Intel® RealSense™ Cross Platform API
2.13.0
Intel Realsense Cross-platform API
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Under librealsense2
folder you will find two subfolers:
In addition, you can include <librealsense2/rs.h> and <librealsense2/rs.hpp> to get most of SDK functionality in C and C++ respectively.
<librealsense2/rs_advanced_mode.h> and <librealsense2/rs_advanced_mode.hpp> can be included to get the extra ../doc/rs400_advanced_mode.md "Advanced Mode" functionality (in C and C++ respectively).
<librealsense2/rsutil.h> contains mathematical helper functions for projection of 2D points into 3D space and back.
For full up-to-date class documentation see Doxygen class-list
This file contains common functionality like the exception types. See ..doc/error_handling.md "Error Handling"
Class | Description |
---|---|
error | Common base-class for all exceptions thrown from the SDK |
recoverable_error | Base class for all recorverable (in software) errors |
unrecoverable_error | Base class for non-recoverable errors |
camera_disconnected_error | Camera Disconnected error |
backend_error | Error from the underlying OS-specific driver |
device_in_recovery_mode_error | Device requires firmware update |
invalid_value_error | Invalid input was passed to a function |
wrong_api_call_sequence_error | Methods were called in wrong order |
not_implemented_error | Functionality is not available error |
Context can be used to enumerate and iterate over connected device, and also get notifications of device events.
Class | Description |
---|---|
context | Context serve as a factory for all SDK devices |
device_hub | Helper class that simplifies handling device change events |
event_information | Information about device change |
This file defines the concept of RealSense device.
Class | Description |
---|---|
device | Encapsulates Intel RealSense device |
device_list | Wrapper around list of devices |
debug_protocol | Debug-extension that allows to send data directly to the firmware |
The SDK offers many types of post-processing in form of the Processing Blocks. These primitives can be pipelined using queues and configured using options.
Class | Description |
---|---|
syncer | Processing block that accepts frames one-by-one and outputs coherent framesets |
frame_queue | Basic primitive abstracting a concurrent queue of frames |
processing_block | Base class for frame processing functions |
pointcloud | Processing block that accepts depth and texture frames and outputs 3D points with texture coordinates |
asynchronous_syncer | Non-blocking version of the syncher processing block |
align | Processing block that accepts frames from different viewports and generates new synthetic frames from a single given viewport |
colorizer | Processing block that accepts depth frames in Z16 format and outputs depth frames in RGB format, applying some depth coloring |
decimation_filter | Processing block that intelligently reduces the resolution of a depth frame |
temporal_filter | Processing block that filters depth data by looking into previous frames |
spatial_filter | Processing block that applies edge-preserving smoothing of depth data |
RealSense devices contain sensors. Sensors are units of streaming, each sensor can be controlled individually.
Class | Description |
---|---|
sensor | Base class for all supported sensors |
roi_sensor | Sensor that has the ability to focus on a given ROI |
notification | Asynchronious message that can be passed to the application |
depth_sensor | Sensor that can provide depth frames |
The output of sensors are frames. There are different kinds of frames, not all video frames.
Class | Description |
---|---|
frame | Base class for all frames |
points | Set of 3D points with texture coordinates |
video_frame | 2D image (with width, height and bpp) |
depth_frame | Depth frame |
frameset | A set of frames |
stream_profile | Base class for sensor configuration |
video_stream_profile | Video stream configuration |
Pipeline is a high-level primitive combining several sensors and processing steps into one simple API.
Class | Description |
---|---|
pipeline | High level data-processor combining several sensors, queues and processing blocks |
pipeline_profile | Selected pipeline configuration |
config | Desired pipeline configuration |
This file adds playback and record capability using ROS-bag files. See src/media
Class | Description |
---|---|
playback | Device that mimiks live device from given input file |
recorder | Device that records live device into an output file |
This file is not intented to be included by SDK users, but rather is used in SDK unit-tests. It allows to record everything that will happen in a specific test into a file and later use that file for dependency injection.
Class | Description |
---|---|
recording_context | Context that records all backend activity to file |
mock_context | Context that replays all activity from file |