Exposes librealsense functionality for C compilers. More...

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Classes
struct	rs_extrinsics
	Cross-stream extrinsics: encode the topology describing how the different devices are connected. More...

struct	rs_intrinsics
	Video stream intrinsics. More...

struct	rs_motion_data
	Motion data from gyroscope and accelerometer from the microcontroller. More...

struct	rs_motion_device_intrinsic
	Motion device intrinsics: scale, bias, and variances. More...

struct	rs_motion_intrinsics
	Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type `rs_motion_device_intrinsic`. More...

struct	rs_timestamp_data
	Timestamp data from the motion microcontroller. More...

Macros
#define	RS_API_MAJOR_VERSION 1

#define	RS_API_MINOR_VERSION 12

#define	RS_API_PATCH_VERSION 4

#define	RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION))

#define	RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION))

#define	STRINGIFY(arg) #arg

#define	VAR_ARG_STRING(arg) STRINGIFY(arg)

Typedefs
typedef enum rs_blob_type	rs_blob_type
	Proprietary formats for direct communication with device firmware. More...

typedef enum rs_camera_info	rs_camera_info
	Read-only strings that can be queried from the device. More...

typedef enum rs_capabilities	rs_capabilities
	Specifies various capabilities of a RealSense device. More...

typedef struct rs_context	rs_context

typedef struct rs_device	rs_device

typedef enum rs_distortion	rs_distortion
	Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. More...

typedef struct rs_error	rs_error

typedef enum rs_event_source	rs_event_source
	Source device that triggered a specific timestamp event from the motion module. More...

typedef struct rs_extrinsics	rs_extrinsics
	Cross-stream extrinsics: encode the topology describing how the different devices are connected. More...

typedef enum rs_format	rs_format
	Formats: defines how each stream can be encoded. More...

typedef struct rs_frame_callback	rs_frame_callback

typedef void(*	rs_frame_callback_ptr) (rs_device dev, rs_frame_ref frame, void *user)

typedef enum rs_frame_metadata	rs_frame_metadata
	Types of value provided from the device with each frame. More...

typedef struct rs_frame_ref	rs_frame_ref

typedef struct rs_frameset	rs_frameset

typedef struct rs_intrinsics	rs_intrinsics
	Video stream intrinsics. More...

typedef enum rs_ivcam_preset	rs_ivcam_preset
	For SR300 devices: provides optimized settings (presets) for specific types of usage. More...

typedef struct rs_log_callback	rs_log_callback

typedef void(*	rs_log_callback_ptr) (rs_log_severity min_severity, const char message, void user)

typedef enum rs_log_severity	rs_log_severity
	Severity of the librealsense logger. More...

typedef struct rs_motion_callback	rs_motion_callback

typedef void(*	rs_motion_callback_ptr) (rs_device , rs_motion_data, void )

typedef struct rs_motion_data	rs_motion_data
	Motion data from gyroscope and accelerometer from the microcontroller. More...

typedef struct rs_motion_device_intrinsic	rs_motion_device_intrinsic
	Motion device intrinsics: scale, bias, and variances. More...

typedef struct rs_motion_intrinsics	rs_motion_intrinsics
	Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type `rs_motion_device_intrinsic`. More...

typedef enum rs_option	rs_option
	Defines general configuration controls. More...

typedef enum rs_output_buffer_format	rs_output_buffer_format
	Output buffer format: sets how librealsense works with frame memory. More...

typedef enum rs_preset	rs_preset
	Presets: general preferences that are translated by librealsense into concrete resolution and FPS. More...

typedef enum rs_source	rs_source
	Source: allows you to choose between available hardware subdevices. More...

typedef enum rs_stream	rs_stream
	Streams are different types of data provided by RealSense devices. More...

typedef struct rs_timestamp_callback	rs_timestamp_callback

typedef void(*	rs_timestamp_callback_ptr) (rs_device , rs_timestamp_data, void )

typedef struct rs_timestamp_data	rs_timestamp_data
	Timestamp data from the motion microcontroller. More...

typedef enum rs_timestamp_domain	rs_timestamp_domain
	Specifies the clock in relation to which the frame timestamp was measured. More...

Enumerations
enum	rs_blob_type { RS_BLOB_TYPE_MOTION_MODULE_FIRMWARE_UPDATE, RS_BLOB_TYPE_COUNT }
	Proprietary formats for direct communication with device firmware. More...

enum	rs_camera_info { RS_CAMERA_INFO_DEVICE_NAME, RS_CAMERA_INFO_DEVICE_SERIAL_NUMBER, RS_CAMERA_INFO_CAMERA_FIRMWARE_VERSION, RS_CAMERA_INFO_ADAPTER_BOARD_FIRMWARE_VERSION, RS_CAMERA_INFO_MOTION_MODULE_FIRMWARE_VERSION, RS_CAMERA_INFO_CAMERA_TYPE, RS_CAMERA_INFO_OEM_ID, RS_CAMERA_INFO_ISP_FW_VERSION, RS_CAMERA_INFO_CONTENT_VERSION, RS_CAMERA_INFO_MODULE_VERSION, RS_CAMERA_INFO_IMAGER_MODEL_NUMBER, RS_CAMERA_INFO_BUILD_DATE, RS_CAMERA_INFO_CALIBRATION_DATE, RS_CAMERA_INFO_PROGRAM_DATE, RS_CAMERA_INFO_FOCUS_ALIGNMENT_DATE, RS_CAMERA_INFO_EMITTER_TYPE, RS_CAMERA_INFO_FOCUS_VALUE, RS_CAMERA_INFO_LENS_TYPE, RS_CAMERA_INFO_3RD_LENS_TYPE, RS_CAMERA_INFO_LENS_COATING__TYPE, RS_CAMERA_INFO_3RD_LENS_COATING_TYPE, RS_CAMERA_INFO_NOMINAL_BASELINE, RS_CAMERA_INFO_3RD_NOMINAL_BASELINE, RS_CAMERA_INFO_COUNT }
	Read-only strings that can be queried from the device. More...

enum	rs_capabilities { RS_CAPABILITIES_DEPTH, RS_CAPABILITIES_COLOR, RS_CAPABILITIES_INFRARED, RS_CAPABILITIES_INFRARED2, RS_CAPABILITIES_FISH_EYE, RS_CAPABILITIES_MOTION_EVENTS, RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE, RS_CAPABILITIES_ADAPTER_BOARD, RS_CAPABILITIES_ENUMERATION, RS_CAPABILITIES_COUNT }
	Specifies various capabilities of a RealSense device. More...

enum	rs_distortion { RS_DISTORTION_NONE, RS_DISTORTION_MODIFIED_BROWN_CONRADY, RS_DISTORTION_INVERSE_BROWN_CONRADY, RS_DISTORTION_FTHETA, RS_DISTORTION_COUNT }
	Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. More...

enum	rs_event_source { RS_EVENT_IMU_ACCEL, RS_EVENT_IMU_GYRO, RS_EVENT_IMU_DEPTH_CAM, RS_EVENT_IMU_MOTION_CAM, RS_EVENT_G0_SYNC, RS_EVENT_G1_SYNC, RS_EVENT_G2_SYNC, RS_EVENT_SOURCE_COUNT }
	Source device that triggered a specific timestamp event from the motion module. More...

