rs_internal.h File Reference

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"

Go to the source code of this file.

Classes
struct	rs2_video_stream
	All the parameters are requaired to defind video stream. More...
struct	rs2_software_video_frame
	All the parameters are requaired to define video frame. More...

Typedefs
typedef enum rs2_recording_mode	rs2_recording_mode
typedef struct rs2_video_stream	rs2_video_stream
	All the parameters are requaired to defind video stream. More...
typedef struct rs2_software_video_frame	rs2_software_video_frame
	All the parameters are requaired to define video frame. More...

Enumerations
enum	rs2_recording_mode { RS2_RECORDING_MODE_BLANK_FRAMES, RS2_RECORDING_MODE_COMPRESSED, RS2_RECORDING_MODE_BEST_QUALITY, RS2_RECORDING_MODE_COUNT }

Functions
rs2_context *	rs2_create_recording_context (int api_version, const char *filename, const char *section, rs2_recording_mode mode, rs2_error **error)
rs2_context *	rs2_create_mock_context (int api_version, const char *filename, const char *section, rs2_error **error)
rs2_device *	rs2_create_software_device (rs2_error **error)
rs2_sensor *	rs2_software_device_add_sensor (rs2_device *dev, const char *sensor_name, rs2_error **error)
void	rs2_software_sensor_on_video_frame (rs2_sensor *sensor, rs2_software_video_frame frame, rs2_error **error)
void	rs2_software_device_create_matcher (rs2_device *dev, rs2_matchers matcher, rs2_error **error)
rs2_stream_profile *	rs2_software_sensor_add_video_stream (rs2_sensor *sensor, rs2_video_stream video_stream, rs2_error **error)
void	rs2_software_sensor_add_read_only_option (rs2_sensor *sensor, rs2_option option, float val, rs2_error **error)
void	rs2_software_sensor_update_read_only_option (rs2_sensor *sensor, rs2_option option, float val, rs2_error **error)

Detailed Description

Exposes RealSense internal functionality for C compilers.

Typedef Documentation

rs2_recording_mode

typedef enum rs2_recording_mode rs2_recording_mode

librealsense Recorder is intended for effective unit-testing Currently supports three modes of operation:

rs2_software_video_frame

typedef struct rs2_software_video_frame rs2_software_video_frame

All the parameters are requaired to define video frame.

rs2_video_stream

typedef struct rs2_video_stream rs2_video_stream

All the parameters are requaired to defind video stream.

Enumeration Type Documentation

rs2_recording_mode

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

Function Documentation

rs2_create_mock_context()

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_create_recording_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_create_software_device()

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_software_device_add_sensor()

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

rs2_software_device_create_matcher()

void rs2_software_device_create_matcher	(	rs2_device *	dev,
		rs2_matchers	matcher,
		rs2_error **	error
	)

Set the wanted matcher type that will be used by the syncer

Parameters

[in]	dev	the software device
[in]	matcher	matcher type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_software_sensor_add_read_only_option()

void rs2_software_sensor_add_read_only_option	(	rs2_sensor *	sensor,
		rs2_option	option,
		float	val,
		rs2_error **	error
	)

Add read only option to sensor

Parameters

[in]	sensor	the software sensor
[in]	option	the wanted option
[in]	val	the initial value
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_software_sensor_add_video_stream()

rs2_stream_profile* rs2_software_sensor_add_video_stream	(	rs2_sensor *	sensor,
		rs2_video_stream	video_stream,
		rs2_error **	error
	)

Add video stream to sensor

Parameters

[in]	sensor	the software sensor
[in]	video_stream	all the stream components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_software_sensor_on_video_frame()

void rs2_software_sensor_on_video_frame	(	rs2_sensor *	sensor,
		rs2_software_video_frame	frame,
		rs2_error **	error
	)

Inject frame to software sonsor

Parameters

[in]	sensor	the software sensor
[in]	frame	all the frame components
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_software_sensor_update_read_only_option()

void rs2_software_sensor_update_read_only_option	(	rs2_sensor *	sensor,
		rs2_option	option,
		float	val,
		rs2_error **	error
	)

Update the read only option added to sensor

Parameters

[in]	sensor	the software sensor
[in]	option	the wanted option
[in]	val	the wanted value
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored