Exposes RealSense sensor functionality for C compilers. More...
#include "rs_types.h"
Go to the source code of this file.
Classes | |
| struct | rs2_extrinsics |
| Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. More... | |
Typedefs | |
| typedef enum rs2_camera_info | rs2_camera_info |
| Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications. More... | |
| typedef struct rs2_extrinsics | rs2_extrinsics |
| Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. More... | |
| typedef enum rs2_format | rs2_format |
| A stream's format identifies how binary data is encoded within a frame. More... | |
| typedef enum rs2_stream | rs2_stream |
| Streams are different types of data provided by RealSense devices. More... | |
Detailed Description
Exposes RealSense sensor functionality for C compilers.
Definition in file rs_sensor.h.
Typedef Documentation
| typedef enum rs2_camera_info rs2_camera_info |
Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.
| typedef struct rs2_extrinsics rs2_extrinsics |
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
| typedef enum rs2_format rs2_format |
A stream's format identifies how binary data is encoded within a frame.
| typedef enum rs2_stream rs2_stream |
Streams are different types of data provided by RealSense devices.
Enumeration Type Documentation
| enum rs2_camera_info |
Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.
Definition at line 22 of file rs_sensor.h.
| enum rs2_format |
A stream's format identifies how binary data is encoded within a frame.
| Enumerator | |
|---|---|
| RS2_FORMAT_ANY |
When passed to enable stream, librealsense will try to provide best suited format |
| RS2_FORMAT_Z16 |
16-bit linear depth values. The depth is meters is equal to depth scale * pixel value. |
| RS2_FORMAT_DISPARITY16 |
16-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth. |
| RS2_FORMAT_XYZ32F |
32-bit floating point 3D coordinates. |
| RS2_FORMAT_YUYV |
32-bit y0, u, y1, v data for every two pixels. Similar to YUV422 but packed in a different order - https://en.wikipedia.org/wiki/YUV |
| RS2_FORMAT_RGB8 |
8-bit red, green and blue channels |
| RS2_FORMAT_BGR8 |
8-bit blue, green, and red channels – suitable for OpenCV |
| RS2_FORMAT_RGBA8 |
8-bit red, green and blue channels + constant alpha channel equal to FF |
| RS2_FORMAT_BGRA8 |
8-bit blue, green, and red channels + constant alpha channel equal to FF |
| RS2_FORMAT_Y8 |
8-bit per-pixel grayscale image |
| RS2_FORMAT_Y16 |
16-bit per-pixel grayscale image |
| RS2_FORMAT_RAW10 |
Four 10 bits per pixel luminance values packed into a 5-byte macropixel |
| RS2_FORMAT_RAW16 |
16-bit raw image |
| RS2_FORMAT_RAW8 |
8-bit raw image |
| RS2_FORMAT_UYVY |
Similar to the standard YUYV pixel format, but packed in a different order |
| RS2_FORMAT_MOTION_RAW |
Raw data from the motion sensor |
| RS2_FORMAT_MOTION_XYZ32F |
Motion data packed as 3 32-bit float values, for X, Y, and Z axis |
| RS2_FORMAT_GPIO_RAW |
Raw data from the external sensors hooked to one of the GPIO's |
| RS2_FORMAT_6DOF |
Pose data packed as floats array, containing translation vector, rotation quaternion and prediction velocities and accelerations vectors |
| RS2_FORMAT_DISPARITY32 |
32-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth |
| RS2_FORMAT_Y10BPACK |
16-bit per-pixel grayscale image unpacked from 10 bits per pixel packed ([8:8:8:8:2222]) grey-scale image. The data is unpacked to LSB and padded with 6 zero bits |
| RS2_FORMAT_DISTANCE |
32-bit float-point depth distance value. |
| RS2_FORMAT_MJPEG |
Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB |
| RS2_FORMAT_Y8I |
8-bit per pixel interleaved. 8-bit left, 8-bit right. |
| RS2_FORMAT_Y12I |
12-bit per pixel interleaved. 12-bit left, 12-bit right. Each pixel is stored in a 24-bit word in little-endian order. |
| RS2_FORMAT_INZI |
multi-planar Depth 16bit + IR 10bit. |
| RS2_FORMAT_INVI |
8-bit IR stream. |
| RS2_FORMAT_W10 |
Grey-scale image as a bit-packed array. 4 pixel data stream taking 5 bytes |
| RS2_FORMAT_Z16H |
Variable-length Huffman-compressed 16-bit depth values. |
| RS2_FORMAT_FG |
16-bit per-pixel frame grabber format. |
| RS2_FORMAT_COUNT |
Number of enumeration values. Not a valid input: intended to be used in for-loops. |
Definition at line 59 of file rs_sensor.h.
| enum rs2_stream |
Streams are different types of data provided by RealSense devices.
