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

#include "rs_types.h"

Classes
struct	rs2_extrinsics
	Cross-stream extrinsics: encode the topology describing how the different devices are connected. 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 enum rs2_stream	rs2_stream
	Streams are different types of data provided by RealSense devices. More...

typedef enum rs2_format	rs2_format
	Format identifies how binary data is encoded within a frame. More...

typedef struct rs2_extrinsics	rs2_extrinsics
	Cross-stream extrinsics: encode the topology describing how the different devices are connected. More...

Enumerations
enum	rs2_camera_info { RS2_CAMERA_INFO_NAME, RS2_CAMERA_INFO_SERIAL_NUMBER, RS2_CAMERA_INFO_FIRMWARE_VERSION, RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION, RS2_CAMERA_INFO_PHYSICAL_PORT, RS2_CAMERA_INFO_DEBUG_OP_CODE, RS2_CAMERA_INFO_ADVANCED_MODE, RS2_CAMERA_INFO_PRODUCT_ID, RS2_CAMERA_INFO_CAMERA_LOCKED, RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR, RS2_CAMERA_INFO_COUNT }
	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...

enum	rs2_stream { RS2_STREAM_ANY, RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED, RS2_STREAM_FISHEYE, RS2_STREAM_GYRO, RS2_STREAM_ACCEL, RS2_STREAM_GPIO, RS2_STREAM_POSE, RS2_STREAM_CONFIDENCE, RS2_STREAM_COUNT }
	Streams are different types of data provided by RealSense devices. More...

enum	rs2_format { RS2_FORMAT_ANY, RS2_FORMAT_Z16, RS2_FORMAT_DISPARITY16, RS2_FORMAT_XYZ32F, RS2_FORMAT_YUYV, RS2_FORMAT_RGB8, RS2_FORMAT_BGR8, RS2_FORMAT_RGBA8, RS2_FORMAT_BGRA8, RS2_FORMAT_Y8, RS2_FORMAT_Y16, RS2_FORMAT_RAW10, RS2_FORMAT_RAW16, RS2_FORMAT_RAW8, RS2_FORMAT_UYVY, RS2_FORMAT_MOTION_RAW, RS2_FORMAT_MOTION_XYZ32F, RS2_FORMAT_GPIO_RAW, RS2_FORMAT_6DOF, RS2_FORMAT_DISPARITY32, RS2_FORMAT_COUNT }
	Format identifies how binary data is encoded within a frame. More...

Functions
const char *	rs2_camera_info_to_string (rs2_camera_info info)

const char *	rs2_stream_to_string (rs2_stream stream)

const char *	rs2_format_to_string (rs2_format format)

void	rs2_delete_sensor_list (rs2_sensor_list *info_list)

int	rs2_get_sensors_count (const rs2_sensor_list info_list, rs2_error *error)

void	rs2_delete_sensor (rs2_sensor *sensor)

rs2_sensor *	rs2_create_sensor (const rs2_sensor_list list, int index, rs2_error *error)

rs2_device *	rs2_create_device_from_sensor (const rs2_sensor sensor, rs2_error *error)

const char *	rs2_get_sensor_info (const rs2_sensor sensor, rs2_camera_info info, rs2_error *error)

int	rs2_supports_sensor_info (const rs2_sensor sensor, rs2_camera_info info, rs2_error *error)

int	rs2_is_sensor_extendable_to (const rs2_sensor sensor, rs2_extension extension, rs2_error *error)

float	rs2_get_depth_scale (rs2_sensor sensor, rs2_error *error)

float	rs2_depth_stereo_frame_get_baseline (const rs2_frame frame_ref, rs2_error *error)

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 More...

