Program Listing for File rs_sensor.h
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/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
#ifndef LIBREALSENSE_RS2_SENSOR_H
#define LIBREALSENSE_RS2_SENSOR_H
#ifdef __cplusplus
extern "C" {
#endif
#include "rs_types.h"
typedef enum rs2_camera_info {
RS2_CAMERA_INFO_NAME ,
RS2_CAMERA_INFO_SERIAL_NUMBER ,
RS2_CAMERA_INFO_FIRMWARE_VERSION ,
RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION ,
RS2_CAMERA_INFO_PHYSICAL_PORT ,
RS2_CAMERA_INFO_DEBUG_OP_CODE ,
RS2_CAMERA_INFO_ADVANCED_MODE ,
RS2_CAMERA_INFO_PRODUCT_ID ,
RS2_CAMERA_INFO_CAMERA_LOCKED ,
RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR ,
RS2_CAMERA_INFO_PRODUCT_LINE ,
RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER ,
RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID ,
RS2_CAMERA_INFO_IP_ADDRESS ,
RS2_CAMERA_INFO_DFU_DEVICE_PATH ,
RS2_CAMERA_INFO_COUNT
} rs2_camera_info;
const char* rs2_camera_info_to_string(rs2_camera_info info);
typedef enum rs2_stream
{
RS2_STREAM_ANY,
RS2_STREAM_DEPTH ,
RS2_STREAM_COLOR ,
RS2_STREAM_INFRARED ,
RS2_STREAM_FISHEYE ,
RS2_STREAM_GYRO ,
RS2_STREAM_ACCEL ,
RS2_STREAM_GPIO ,
RS2_STREAM_POSE ,
RS2_STREAM_CONFIDENCE ,
RS2_STREAM_MOTION ,
RS2_STREAM_COUNT
} rs2_stream;
const char* rs2_stream_to_string(rs2_stream stream);
typedef enum rs2_format
{
RS2_FORMAT_ANY ,
RS2_FORMAT_Z16 ,
RS2_FORMAT_DISPARITY16 ,
RS2_FORMAT_XYZ32F ,
RS2_FORMAT_YUYV ,
RS2_FORMAT_RGB8 ,
RS2_FORMAT_BGR8 ,
RS2_FORMAT_RGBA8 ,
RS2_FORMAT_BGRA8 ,
RS2_FORMAT_Y8 ,
RS2_FORMAT_Y16 ,
RS2_FORMAT_RAW10 ,
RS2_FORMAT_RAW16 ,
RS2_FORMAT_RAW8 ,
RS2_FORMAT_UYVY ,
RS2_FORMAT_MOTION_RAW ,
RS2_FORMAT_MOTION_XYZ32F ,
RS2_FORMAT_GPIO_RAW ,
RS2_FORMAT_6DOF ,
RS2_FORMAT_DISPARITY32 ,
RS2_FORMAT_Y10BPACK ,
RS2_FORMAT_DISTANCE ,
RS2_FORMAT_MJPEG ,
RS2_FORMAT_Y8I ,
RS2_FORMAT_Y12I ,
RS2_FORMAT_INZI ,
RS2_FORMAT_INVI ,
RS2_FORMAT_W10 ,
RS2_FORMAT_Z16H ,
RS2_FORMAT_FG ,
RS2_FORMAT_Y411 ,
RS2_FORMAT_Y16I ,
RS2_FORMAT_M420 ,
RS2_FORMAT_COMBINED_MOTION ,
RS2_FORMAT_COUNT
} rs2_format;
const char* rs2_format_to_string(rs2_format format);
typedef struct rs2_extrinsics
{
float rotation[9];
float translation[3];
} rs2_extrinsics;
typedef struct rs2_combined_motion
{
struct { double x, y, z, w; } orientation;
struct { double x, y, z; } angular_velocity;
struct { double x, y, z; } linear_acceleration;
} rs2_combined_motion;
void rs2_delete_sensor_list(rs2_sensor_list* info_list);
int rs2_get_sensors_count(const rs2_sensor_list* info_list, rs2_error** error);
void rs2_delete_sensor(rs2_sensor* sensor);
rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error);
rs2_device* rs2_create_device_from_sensor(const rs2_sensor* sensor, rs2_error** error);
const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extension, rs2_error** error);
float rs2_get_depth_scale(rs2_sensor* sensor, rs2_error** error);
float rs2_depth_stereo_frame_get_baseline(const rs2_frame* frame_ref, rs2_error** error);
float rs2_get_stereo_baseline(rs2_sensor* sensor, rs2_error** error);
void rs2_set_region_of_interest(const rs2_sensor* sensor, int min_x, int min_y, int max_x, int max_y, rs2_error** error);
void rs2_get_region_of_interest(const rs2_sensor* sensor, int* min_x, int* min_y, int* max_x, int* max_y, rs2_error** error);
void rs2_open(rs2_sensor* device, const rs2_stream_profile* profile, rs2_error** error);
void rs2_open_multiple(rs2_sensor* device, const rs2_stream_profile** profiles, int count, rs2_error** error);
void rs2_close(const rs2_sensor* sensor, rs2_error** error);
void rs2_start(const rs2_sensor* sensor, rs2_frame_callback_ptr on_frame, void* user, rs2_error** error);
void rs2_start_cpp(const rs2_sensor* sensor, rs2_frame_callback* callback, rs2_error** error);
void rs2_start_queue(const rs2_sensor* sensor, rs2_frame_queue* queue, rs2_error** error);
void rs2_stop(const rs2_sensor* sensor, rs2_error** error);
void rs2_set_notifications_callback(const rs2_sensor* sensor, rs2_notification_callback_ptr on_notification, void* user, rs2_error** error);
void rs2_set_notifications_callback_cpp(const rs2_sensor* sensor, rs2_notifications_callback* callback, rs2_error** error);
const char* rs2_get_notification_description(rs2_notification* notification, rs2_error** error);
rs2_time_t rs2_get_notification_timestamp(rs2_notification* notification, rs2_error** error);