enum	rs_format { RS_FORMAT_ANY, RS_FORMAT_Z16, RS_FORMAT_DISPARITY16, RS_FORMAT_XYZ32F, RS_FORMAT_YUYV, RS_FORMAT_RGB8, RS_FORMAT_BGR8, RS_FORMAT_RGBA8, RS_FORMAT_BGRA8, RS_FORMAT_Y8, RS_FORMAT_Y16, RS_FORMAT_RAW10, RS_FORMAT_RAW16, RS_FORMAT_RAW8, RS_FORMAT_COUNT }
	Formats: defines how each stream can be encoded. More...

enum	rs_frame_metadata { RS_FRAME_METADATA_ACTUAL_EXPOSURE, RS_FRAME_METADATA_ACTUAL_FPS, RS_FRAME_METADATA_COUNT }
	Types of value provided from the device with each frame. More...

enum	rs_ivcam_preset { RS_IVCAM_PRESET_SHORT_RANGE, RS_IVCAM_PRESET_LONG_RANGE, RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION, RS_IVCAM_PRESET_GESTURE_RECOGNITION, RS_IVCAM_PRESET_OBJECT_SCANNING, RS_IVCAM_PRESET_FACE_ANALYTICS, RS_IVCAM_PRESET_FACE_LOGIN, RS_IVCAM_PRESET_GR_CURSOR, RS_IVCAM_PRESET_DEFAULT, RS_IVCAM_PRESET_MID_RANGE, RS_IVCAM_PRESET_IR_ONLY, RS_IVCAM_PRESET_COUNT }
	For SR300 devices: provides optimized settings (presets) for specific types of usage. More...

enum	rs_log_severity { RS_LOG_SEVERITY_DEBUG, RS_LOG_SEVERITY_INFO, RS_LOG_SEVERITY_WARN, RS_LOG_SEVERITY_ERROR, RS_LOG_SEVERITY_FATAL, RS_LOG_SEVERITY_NONE, RS_LOG_SEVERITY_COUNT }
	Severity of the librealsense logger. More...

enum	rs_option { RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, RS_OPTION_COLOR_BRIGHTNESS, RS_OPTION_COLOR_CONTRAST, RS_OPTION_COLOR_EXPOSURE, RS_OPTION_COLOR_GAIN, RS_OPTION_COLOR_GAMMA, RS_OPTION_COLOR_HUE, RS_OPTION_COLOR_SATURATION, RS_OPTION_COLOR_SHARPNESS, RS_OPTION_COLOR_WHITE_BALANCE, RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, RS_OPTION_F200_LASER_POWER, RS_OPTION_F200_ACCURACY, RS_OPTION_F200_MOTION_RANGE, RS_OPTION_F200_FILTER_OPTION, RS_OPTION_F200_CONFIDENCE_THRESHOLD, RS_OPTION_F200_DYNAMIC_FPS, RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE, RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER, RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE, RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE, RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE, RS_OPTION_SR300_AUTO_RANGE_MIN_LASER, RS_OPTION_SR300_AUTO_RANGE_MAX_LASER, RS_OPTION_SR300_AUTO_RANGE_START_LASER, RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD, RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, RS_OPTION_R200_LR_GAIN, RS_OPTION_R200_LR_EXPOSURE, RS_OPTION_R200_EMITTER_ENABLED, RS_OPTION_R200_DEPTH_UNITS, RS_OPTION_R200_DEPTH_CLAMP_MIN, RS_OPTION_R200_DEPTH_CLAMP_MAX, RS_OPTION_R200_DISPARITY_MULTIPLIER, RS_OPTION_R200_DISPARITY_SHIFT, RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT, RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT, RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN, RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE, RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD, RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT, RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT, RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD, RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD, RS_OPTION_FISHEYE_EXPOSURE, RS_OPTION_FISHEYE_GAIN, RS_OPTION_FISHEYE_STROBE, RS_OPTION_FISHEYE_EXTERNAL_TRIGGER, RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE, RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE, RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE, RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE, RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES, RS_OPTION_FRAMES_QUEUE_SIZE, RS_OPTION_HARDWARE_LOGGER_ENABLED, RS_OPTION_TOTAL_FRAME_DROPS, RS_OPTION_COUNT }
	Defines general configuration controls. More...

enum	rs_output_buffer_format { RS_OUTPUT_BUFFER_FORMAT_CONTINUOUS, RS_OUTPUT_BUFFER_FORMAT_NATIVE, RS_OUTPUT_BUFFER_FORMAT_COUNT }
	Output buffer format: sets how librealsense works with frame memory. More...

enum	rs_preset { RS_PRESET_BEST_QUALITY, RS_PRESET_LARGEST_IMAGE, RS_PRESET_HIGHEST_FRAMERATE, RS_PRESET_COUNT }
	Presets: general preferences that are translated by librealsense into concrete resolution and FPS. More...

enum	rs_source { RS_SOURCE_VIDEO, RS_SOURCE_MOTION_TRACKING, RS_SOURCE_ALL, RS_SOURCE_COUNT }
	Source: allows you to choose between available hardware subdevices. More...

enum	rs_stream { RS_STREAM_DEPTH, RS_STREAM_COLOR, RS_STREAM_INFRARED, RS_STREAM_INFRARED2, RS_STREAM_FISHEYE, RS_STREAM_POINTS, RS_STREAM_RECTIFIED_COLOR, RS_STREAM_COLOR_ALIGNED_TO_DEPTH, RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH, RS_STREAM_DEPTH_ALIGNED_TO_COLOR, RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR, RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2, RS_STREAM_COUNT }
	Streams are different types of data provided by RealSense devices. More...

enum	rs_timestamp_domain { RS_TIMESTAMP_DOMAIN_CAMERA, RS_TIMESTAMP_DOMAIN_MICROCONTROLLER, RS_TIMESTAMP_DOMAIN_COUNT }
	Specifies the clock in relation to which the frame timestamp was measured. More...

Functions
const char *	rs_blob_type_to_string (rs_blob_type type)

const char *	rs_camera_info_to_string (rs_camera_info info)

const char *	rs_capabilities_to_string (rs_capabilities capability)

rs_context *	rs_create_context (int api_version, rs_error **error)
	Creates RealSense context that is required for the rest of the API. More...

void	rs_delete_context (rs_context context, rs_error *error)
	Frees the relevant context object. More...

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. More...

void	rs_disable_motion_tracking (rs_device device, rs_error *error)
	Disables motion-tracking handlers. More...

void	rs_disable_stream (rs_device device, rs_stream stream, rs_error *error)
	Disables a specific stream. More...

const char *	rs_distortion_to_string (rs_distortion distortion)

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. More...

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. More...

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. More...

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. More...

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. More...

const char *	rs_event_to_string (rs_event_source event)

const char *	rs_format_to_string (rs_format format)

const char *	rs_frame_metadata_to_string (rs_frame_metadata md)

void	rs_free_error (rs_error *error)
	Frees memory of an error object. More...

int	rs_get_api_version (rs_error **error)
	Retrieves API version from the source code. Evaluate that the value is conformant to the established policies. More...

int	rs_get_detached_frame_bpp (const rs_frame_ref frame, rs_error *error)
	Retrieves frame *bits* per pixel. More...

const void *	rs_get_detached_frame_data (const rs_frame_ref frame, rs_error *error)
	Retrieves data from frame reference. More...

rs_format	rs_get_detached_frame_format (const rs_frame_ref frame, rs_error *error)
	Retrieves frame format. More...

int	rs_get_detached_frame_height (const rs_frame_ref frame, rs_error *error)
	Retrieves frame intrinsic height. More...