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 More...

void	rs2_open (rs2_sensor device, const rs2_stream_profile profile, rs2_error **error)

void	rs2_open_multiple (rs2_sensor device, const rs2_stream_profile profiles, int count, rs2_error *error)

void	rs2_close (const rs2_sensor sensor, rs2_error *error)

void	rs2_start (const rs2_sensor sensor, rs2_frame_callback_ptr on_frame, void user, rs2_error **error)

void	rs2_start_cpp (const rs2_sensor sensor, rs2_frame_callback callback, rs2_error **error)

void	rs2_start_queue (const rs2_sensor sensor, rs2_frame_queue queue, rs2_error **error)

void	rs2_stop (const rs2_sensor sensor, rs2_error *error)

void	rs2_set_notifications_callback (const rs2_sensor sensor, rs2_notification_callback_ptr on_notification, void user, rs2_error **error)

void	rs2_set_notifications_callback_cpp (const rs2_sensor sensor, rs2_notifications_callback callback, rs2_error **error)

const char *	rs2_get_notification_description (rs2_notification notification, rs2_error *error)

rs2_time_t	rs2_get_notification_timestamp (rs2_notification notification, rs2_error *error)

rs2_log_severity	rs2_get_notification_severity (rs2_notification notification, rs2_error *error)

rs2_notification_category	rs2_get_notification_category (rs2_notification notification, rs2_error *error)

const char *	rs2_get_notification_serialized_data (rs2_notification notification, rs2_error *error)

rs2_stream_profile_list *	rs2_get_stream_profiles (rs2_sensor device, rs2_error *error)

const rs2_stream_profile *	rs2_get_stream_profile (const rs2_stream_profile_list list, int index, rs2_error *error)

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)

void	rs2_set_stream_profile_data (rs2_stream_profile mode, rs2_stream stream, int index, rs2_format format, rs2_error *error)

rs2_stream_profile *	rs2_clone_stream_profile (const rs2_stream_profile mode, rs2_stream stream, int index, rs2_format format, rs2_error *error)

void	rs2_delete_stream_profile (rs2_stream_profile *mode)

int	rs2_stream_profile_is (const rs2_stream_profile mode, rs2_extension type, rs2_error *error)

void	rs2_get_video_stream_resolution (const rs2_stream_profile mode, int width, int height, rs2_error *error)

void	rs2_get_motion_intrinsics (const rs2_stream_profile mode, rs2_motion_device_intrinsic intrinsics, rs2_error **error)

int	rs2_is_stream_profile_default (const rs2_stream_profile mode, rs2_error *error)

int	rs2_get_stream_profiles_count (const rs2_stream_profile_list list, rs2_error *error)

void	rs2_delete_stream_profiles_list (rs2_stream_profile_list *list)

void	rs2_get_extrinsics (const rs2_stream_profile from, const rs2_stream_profile to, rs2_extrinsics extrin, rs2_error *error)

void	rs2_register_extrinsics (const rs2_stream_profile from, const rs2_stream_profile to, rs2_extrinsics extrin, rs2_error **error)

void	rs2_get_video_stream_intrinsics (const rs2_stream_profile mode, rs2_intrinsics intrinsics, rs2_error **error)

Detailed Description

Exposes RealSense sensor functionality for C compilers.

Typedef Documentation

◆ rs2_camera_info

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.

◆ rs2_extrinsics

typedef struct rs2_extrinsics rs2_extrinsics

Cross-stream extrinsics: encode the topology describing how the different devices are connected.

◆ rs2_format

typedef enum rs2_format rs2_format

Format identifies how binary data is encoded within a frame.

◆ rs2_stream

typedef enum rs2_stream rs2_stream

Streams are different types of data provided by RealSense devices.

Enumeration Type Documentation

◆ rs2_camera_info

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.

Enumerator
RS2_CAMERA_INFO_NAME	Friendly name
RS2_CAMERA_INFO_SERIAL_NUMBER	Device serial number
RS2_CAMERA_INFO_FIRMWARE_VERSION	Primary firmware version
RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION	Recommended firmware version
RS2_CAMERA_INFO_PHYSICAL_PORT	Unique identifier of the port the device is connected to (platform specific)
RS2_CAMERA_INFO_DEBUG_OP_CODE	If device supports firmware logging, this is the command to send to get logs from firmware
RS2_CAMERA_INFO_ADVANCED_MODE	True iff the device is in advanced mode
RS2_CAMERA_INFO_PRODUCT_ID	Product ID as reported in the USB descriptor
RS2_CAMERA_INFO_CAMERA_LOCKED	True iff EEPROM is locked
RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR	Designated USB specification: USB2/USB3
RS2_CAMERA_INFO_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

◆ rs2_format

enum rs2_format

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 linear disparity values. The depth in meters is equal to depth scale / pixel value.
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-bit luminance values encoded 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_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

◆ rs2_stream

enum rs2_stream

Streams are different types of data provided by RealSense devices.

