rs_device.h File Reference

Exposes RealSense device functionality for C compilers. More...

#include "rs_types.h"
#include "rs_sensor.h"

Go to the source code of this file.

Functions
int	rs2_get_device_count (const rs2_device_list *info_list, rs2_error **error)
void	rs2_delete_device_list (rs2_device_list *info_list)
int	rs2_device_list_contains (const rs2_device_list *info_list, const rs2_device *device, rs2_error **error)
rs2_device *	rs2_create_device (const rs2_device_list *info_list, int index, rs2_error **error)
void	rs2_delete_device (rs2_device *device)
const char *	rs2_get_device_info (const rs2_device *device, rs2_camera_info info, rs2_error **error)
int	rs2_supports_device_info (const rs2_device *device, rs2_camera_info info, rs2_error **error)
void	rs2_hardware_reset (const rs2_device *device, rs2_error **error)
const rs2_raw_data_buffer *	rs2_send_and_receive_raw_data (rs2_device *device, void *raw_data_to_send, unsigned size_of_raw_data_to_send, rs2_error **error)
int	rs2_is_device_extendable_to (const rs2_device *device, rs2_extension extension, rs2_error **error)
rs2_sensor_list *	rs2_query_sensors (const rs2_device *device, rs2_error **error)
void	rs2_loopback_enable (const rs2_device *device, const char *from_file, rs2_error **error)
void	rs2_loopback_disable (const rs2_device *device, rs2_error **error)
int	rs2_loopback_is_enabled (const rs2_device *device, rs2_error **error)
void	rs2_connect_tm2_controller (const rs2_device *device, const unsigned char *mac_addr, rs2_error **error)
void	rs2_disconnect_tm2_controller (const rs2_device *device, int id, rs2_error **error)

Detailed Description

Exposes RealSense device functionality for C compilers.

Function Documentation

rs2_connect_tm2_controller()

void rs2_connect_tm2_controller	(	const rs2_device *	device,
		const unsigned char *	mac_addr,
		rs2_error **	error
	)

Connects to a given tm2 controller

Parameters

[in]	device	Device to connect to the controller
[in]	mac_addr	The MAC address of the desired controller
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_device()

rs2_device* rs2_create_device	(	const rs2_device_list *	info_list,
		int	index,
		rs2_error **	error
	)

Creates a device by index. The device object represents a physical camera and provides the means to manipulate it.

Parameters

[in]	info_list	the list containing the device to retrieve
[in]	index	The zero based index of device to retrieve
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

The requested device, should be released by rs2_delete_device

rs2_delete_device()

void rs2_delete_device

(

rs2_device *

device

)

Delete RealSense device

Parameters

[in]

device

Realsense device to delete

rs2_delete_device_list()

void rs2_delete_device_list

(

rs2_device_list *

info_list

)

Deletes device list, any devices created using this list will remain unaffected.

Parameters

[in]

info_list

List to delete

rs2_device_list_contains()

int rs2_device_list_contains	(	const rs2_device_list *	info_list,
		const rs2_device *	device,
		rs2_error **	error
	)

Checks if a specific device is contained inside a device list.

Parameters

[in]	info_list	The list of devices to check in
[in]	device	RealSense device to check for
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

True if the device is in the list and false otherwise

rs2_disconnect_tm2_controller()

void rs2_disconnect_tm2_controller	(	const rs2_device *	device,
		int	id,
		rs2_error **	error
	)

Disconnects a given tm2 controller

Parameters

[in]	device	Device to disconnect the controller from
[in]	id	The ID of the desired controller
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_device_count()

int rs2_get_device_count	(	const rs2_device_list *	info_list,
		rs2_error **	error
	)

Determines number of devices in a list.

Parameters

[in]	info_list	The list of connected devices captured using rs2_query_devices
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Device count

rs2_get_device_info()

const char* rs2_get_device_info	(	const rs2_device *	device,
		rs2_camera_info	info,
		rs2_error **	error
	)

Retrieve camera specific information, like versions of various internal components.

Parameters

[in]	device	The RealSense device
[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

rs2_hardware_reset()

void rs2_hardware_reset	(	const rs2_device *	device,
		rs2_error **	error
	)

Send hardware reset request to the device. The actual reset is asynchronous. Note: Invalidates all handles to this device.

Parameters

[in]	device	The RealSense device to reset
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_is_device_extendable_to()

int rs2_is_device_extendable_to	(	const rs2_device *	device,
		rs2_extension	extension,
		rs2_error **	error
	)

Test if the given device can be extended to the requested extension.

Parameters

[in]	device	Realsense device
[in]	extension	The extension to which the device 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 device can be extended to the given extension

rs2_loopback_disable()

void rs2_loopback_disable	(	const rs2_device *	device,
		rs2_error **	error
	)

Restores the given device into normal operation mode

Parameters

[in]	device	Device to restore to normal operation mode
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_loopback_enable()

void rs2_loopback_enable	(	const rs2_device *	device,
		const char *	from_file,
		rs2_error **	error
	)

Enter the given device into loopback operation mode that uses the given file as input for raw data

Parameters

[in]	device	Device to enter into loopback operation mode
[in]	from_file	Path to bag file with raw data for loopback
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_loopback_is_enabled()

int rs2_loopback_is_enabled	(	const rs2_device *	device,
		rs2_error **	error
	)

Checks if the device is in loopback mode or not

Parameters

[in]	device	Device to check for operation mode
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

true if the device is in loopback operation mode

rs2_query_sensors()

rs2_sensor_list* rs2_query_sensors	(	const rs2_device *	device,
		rs2_error **	error
	)

Create a static snapshot of all connected sensors within a specific device.

Parameters

[in]	device	Specific RealSense device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

The list of sensors, should be released by rs2_delete_sensor_list

rs2_send_and_receive_raw_data()

const rs2_raw_data_buffer* rs2_send_and_receive_raw_data	(	rs2_device *	device,
		void *	raw_data_to_send,
		unsigned	size_of_raw_data_to_send,
		rs2_error **	error
	)

Send raw data to device

Parameters

[in]	device	RealSense device to send data to
[in]	raw_data_to_send	Raw data to be sent to device
[in]	size_of_raw_data_to_send	Size of raw_data_to_send in bytes
[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

rs2_supports_device_info()

int rs2_supports_device_info	(	const rs2_device *	device,
		rs2_camera_info	info,
		rs2_error **	error
	)

Check if a camera supports a specific camera info type.

Parameters

[in]	device	The RealSense device to check
[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