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. More...

unsigned long long	rs_get_detached_frame_number (const rs_frame_ref frame, rs_error *error)
	Retrieves frame number from frame reference. More...

rs_stream	rs_get_detached_frame_stream_type (const rs_frame_ref frame, rs_error *error)
	Retrieves frame stream type. More...

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) More...

double	rs_get_detached_frame_timestamp (const rs_frame_ref frame, rs_error *error)
	Retrieves timestamp from frame reference. More...

rs_timestamp_domain	rs_get_detached_frame_timestamp_domain (const rs_frame_ref frame, rs_error *error)
	Retrieves timestamp domain from frame reference. More...

int	rs_get_detached_frame_width (const rs_frame_ref frame, rs_error *error)
	Retrieves frame intrinsic width in pixels. More...

int	rs_get_detached_framerate (const rs_frame_ref frame, rs_error *error)
	Retrieves frame intrinsic frame rate. More...

rs_device *	rs_get_device (rs_context context, int index, rs_error *error)
	Retrieves connected device by index. More...

int	rs_get_device_count (const rs_context context, rs_error *error)
	Determines number of connected devices. More...

float	rs_get_device_depth_scale (const rs_device device, rs_error *error)
	Retrieves mapping between the units of the depth image and meters. More...

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. More...

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. More...

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. More...

const char *	rs_get_device_name (const rs_device device, rs_error *error)
	Retrieves human-readable device model string. More...

double	rs_get_device_option (rs_device device, rs_option option, rs_error *error)
	Retrieves the current value of a single option. More...

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. More...

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. More...

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. More...

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. More...

const char *	rs_get_device_serial (const rs_device device, rs_error *error)
	Retrieves unique serial number of the device. More...

const char *	rs_get_device_usb_port_id (const rs_device device, rs_error *error)
	Retrieves the USB port number of the device. More...

const char *	rs_get_error_message (const rs_error *error)
	Returns static pointer to error message. More...

const char *	rs_get_failed_args (const rs_error *error)
	Returns static pointer to arguments of a failing function in case of error. More...

const char *	rs_get_failed_function (const rs_error *error)
	Returns static pointer to name of a failing function in case of error. More...

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. More...

unsigned long long	rs_get_frame_number (const rs_device device, rs_stream stream, rs_error *error)
	Retrieves frame number. More...

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. More...

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. More...

void	rs_get_motion_intrinsics (const rs_device device, rs_motion_intrinsics intrinsic, rs_error **error)
	Retrieves intrinsic camera parameters for a motion module. More...

rs_format	rs_get_stream_format (const rs_device device, rs_stream stream, rs_error *error)
	Retrieves the pixel format for a specific stream. More...

int	rs_get_stream_framerate (const rs_device device, rs_stream stream, rs_error *error)
	Retrieves the frame rate for a specific stream. More...

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 intrinsic. More...

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. More...

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. More...

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. More...

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 intrinsic. More...

int	rs_is_device_streaming (const rs_device device, rs_error *error)
	Determines if the device is currently streaming. More...

int	rs_is_motion_tracking_active (rs_device device, rs_error *error)
	Checks if data acquisition is active. More...

int	rs_is_stream_enabled (const rs_device device, rs_stream stream, rs_error *error)
	Determines if a specific stream is enabled. More...

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) More...

void	rs_log_to_callback_cpp (rs_log_severity min_severity, rs_log_callback callback, rs_error *error)
	Starts logging to user-provided callback. More...

void	rs_log_to_console (rs_log_severity min_severity, rs_error **error)
	Starts logging to console. More...

void	rs_log_to_file (rs_log_severity min_severity, const char file_path, rs_error *error)
	Starts logging to file. More...

const char *	rs_option_to_string (rs_option option)

int	rs_poll_for_frames (rs_device device, rs_error *error)
	Checks if new frames are available, without blocking. More...

const char *	rs_preset_to_string (rs_preset preset)

void	rs_release_frame (rs_device device, rs_frame_ref frame, rs_error **error)
	Releases frame handle. More...

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. More...

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. More...

void	rs_set_device_option (rs_device device, rs_option option, double value, rs_error *error)
	Sets the current value of a single option. More...

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. More...

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 synchronization logic applied. More...

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 synchronization logic applied. More...

const char *	rs_source_to_string (rs_source source)

void	rs_start_device (rs_device device, rs_error *error)
	Begins streaming on all enabled streams for this device. More...

void	rs_start_source (rs_device device, rs_source source, rs_error *error)
	Begins streaming on all enabled streams for this device. More...

void	rs_stop_device (rs_device device, rs_error *error)
	Ends data acquisition for the specified source providers. More...

void	rs_stop_source (rs_device device, rs_source source, rs_error *error)
	Ends data acquisition for the specified source providers. More...

const char *	rs_stream_to_string (rs_stream stream)

int	rs_supports (rs_device device, rs_capabilities capability, rs_error *error)
	Determines device capabilities. More...

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. More...

int	rs_supports_frame_metadata (const rs_frame_ref frame, rs_frame_metadata frame_metadata, rs_error *error)
	Determines device metadata. More...

const char *	rs_timestamp_domain_to_string (rs_timestamp_domain info)

void	rs_wait_for_frames (rs_device device, rs_error *error)
	Blocks until new frames are available. More...

Detailed Description

Exposes librealsense functionality for C compilers.

Definition in file rs.h.

Macro Definition Documentation

#define RS_API_MAJOR_VERSION 1

Definition at line 17 of file rs.h.

#define RS_API_MINOR_VERSION 12

Definition at line 18 of file rs.h.

#define RS_API_PATCH_VERSION 4

Definition at line 19 of file rs.h.

#define RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION))

Definition at line 28 of file rs.h.

#define RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION))

Definition at line 30 of file rs.h.

#define STRINGIFY ( arg ) #arg

Definition at line 21 of file rs.h.

#define VAR_ARG_STRING ( arg ) STRINGIFY(arg)

Definition at line 22 of file rs.h.

Typedef Documentation

typedef enum rs_blob_type rs_blob_type

Proprietary formats for direct communication with device firmware.

typedef enum rs_camera_info rs_camera_info

Read-only strings that can be queried from the device.

Not all information fields are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.

typedef enum rs_capabilities rs_capabilities

Specifies various capabilities of a RealSense device.