Enumerator
RS2_STREAM_ANY
RS2_STREAM_DEPTH	Native stream of depth data produced by RealSense device
RS2_STREAM_COLOR	Native stream of color data captured by RealSense device
RS2_STREAM_INFRARED	Native stream of infrared data captured by RealSense device
RS2_STREAM_FISHEYE	Native stream of fish-eye (wide) data captured from the dedicate motion camera
RS2_STREAM_GYRO	Native stream of gyroscope motion data produced by RealSense device
RS2_STREAM_ACCEL	Native stream of accelerometer motion data produced by RealSense device
RS2_STREAM_GPIO	Signals from external device connected through GPIO
RS2_STREAM_POSE	6 Degrees of Freedom pose data, calculated by RealSense device
RS2_STREAM_CONFIDENCE
RS2_STREAM_COUNT

Function Documentation

◆ rs2_camera_info_to_string()

const char* rs2_camera_info_to_string ( rs2_camera_info info )

◆ rs2_clone_stream_profile()

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_close()

void rs2_close	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

stop any streaming from specified subdevice

Parameters

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

◆ rs2_create_device_from_sensor()

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_create_sensor()

rs2_sensor* rs2_create_sensor	(	const rs2_sensor_list *	list,
		int	index,
		rs2_error **	error
	)

create sensor by index

Parameters

[in]	index	the zero based index of sensor to retrieve
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the requested sensor, should be released by rs2_delete_sensor

◆ rs2_delete_sensor()

void rs2_delete_sensor ( rs2_sensor * sensor )

delete relasense sensor

Parameters

[in] sensor realsense sensor to delete

◆ rs2_delete_sensor_list()

void rs2_delete_sensor_list ( rs2_sensor_list * info_list )

Deletes sensors list, any sensors created from this list will remain unaffected

Parameters

[in] info_list list to delete

◆ rs2_delete_stream_profile()

void rs2_delete_stream_profile ( rs2_stream_profile * mode )

Delete stream profile allocated by rs2_clone_stream_profile Should not be called on stream profiles returned by the device

Parameters

[in] mode input stream profile

◆ rs2_delete_stream_profiles_list()

void rs2_delete_stream_profiles_list ( rs2_stream_profile_list * list )

delete stream profiles list

Parameters

[in] list the list of supported profiles returned by rs2_get_supported_profiles

◆ rs2_depth_stereo_frame_get_baseline()

float rs2_depth_stereo_frame_get_baseline	(	const rs2_frame *	frame_ref,
		rs2_error **	error
	)

Retrieve the stereoscopic baseline value. Applicable to stereo-based depth modules

Parameters

[out]	float	Stereoscopic baseline in millimeters
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_format_to_string()

const char* rs2_format_to_string ( rs2_format format )

◆ rs2_get_depth_scale()

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

◆ rs2_get_extrinsics()

void rs2_get_extrinsics	(	const rs2_stream_profile *	from,
		const rs2_stream_profile *	to,
		rs2_extrinsics *	extrin,
		rs2_error **	error
	)

Parameters

[in]	from	origin stream profile
[in]	to	target stream profile
[out]	extrin	extrinsics from origin to target
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_get_motion_intrinsics()

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_get_notification_category()

rs2_notification_category rs2_get_notification_category	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve category from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the notification category

◆ rs2_get_notification_description()

const char* rs2_get_notification_description	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve description from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the notification description

◆ rs2_get_notification_serialized_data()

const char* rs2_get_notification_serialized_data	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve serialized data from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the serialized data (in JSON format)

◆ rs2_get_notification_severity()

rs2_log_severity rs2_get_notification_severity	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve severity from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the notification severity

◆ rs2_get_notification_timestamp()

rs2_time_t rs2_get_notification_timestamp	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve timestamp from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the notification timestamp