Definition at line 42 of file rs_sensor.h.
Function Documentation
| const char* rs2_camera_info_to_string | ( | rs2_camera_info | info | ) |
| rs2_stream_profile* rs2_clone_stream_profile | ( | const rs2_stream_profile * | mode, |
| rs2_stream | stream, | ||
| int | index, | ||
| rs2_format | format, | ||
| rs2_error ** | error | ||
| ) |
Creates a copy of stream profile, assigning new values to some of the fields
- Parameters
-
[in] mode input stream profile [in] stream stream type for the profile [in] format binary data format of the profile [in] index stream index the profile in case there are multiple streams of the same type [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- new stream profile, must be deleted by rs2_delete_stream_profile
| rs2_stream_profile* rs2_clone_video_stream_profile | ( | const rs2_stream_profile * | mode, |
| rs2_stream | stream, | ||
| int | index, | ||
| rs2_format | format, | ||
| int | width, | ||
| int | height, | ||
| const rs2_intrinsics * | intr, | ||
| rs2_error ** | error | ||
| ) |
Creates a copy of stream profile, assigning new values to some of the fields
- Parameters
-
[in] mode input stream profile [in] stream stream type for the profile [in] format binary data format of the profile [in] width new width for the profile [in] height new height for the profile [in] intr new intrinsics for the profile [in] index stream index the profile in case there are multiple streams of the same type [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- new stream profile, must be deleted by rs2_delete_stream_profile
| void rs2_close | ( | const rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
| rs2_device* rs2_create_device_from_sensor | ( | const rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
This is a helper function allowing the user to discover the device from one of its sensors
- Parameters
-
[in] sensor Pointer to a sensor [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- new device wrapper for the device of the sensor. Needs to be released by delete_device
| rs2_sensor* rs2_create_sensor | ( | const rs2_sensor_list * | list, |
| int | index, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_delete_recommended_processing_blocks | ( | rs2_processing_block_list * | list | ) |
| void rs2_delete_sensor | ( | rs2_sensor * | sensor | ) |
| void rs2_delete_sensor_list | ( | rs2_sensor_list * | info_list | ) |
| void rs2_delete_stream_profile | ( | rs2_stream_profile * | mode | ) |
| void rs2_delete_stream_profiles_list | ( | rs2_stream_profile_list * | list | ) |
| const rs2_raw_data_buffer* rs2_export_localization_map | ( | const rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
Extract and store the localization map of tm2 tracking device to file
- Parameters
-
[in] sensor TM2 position-tracking sensor [in] lmap_fname The file name of the localization map [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Device's response in a rs2_raw_data_buffer, which should be released by rs2_delete_raw_data
| const char* rs2_format_to_string | ( | rs2_format | format | ) |
| rs2_stream_profile_list* rs2_get_active_streams | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
check how subdevice is streaming
- Parameters
-
[in] sensor input RealSense subdevice [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- list of stream profiles that given subdevice is currently streaming, should be released by rs2_delete_profiles_list
| rs2_stream_profile_list* rs2_get_debug_stream_profiles | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
retrieve list of debug stream profiles that given subdevice can provide
- Parameters
-
[in] sensor input RealSense subdevice [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- list of debug stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list
| float rs2_get_depth_scale | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
When called on a depth sensor, this method will return the number of meters represented by a single depth unit
- Parameters
-
[in] sensor depth sensor [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the number of meters represented by a single depth unit
| void rs2_get_dsm_params | ( | rs2_sensor const * | sensor, |
| rs2_dsm_params * | p_params_out, | ||
| rs2_error ** | error | ||
| ) |
Get the DSM parameters for a sensor
- Parameters
-
[in] sensor Sensor that supports the CALIBRATED_SENSOR extension [out] p_params_out Pointer to the structure that will get the DSM parameters [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_get_extrinsics | ( | const rs2_stream_profile * | from, |
| const rs2_stream_profile * | to, | ||
| rs2_extrinsics * | extrin, | ||
| rs2_error ** | error | ||
| ) |
| float rs2_get_max_usable_depth_range | ( | rs2_sensor const * | sensor, |
| rs2_error ** | error | ||
| ) |
When called on a depth sensor, this method will return the maximum range of the camera given the amount of ambient light in the scene
- Parameters
-
[in] sensor depth sensor [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the max usable range in meters
| void rs2_get_motion_intrinsics | ( | const rs2_stream_profile * | mode, |
| rs2_motion_device_intrinsic * | intrinsics, | ||
| rs2_error ** | error | ||
| ) |
Obtain the intrinsics of a specific stream configuration from the device.
- Parameters
-
[in] mode input stream profile [out] intrinsics Pointer to the struct to store the data in [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| rs2_notification_category rs2_get_notification_category | ( | rs2_notification * | notification, |
| rs2_error ** | error | ||
| ) |
| const char* rs2_get_notification_description | ( | rs2_notification * | notification, |
| rs2_error ** | error | ||
| ) |
| const char* rs2_get_notification_serialized_data | ( | rs2_notification * | notification, |
| rs2_error ** | error | ||
| ) |
| rs2_log_severity rs2_get_notification_severity | ( | rs2_notification * | notification, |
| rs2_error ** | error | ||
| ) |
| rs2_time_t rs2_get_notification_timestamp | ( | rs2_notification * | notification, |
| rs2_error ** | error | ||
| ) |
| rs2_processing_block* rs2_get_processing_block | ( | const rs2_processing_block_list * | list, |
| int | index, | ||
| rs2_error ** | error | ||
| ) |
Returns specific processing blocks from processing blocks list
- Parameters
-
[in] list the processing blocks list [in] index the requested processing block [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- processing block
| rs2_processing_block_list* rs2_get_recommended_processing_blocks | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
Returns the list of recommended processing blocks for a specific sensor. Order and configuration of the blocks are decided by the sensor
- Parameters
-
[in] sensor input sensor [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- list of supported sensor recommended processing blocks
| int rs2_get_recommended_processing_blocks_count | ( | const rs2_processing_block_list * | list, |
| rs2_error ** | error | ||
| ) |
| void rs2_get_region_of_interest | ( | const rs2_sensor * | sensor, |
| int * | min_x, | ||
| int * | min_y, | ||
| int * | max_x, | ||
| int * | max_y, | ||
| rs2_error ** | error | ||
| ) |
gets the active region of interest to be used by auto-exposure algorithm
- Parameters
-
[in] sensor the RealSense sensor [out] min_x lower horizontal bound in pixels [out] min_y lower vertical bound in pixels [out] max_x upper horizontal bound in pixels [out] max_y upper vertical bound in pixels [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| const char* rs2_get_sensor_info | ( | const rs2_sensor * | sensor, |
| rs2_camera_info | info, | ||
| rs2_error ** | error | ||
| ) |
retrieve sensor specific information, like versions of various internal components
- Parameters
-
[in] sensor the RealSense sensor [in] info camera info type to retrieve [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- the requested camera info string, in a format specific to the device model
| int rs2_get_sensors_count | ( | const rs2_sensor_list * | info_list, |
| rs2_error ** | error | ||
| ) |
| int rs2_get_static_node | ( | const rs2_sensor * | sensor, |
| const char * | guid, | ||
| rs2_vector * | pos, | ||
| rs2_quaternion * | orient, | ||
| rs2_error ** | error | ||
| ) |
Retrieve a named location tag
- Parameters
-
[in] sensor T2xx position-tracking sensor [in] guid Null-terminated string of up to 127 characters [out] pos Position in meters of the tagged (stored) location [out] orient Quaternion orientation of the tagged (stored) location [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Non-zero if succeeded, otherwise 0
| float rs2_get_stereo_baseline | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
| const rs2_stream_profile* rs2_get_stream_profile | ( | const rs2_stream_profile_list * | list, |
| int | index, | ||
| rs2_error ** | error | ||
| ) |
Get pointer to specific stream profile
- Parameters
-
[in] list the list of supported profiles returned by rs2_get_supported_profiles [in] index the zero based index of the streaming mode [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_get_stream_profile_data | ( | const rs2_stream_profile * | mode, |
| rs2_stream * | stream, | ||
| rs2_format * | format, | ||
| int * | index, | ||
| int * | unique_id, | ||
| int * | framerate, | ||
| rs2_error ** | error | ||
| ) |
Extract common parameters of a stream profiles
- Parameters
-
[in] mode input stream profile [out] stream stream type of the input profile [out] format binary data format of the input profile [out] index stream index the input profile in case there are multiple streams of the same type [out] unique_id identifier for the stream profile, unique within the application [out] framerate expected rate for data frames to arrive, meaning expected number of frames per second [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| rs2_stream_profile_list* rs2_get_stream_profiles | ( | rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