To check if a certain capability is supported by a particular device, at runtime call dev->supports(capability).

typedef struct rs_context rs_context

Definition at line 355 of file rs.h.

typedef struct rs_device rs_device

Definition at line 356 of file rs.h.

typedef enum rs_distortion rs_distortion

Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.

typedef struct rs_error rs_error

Definition at line 357 of file rs.h.

typedef enum rs_event_source rs_event_source

Source device that triggered a specific timestamp event from the motion module.

typedef struct rs_extrinsics rs_extrinsics

Cross-stream extrinsics: encode the topology describing how the different devices are connected.

typedef enum rs_format rs_format

Formats: defines how each stream can be encoded.

rs_format specifies how a frame is represented in memory (similar to the V4L pixel format).

typedef struct rs_frame_callback rs_frame_callback

Definition at line 361 of file rs.h.

typedef void(* rs_frame_callback_ptr) (rs_device *dev, rs_frame_ref *frame, void *user)

Definition at line 365 of file rs.h.

typedef enum rs_frame_metadata rs_frame_metadata

Types of value provided from the device with each frame.

typedef struct rs_frame_ref rs_frame_ref

Definition at line 359 of file rs.h.

typedef struct rs_frameset rs_frameset

Definition at line 358 of file rs.h.

typedef struct rs_intrinsics rs_intrinsics

Video stream intrinsics.

typedef enum rs_ivcam_preset rs_ivcam_preset

For SR300 devices: provides optimized settings (presets) for specific types of usage.

typedef struct rs_log_callback rs_log_callback

Definition at line 363 of file rs.h.

typedef void(* rs_log_callback_ptr) (rs_log_severity min_severity, const char *message, void *user)

Definition at line 368 of file rs.h.

typedef enum rs_log_severity rs_log_severity

Severity of the librealsense logger.

typedef struct rs_motion_callback rs_motion_callback

Definition at line 360 of file rs.h.

typedef void(* rs_motion_callback_ptr) (rs_device *, rs_motion_data, void *)

Definition at line 366 of file rs.h.

typedef struct rs_motion_data rs_motion_data

Motion data from gyroscope and accelerometer from the microcontroller.

typedef struct rs_motion_device_intrinsic rs_motion_device_intrinsic

Motion device intrinsics: scale, bias, and variances.

typedef struct rs_motion_intrinsics rs_motion_intrinsics

Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type rs_motion_device_intrinsic.

typedef enum rs_option rs_option

Defines general configuration controls.

These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time.

typedef enum rs_output_buffer_format rs_output_buffer_format

Output buffer format: sets how librealsense works with frame memory.

typedef enum rs_preset rs_preset

Presets: general preferences that are translated by librealsense into concrete resolution and FPS.

typedef enum rs_source rs_source

Source: allows you to choose between available hardware subdevices.

typedef enum rs_stream rs_stream

Streams are different types of data provided by RealSense devices.

typedef struct rs_timestamp_callback rs_timestamp_callback

Definition at line 362 of file rs.h.

typedef void(* rs_timestamp_callback_ptr) (rs_device *, rs_timestamp_data, void *)

Definition at line 367 of file rs.h.

typedef struct rs_timestamp_data rs_timestamp_data

Timestamp data from the motion microcontroller.

typedef enum rs_timestamp_domain rs_timestamp_domain

Specifies the clock in relation to which the frame timestamp was measured.

When working with a motion microcontroller, motion data timestamps are always in the microcontroller timestamp domain. Some frames, however, might not succesfully receive microcontroller timestamp and will be marked as camera domain.

Enumeration Type Documentation

enum rs_blob_type

Proprietary formats for direct communication with device firmware.

Enumerator
RS_BLOB_TYPE_MOTION_MODULE_FIRMWARE_UPDATE	By using this option, new firmware can be uploaded to the ZR300 motion-module
RS_BLOB_TYPE_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 228 of file rs.h.

enum rs_camera_info

Read-only strings that can be queried from the device.

Not all information fields are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.

Enumerator
RS_CAMERA_INFO_DEVICE_NAME	Device friendly name
RS_CAMERA_INFO_DEVICE_SERIAL_NUMBER	Device serial number
RS_CAMERA_INFO_CAMERA_FIRMWARE_VERSION	Primary firmware version
RS_CAMERA_INFO_ADAPTER_BOARD_FIRMWARE_VERSION	MIPI-to-USB adapter board firmware version if such board is present
RS_CAMERA_INFO_MOTION_MODULE_FIRMWARE_VERSION	Motion module firmware version if motion module is present
RS_CAMERA_INFO_CAMERA_TYPE	R200/LR200/ZR300 camera type
RS_CAMERA_INFO_OEM_ID	OEM ID
RS_CAMERA_INFO_ISP_FW_VERSION	ISP firmware version, when available
RS_CAMERA_INFO_CONTENT_VERSION	R200/LR200/ZR300 content version
RS_CAMERA_INFO_MODULE_VERSION	R200/LR200/ZR300 module version
RS_CAMERA_INFO_IMAGER_MODEL_NUMBER	Primary imager model number
RS_CAMERA_INFO_BUILD_DATE	Device build date
RS_CAMERA_INFO_CALIBRATION_DATE	Primary calibration date
RS_CAMERA_INFO_PROGRAM_DATE	R200/LR200/ZR300 program date
RS_CAMERA_INFO_FOCUS_ALIGNMENT_DATE	Focus calibration date
RS_CAMERA_INFO_EMITTER_TYPE	R200/LR200/ZR300 emitter type
RS_CAMERA_INFO_FOCUS_VALUE	Result of the focus calibration
RS_CAMERA_INFO_LENS_TYPE	Primary lens type
RS_CAMERA_INFO_3RD_LENS_TYPE	Color imager lens type
RS_CAMERA_INFO_LENS_COATING__TYPE	Lens coating type
RS_CAMERA_INFO_3RD_LENS_COATING_TYPE	Color coating type
RS_CAMERA_INFO_NOMINAL_BASELINE	Nominal baseline
RS_CAMERA_INFO_3RD_NOMINAL_BASELINE	Color nominal baseline
RS_CAMERA_INFO_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 237 of file rs.h.

enum rs_capabilities

Specifies various capabilities of a RealSense device.

To check if a certain capability is supported by a particular device, at runtime call dev->supports(capability).

Enumerator
RS_CAPABILITIES_DEPTH	Provides depth stream
RS_CAPABILITIES_COLOR	Provides color stream
RS_CAPABILITIES_INFRARED	Provides infrared stream
RS_CAPABILITIES_INFRARED2	Provides second infrared stream
RS_CAPABILITIES_FISH_EYE	Provides wide field of view (fish-eye) stream
RS_CAPABILITIES_MOTION_EVENTS	Provides gyroscope and accelorometer events
RS_CAPABILITIES_MOTION_MODULE_FW_UPDATE	Provides method for upgrading motion module firmware
RS_CAPABILITIES_ADAPTER_BOARD	Internally MIPI-to-USB adapter
RS_CAPABILITIES_ENUMERATION	Provides enough basic functionality to be considered supported. This is to catch at runtime various outdated engineering samples.
RS_CAPABILITIES_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 213 of file rs.h.

enum rs_distortion

Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.

Enumerator
RS_DISTORTION_NONE	Rectilinear images. No distortion compensation required.
RS_DISTORTION_MODIFIED_BROWN_CONRADY	Equivalent to Brown-Conrady distortion, except that tangential distortion is applied to radially distorted points
RS_DISTORTION_INVERSE_BROWN_CONRADY	Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it
RS_DISTORTION_FTHETA	Distortion model of the fish-eye camera
RS_DISTORTION_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 99 of file rs.h.

enum rs_event_source

Source device that triggered a specific timestamp event from the motion module.

