream
[in]	frame_handler	Frame callback to be invoked on every new frame

Returns:: Frame rate of the stream, in frames per second

Definition at line 817 of file rs.hpp.

void rs::device::set_option	(	option	option,
		double	value
	)		`[inline]`

Sets current value of single option.

Parameters:

[in]	option	Option
[in]	value	Option value

Definition at line 976 of file rs.hpp.

void rs::device::set_options	(	const option *	options,
		size_t	count,
		const double *	values
	)		`[inline]`

Efficiently sets value of arbitrary number of options, using minimal hardware IO.

Parameters:

[in]	options	Array of options that should be set
[in]	count	Length of options and values arrays
[in]	values	Array of values to which the options should be set

Definition at line 944 of file rs.hpp.

void rs::device::start ( rs::source source = rs::source::video ) [inline]

Begins streaming on all enabled streams for this device.

Definition at line 879 of file rs.hpp.

void rs::device::stop ( rs::source source = rs::source::video ) [inline]

Ends streaming on all streams for this device.

Definition at line 887 of file rs.hpp.

bool rs::device::supports ( capabilities capability ) const [inline]

Determines device capabilities.

Parameters:

[in] capability Capability to check

Returns:: true if device has this capability

Definition at line 1005 of file rs.hpp.

bool rs::device::supports ( camera_info info_param ) const [inline]

Determines device capabilities.

Parameters:

[in] info_param Capability to check for support

Returns:: true if device has this capability

Definition at line 1017 of file rs.hpp.

bool rs::device::supports_option ( option option ) const [inline]

Determines if device allows specific option to be queried and set.

Parameters:

[in] option Option to check

Returns:: true if the option can be queried and set

Definition at line 664 of file rs.hpp.

void rs::device::wait_for_frames ( ) [inline]

Blocks until new frames are available.

Definition at line 985 of file rs.hpp.

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

rs.hpp

Public Member Functions

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation