rs_option.h File Reference

Exposes sensor options functionality for C compilers. More...

#include "rs_types.h"

Go to the source code of this file.

Typedefs
typedef enum rs2_option	rs2_option
	Defines general configuration controls. These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time. More...
typedef enum rs2_sr300_visual_preset	rs2_sr300_visual_preset
	For SR300 devices: provides optimized settings (presets) for specific types of usage. More...
typedef enum rs2_rs400_visual_preset	rs2_rs400_visual_preset
	For RS400 devices: provides optimized settings (presets) for specific types of usage. More...

Enumerations
enum	rs2_option {   RS2_OPTION_BACKLIGHT_COMPENSATION, RS2_OPTION_BRIGHTNESS, RS2_OPTION_CONTRAST, RS2_OPTION_EXPOSURE,   RS2_OPTION_GAIN, RS2_OPTION_GAMMA, RS2_OPTION_HUE, RS2_OPTION_SATURATION,   RS2_OPTION_SHARPNESS, RS2_OPTION_WHITE_BALANCE, RS2_OPTION_ENABLE_AUTO_EXPOSURE, RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE,   RS2_OPTION_VISUAL_PRESET, RS2_OPTION_LASER_POWER, RS2_OPTION_ACCURACY, RS2_OPTION_MOTION_RANGE,   RS2_OPTION_FILTER_OPTION, RS2_OPTION_CONFIDENCE_THRESHOLD, RS2_OPTION_EMITTER_ENABLED, RS2_OPTION_FRAMES_QUEUE_SIZE,   RS2_OPTION_TOTAL_FRAME_DROPS, RS2_OPTION_AUTO_EXPOSURE_MODE, RS2_OPTION_POWER_LINE_FREQUENCY, RS2_OPTION_ASIC_TEMPERATURE,   RS2_OPTION_ERROR_POLLING_ENABLED, RS2_OPTION_PROJECTOR_TEMPERATURE, RS2_OPTION_OUTPUT_TRIGGER_ENABLED, RS2_OPTION_MOTION_MODULE_TEMPERATURE,   RS2_OPTION_DEPTH_UNITS, RS2_OPTION_ENABLE_MOTION_CORRECTION, RS2_OPTION_AUTO_EXPOSURE_PRIORITY, RS2_OPTION_COLOR_SCHEME,   RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, RS2_OPTION_MIN_DISTANCE, RS2_OPTION_MAX_DISTANCE, RS2_OPTION_TEXTURE_SOURCE,   RS2_OPTION_FILTER_MAGNITUDE, RS2_OPTION_FILTER_SMOOTH_ALPHA, RS2_OPTION_FILTER_SMOOTH_DELTA, RS2_OPTION_HOLES_FILL,   RS2_OPTION_STEREO_BASELINE, RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, RS2_OPTION_INTER_CAM_SYNC_MODE, RS2_OPTION_COUNT }
	Defines general configuration controls. These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time. More...
enum	rs2_sr300_visual_preset {   RS2_SR300_VISUAL_PRESET_SHORT_RANGE, RS2_SR300_VISUAL_PRESET_LONG_RANGE, RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION, RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION,   RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING, RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS, RS2_SR300_VISUAL_PRESET_FACE_LOGIN, RS2_SR300_VISUAL_PRESET_GR_CURSOR,   RS2_SR300_VISUAL_PRESET_DEFAULT, RS2_SR300_VISUAL_PRESET_MID_RANGE, RS2_SR300_VISUAL_PRESET_IR_ONLY, RS2_SR300_VISUAL_PRESET_COUNT }
	For SR300 devices: provides optimized settings (presets) for specific types of usage. More...
enum	rs2_rs400_visual_preset {   RS2_RS400_VISUAL_PRESET_CUSTOM, RS2_RS400_VISUAL_PRESET_DEFAULT, RS2_RS400_VISUAL_PRESET_HAND, RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY,   RS2_RS400_VISUAL_PRESET_HIGH_DENSITY, RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY, RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN, RS2_RS400_VISUAL_PRESET_COUNT }
	For RS400 devices: provides optimized settings (presets) for specific types of usage. More...

Functions
const char *	rs2_option_to_string (rs2_option option)
const char *	rs2_sr300_visual_preset_to_string (rs2_sr300_visual_preset preset)
const char *	rs2_rs400_visual_preset_to_string (rs2_rs400_visual_preset preset)
int	rs2_is_option_read_only (const rs2_options *options, rs2_option option, rs2_error **error)
float	rs2_get_option (const rs2_options *options, rs2_option option, rs2_error **error)
void	rs2_set_option (const rs2_options *options, rs2_option option, float value, rs2_error **error)
int	rs2_supports_option (const rs2_options *options, rs2_option option, rs2_error **error)
void	rs2_get_option_range (const rs2_options *sensor, rs2_option option, float *min, float *max, float *step, float *def, rs2_error **error)
const char *	rs2_get_option_description (const rs2_options *options, rs2_option option, rs2_error **error)
const char *	rs2_get_option_value_description (const rs2_options *options, rs2_option option, float value, rs2_error **error)

Detailed Description

Exposes sensor options functionality for C compilers.