Enumerator
RS_EVENT_IMU_ACCEL	Event from accelerometer
RS_EVENT_IMU_GYRO	Event from the gyroscope
RS_EVENT_IMU_DEPTH_CAM	Event from depth camera (depth/IR frame)
RS_EVENT_IMU_MOTION_CAM	Event from the fish-eye camera
RS_EVENT_G0_SYNC	Event from external GPIO 0
RS_EVENT_G1_SYNC	Event from external GPIO 1
RS_EVENT_G2_SYNC	Event from external GPIO 2
RS_EVENT_SOURCE_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 276 of file rs.h.

enum rs_format

Formats: defines how each stream can be encoded.

rs_format specifies how a frame is represented in memory (similar to the V4L pixel format).

Enumerator
RS_FORMAT_ANY	When passed to enable stream, librealsense will try to provide best suited format
RS_FORMAT_Z16	16-bit linear depth values. The depth is meters is equal to depth scale * pixel value.
RS_FORMAT_DISPARITY16	16-bit linear disparity values. The depth in meters is equal to depth scale / pixel value.
RS_FORMAT_XYZ32F	32-bit floating point 3D coordinates.
RS_FORMAT_YUYV	Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV
RS_FORMAT_RGB8	8-bit red, green and blue channels
RS_FORMAT_BGR8	8-bit blue, green, and red channels – suitable for OpenCV
RS_FORMAT_RGBA8	8-bit red, green and blue channels + constant alpha channel equal to FF
RS_FORMAT_BGRA8	8-bit blue, green, and red channels + constant alpha channel equal to FF
RS_FORMAT_Y8	8-bit per-pixel grayscale image
RS_FORMAT_Y16	16-bit per-pixel grayscale image
RS_FORMAT_RAW10	Four 10-bit luminance values encoded into a 5-byte macropixel
RS_FORMAT_RAW16	16-bit raw image
RS_FORMAT_RAW8	8-bit raw image
RS_FORMAT_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 53 of file rs.h.

enum rs_frame_metadata

Types of value provided from the device with each frame.

Enumerator
RS_FRAME_METADATA_ACTUAL_EXPOSURE	Actual exposure at which the frame was captured
RS_FRAME_METADATA_ACTUAL_FPS	Actual FPS at the time of capture
RS_FRAME_METADATA_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 203 of file rs.h.

enum rs_ivcam_preset

For SR300 devices: provides optimized settings (presets) for specific types of usage.

Enumerator
RS_IVCAM_PRESET_SHORT_RANGE	Preset for short range
RS_IVCAM_PRESET_LONG_RANGE	Preset for long range
RS_IVCAM_PRESET_BACKGROUND_SEGMENTATION	Preset for background segmentation
RS_IVCAM_PRESET_GESTURE_RECOGNITION	Preset for gesture recognition
RS_IVCAM_PRESET_OBJECT_SCANNING	Preset for object scanning
RS_IVCAM_PRESET_FACE_ANALYTICS	Preset for face analytics
RS_IVCAM_PRESET_FACE_LOGIN	Preset for face login
RS_IVCAM_PRESET_GR_CURSOR	Preset for GR cursor
RS_IVCAM_PRESET_DEFAULT	Preset for default
RS_IVCAM_PRESET_MID_RANGE	Preset for mid-range
RS_IVCAM_PRESET_IR_ONLY	Preset for IR only
RS_IVCAM_PRESET_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 109 of file rs.h.

enum rs_log_severity

Severity of the librealsense logger.

Enumerator
RS_LOG_SEVERITY_DEBUG	Detailed information about ordinary operations
RS_LOG_SEVERITY_INFO	Terse information about ordinary operations
RS_LOG_SEVERITY_WARN	Indication of possible failure
RS_LOG_SEVERITY_ERROR	Indication of definite failure
RS_LOG_SEVERITY_FATAL	Indication of unrecoverable failure
RS_LOG_SEVERITY_NONE	No logging will occur
RS_LOG_SEVERITY_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 265 of file rs.h.

enum rs_option

Defines general configuration controls.

These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time.