check if physical subdevice is supported
- Parameters
-
[in] sensor input RealSense subdevice [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- list of stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list
| int rs2_get_stream_profiles_count | ( | const rs2_stream_profile_list * | list, |
| rs2_error ** | error | ||
| ) |
get the number of supported stream profiles
- Parameters
-
[in] list the list of supported profiles returned by rs2_get_supported_profiles [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- number of supported subdevice profiles
| void rs2_get_video_stream_intrinsics | ( | const rs2_stream_profile * | mode, |
| rs2_intrinsics * | intrinsics, | ||
| rs2_error ** | error | ||
| ) |
When called on a video profile, returns the intrinsics of specific stream configuration
- Parameters
-
[in] mode input stream profile [out] intrinsics resulting intrinsics for the video profile [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_get_video_stream_resolution | ( | const rs2_stream_profile * | mode, |
| int * | width, | ||
| int * | height, | ||
| rs2_error ** | error | ||
| ) |
When called on a video stream profile, will return the width and the height of the stream
- Parameters
-
[in] mode input stream profile [out] width width in pixels of the video stream [out] height height in pixels of the video stream [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| int rs2_import_localization_map | ( | const rs2_sensor * | sensor, |
| const unsigned char * | lmap_blob, | ||
| unsigned int | blob_size, | ||
| rs2_error ** | error | ||
| ) |
Imports a localization map from file to tm2 tracking device
- Parameters
-
[in] sensor TM2 position-tracking sensor [in] lmap_blob Localization map raw buffer, serialized [in] blob_size The buffer's size in bytes [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Non-zero if succeeded, otherwise 0
| int rs2_is_sensor_extendable_to | ( | const rs2_sensor * | sensor, |
| rs2_extension | extension, | ||
| rs2_error ** | error | ||
| ) |
Test if the given sensor can be extended to the requested extension
- Parameters
-
[in] sensor Realsense sensor [in] extension The extension to which the sensor should be tested if it is extendable [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- non-zero value iff the sensor can be extended to the given extension
| int rs2_is_stream_profile_default | ( | const rs2_stream_profile * | mode, |
| rs2_error ** | error | ||
| ) |
Returns non-zero if selected profile is recommended for the sensor This is an optional hint we offer to suggest profiles with best performance-quality tradeof
- Parameters
-
[in] mode input stream profile [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- non-zero if selected profile is recommended for the sensor
| int rs2_load_wheel_odometry_config | ( | const rs2_sensor * | sensor, |
| const unsigned char * | odometry_config_buf, | ||
| unsigned int | blob_size, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_open | ( | rs2_sensor * | device, |
| const rs2_stream_profile * | profile, | ||
| rs2_error ** | error | ||
| ) |
open subdevice for exclusive access, by committing to a configuration
- Parameters
-
[in] device relevant RealSense device [in] profile stream profile that defines single stream configuration [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_open_multiple | ( | rs2_sensor * | device, |
| const rs2_stream_profile ** | profiles, | ||
| int | count, | ||
| rs2_error ** | error | ||
| ) |
open subdevice for exclusive access, by committing to composite configuration, specifying one or more stream profiles this method should be used for interdependent streams, such as depth and infrared, that have to be configured together
- Parameters
-
[in] device relevant RealSense device [in] profiles list of stream profiles discovered by get_stream_profiles [in] count number of simultaneous stream profiles to configure [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_override_dsm_params | ( | rs2_sensor const * | sensor, |
| rs2_dsm_params const * | p_params, | ||
| rs2_error ** | error | ||
| ) |
Set the sensor DSM parameters This should ideally be done when the stream is NOT running. If it is, the parameters may not take effect immediately.