Typedef Documentation

rs2_option

typedef enum rs2_option rs2_option

Defines general configuration controls. These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time.

rs2_rs400_visual_preset

typedef enum rs2_rs400_visual_preset rs2_rs400_visual_preset

For RS400 devices: provides optimized settings (presets) for specific types of usage.

rs2_sr300_visual_preset

typedef enum rs2_sr300_visual_preset rs2_sr300_visual_preset

For SR300 devices: provides optimized settings (presets) for specific types of usage.

Enumeration Type Documentation

rs2_option

enum rs2_option

Defines general configuration controls. These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time.

Enumerator
RS2_OPTION_BACKLIGHT_COMPENSATION	Enable / disable color backlight compensation
RS2_OPTION_BRIGHTNESS	Color image brightness
RS2_OPTION_CONTRAST	Color image contrast
RS2_OPTION_EXPOSURE	Controls exposure time of color camera. Setting any value will disable auto exposure
RS2_OPTION_GAIN	Color image gain
RS2_OPTION_GAMMA	Color image gamma setting
RS2_OPTION_HUE	Color image hue
RS2_OPTION_SATURATION	Color image saturation setting
RS2_OPTION_SHARPNESS	Color image sharpness setting
RS2_OPTION_WHITE_BALANCE	Controls white balance of color image. Setting any value will disable auto white balance
RS2_OPTION_ENABLE_AUTO_EXPOSURE	Enable / disable color image auto-exposure
RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE	Enable / disable color image auto-white-balance
RS2_OPTION_VISUAL_PRESET	Provide access to several recommend sets of option presets for the depth camera
RS2_OPTION_LASER_POWER	Power of the F200 / SR300 projector, with 0 meaning projector off
RS2_OPTION_ACCURACY	Set the number of patterns projected per frame. The higher the accuracy value the more patterns projected. Increasing the number of patterns help to achieve better accuracy. Note that this control is affecting the Depth FPS
RS2_OPTION_MOTION_RANGE	Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range
RS2_OPTION_FILTER_OPTION	Set the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements
RS2_OPTION_CONFIDENCE_THRESHOLD	The confidence level threshold used by the Depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range
RS2_OPTION_EMITTER_ENABLED	Laser Emitter enabled
RS2_OPTION_FRAMES_QUEUE_SIZE	Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops.
RS2_OPTION_TOTAL_FRAME_DROPS	Total number of detected frame drops from all streams
RS2_OPTION_AUTO_EXPOSURE_MODE	Auto-Exposure modes: Static, Anti-Flicker and Hybrid
RS2_OPTION_POWER_LINE_FREQUENCY	Power Line Frequency control for anti-flickering Off/50Hz/60Hz/Auto
RS2_OPTION_ASIC_TEMPERATURE	Current Asic Temperature
RS2_OPTION_ERROR_POLLING_ENABLED	disable error handling
RS2_OPTION_PROJECTOR_TEMPERATURE	Current Projector Temperature
RS2_OPTION_OUTPUT_TRIGGER_ENABLED	Enable / disable trigger to be outputed from the camera to any external device on every depth frame
RS2_OPTION_MOTION_MODULE_TEMPERATURE	Current Motion-Module Temperature
RS2_OPTION_DEPTH_UNITS	Number of meters represented by a single depth unit
RS2_OPTION_ENABLE_MOTION_CORRECTION	Enable/Disable automatic correction of the motion data
RS2_OPTION_AUTO_EXPOSURE_PRIORITY	Allows sensor to dynamically ajust the frame rate depending on lighting conditions
RS2_OPTION_COLOR_SCHEME	Color scheme for data visualization
RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED	Perform histogram equalization post-processing on the depth data
RS2_OPTION_MIN_DISTANCE	Minimal distance to the target
RS2_OPTION_MAX_DISTANCE	Maximum distance to the target
RS2_OPTION_TEXTURE_SOURCE	Texture mapping stream unique ID
RS2_OPTION_FILTER_MAGNITUDE	The 2D-filter effect. The specific interpretation is given within the context of the filter
RS2_OPTION_FILTER_SMOOTH_ALPHA	2D-filter parameter controls the weight/radius for smoothing.
RS2_OPTION_FILTER_SMOOTH_DELTA	2D-filter range/validity threshold
RS2_OPTION_HOLES_FILL	Enhance depth data post-processing with holes filling where appropriate
RS2_OPTION_STEREO_BASELINE	The distance in mm between the first and the second imagers in stereo-based depth cameras
RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP	Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm
RS2_OPTION_INTER_CAM_SYNC_MODE	Impose Inter-camera HW synchronization mode. Applicable for D400/Rolling Shutter SKUs
RS2_OPTION_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

rs2_rs400_visual_preset

enum rs2_rs400_visual_preset

For RS400 devices: provides optimized settings (presets) for specific types of usage.