Enumerator
RS_OPTION_COLOR_BACKLIGHT_COMPENSATION	Enable/disable color backlight compensation
RS_OPTION_COLOR_BRIGHTNESS	Color image brightness
RS_OPTION_COLOR_CONTRAST	Color image contrast
RS_OPTION_COLOR_EXPOSURE	Controls exposure time of color camera. Setting any value will disable auto exposure.
RS_OPTION_COLOR_GAIN	Color image gain
RS_OPTION_COLOR_GAMMA	Color image gamma setting
RS_OPTION_COLOR_HUE	Color image hue
RS_OPTION_COLOR_SATURATION	Color image saturation setting
RS_OPTION_COLOR_SHARPNESS	Color image sharpness setting
RS_OPTION_COLOR_WHITE_BALANCE	Controls white balance of color image. Setting any value will disable auto white balance.
RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE	Enable/disable color image auto-exposure
RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE	Enable/disable color image auto-white-balance
RS_OPTION_F200_LASER_POWER	Power of the F200/SR300 projector, with 0 meaning projector off
RS_OPTION_F200_ACCURACY	Set the number of patterns projected per frame. The higher the accuracy value, the more patterns projected. Increasing the number of patterns helps to achieve better accuracy. Note that this control affects the depth FPS.
RS_OPTION_F200_MOTION_RANGE	Motion vs. range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range
RS_OPTION_F200_FILTER_OPTION	Set the filter to apply to each depth frame. Each one of the filters is optimized per the application requirements.
RS_OPTION_F200_CONFIDENCE_THRESHOLD	Confidence level threshold used by the depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range
RS_OPTION_F200_DYNAMIC_FPS	(F200-only) Allows to reduce FPS without restarting streaming. Valid values are {2, 5, 15, 30, 60}.
RS_OPTION_SR300_AUTO_RANGE_ENABLE_MOTION_VERSUS_RANGE	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_ENABLE_LASER	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_MIN_MOTION_VERSUS_RANGE	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_MAX_MOTION_VERSUS_RANGE	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_START_MOTION_VERSUS_RANGE	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_MIN_LASER	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_MAX_LASER	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_START_LASER	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_UPPER_THRESHOLD	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_SR300_AUTO_RANGE_LOWER_THRESHOLD	Configures SR300 depth auto-range setting. Should not be used directly but through the `rs_apply_ivcam_preset` method in rsutil.h.
RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED	Enable/disable R200 auto-exposure. This will affect both the IR and depth images.
RS_OPTION_R200_LR_GAIN	IR image gain
RS_OPTION_R200_LR_EXPOSURE	This control allows manual adjustment of the exposure time value for the L/R imagers.
RS_OPTION_R200_EMITTER_ENABLED	Enables/disables R200 emitter
RS_OPTION_R200_DEPTH_UNITS	Micrometers per increment in integer depth values. 1000 is default (mm scale). Set before streaming.
RS_OPTION_R200_DEPTH_CLAMP_MIN	Minimum depth in current depth units that will be output. Any values less than ג€˜Min Depthג€™ will be mapped to 0 during the conversion between disparity and depth. Set before streaming.
RS_OPTION_R200_DEPTH_CLAMP_MAX	Maximum depth in current depth units that will be output. Any values greater than ג€˜Max Depthג€™ will be mapped to 0 during the conversion between disparity and depth. Set before streaming.
RS_OPTION_R200_DISPARITY_MULTIPLIER	Disparity scale factor used when in disparity output mode. Can only be set before streaming.
RS_OPTION_R200_DISPARITY_SHIFT	{0 - 512}. Can only be set before streaming starts.
RS_OPTION_R200_AUTO_EXPOSURE_MEAN_INTENSITY_SET_POINT	Mean intensity set point. Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_BRIGHT_RATIO_SET_POINT	Bright ratio set point. Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_KP_GAIN	Kp gain. Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_KP_EXPOSURE	Kp exposure. Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_KP_DARK_THRESHOLD	Kp dark threshold. Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE	Auto-exposure region-of-interest top edge (in pixels). Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE	Auto-exposure region-of-interest bottom edge (in pixels). Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE	Auto-exposure region-of-interest left edge (in pixels). Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE	Auto-exposure region-of-interest right edge (in pixels). Requires the `RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED` option to be set to 1.
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT	Value to subtract when estimating the median of the correlation surface
RS_OPTION_R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT	Value to add when estimating the median of the correlation surface
RS_OPTION_R200_DEPTH_CONTROL_MEDIAN_THRESHOLD	Threshold: by how much the winning score exceeds the median.
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD	Minimum correlation score that is considered acceptable
RS_OPTION_R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD	Maximum correlation score that is considered acceptable
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD	Parameter for determining whether the texture in the region is sufficient to justify a depth result
RS_OPTION_R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD	Parameter for determining whether the texture in the region is sufficient to justify a depth result
RS_OPTION_R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD	Threshold: how much the minimum correlation score must differ from the next best score.
RS_OPTION_R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD	Neighbor threshold value for depth calculation
RS_OPTION_R200_DEPTH_CONTROL_LR_THRESHOLD	Left-right threshold value for depth calculation
RS_OPTION_FISHEYE_EXPOSURE	Fisheye image exposure time in msec
RS_OPTION_FISHEYE_GAIN	Fisheye image gain
RS_OPTION_FISHEYE_STROBE	Enable/disable fisheye strobe. When enabled, aligns timestamps to common clock-domain with the motion events.
RS_OPTION_FISHEYE_EXTERNAL_TRIGGER	Enable/disable fisheye external trigger mode. When enabled, fisheye image will be aquired in-sync with the depth image.
RS_OPTION_FISHEYE_ENABLE_AUTO_EXPOSURE	Enable/disable fisheye auto-exposure
RS_OPTION_FISHEYE_AUTO_EXPOSURE_MODE	0 - static auto-exposure, 1 - anti-flicker auto-exposure, 2 - hybrid
RS_OPTION_FISHEYE_AUTO_EXPOSURE_ANTIFLICKER_RATE	Fisheye auto-exposure anti-flicker rate. Can be 50 or 60 Hz.
RS_OPTION_FISHEYE_AUTO_EXPOSURE_PIXEL_SAMPLE_RATE	In Fisheye auto-exposure sample frame every given number of pixels
RS_OPTION_FISHEYE_AUTO_EXPOSURE_SKIP_FRAMES	In Fisheye auto-exposure sample every given number of frames
RS_OPTION_FRAMES_QUEUE_SIZE	Number of frames the user is allowed to keep per stream. Trying to hold on to more frames will cause frame-drops.
RS_OPTION_HARDWARE_LOGGER_ENABLED	Enable/disable fetching log data from the device
RS_OPTION_TOTAL_FRAME_DROPS	Total number of detected frame drops from all streams
RS_OPTION_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 128 of file rs.h.

enum rs_output_buffer_format

Output buffer format: sets how librealsense works with frame memory.

Enumerator
RS_OUTPUT_BUFFER_FORMAT_CONTINUOUS	Makes sure that the output frame is exposed as a single continuous buffer
RS_OUTPUT_BUFFER_FORMAT_NATIVE	Does not convert buffer to continuous. The user has to handle pitch manually.
RS_OUTPUT_BUFFER_FORMAT_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 73 of file rs.h.

enum rs_preset

Presets: general preferences that are translated by librealsense into concrete resolution and FPS.

Enumerator
RS_PRESET_BEST_QUALITY	Prefer best overall quality
RS_PRESET_LARGEST_IMAGE	Prefer largest image size
RS_PRESET_HIGHEST_FRAMERATE	Prefer highest frame rate
RS_PRESET_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 81 of file rs.h.

enum rs_source

Source: allows you to choose between available hardware subdevices.

Enumerator
RS_SOURCE_VIDEO	Video streaming of depth, infrared, color, or fish-eye
RS_SOURCE_MOTION_TRACKING	Motion tracking from gyroscope and accelerometer
RS_SOURCE_ALL	Enable everything together
RS_SOURCE_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 90 of file rs.h.

enum rs_stream

Streams are different types of data provided by RealSense devices.

Enumerator
RS_STREAM_DEPTH	Native stream of depth data produced by RealSense device
RS_STREAM_COLOR	Native stream of color data captured by RealSense device
RS_STREAM_INFRARED	Native stream of infrared data captured by RealSense device
RS_STREAM_INFRARED2	Native stream of infrared data captured from a second viewpoint by RealSense device
RS_STREAM_FISHEYE	Native stream of fish-eye (wide) data captured from the dedicate motion camera
RS_STREAM_POINTS	Synthetic stream containing point cloud data generated by deprojecting the depth image
RS_STREAM_RECTIFIED_COLOR	Synthetic stream containing undistorted color data with no extrinsic rotation from the depth stream
RS_STREAM_COLOR_ALIGNED_TO_DEPTH	Synthetic stream containing color data but sharing intrinsic of depth stream
RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH	Synthetic stream containing second viewpoint infrared data but sharing intrinsic of depth stream
RS_STREAM_DEPTH_ALIGNED_TO_COLOR	Synthetic stream containing depth data but sharing intrinsic of color stream
RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR	Synthetic stream containing depth data but sharing intrinsic of rectified color stream
RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2	Synthetic stream containing depth data but sharing intrinsic of second viewpoint infrared stream
RS_STREAM_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 33 of file rs.h.

enum rs_timestamp_domain

Specifies the clock in relation to which the frame timestamp was measured.

When working with a motion microcontroller, motion data timestamps are always in the microcontroller timestamp domain. Some frames, however, might not succesfully receive microcontroller timestamp and will be marked as camera domain.

Enumerator
RS_TIMESTAMP_DOMAIN_CAMERA	Frame timestamp was measured in relation to the camera clock
RS_TIMESTAMP_DOMAIN_MICROCONTROLLER	Frame timestamp was measured in relation to the microcontroller clock
RS_TIMESTAMP_DOMAIN_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Definition at line 292 of file rs.h.

Function Documentation

const char* rs_blob_type_to_string ( rs_blob_type type )

Definition at line 763 of file rs.cpp.

const char * rs_camera_info_to_string ( rs_camera_info info )

Definition at line 764 of file rs.cpp.

const char* rs_capabilities_to_string ( rs_capabilities capability )

Definition at line 759 of file rs.cpp.

rs_context* rs_create_context	(	int	api_version,
		rs_error **	error
	)

Creates RealSense context that is required for the rest of the API.