- Parameters
-
[in] sensor Sensor that supports the CALIBRATED_SENSOR extension [out] p_params Pointer to the structure that contains the DSM parameters [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_override_extrinsics | ( | const rs2_sensor * | sensor, |
| const rs2_extrinsics * | extrinsics, | ||
| rs2_error ** | error | ||
| ) |
Override extrinsics of a given sensor that supports calibrated_sensor.
This will affect extrinsics at the source device and may affect multiple profiles. Used for DEPTH_TO_RGB calibration.
- Parameters
-
[in] sensor The sensor [in] extrinsics Extrinsics from Depth to the named sensor [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_override_intrinsics | ( | const rs2_sensor * | sensor, |
| const rs2_intrinsics * | intrinsics, | ||
| rs2_error ** | error | ||
| ) |
Override intrinsics of a given sensor that supports calibrated_sensor.
This will affect intrinsics at the source and may affect multiple profiles. Used for DEPTH_TO_RGB calibration.
- Parameters
-
[in] sensor The RealSense device [in] intrinsics Intrinsics value to be written to the sensor [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_register_extrinsics | ( | const rs2_stream_profile * | from, |
| const rs2_stream_profile * | to, | ||
| rs2_extrinsics | extrin, | ||
| rs2_error ** | error | ||
| ) |
| int rs2_remove_static_node | ( | const rs2_sensor * | sensor, |
| const char * | guid, | ||
| rs2_error ** | error | ||
| ) |
Remove a named location tag
- Parameters
-
[in] sensor T2xx position-tracking sensor [in] guid Null-terminated string of up to 127 characters [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Non-zero if succeeded, otherwise 0
| void rs2_reset_sensor_calibration | ( | rs2_sensor const * | sensor, |
| rs2_error ** | error | ||
| ) |
Reset the sensor DSM parameters This should ideally be done when the stream is NOT running. May not take effect immediately.
- Parameters
-
[in] sensor Sensor that supports the CALIBRATED_SENSOR extension [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| int rs2_send_wheel_odometry | ( | const rs2_sensor * | sensor, |
| char | wo_sensor_id, | ||
| unsigned int | frame_num, | ||
| const rs2_vector | translational_velocity, | ||
| rs2_error ** | error | ||
| ) |
Send wheel odometry data for each individual sensor (wheel)
- Parameters
-
[in] wo_sensor_id - Zero-based index of (wheel) sensor with the same type within device [in] frame_num - Monotonocally increasing frame number, managed per sensor. [in] translational_velocity - Translational velocity of the wheel sensor [meter/sec]
- Returns
- true on success
| void rs2_set_extrinsics | ( | const rs2_sensor * | from_sensor, |
| const rs2_stream_profile * | from_profile, | ||
| rs2_sensor * | to_sensor, | ||
| const rs2_stream_profile * | to_profile, | ||
| const rs2_extrinsics * | extrinsics, | ||
| rs2_error ** | error | ||
| ) |
Set extrinsics between two sensors
- Parameters
-
[in] from_sensor Origin sensor [in] from_profile Origin profile [in] to_sensor Target sensor [in] to_profile Target profile [out] extrinsics Extrinsics from origin to target [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_set_intrinsics | ( | const rs2_sensor * | sensor, |
| const rs2_stream_profile * | profile, | ||
| const rs2_intrinsics * | intrinsics, | ||
| rs2_error ** | error | ||
| ) |
Set intrinsics of a given sensor
- Parameters
-
[in] sensor The RealSense device [in] profile Target stream profile [in] intrinsics Intrinsics value to be written to the device [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_set_motion_device_intrinsics | ( | const rs2_sensor * | sensor, |
| const rs2_stream_profile * | profile, | ||
| const rs2_motion_device_intrinsic * | intrinsics, | ||
| rs2_error ** | error | ||
| ) |
| void rs2_set_notifications_callback | ( | const rs2_sensor * | sensor, |
| rs2_notification_callback_ptr | on_notification, | ||
| void * | user, | ||
| rs2_error ** | error | ||
| ) |
set callback to get notifications from specified sensor
- Parameters
-
[in] sensor RealSense device [in] on_notification function pointer to register as per-notifications callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_set_notifications_callback_cpp | ( | const rs2_sensor * | sensor, |
