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RealSenseTypes.h File Reference
#include "RealSenseTypes.generated.h"
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Classes

struct  FRealSenseOptionRange
 
struct  FRealSenseStreamMode
 
struct  FRealSenseStreamProfile
 

Namespaces

 rs2
 

Enumerations

enum  ERealSenseDepthColormap : uint8 {
  ERealSenseDepthColormap::Jet, ERealSenseDepthColormap::Classic, ERealSenseDepthColormap::WhiteToBlack, ERealSenseDepthColormap::BlackToWhite,
  ERealSenseDepthColormap::Bio, ERealSenseDepthColormap::Cold, ERealSenseDepthColormap::Warm, ERealSenseDepthColormap::Quantized,
  ERealSenseDepthColormap::Pattern
}
 
enum  ERealSenseFormatType : uint8 {
  ERealSenseFormatType::FORMAT_ANY, ERealSenseFormatType::FORMAT_Z16, ERealSenseFormatType::FORMAT_DISPARITY16, ERealSenseFormatType::FORMAT_XYZ32F,
  ERealSenseFormatType::FORMAT_YUYV, ERealSenseFormatType::FORMAT_RGB8, ERealSenseFormatType::FORMAT_BGR8, ERealSenseFormatType::FORMAT_RGBA8,
  ERealSenseFormatType::FORMAT_BGRA8, ERealSenseFormatType::FORMAT_Y8, ERealSenseFormatType::FORMAT_Y16, ERealSenseFormatType::FORMAT_RAW10,
  ERealSenseFormatType::FORMAT_RAW16, ERealSenseFormatType::FORMAT_RAW8, ERealSenseFormatType::FORMAT_UYVY, ERealSenseFormatType::FORMAT_MOTION_RAW,
  ERealSenseFormatType::FORMAT_MOTION_XYZ32F, ERealSenseFormatType::FORMAT_GPIO_RAW, ERealSenseFormatType::FORMAT_6DOF, ERealSenseFormatType::FORMAT_DISPARITY32
}
 