Parameters

[in]	api_version	Users are expected to pass their version of `RS_API_VERSION` to make sure they are running the correct librealsense version.
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Context object

Definition at line 75 of file rs.cpp.

void rs_delete_context	(	rs_context *	context,
		rs_error **	error
	)

Frees the relevant context object.

This action might invalidate rs_device pointers created from this context.

Parameters

[in]	context	Object that is no longer needed
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 106 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	option	Option
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if the option can be queried and set

Definition at line 182 of file rs.cpp.

void rs_disable_motion_tracking	(	rs_device *	device,
		rs_error **	error
	)

Disables motion-tracking handlers.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 366 of file rs.cpp.

void rs_disable_stream	(	rs_device *	device,
		rs_stream	stream,
		rs_error **	error
	)

Disables a specific stream.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 241 of file rs.cpp.

const char* rs_distortion_to_string ( rs_distortion distortion )

Definition at line 757 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	on_motion_event	User-defined routine to be invoked when a motion data arrives
[in]	motion_handler	User data point to be passed to the motion event callback
[in]	on_timestamp_event	User-defined routine to be invoked on timestamp
[in]	timestamp_handler	User data point to be passed to the motion event callback
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

See also: rs_enable_motion_tracking_cpp()

Definition at line 338 of file rs.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.

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.

This variant of rs_enable_motion_tracking() is provided specifically to enable passing lambdas with capture lists safely into the library.

Parameters

[in]	device	Relevant RealSense device
[in]	motion_callback	User-defined routine to be invoked when motion data arrives
[in]	timestamp_callback	User-defined routine to be invoked on timestamp
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

See also: rs_enable_motion_tracking()

Definition at line 352 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	width	Desired width of a frame image in pixels, or 0 if any width is acceptable
[in]	height	Desired height of a frame image in pixels, or 0 if any height is acceptable
[in]	format	Pixel format of a 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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 220 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	width	Desired width of a frame image in pixels, or 0 if any width is acceptable
[in]	height	Desired height of a frame image in pixels, or 0 if any height is acceptable
[in]	format	Pixel format of a 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_format	Output buffer format (contious in memory / native with pitch)
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 207 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	preset	Preset to use to enable the stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 232 of file rs.cpp.

const char* rs_event_to_string ( rs_event_source event )

Definition at line 761 of file rs.cpp.

const char* rs_format_to_string ( rs_format format )

Definition at line 755 of file rs.cpp.

const char* rs_frame_metadata_to_string ( rs_frame_metadata md )

Definition at line 767 of file rs.cpp.

void rs_free_error ( rs_error * error )

Frees memory of an error object.

Parameters

[in] error Error object allocated by RealSense API function

Definition at line 748 of file rs.cpp.

int rs_get_api_version ( rs_error ** error )

Retrieves API version from the source code. Evaluate that the value is conformant to the established policies.

Parameters

[out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Version API encoded into integer value. For example: "1.9.3" becomes "10903".

Definition at line 721 of file rs.cpp.

int rs_get_detached_frame_bpp	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame bits per pixel.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Frame pad crop

Definition at line 548 of file rs.cpp.

const void* rs_get_detached_frame_data	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves data from frame reference.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Pointer to start of the frame data

Definition at line 512 of file rs.cpp.

rs_format rs_get_detached_frame_format	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame format.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Frame format

Definition at line 555 of file rs.cpp.

int rs_get_detached_frame_height	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame intrinsic height.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Intrinsic height

Definition at line 526 of file rs.cpp.

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.

Parameters

[in]	frame	Current frame reference
[in]	frame_metadata	Metadata
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Metadata value

Definition at line 458 of file rs.cpp.

unsigned long long rs_get_detached_frame_number	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame number from frame reference.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Frame number, in milliseconds since the device was started

Definition at line 570 of file rs.cpp.

rs_stream rs_get_detached_frame_stream_type	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame stream type.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Stream type

Definition at line 562 of file rs.cpp.

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)

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Frame pad crop

Definition at line 540 of file rs.cpp.

double rs_get_detached_frame_timestamp	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves timestamp from frame reference.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 498 of file rs.cpp.

rs_timestamp_domain rs_get_detached_frame_timestamp_domain	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves timestamp domain from frame reference.

This method is used to check if two timestamp values are comparable (meaning, are generated from the same clock).

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Timestamp domain of the frame (camera/ microcontroller)

Definition at line 505 of file rs.cpp.

int rs_get_detached_frame_width	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame intrinsic width in pixels.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Intrinsic width

Definition at line 519 of file rs.cpp.

int rs_get_detached_framerate	(	const rs_frame_ref *	frame,
		rs_error **	error
	)

Retrieves frame intrinsic frame rate.

Parameters

[in]	frame	Current frame reference
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Intrinsic frame rate

Definition at line 533 of file rs.cpp.

rs_device* rs_get_device	(	rs_context *	context,
		int	index,
		rs_error **	error
	)

Retrieves connected device by index.

Parameters

	context	Object representing librealsense session
[in]	index	Zero-based index of device to retrieve
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Requested device

Definition at line 120 of file rs.cpp.

int rs_get_device_count	(	const rs_context *	context,
		rs_error **	error
	)

Determines number of connected devices.

Parameters

	context	Object representing librealsense session
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Device count

Definition at line 113 of file rs.cpp.

float rs_get_device_depth_scale	(	const rs_device *	device,
		rs_error **	error
	)

Retrieves mapping between the units of the depth image and meters.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 420 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	from_stream	Stream whose coordinate space to transform from
[in]	to_stream	Stream whose coordinate space to transform to
[out]	extrin	Transformation between the two streams
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 163 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

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

Definition at line 156 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[out]	info	Information that is retrieved
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Requested camera information string, in a format specific to the device model.

Definition at line 142 of file rs.cpp.

const char* rs_get_device_name	(	const rs_device *	device,
		rs_error **	error
	)

Retrieves human-readable device model string.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 128 of file rs.cpp.

double rs_get_device_option	(	rs_device *	device,
		rs_option	option,
		rs_error **	error
	)

Retrieves the current value of a single option.

Parameters

[in]	device	Relevant RealSense device
[in]	option	Option
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Value of the option

Definition at line 694 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	option	Option
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Value of the option

Definition at line 704 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[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]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 635 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 645 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

const char* rs_get_device_serial	(	const rs_device *	device,
		rs_error **	error
	)

Retrieves unique serial number of the device.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 135 of file rs.cpp.

const char* rs_get_device_usb_port_id	(	const rs_device *	device,
		rs_error **	error
	)

Retrieves the USB port number of the device.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: USB port number in a string of format: "##-##"

Definition at line 149 of file rs.cpp.

const char* rs_get_error_message ( const rs_error * error )

Returns static pointer to error message.

Parameters

[in] error Error object allocated by RealSense API function

Returns: Pointer to error message (memory manager by the error object)

Definition at line 751 of file rs.cpp.

const char* rs_get_failed_args ( const rs_error * error )

Returns static pointer to arguments of a failing function in case of error.

Parameters

[in] error Error object allocated by RealSense API function

Returns: Pointer to arguments string (memory manager by the error object)

Definition at line 750 of file rs.cpp.

const char* rs_get_failed_function ( const rs_error * error )

Returns static pointer to name of a failing function in case of error.