| rs2_notifications_callback * | callback, | ||
| rs2_error ** | error | ||
| ) |
set callback to get notifications from specified device
- Parameters
-
[in] sensor RealSense sensor [in] callback callback object created from c++ application. ownership over the callback object is moved into the relevant subdevice lock [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_set_region_of_interest | ( | const rs2_sensor * | sensor, |
| int | min_x, | ||
| int | min_y, | ||
| int | max_x, | ||
| int | max_y, | ||
| rs2_error ** | error | ||
| ) |
sets the active region of interest to be used by auto-exposure algorithm
- Parameters
-
[in] sensor the RealSense sensor [in] min_x lower horizontal bound in pixels [in] min_y lower vertical bound in pixels [in] max_x upper horizontal bound in pixels [in] max_y upper vertical bound in pixels [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| int rs2_set_static_node | ( | const rs2_sensor * | sensor, |
| const char * | guid, | ||
| const rs2_vector | pos, | ||
| const rs2_quaternion | orient, | ||
| rs2_error ** | error | ||
| ) |
Create a named location tag
- Parameters
-
[in] sensor T2xx position-tracking sensor [in] guid Null-terminated string of up to 127 characters [in] pos Position in meters, relative to the current tracking session [in] orient Quaternion orientation, expressed the the coordinate system of the current tracking session [out] error If non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- Non-zero if succeeded, otherwise 0
| void rs2_set_stream_profile_data | ( | rs2_stream_profile * | mode, |
| rs2_stream | stream, | ||
| int | index, | ||
| rs2_format | format, | ||
| rs2_error ** | error | ||
| ) |
Override some of the parameters of the stream profile
- Parameters
-
[in] mode input stream profile [in] stream stream type for the profile [in] format binary data format of the profile [in] index stream index the profile in case there are multiple streams of the same type [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_start | ( | const rs2_sensor * | sensor, |
| rs2_frame_callback_ptr | on_frame, | ||
| void * | user, | ||
| rs2_error ** | error | ||
| ) |
start streaming from specified configured sensor
- Parameters
-
[in] sensor RealSense device [in] on_frame function pointer to register as per-frame callback [in] user auxiliary data the user wishes to receive together with every frame callback [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_start_cpp | ( | const rs2_sensor * | sensor, |
| rs2_frame_callback * | callback, | ||
| rs2_error ** | error | ||
| ) |
start streaming from specified configured sensor
- Parameters
-
[in] sensor RealSense device [in] callback callback object created from c++ application. ownership over the callback object is moved into the relevant streaming lock [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_start_queue | ( | const rs2_sensor * | sensor, |
| rs2_frame_queue * | queue, | ||
| rs2_error ** | error | ||
| ) |
start streaming from specified configured sensor of specific stream to frame queue
- Parameters
-
[in] sensor RealSense Sensor [in] queue frame-queue to store new frames into [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
| void rs2_stop | ( | const rs2_sensor * | sensor, |
| rs2_error ** | error | ||
| ) |
| int rs2_stream_profile_is | ( | const rs2_stream_profile * | mode, |
| rs2_extension | type, | ||
| rs2_error ** | error | ||
| ) |
Try to extend stream profile to an extension type
- Parameters
-
[in] mode input stream profile [in] type extension type, for example RS2_EXTENSION_VIDEO_STREAM_PROFILE [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- non-zero if profile is extendable to specified extension, zero otherwise
| const char* rs2_stream_to_string | ( | rs2_stream | stream | ) |
| int rs2_supports_sensor_info | ( | const rs2_sensor * | sensor, |
| rs2_camera_info | info, | ||
| rs2_error ** | error | ||
| ) |
check if specific sensor info is supported
- Parameters
-
[in] info the parameter to check for support [out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored
- Returns
- true if the parameter both exist and well-defined for the specific device