◆ rs2_get_region_of_interest()

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

◆ rs2_get_sensor_info()

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

◆ rs2_get_sensors_count()

int rs2_get_sensors_count	(	const rs2_sensor_list *	info_list,
		rs2_error **	error
	)

Determines number of sensors in a list

Parameters

[in]	info_list	The list of connected sensors captured using rs2_query_sensors
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: Sensors count

◆ rs2_get_stream_profile()

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

◆ rs2_get_stream_profile_data()

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_get_stream_profiles()

rs2_stream_profile_list* rs2_get_stream_profiles	(	rs2_sensor *	device,
		rs2_error **	error
	)

check if physical subdevice is supported

Parameters

[in]	device	input RealSense device
[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

◆ rs2_get_stream_profiles_count()

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

◆ rs2_get_video_stream_intrinsics()

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

◆ rs2_get_video_stream_resolution()

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

◆ rs2_is_sensor_extendable_to()

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

◆ rs2_is_stream_profile_default()

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

◆ rs2_open()

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

◆ rs2_open_multiple()

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

◆ rs2_register_extrinsics()

void rs2_register_extrinsics	(	const rs2_stream_profile *	from,
		const rs2_stream_profile *	to,
		rs2_extrinsics	extrin,
		rs2_error **	error
	)

Parameters

[in]	from	origin stream profile
[in]	to	target stream profile
[out]	extrin	extrinsics from origin to target
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_set_notifications_callback()

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

◆ rs2_set_notifications_callback_cpp()

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

◆ rs2_set_region_of_interest()

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

◆ rs2_set_stream_profile_data()

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

◆ rs2_start()

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

◆ rs2_start_cpp()

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

◆ rs2_start_queue()

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

◆ rs2_stop()

void rs2_stop	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

stops streaming from specified configured device

Parameters

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

◆ rs2_stream_profile_is()

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

◆ rs2_stream_to_string()

const char* rs2_stream_to_string ( rs2_stream stream )

◆ rs2_supports_sensor_info()

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

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ rs2_camera_info

◆ rs2_extrinsics

◆ rs2_format

◆ rs2_stream

Enumeration Type Documentation

◆ rs2_camera_info

◆ rs2_format

◆ rs2_stream

Function Documentation

◆ rs2_camera_info_to_string()

◆ rs2_clone_stream_profile()

◆ rs2_close()

◆ rs2_create_device_from_sensor()

◆ rs2_create_sensor()

◆ rs2_delete_sensor()

◆ rs2_delete_sensor_list()

◆ rs2_delete_stream_profile()

◆ rs2_delete_stream_profiles_list()

◆ rs2_depth_stereo_frame_get_baseline()

◆ rs2_format_to_string()

◆ rs2_get_depth_scale()

◆ rs2_get_extrinsics()

◆ rs2_get_motion_intrinsics()

◆ rs2_get_notification_category()

◆ rs2_get_notification_description()

◆ rs2_get_notification_serialized_data()

◆ rs2_get_notification_severity()

◆ rs2_get_notification_timestamp()

◆ rs2_get_region_of_interest()

◆ rs2_get_sensor_info()

◆ rs2_get_sensors_count()

◆ rs2_get_stream_profile()

◆ rs2_get_stream_profile_data()

◆ rs2_get_stream_profiles()

◆ rs2_get_stream_profiles_count()

◆ rs2_get_video_stream_intrinsics()

◆ rs2_get_video_stream_resolution()

◆ rs2_is_sensor_extendable_to()

◆ rs2_is_stream_profile_default()

◆ rs2_open()

◆ rs2_open_multiple()

◆ rs2_register_extrinsics()

◆ rs2_set_notifications_callback()

◆ rs2_set_notifications_callback_cpp()

◆ rs2_set_region_of_interest()

◆ rs2_set_stream_profile_data()

◆ rs2_start()

◆ rs2_start_cpp()

◆ rs2_start_queue()

◆ rs2_stop()

◆ rs2_stream_profile_is()

◆ rs2_stream_to_string()

◆ rs2_supports_sensor_info()