Parameters

[in] error Error object allocated by RealSense API function

Returns: Pointer to function name (memory manager by the error object)

Definition at line 749 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream whose latest frame is of interest
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Pointer to start of the frame data

Definition at line 490 of file rs.cpp.

unsigned long long rs_get_frame_number	(	const rs_device *	device,
		rs_stream	stream,
		rs_error **	error
	)

Retrieves frame number.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream whose latest frame is of interest
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Frame number

Definition at line 482 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream whose latest frame is of interest
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 474 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	from	Stream
[out]	extrin	Transformation between the specific stream and motion module
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 173 of file rs.cpp.

void rs_get_motion_intrinsics	(	const rs_device *	device,
		rs_motion_intrinsics *	intrinsic,
		rs_error **	error
	)

Retrieves intrinsic camera parameters for a motion module.

Parameters

[in]	device	Relevant RealSense device
[out]	intrinsic	Intrinsic parameters
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 298 of file rs.cpp.

rs_format rs_get_stream_format	(	const rs_device *	device,
		rs_stream	stream,
		rs_error **	error
	)

Retrieves the pixel format for a specific stream.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Pixel format of the stream

Definition at line 273 of file rs.cpp.

int rs_get_stream_framerate	(	const rs_device *	device,
		rs_stream	stream,
		rs_error **	error
	)

Retrieves the frame rate for a specific stream.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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

Definition at line 281 of file rs.cpp.

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 intrinsic.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Height in pixels of images from this stream

Definition at line 265 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	intrin	Intrinsic parameters of the stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 289 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	index	Zero-based index of the 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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 198 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: the count of available modes

Definition at line 190 of file rs.cpp.

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 intrinsic.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Width in pixels of images from this stream

Definition at line 257 of file rs.cpp.

int rs_is_device_streaming	(	const rs_device *	device,
		rs_error **	error
	)

Determines if the device is currently streaming.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if the device is currently streaming

Definition at line 413 of file rs.cpp.

int rs_is_motion_tracking_active	(	rs_device *	device,
		rs_error **	error
	)

Checks if data acquisition is active.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if motion tracking is active

Definition at line 375 of file rs.cpp.

int rs_is_stream_enabled	(	const rs_device *	device,
		rs_stream	stream,
		rs_error **	error
	)

Determines if a specific stream is enabled.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if the stream is currently enabled

Definition at line 249 of file rs.cpp.

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)

Parameters

[in]	on_log	Callback function pointer
[in]	min_severity	Minimum severity to be logged
[in]	user	Custom pointer for the callback
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 324 of file rs.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.

Parameters

[in]	callback	Pointer to log into (must be created and used from C++)
[in]	min_severity	Minimum severity to be logged
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 331 of file rs.cpp.

void rs_log_to_console	(	rs_log_severity	min_severity,
		rs_error **	error
	)

Starts logging to console.

Parameters

[in]	min_severity	Minimum severity to be logged
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 769 of file rs.cpp.

void rs_log_to_file	(	rs_log_severity	min_severity,
		const char *	file_path,
		rs_error **	error
	)

Starts logging to file.

Parameters

[in]	file_path	Relative filename to log to. In case file exists, it will be appended to.
[in]	min_severity	Minimum severity to be logged
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 775 of file rs.cpp.

const char* rs_option_to_string ( rs_option option )

Definition at line 758 of file rs.cpp.

int rs_poll_for_frames	(	rs_device *	device,
		rs_error **	error
	)

Checks if new frames are available, without blocking.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: 1 if new frames are available, 0 if no new frames have arrived

Definition at line 435 of file rs.cpp.

const char* rs_preset_to_string ( rs_preset preset )

Definition at line 756 of file rs.cpp.

void rs_release_frame	(	rs_device *	device,
		rs_frame_ref *	frame,
		rs_error **	error
	)

Releases frame handle.

Parameters

[in]	device	Relevant RealSense device
[in]	frame	Handle returned either detach, clone_ref or from frame callback
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Pointer to start of the frame data

Definition at line 577 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	options	Array of options that should be set to default
[in]	count	Length of the options array
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 654 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 731 of file rs.cpp.

void rs_set_device_option	(	rs_device *	device,
		rs_option	option,
		double	value,
		rs_error **	error
	)

Sets the current value of a single option.

Parameters

[in]	device	Relevant RealSense device
[in]	option	Option whose value should be set
[in]	value	Value of the option
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 712 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[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
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

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 synchronization logic applied.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	on_frame	Callback that will receive the frame data and timestamp
[in]	user	User data point to be passed to the callback
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

See also: rs_set_frame_callback_cpp()

Definition at line 306 of file rs.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 synchronization logic applied.

This variant of rs_set_frame_callback() is provided specifically to enable passing lambdas with capture lists safely into the library.

Parameters

[in]	device	Relevant RealSense device
[in]	stream	Stream
[in]	callback	Callback that will receive the frame data and timestamp
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

See also: rs_set_frame_callback()

Definition at line 315 of file rs.cpp.

const char* rs_source_to_string ( rs_source source )

Definition at line 760 of file rs.cpp.

void rs_start_device	(	rs_device *	device,
		rs_error **	error
	)

Begins streaming on all enabled streams for this device.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 383 of file rs.cpp.

void rs_start_source	(	rs_device *	device,
		rs_source	source,
		rs_error **	error
	)

Begins streaming on all enabled streams for this device.

Parameters

[in]	device	Relevant RealSense device
[in]	source	Data source to be activated
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 390 of file rs.cpp.

void rs_stop_device	(	rs_device *	device,
		rs_error **	error
	)

Ends data acquisition for the specified source providers.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 398 of file rs.cpp.

void rs_stop_source	(	rs_device *	device,
		rs_source	source,
		rs_error **	error
	)

Ends data acquisition for the specified source providers.

Parameters

[in]	device	Relevant RealSense device
[in]	source	Data source to be terminated
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 405 of file rs.cpp.

const char* rs_stream_to_string ( rs_stream stream )

Definition at line 754 of file rs.cpp.

int rs_supports	(	rs_device *	device,
		rs_capabilities	capability,
		rs_error **	error
	)

Determines device capabilities.

Parameters

[in]	device	Relevant RealSense device
[in]	capability	Capability to check
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if device has this capability

Definition at line 442 of file rs.cpp.

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.

Parameters

[in]	device	Relevant RealSense device
[in]	info_param	Parameter to check
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if the parameter both exists and is well-defined for the specific device

Definition at line 450 of file rs.cpp.

int rs_supports_frame_metadata	(	const rs_frame_ref *	frame,
		rs_frame_metadata	frame_metadata,
		rs_error **	error
	)

Determines device metadata.

Parameters

[in]	frame	Current frame reference
[in]	frame_metadata	Metadata
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: true if device has this metadata

Definition at line 466 of file rs.cpp.

const char* rs_timestamp_domain_to_string ( rs_timestamp_domain info )

Definition at line 765 of file rs.cpp.

void rs_wait_for_frames	(	rs_device *	device,
		rs_error **	error
	)

Blocks until new frames are available.

Parameters

[in]	device	Relevant RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Definition at line 428 of file rs.cpp.

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