Exposes RealSense internal functionality for C compilers. More...
#include "rs_types.h"#include "rs_context.h"#include "rs_sensor.h"#include "rs_frame.h"#include "rs_option.h"
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Classes | |
| struct | rs2_software_pose_frame::pose_frame_info |
| struct | rs2_motion_stream |
| All the parameters required to define a motion stream. More... | |
| struct | rs2_pose_stream |
| All the parameters required to define a pose stream. More... | |
| struct | rs2_software_motion_frame |
| All the parameters required to define a motion frame. More... | |
| struct | rs2_software_notification |
| All the parameters required to define a sensor notification. More... | |
| struct | rs2_software_pose_frame |
| All the parameters required to define a pose frame. More... | |
| struct | rs2_software_video_frame |
| All the parameters required to define a video frame. More... | |
| struct | rs2_video_stream |
| All the parameters required to define a video stream. More... | |
Typedefs | |
| typedef struct rs2_motion_stream | rs2_motion_stream |
| All the parameters required to define a motion stream. More... | |
| typedef struct rs2_pose_stream | rs2_pose_stream |
| All the parameters required to define a pose stream. More... | |
| typedef enum rs2_recording_mode | rs2_recording_mode |
| typedef struct rs2_software_motion_frame | rs2_software_motion_frame |
| All the parameters required to define a motion frame. More... | |
| typedef struct rs2_software_notification | rs2_software_notification |
| All the parameters required to define a sensor notification. More... | |
| typedef struct rs2_software_pose_frame | rs2_software_pose_frame |
| All the parameters required to define a pose frame. More... | |
| typedef struct rs2_software_video_frame | rs2_software_video_frame |
| All the parameters required to define a video frame. More... | |
| typedef struct rs2_video_stream | rs2_video_stream |
| All the parameters required to define a video stream. More... | |
Enumerations | |
| enum | rs2_recording_mode { RS2_RECORDING_MODE_BLANK_FRAMES, RS2_RECORDING_MODE_COMPRESSED, RS2_RECORDING_MODE_BEST_QUALITY, RS2_RECORDING_MODE_COUNT } |
Variables | |
| const int | signed_fw_size = 0x18031C |
| const int | unsigned_fw_size = 0x200000 |
Detailed Description
Exposes RealSense internal functionality for C compilers.
Definition in file rs_internal.h.
Typedef Documentation
| typedef struct rs2_motion_stream rs2_motion_stream |
All the parameters required to define a motion stream.
| typedef struct rs2_pose_stream rs2_pose_stream |
All the parameters required to define a pose stream.
| typedef enum rs2_recording_mode rs2_recording_mode |
librealsense Recorder is intended for effective unit-testing Currently supports three modes of operation:
| typedef struct rs2_software_motion_frame rs2_software_motion_frame |
All the parameters required to define a motion frame.
| typedef struct rs2_software_notification rs2_software_notification |
All the parameters required to define a sensor notification.
| typedef struct rs2_software_pose_frame rs2_software_pose_frame |
All the parameters required to define a pose frame.
| typedef struct rs2_software_video_frame rs2_software_video_frame |
All the parameters required to define a video frame.
| typedef struct rs2_video_stream rs2_video_stream |
All the parameters required to define a video stream.
Enumeration Type Documentation
| enum rs2_recording_mode |
librealsense Recorder is intended for effective unit-testing Currently supports three modes of operation:
| Enumerator | |
|---|---|
| RS2_RECORDING_MODE_BLANK_FRAMES | |
| RS2_RECORDING_MODE_COMPRESSED | |
| RS2_RECORDING_MODE_BEST_QUALITY | |
| RS2_RECORDING_MODE_COUNT | |
Definition at line 32 of file rs_internal.h.
Function Documentation
| rs2_firmware_log_message* rs2_create_fw_log_message | ( | rs2_device * | dev, |
| rs2_error ** | error | ||
| ) |
Creates RealSense firmware log message.
- Parameters
-
[in] dev Device from which the FW log will be taken using the created message [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- pointer to created empty firmware log message
| rs2_firmware_log_parsed_message* rs2_create_fw_log_parsed_message | ( | rs2_device * | dev, |
| rs2_error ** | error | ||
| ) |
Creates RealSense firmware log parsed message.