rs2_log_severity rs2_get_notification_severity(rs2_notification* notification, rs2_error** error);
rs2_notification_category rs2_get_notification_category(rs2_notification* notification, rs2_error** error);
const char* rs2_get_notification_serialized_data(rs2_notification* notification, rs2_error** error);
rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error** error);
rs2_stream_profile_list * rs2_get_debug_stream_profiles( rs2_sensor * sensor, rs2_error ** error );
rs2_stream_profile_list* rs2_get_active_streams(rs2_sensor* sensor, rs2_error** error);
const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error);
void rs2_get_stream_profile_data(const rs2_stream_profile* mode, rs2_stream* stream, rs2_format* format, int* index, int* unique_id, int* framerate, rs2_error** error);
void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
rs2_stream_profile* rs2_clone_video_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, int width, int height, const rs2_intrinsics* intr, rs2_error** error);
void rs2_delete_stream_profile(rs2_stream_profile* mode);
int rs2_stream_profile_is(const rs2_stream_profile* mode, rs2_extension type, rs2_error** error);
void rs2_get_video_stream_resolution(const rs2_stream_profile* mode, int* width, int* height, rs2_error** error);
void rs2_get_motion_intrinsics(const rs2_stream_profile* mode, rs2_motion_device_intrinsic * intrinsics, rs2_error ** error);
int rs2_is_stream_profile_default(const rs2_stream_profile* mode, rs2_error** error);
int rs2_get_stream_profiles_count(const rs2_stream_profile_list* list, rs2_error** error);
void rs2_delete_stream_profiles_list(rs2_stream_profile_list* list);
void rs2_get_extrinsics(const rs2_stream_profile* from,
const rs2_stream_profile* to,
rs2_extrinsics* extrin, rs2_error** error);
void rs2_register_extrinsics(const rs2_stream_profile* from,
const rs2_stream_profile* to,
rs2_extrinsics extrin, rs2_error** error);
void rs2_override_extrinsics( const rs2_sensor* sensor, const rs2_extrinsics* extrinsics, rs2_error** error );
void rs2_get_video_stream_intrinsics(const rs2_stream_profile* mode, rs2_intrinsics* intrinsics, rs2_error** error);
rs2_processing_block_list* rs2_get_recommended_processing_blocks(rs2_sensor* sensor, rs2_error** error);
rs2_processing_block* rs2_get_processing_block(const rs2_processing_block_list* list, int index, rs2_error** error);
int rs2_get_recommended_processing_blocks_count(const rs2_processing_block_list* list, rs2_error** error);
void rs2_delete_recommended_processing_blocks(rs2_processing_block_list* list);
int rs2_import_localization_map(const rs2_sensor* sensor, const unsigned char* lmap_blob, unsigned int blob_size, rs2_error** error);
//void rs2_export_localization_map(const rs2_sensor* sensor, const char* lmap_fname, rs2_error** error);
const rs2_raw_data_buffer* rs2_export_localization_map(const rs2_sensor* sensor, rs2_error** error);
int rs2_set_static_node(const rs2_sensor* sensor, const char* guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error** error);
int rs2_get_static_node(const rs2_sensor* sensor, const char* guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error** error);
int rs2_remove_static_node(const rs2_sensor* sensor, const char* guid, rs2_error** error);
int rs2_load_wheel_odometry_config(const rs2_sensor* sensor, const unsigned char* odometry_config_buf, unsigned int blob_size, rs2_error** error);
int rs2_send_wheel_odometry(const rs2_sensor* sensor, char wo_sensor_id, unsigned int frame_num,
const rs2_vector translational_velocity, rs2_error** error);
void rs2_set_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile , const rs2_intrinsics* intrinsics, rs2_error** error);
void rs2_override_intrinsics( const rs2_sensor* sensor, const rs2_intrinsics* intrinsics, rs2_error** error );
void rs2_set_extrinsics(const rs2_sensor* from_sensor, const rs2_stream_profile* from_profile, rs2_sensor* to_sensor, const rs2_stream_profile* to_profile, const rs2_extrinsics* extrinsics, rs2_error** error);
void rs2_reset_sensor_calibration( rs2_sensor const * sensor, rs2_error** error );
void rs2_set_motion_device_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile, const rs2_motion_device_intrinsic* intrinsics, rs2_error** error);
float rs2_get_max_usable_depth_range(rs2_sensor const * sensor, rs2_error** error);
#ifdef __cplusplus
}
#endif
#endif // LIBREALSENSE_RS2_SENSOR_H