Enumerator
RS2_RS400_VISUAL_PRESET_CUSTOM
RS2_RS400_VISUAL_PRESET_DEFAULT
RS2_RS400_VISUAL_PRESET_HAND
RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY
RS2_RS400_VISUAL_PRESET_HIGH_DENSITY
RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY
RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN
RS2_RS400_VISUAL_PRESET_COUNT

rs2_sr300_visual_preset

enum rs2_sr300_visual_preset

For SR300 devices: provides optimized settings (presets) for specific types of usage.

Enumerator
RS2_SR300_VISUAL_PRESET_SHORT_RANGE	Preset for short range
RS2_SR300_VISUAL_PRESET_LONG_RANGE	Preset for long range
RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION	Preset for background segmentation
RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION	Preset for gesture recognition
RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING	Preset for object scanning
RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS	Preset for face analytics
RS2_SR300_VISUAL_PRESET_FACE_LOGIN	Preset for face login
RS2_SR300_VISUAL_PRESET_GR_CURSOR	Preset for GR cursor
RS2_SR300_VISUAL_PRESET_DEFAULT	Camera default settings
RS2_SR300_VISUAL_PRESET_MID_RANGE	Preset for mid-range
RS2_SR300_VISUAL_PRESET_IR_ONLY	Preset for IR only
RS2_SR300_VISUAL_PRESET_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

Function Documentation

rs2_get_option()

float rs2_get_option	(	const rs2_options *	options,
		rs2_option	option,
		rs2_error **	error
	)

read option value from the sensor

Parameters

[in]	sensor	the RealSense sensor
[in]	option	option id to be queried
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

value of the option

rs2_get_option_description()

const char* rs2_get_option_description	(	const rs2_options *	options,
		rs2_option	option,
		rs2_error **	error
	)

get option description

Parameters

[in]	sensor	the RealSense sensor
[in]	option	option id to be checked
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

human-readable option description

rs2_get_option_range()

void rs2_get_option_range	(	const rs2_options *	sensor,
		rs2_option	option,
		float *	min,
		float *	max,
		float *	step,
		float *	def,
		rs2_error **	error
	)

retrieve the available range of values of a supported option

Parameters

[in]	sensor	the RealSense device
[in]	option	the option whose range should be queried
[out]	min	the minimum value which will be accepted for this option
[out]	max	the maximum value which will be accepted for this option
[out]	step	the granularity of options which accept discrete values, or zero if the option accepts continuous values
[out]	def	the default value of the option
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_option_value_description()

const char* rs2_get_option_value_description	(	const rs2_options *	options,
		rs2_option	option,
		float	value,
		rs2_error **	error
	)

get option value description (in case specific option value hold special meaning)

Parameters

[in]	device	the RealSense device
[in]	option	option id to be checked
[in]	value	value of the option
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

human-readable description of a specific value of an option or null if no special meaning

rs2_is_option_read_only()

int rs2_is_option_read_only	(	const rs2_options *	options,
		rs2_option	option,
		rs2_error **	error
	)

check if an option is read-only

Parameters

[in]	sensor	the RealSense sensor
[in]	option	option id to be checked
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

true if option is read-only

rs2_option_to_string()

const char* rs2_option_to_string

(

rs2_option

option

)

rs2_rs400_visual_preset_to_string()

const char* rs2_rs400_visual_preset_to_string

(

rs2_rs400_visual_preset

preset

)

rs2_set_option()

void rs2_set_option	(	const rs2_options *	options,
		rs2_option	option,
		float	value,
		rs2_error **	error
	)

write new value to sensor option

Parameters

[in]	sensor	the RealSense sensor
[in]	option	option id to be queried
[in]	value	new value for the option
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_sr300_visual_preset_to_string()

const char* rs2_sr300_visual_preset_to_string

(

rs2_sr300_visual_preset

preset

)

rs2_supports_option()

int rs2_supports_option	(	const rs2_options *	options,
		rs2_option	option,
		rs2_error **	error
	)

check if particular option is supported by a subdevice

Parameters

[in]	sensor	the RealSense sensor
[in]	option	option id to be checked
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

true if option is supported