- Parameters
-
[in] dev Device from which the FW log will be taken using the created message [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- pointer to created empty firmware log message
| rs2_context* rs2_create_mock_context | ( | int | api_version, |
| const char * | filename, | ||
| const char * | section, | ||
| rs2_error ** | error | ||
| ) |
Create librealsense context that given a file will respond to calls exactly as the recording did if the user calls a method that was either not called during recording or violates causality of the recording error will be thrown
- Parameters
-
[in] api_version realsense API version as provided by RS2_API_VERSION macro [in] filename string representing the name of the file to play back from [in] section string representing the name of the section within existing recording [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- context object, should be released by rs2_delete_context
| rs2_context* rs2_create_mock_context_versioned | ( | int | api_version, |
| const char * | filename, | ||
| const char * | section, | ||
| const char * | min_api_version, | ||
| rs2_error ** | error | ||
| ) |
Create librealsense context that given a file will respond to calls exactly as the recording did if the user calls a method that was either not called during recording or violates causality of the recording error will be thrown
- Parameters
-
[in] api_version realsense API version as provided by RS2_API_VERSION macro [in] filename string representing the name of the file to play back from [in] section string representing the name of the section within existing recording [in] min_api_version reject any file that was recorded before this version [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- context object, should be released by rs2_delete_context
| rs2_context* rs2_create_recording_context | ( | int | api_version, |
| const char * | filename, | ||
| const char * | section, | ||
| rs2_recording_mode | mode, | ||
| rs2_error ** | error | ||
| ) |
Create librealsense context that will try to record all operations over librealsense into a file
- Parameters
-
[in] api_version realsense API version as provided by RS2_API_VERSION macro [in] filename string representing the name of the file to record [in] section string representing the name of the section within existing recording [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- context object, should be released by rs2_delete_context
| rs2_device* rs2_create_software_device | ( | rs2_error ** | error | ) |
Create software device to enable use librealsense logic without getting data from backend but inject the data from outside
- Parameters
-
[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- software device object, should be released by rs2_delete_device
| rs2_terminal_parser* rs2_create_terminal_parser | ( | const char * | xml_content, |
| rs2_error ** | error | ||
| ) |
| void rs2_delete_fw_log_message | ( | rs2_firmware_log_message * | msg | ) |
| void rs2_delete_fw_log_parsed_message | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg | ) |
| void rs2_delete_terminal_parser | ( | rs2_terminal_parser * | terminal_parser | ) |
| const unsigned char* rs2_fw_log_message_data | ( | rs2_firmware_log_message * | msg, |
| rs2_error ** | error | ||
| ) |
| rs2_log_severity rs2_fw_log_message_severity | ( | const rs2_firmware_log_message * | msg, |
| rs2_error ** | error | ||
| ) |
| int rs2_fw_log_message_size | ( | rs2_firmware_log_message * | msg, |
| rs2_error ** | error | ||
| ) |
| unsigned int rs2_fw_log_message_timestamp | ( | rs2_firmware_log_message * | msg, |
| rs2_error ** | error | ||
| ) |
| int rs2_get_flash_log | ( | rs2_device * | dev, |
| rs2_firmware_log_message * | fw_log_msg, | ||
| rs2_error ** | error | ||
| ) |
Gets RealSense flash log - this is a fw log that has been written in the device during the previous shutdown of the device.
- Parameters
-
[in] dev Device from which the FW log should be taken [in] fw_log_msg Firmware log message object to be filled [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor
| int rs2_get_fw_log | ( | rs2_device * | dev, |
| rs2_firmware_log_message * | fw_log_msg, | ||
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log.
- Parameters
-
[in] dev Device from which the FW log should be taken [in] fw_log_msg Firmware log message object to be filled [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- true for success, false for failure - failure happens if no firmware log was sent by the hardware monitor
| const char* rs2_get_fw_log_parsed_file_name | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message file name.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- file name of the firmware log parsed message
| unsigned int rs2_get_fw_log_parsed_line | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message relevant line (in the file that is returned by rs2_get_fw_log_parsed_file_name).
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- line number of the firmware log parsed message
| const char* rs2_get_fw_log_parsed_message | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- message of the firmware log parsed message
| unsigned int rs2_get_fw_log_parsed_sequence_id | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message sequence id - cyclic number of FW log with [0..15] range.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- sequence of the firmware log parsed message
| rs2_log_severity rs2_get_fw_log_parsed_severity | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message severity.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- severity of the firmware log parsed message
| const char* rs2_get_fw_log_parsed_thread_name | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message thread name.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- thread name of the firmware log parsed message
| unsigned int rs2_get_fw_log_parsed_timestamp | ( | rs2_firmware_log_parsed_message * | fw_log_parsed_msg, |
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parsed message timestamp.
- Parameters
-
[in] fw_log_parsed_msg firmware log parsed message object [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- timestamp of the firmware log parsed message
| unsigned int rs2_get_number_of_fw_logs | ( | rs2_device * | dev, |
| rs2_error ** | error | ||
| ) |
Returns number of fw logs already polled from device but not by user yet.
- Parameters
-
[in] dev Device from which the FW log will be taken [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- number of fw logs already polled from device but not by user yet
| int rs2_init_fw_log_parser | ( | rs2_device * | dev, |
| const char * | xml_content, | ||
| rs2_error ** | error | ||
| ) |
Initializes RealSense firmware logs parser in device.
- Parameters
-
[in] dev Device from which the FW log will be taken [in] xml_content content of the xml file needed for parsing [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- true for success, false for failure - failure happens if opening the xml from the xml_path input fails
| int rs2_parse_firmware_log | ( | rs2_device * | dev, |
| rs2_firmware_log_message * | fw_log_msg, | ||
| rs2_firmware_log_parsed_message * | parsed_msg, | ||
| rs2_error ** | error | ||
| ) |
Gets RealSense firmware log parser.
- Parameters
-
[in] dev Device from which the FW log will be taken [in] fw_log_msg firmware log message to be parsed [in] parsed_msg firmware log parsed message - place holder for the resulting parsed message [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- true for success, false for failure - failure happens if message could not be parsed
| rs2_sensor* rs2_software_device_add_sensor | ( | rs2_device * | dev, |
| const char * | sensor_name, | ||
| rs2_error ** | error | ||
| ) |
Add sensor to the software device
- Parameters
-
[in] dev the software device [in] sensor_name the name of the sensor [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- software sensor object, should be released by rs2_delete_sensor
| void rs2_software_device_create_matcher | ( | rs2_device * | dev, |
| rs2_matchers | matcher, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_device_register_info | ( | rs2_device * | dev, |
| rs2_camera_info | info, | ||
| const char * | val, | ||
| rs2_error ** | error | ||
| ) |
Register a camera info value for the software device
- Parameters
-
[in] dev the software device [in] info identifier for the camera info to add. [in] val string value for this new camera info. [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_device_set_destruction_callback | ( | const rs2_device * | dev, |
| rs2_software_device_destruction_callback_ptr | on_notification, | ||
| void * | user, | ||
| rs2_error ** | error | ||
| ) |
set callback to be notified when a specific software device is destroyed
- Parameters
-
[in] dev software device [in] on_notification function pointer to register as callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_device_set_destruction_callback_cpp | ( | const rs2_device * | dev, |
| rs2_software_device_destruction_callback * | callback, | ||
| rs2_error ** | error | ||
| ) |
set callback to be notified when a specific software device is destroyed
- Parameters
-
[in] dev software device [in] callback callback object created from c++ application. ownership over the callback object is moved into the relevant device lock [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_device_update_info | ( | rs2_device * | dev, |
| rs2_camera_info | info, | ||
| const char * | val, | ||
| rs2_error ** | error | ||
| ) |
Update an existing camera info value for the software device
- Parameters
-
[in] dev the software device [in] info identifier for the camera info to add. [in] val string value for this new camera info. [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| rs2_stream_profile* rs2_software_sensor_add_motion_stream | ( | rs2_sensor * | sensor, |
| rs2_motion_stream | motion_stream, | ||
| rs2_error ** | error | ||
| ) |
| rs2_stream_profile* rs2_software_sensor_add_motion_stream_ex | ( | rs2_sensor * | sensor, |
| rs2_motion_stream | motion_stream, | ||
| int | is_default, | ||
| rs2_error ** | error | ||
| ) |
Add motion stream to sensor
- Parameters
-
[in] sensor the software sensor [in] motion_stream all the stream components [in] is_default whether or not the stream should be a default stream for the device [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_sensor_add_option | ( | rs2_sensor * | sensor, |
| rs2_option | option, | ||
| float | min, | ||
| float | max, | ||
| float | step, | ||
| float | def, | ||
| int | is_writable, | ||
| rs2_error ** | error | ||
| ) |
Add an option to sensor
- Parameters
-