enum  ERealSenseOptionType : uint8 {
  ERealSenseOptionType::BACKLIGHT_COMPENSATION, ERealSenseOptionType::BRIGHTNESS, ERealSenseOptionType::CONTRAST, ERealSenseOptionType::EXPOSURE,
  ERealSenseOptionType::GAIN, ERealSenseOptionType::GAMMA, ERealSenseOptionType::HUE, ERealSenseOptionType::SATURATION,
  ERealSenseOptionType::SHARPNESS, ERealSenseOptionType::WHITE_BALANCE, ERealSenseOptionType::ENABLE_AUTO_EXPOSURE, ERealSenseOptionType::ENABLE_AUTO_WHITE_BALANCE,
  ERealSenseOptionType::VISUAL_PRESET, ERealSenseOptionType::LASER_POWER, ERealSenseOptionType::ACCURACY, ERealSenseOptionType::MOTION_RANGE,
  ERealSenseOptionType::FILTER_OPTION, ERealSenseOptionType::CONFIDENCE_THRESHOLD, ERealSenseOptionType::EMITTER_ENABLED, ERealSenseOptionType::FRAMES_QUEUE_SIZE,
  ERealSenseOptionType::TOTAL_FRAME_DROPS, ERealSenseOptionType::AUTO_EXPOSURE_MODE, ERealSenseOptionType::POWER_LINE_FREQUENCY, ERealSenseOptionType::ASIC_TEMPERATURE,
  ERealSenseOptionType::ERROR_POLLING_ENABLED, ERealSenseOptionType::PROJECTOR_TEMPERATURE, ERealSenseOptionType::OUTPUT_TRIGGER_ENABLED, ERealSenseOptionType::MOTION_MODULE_TEMPERATURE,
  ERealSenseOptionType::DEPTH_UNITS, ERealSenseOptionType::ENABLE_MOTION_CORRECTION, ERealSenseOptionType::AUTO_EXPOSURE_PRIORITY, ERealSenseOptionType::COLOR_SCHEME,
  ERealSenseOptionType::HISTOGRAM_EQUALIZATION_ENABLED, ERealSenseOptionType::MIN_DISTANCE, ERealSenseOptionType::MAX_DISTANCE, ERealSenseOptionType::TEXTURE_SOURCE,
  ERealSenseOptionType::FILTER_MAGNITUDE, ERealSenseOptionType::FILTER_SMOOTH_ALPHA, ERealSenseOptionType::FILTER_SMOOTH_DELTA, ERealSenseOptionType::HOLES_FILL,
  ERealSenseOptionType::STEREO_BASELINE, ERealSenseOptionType::AUTO_EXPOSURE_CONVERGE_STEP, ERealSenseOptionType::INTER_CAM_SYNC_MODE, ERealSenseOptionType::STREAM_FILTER,
  ERealSenseOptionType::STREAM_FORMAT_FILTER, ERealSenseOptionType::STREAM_INDEX_FILTER, ERealSenseOptionType::EMITTER_ON_OFF, ERealSenseOptionType::ZERO_ORDER_POINT_X,
  ERealSenseOptionType::ZERO_ORDER_POINT_Y, ERealSenseOptionType::LLD_TEMPERATURE, ERealSenseOptionType::MC_TEMPERATURE, ERealSenseOptionType::MA_TEMPERATURE,
  ERealSenseOptionType::HARDWARE_PRESET, ERealSenseOptionType::GLOBAL_TIME_ENABLED, ERealSenseOptionType::APD_TEMPERATURE, ERealSenseOptionType::ENABLE_MAPPING,
  ERealSenseOptionType::ENABLE_RELOCALIZATION, ERealSenseOptionType::ENABLE_POSE_JUMPING, ERealSenseOptionType::ENABLE_DYNAMIC_CALIBRATION, ERealSenseOptionType::DEPTH_OFFSET,
  ERealSenseOptionType::LED_POWER, ERealSenseOptionType::ZERO_ORDER_ENABLED, ERealSenseOptionType::ENABLE_MAP_PRESERVATION, ERealSenseOptionType::FREEFALL_DETECTION_ENABLED,
  ERealSenseOptionType::AVALANCHE_PHOTO_DIODE, ERealSenseOptionType::POST_PROCESSING_SHARPENING, ERealSenseOptionType::PRE_PROCESSING_SHARPENING, ERealSenseOptionType::NOISE_FILTERING,
  ERealSenseOptionType::INVALIDATION_BYPASS, ERealSenseOptionType::AMBIENT_LIGHT, ERealSenseOptionType::DIGITAL_GAIN = AMBIENT_LIGHT, ERealSenseOptionType::SENSOR_MODE,
  ERealSenseOptionType::EMITTER_ALWAYS_ON, ERealSenseOptionType::THERMAL_COMPENSATION, ERealSenseOptionType::TRIGGER_CAMERA_ACCURACY_HEALTH, ERealSenseOptionType::RESET_CAMERA_ACCURACY_HEALTH,
  ERealSenseOptionType::HOST_PERFORMANCE, ERealSenseOptionType::HDR_ENABLED, ERealSenseOptionType::SEQUENCE_NAME, ERealSenseOptionType::SEQUENCE_SIZE,
  ERealSenseOptionType::SEQUENCE_ID, ERealSenseOptionType::HUMIDITY_TEMPERATURE, ERealSenseOptionType::ENABLE_MAX_USABLE_RANGE, ERealSenseOptionType::ALTERNATE_IR,
  ERealSenseOptionType::NOISE_ESTIMATION, ERealSenseOptionType::ENABLE_IR_REFLECTIVITY, ERealSenseOptionType::AUTO_EXPOSURE_LIMIT, ERealSenseOptionType::AUTO_GAIN_LIMIT
}
 
enum  ERealSensePipelineMode : uint8 { ERealSensePipelineMode::CaptureOnly, ERealSensePipelineMode::RecordFile, ERealSensePipelineMode::PlaybackFile }
 
enum  ERealSenseStreamType : uint8 { ERealSenseStreamType::STREAM_ANY, ERealSenseStreamType::STREAM_DEPTH, ERealSenseStreamType::STREAM_COLOR, ERealSenseStreamType::STREAM_INFRARED }
 

Enumeration Type Documentation

enum ERealSenseDepthColormap : uint8
strong
Enumerator
Jet 
Classic 
WhiteToBlack 
BlackToWhite 
Bio 
Cold 
Warm 
Quantized 
Pattern 

Definition at line 155 of file RealSenseTypes.h.

enum ERealSenseFormatType : uint8
strong
Enumerator
FORMAT_ANY 

When passed to enable stream, librealsense will try to provide best suited format

FORMAT_Z16 

16-bit linear depth values. The depth is meters is equal to depth scale * pixel value.

FORMAT_DISPARITY16 

16-bit linear disparity values. The depth in meters is equal to depth scale / pixel value.

FORMAT_XYZ32F 

32-bit floating point 3D coordinates.

