rs.hpp File Reference

Exposes librealsense functionality for C++ compilers. More...

#include "rsutil.h"
#include "rscore.hpp"
#include <cmath>
#include <cstdint>
#include <cstring>
#include <sstream>
#include <stdexcept>
#include <functional>
#include <vector>

Include dependency graph for rs.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	rs::context
	Context. More...
class	rs::device
	Provides convenience methods relating to devices. More...
class	rs::error
struct	rs::extrinsics
	Cross-stream extrinsics: encode the topology describing how the different devices are connected. More...
struct	rs::float2
struct	rs::float3
class	rs::frame
	Frame. More...
class	rs::frame_callback
struct	rs::intrinsics
	Video stream intrinsics. More...
class	rs::log_callback
class	rs::motion_callback
struct	rs::motion_data
	Motion data from gyroscope and accelerometer from the microcontroller. More...
struct	rs::motion_intrinsics
	Motion device intrinsics: scale, bias, and variances. More...
class	rs::timestamp_callback
struct	rs::timestamp_data
	Timestamp data from the motion microcontroller. More...

Namespaces
	rs

Enumerations
enum	rs::blob_type { rs::blob_type::motion_module_firmware_update }
	Proprietary formats for direct communication with device firmware. More...
enum	rs::camera_info {   rs::camera_info::device_name, rs::camera_info::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::third_lens_type, rs::camera_info::lens_coating_type,   rs::camera_info::third_lens_coating_type, rs::camera_info::lens_nominal_baseline, rs::camera_info::third_lens_nominal_baseline }
	Read-only strings that can be queried from the device. More...
enum	rs::capabilities : int32_t {   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 }
	Specifies various capabilities of a RealSense device. More...
enum	rs::distortion : int32_t { rs::distortion::none, rs::distortion::modified_brown_conrady, rs::distortion::inverse_brown_conrady, rs::distortion::distortion_ftheta }
	Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. More...
enum	rs::event : uint8_t {   rs::event::event_imu_accel, rs::event::event_imu_gyro, rs::event::event_imu_depth_cam, rs::event::event_imu_motion_cam,   rs::event::event_imu_g0_sync, rs::event::event_imu_g1_sync, rs::event::event_imu_g2_sync }
	Source device that triggered specific timestamp event from the motion module. More...
enum	rs::format : int32_t {   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 }
	Formats: defines how each stream can be encoded. rs_format specifies how a frame is represented in memory (similar to the V4L pixel format). More...
enum	rs::frame_metadata { rs::frame_metadata::actual_exposure, rs::frame_metadata::actual_fps }
	Types of value provided from the device with each frame. More...
enum	rs::log_severity : int32_t {   rs::log_severity::debug = 0, rs::log_severity::info = 1, rs::log_severity::warn = 2, rs::log_severity::error = 3,   rs::log_severity::fatal = 4, rs::log_severity::none = 5 }
	Severity of the librealsense logger. More...
enum	rs::option : int32_t {   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_color_auto_exposure, rs::option::fisheye_color_auto_exposure_mode, rs::option::fisheye_color_auto_exposure_rate, rs::option::fisheye_color_auto_exposure_sample_rate,   rs::option::fisheye_color_auto_exposure_skip_frames, rs::option::frames_queue_size, rs::option::hardware_logger_enabled, rs::option::total_frame_drops }
	Defines general configuration controls. More...
enum	rs::output_buffer_format : int32_t { rs::output_buffer_format::continous, rs::output_buffer_format::native }
	Output buffer format: sets how librealsense works with frame memory. More...
enum	rs::preset : int32_t { rs::preset::best_quality, rs::preset::largest_image, rs::preset::highest_framerate }
	Presets: general preferences that are translated by librealsense into concrete resolution and FPS. More...
enum	rs::source : uint8_t { rs::source::video, rs::source::motion_data, rs::source::all_sources }
	Allows the user to choose between available hardware subdevices. More...
enum	rs::stream : int32_t {   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 }
	Streams are different types of data provided by RealSense devices. More...
enum	rs::timestamp_domain { rs::timestamp_domain::camera, rs::timestamp_domain::microcontroller }
	Specifies the clock in relation to which the frame timestamp was measured. More...

Functions
void	rs::apply_depth_control_preset (device *device, int preset)
void	rs::apply_ivcam_preset (device *device, rs_ivcam_preset preset)
void	rs::apply_ivcam_preset (device *device, int preset)
void	rs::log_to_callback (log_severity min_severity, std::function< void(log_severity, const char *)> callback)
void	rs::log_to_console (log_severity min_severity)
void	rs::log_to_file (log_severity min_severity, const char *file_path)
std::ostream &	rs::operator<< (std::ostream &o, stream stream)
std::ostream &	rs::operator<< (std::ostream &o, format format)
std::ostream &	rs::operator<< (std::ostream &o, preset preset)
std::ostream &	rs::operator<< (std::ostream &o, distortion distortion)
std::ostream &	rs::operator<< (std::ostream &o, option option)
std::ostream &	rs::operator<< (std::ostream &o, capabilities capability)
std::ostream &	rs::operator<< (std::ostream &o, source src)
std::ostream &	rs::operator<< (std::ostream &o, event evt)

Detailed Description

Exposes librealsense functionality for C++ compilers.

Definition in file rs.hpp.