[in] sensor the software sensor [in] option the wanted option [in] min the minimum value which will be accepted for this option [in] max the maximum value which will be accepted for this option [in] step the granularity of options which accept discrete values, or zero if the option accepts continuous values [in] def the initial value of the option [in] is_writable should the option be read-only or not [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| rs2_stream_profile* rs2_software_sensor_add_pose_stream | ( | rs2_sensor * | sensor, |
| rs2_pose_stream | pose_stream, | ||
| rs2_error ** | error | ||
| ) |
| rs2_stream_profile* rs2_software_sensor_add_pose_stream_ex | ( | rs2_sensor * | sensor, |
| rs2_pose_stream | pose_stream, | ||
| int | is_default, | ||
| rs2_error ** | error | ||
| ) |
Add pose stream to sensor
- Parameters
-
[in] sensor the software sensor [in] pose_stream all the stream components [in] is_default whether or not the stream should be a default stream for the device [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_sensor_add_read_only_option | ( | rs2_sensor * | sensor, |
| rs2_option | option, | ||
| float | val, | ||
| rs2_error ** | error | ||
| ) |
| rs2_stream_profile* rs2_software_sensor_add_video_stream | ( | rs2_sensor * | sensor, |
| rs2_video_stream | video_stream, | ||
| rs2_error ** | error | ||
| ) |
| rs2_stream_profile* rs2_software_sensor_add_video_stream_ex | ( | rs2_sensor * | sensor, |
| rs2_video_stream | video_stream, | ||
| int | is_default, | ||
| rs2_error ** | error | ||
| ) |
Add video stream to sensor
- Parameters
-
[in] sensor the software sensor [in] video_stream all the stream components [in] is_default whether or not the stream should be a default stream for the device [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_sensor_detach | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
Sensors hold the parent device in scope via a shared_ptr. This function detaches that so that the software sensor doesn't keep the software device alive. Note that this is dangerous as it opens the door to accessing freed memory if care isn't taken.
- Parameters
-
[in] sensor the software sensor [out] error if non-null, recieves any error that occurs during this call, otherwise, errors are ignored
| void rs2_software_sensor_on_motion_frame | ( | rs2_sensor * | sensor, |
| rs2_software_motion_frame | frame, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_sensor_on_notification | ( | rs2_sensor * | sensor, |
| rs2_software_notification | notif, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_sensor_on_pose_frame | ( | rs2_sensor * | sensor, |
| rs2_software_pose_frame | frame, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_sensor_on_video_frame | ( | rs2_sensor * | sensor, |
| rs2_software_video_frame | frame, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_sensor_set_metadata | ( | rs2_sensor * | sensor, |
| rs2_frame_metadata_value | value, | ||
| rs2_metadata_type | type, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_software_sensor_update_read_only_option | ( | rs2_sensor * | sensor, |
| rs2_option | option, | ||
| float | val, | ||
| rs2_error ** | error | ||
| ) |
| rs2_raw_data_buffer* rs2_terminal_parse_command | ( | rs2_terminal_parser * | terminal_parser, |
| const char * | command, | ||
| unsigned int | size_of_command, | ||
| rs2_error ** | error | ||
| ) |
Parses terminal command via RealSense terminal parser.
- Parameters
-
[in] terminal_parser Terminal parser object [in] command command to be sent to the hw monitor of the device [in] size_of_command size of command to be sent to the hw monitor of the device [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- command to hw monitor, in hex
| rs2_raw_data_buffer* rs2_terminal_parse_response | ( | rs2_terminal_parser * | terminal_parser, |
| const char * | command, | ||
| unsigned int | size_of_command, | ||
| const void * | response, | ||
| unsigned int | size_of_response, | ||
| rs2_error ** | error | ||
| ) |
Parses terminal response via RealSense terminal parser.
- Parameters
-
[in] terminal_parser Terminal parser object [in] command command sent to the hw monitor of the device [in] size_of_command size of the command to sent to the hw monitor of the device [in] response response received by the hw monitor of the device [in] size_of_response size of the response received by the hw monitor of the device [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
- Returns
- answer parsed
Variable Documentation
| const int signed_fw_size = 0x18031C |
Firmware size constants
Definition at line 25 of file rs_internal.h.
| const int unsigned_fw_size = 0x200000 |
Definition at line 26 of file rs_internal.h.