FORMAT_YUYV 

Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV

FORMAT_RGB8 

8-bit red, green and blue channels

FORMAT_BGR8 

8-bit blue, green, and red channels – suitable for OpenCV

FORMAT_RGBA8 

8-bit red, green and blue channels + constant alpha channel equal to FF

FORMAT_BGRA8 

8-bit blue, green, and red channels + constant alpha channel equal to FF

FORMAT_Y8 

8-bit per-pixel grayscale image

FORMAT_Y16 

16-bit per-pixel grayscale image

FORMAT_RAW10 

Four 10-bit luminance values encoded into a 5-byte macropixel

FORMAT_RAW16 

16-bit raw image

FORMAT_RAW8 

8-bit raw image

FORMAT_UYVY 

Similar to the standard YUYV pixel format, but packed in a different order

FORMAT_MOTION_RAW 

Raw data from the motion sensor

FORMAT_MOTION_XYZ32F 

Motion data packed as 3 32-bit float values, for X, Y, and Z axis

FORMAT_GPIO_RAW 

Raw data from the external sensors hooked to one of the GPIO's

FORMAT_6DOF 

Pose data packed as floats array, containing translation vector, rotation quaternion and prediction velocities and accelerations vectors

FORMAT_DISPARITY32 

32-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth

Definition at line 28 of file RealSenseTypes.h.

enum ERealSenseOptionType : uint8
strong
Enumerator
BACKLIGHT_COMPENSATION 

Enable / disable color backlight compensation

BRIGHTNESS 

Color image brightness

CONTRAST 

Color image contrast

EXPOSURE 

Controls exposure time of color camera. Setting any value will disable auto exposure

GAIN 

Color image gain

GAMMA 

Color image gamma setting

HUE 

Color image hue

SATURATION 

Color image saturation setting

SHARPNESS 

Color image sharpness setting

WHITE_BALANCE 

Controls white balance of color image. Setting any value will disable auto white balance

ENABLE_AUTO_EXPOSURE 

Enable / disable color image auto-exposure

ENABLE_AUTO_WHITE_BALANCE 

Enable / disable color image auto-white-balance

VISUAL_PRESET 

Provide access to several recommend sets of option presets for the depth camera

LASER_POWER 

Power of the F200 / SR300 projector, with 0 meaning projector off

ACCURACY 

Set the number of patterns projected per frame. The higher the accuracy value the more patterns projected. Increasing the number of patterns help to achieve better accuracy. Note that this control is affecting the Depth FPS

MOTION_RANGE 

Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range

FILTER_OPTION 

Set the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements

CONFIDENCE_THRESHOLD 

The 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

EMITTER_ENABLED 

Laser Emitter enabled

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.

TOTAL_FRAME_DROPS 

Total number of detected frame drops from all streams

AUTO_EXPOSURE_MODE 

Auto-Exposure modes: Static, Anti-Flicker and Hybrid

POWER_LINE_FREQUENCY 

Power Line Frequency control for anti-flickering Off/50Hz/60Hz/Auto

ASIC_TEMPERATURE 

Current Asic Temperature

ERROR_POLLING_ENABLED 

disable error handling

PROJECTOR_TEMPERATURE 

Current Projector Temperature

OUTPUT_TRIGGER_ENABLED 

Enable / disable trigger to be outputed from the camera to any external device on every depth frame

MOTION_MODULE_TEMPERATURE 

Current Motion-Module Temperature

DEPTH_UNITS 

Number of meters represented by a single depth unit

ENABLE_MOTION_CORRECTION 

Enable/Disable automatic correction of the motion data

AUTO_EXPOSURE_PRIORITY 

Allows sensor to dynamically ajust the frame rate depending on lighting conditions

COLOR_SCHEME 

Color scheme for data visualization

HISTOGRAM_EQUALIZATION_ENABLED 

Perform histogram equalization post-processing on the depth data

MIN_DISTANCE 

Minimal distance to the target

MAX_DISTANCE 

Maximum distance to the target

TEXTURE_SOURCE 

Texture mapping stream unique ID

FILTER_MAGNITUDE 

The 2D-filter effect. The specific interpretation is given within the context of the filter

FILTER_SMOOTH_ALPHA 

2D-filter parameter controls the weight/radius for smoothing.

FILTER_SMOOTH_DELTA 

2D-filter range/validity threshold

HOLES_FILL 

Enhance depth data post-processing with holes filling where appropriate

STEREO_BASELINE 

The distance in mm between the first and the second imagers in stereo-based depth cameras

AUTO_EXPOSURE_CONVERGE_STEP 

Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm

INTER_CAM_SYNC_MODE 

Impose Inter-camera HW synchronization mode. Applicable for D400/L500/Rolling Shutter SKUs

STREAM_FILTER 

Select a stream to process

STREAM_FORMAT_FILTER 

Select a stream format to process

STREAM_INDEX_FILTER 

Select a stream index to process

EMITTER_ON_OFF 

When supported, this option make the camera to switch the emitter state every frame. 0 for disabled, 1 for enabled

ZERO_ORDER_POINT_X 

Zero order point x

ZERO_ORDER_POINT_Y 

Zero order point y

LLD_TEMPERATURE 

LLD temperature

MC_TEMPERATURE 

MC temperature

MA_TEMPERATURE 

MA temperature

HARDWARE_PRESET 

Hardware stream configuration

GLOBAL_TIME_ENABLED 

disable global time

APD_TEMPERATURE 

APD temperature

ENABLE_MAPPING 

Enable an internal map

ENABLE_RELOCALIZATION 

Enable appearance based relocalization

ENABLE_POSE_JUMPING 

Enable position jumping

ENABLE_DYNAMIC_CALIBRATION 

Enable dynamic calibration

DEPTH_OFFSET 

Offset from sensor to depth origin in millimetrers

LED_POWER 

Power of the LED (light emitting diode), with 0 meaning LED off

ZERO_ORDER_ENABLED 

Deprecated!! - Zero-order mode

ENABLE_MAP_PRESERVATION 

Preserve map from the previous run

FREEFALL_DETECTION_ENABLED 

Enable/disable sensor shutdown when a free-fall is detected (on by default)

AVALANCHE_PHOTO_DIODE 

Changes the exposure time of Avalanche Photo Diode in the receiver

POST_PROCESSING_SHARPENING 

Changes the amount of sharpening in the post-processed image

PRE_PROCESSING_SHARPENING 

Changes the amount of sharpening in the pre-processed image

NOISE_FILTERING 

Control edges and background noise

INVALIDATION_BYPASS 

Enable pixel invalidation

AMBIENT_LIGHT 

Change the depth ambient light see rs2_ambient_light for values

DIGITAL_GAIN 

Change the depth digital gain see rs2_digital_gain for values

SENSOR_MODE 

The resolution mode: see rs2_sensor_mode for values

EMITTER_ALWAYS_ON 

Enable Laser On constantly (GS SKU Only)

THERMAL_COMPENSATION 

Depth Thermal Compensation for selected D400 SKUs

TRIGGER_CAMERA_ACCURACY_HEALTH 
RESET_CAMERA_ACCURACY_HEALTH 
HOST_PERFORMANCE 

Set host performance mode to optimize device settings so host can keep up with workload, for example, USB transaction granularity, setting option to low performance host leads to larger USB transaction size and reduced number of transactions which improves performance and stability if host is relatively weak as compared to workload

HDR_ENABLED 

Enable / disable HDR

SEQUENCE_NAME 

HDR Sequence name

SEQUENCE_SIZE 

HDR Sequence size

SEQUENCE_ID 

HDR Sequence ID - 0 is not HDR; sequence ID for HDR configuration starts from 1

HUMIDITY_TEMPERATURE 

Humidity temperature [Deg Celsius]

ENABLE_MAX_USABLE_RANGE 

Turn on/off the maximum usable range who calculates the maximum range of the camera given the amount of ambient light in the scene

ALTERNATE_IR 

Turn on/off the alternate IR, When enabling alternate IR, the IR image is holding the amplitude of the depth correlation.

NOISE_ESTIMATION 

Noise estimation - indicates the noise on the IR image

ENABLE_IR_REFLECTIVITY 

Enables data collection for calculating IR pixel reflectivity

AUTO_EXPOSURE_LIMIT 

Set and get auto exposure limit in microseconds. Default is 0 which means full exposure range. If the requested exposure limit is greater than frame time, it will be set to frame time at runtime. Setting will not take effect until next streaming session.

AUTO_GAIN_LIMIT 

Set and get auto gain limits ranging from 16 to 248. Default is 0 which means full gain. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session.

Definition at line 54 of file RealSenseTypes.h.

enum ERealSensePipelineMode : uint8
strong
Enumerator
CaptureOnly 
RecordFile 
PlaybackFile 

Definition at line 147 of file RealSenseTypes.h.

enum ERealSenseStreamType : uint8
strong
Enumerator
STREAM_ANY 
STREAM_DEPTH 

Native stream of depth data produced by RealSense device

STREAM_COLOR 

Native stream of color data captured by RealSense device

STREAM_INFRARED 

Native stream of infrared data captured by RealSense device

Definition at line 18 of file RealSenseTypes.h.


librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:50:28