Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
rs_sensor.h
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1 /* License: Apache 2.0. See LICENSE file in root directory.
2  Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
3 
10 #ifndef LIBREALSENSE_RS2_SENSOR_H
11 #define LIBREALSENSE_RS2_SENSOR_H
12 
13 #ifdef __cplusplus
14 extern "C" {
15 #endif
16 
17 #include "rs_types.h"
18 
22 typedef enum rs2_camera_info {
34 
36 typedef enum rs2_stream
37 {
48 } rs2_stream;
49 const char* rs2_stream_to_string(rs2_stream stream);
50 
52 typedef enum rs2_format
53 {
75 } rs2_format;
76 const char* rs2_format_to_string(rs2_format format);
77 
79 typedef struct rs2_extrinsics
80 {
81  float rotation[9];
82  float translation[3];
84 
90 
97 int rs2_get_sensors_count(const rs2_sensor_list* info_list, rs2_error** error);
98 
103 void rs2_delete_sensor(rs2_sensor* sensor);
104 
111 rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error);
112 
120 
128 const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
129 
136 int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
137 
145 int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extension, rs2_error** error);
146 
152 float rs2_get_depth_scale(rs2_sensor* sensor, rs2_error** error);
153 
159 float rs2_depth_stereo_frame_get_baseline(const rs2_frame* frame_ref, rs2_error** error);
160 
170 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);
171 
181 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);
182 
189 void rs2_open(rs2_sensor* device, const rs2_stream_profile* profile, rs2_error** error);
190 
199 void rs2_open_multiple(rs2_sensor* device, const rs2_stream_profile** profiles, int count, rs2_error** error);
200 
206 void rs2_close(const rs2_sensor* sensor, rs2_error** error);
207 
215 void rs2_start(const rs2_sensor* sensor, rs2_frame_callback_ptr on_frame, void* user, rs2_error** error);
216 
223 void rs2_start_cpp(const rs2_sensor* sensor, rs2_frame_callback* callback, rs2_error** error);
224 
232 void rs2_start_queue(const rs2_sensor* sensor, rs2_frame_queue* queue, rs2_error** error);
233 
239 void rs2_stop(const rs2_sensor* sensor, rs2_error** error);
240 
248 void rs2_set_notifications_callback(const rs2_sensor* sensor, rs2_notification_callback_ptr on_notification, void* user, rs2_error** error);
249 
257 
263 const char* rs2_get_notification_description(rs2_notification* notification, rs2_error** error);
264 
271 
278 
285 
291 const char* rs2_get_notification_serialized_data(rs2_notification* notification, rs2_error** error);
292 
300 
307 const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error);
308 
319 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);
320 
329 void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
330 
340 rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
341 
348 
356 int rs2_stream_profile_is(const rs2_stream_profile* mode, rs2_extension type, rs2_error** error);
357 
365 void rs2_get_video_stream_resolution(const rs2_stream_profile* mode, int* width, int* height, rs2_error** error);
366 
374 
383 
391 
397 
404 void rs2_get_extrinsics(const rs2_stream_profile* from,
405  const rs2_stream_profile* to,
406  rs2_extrinsics* extrin, rs2_error** error);
407 
415  const rs2_stream_profile* to,
416  rs2_extrinsics extrin, rs2_error** error);
417 
424 void rs2_get_video_stream_intrinsics(const rs2_stream_profile* mode, rs2_intrinsics* intrinsics, rs2_error** error);
425 
426 
427 #ifdef __cplusplus
428 }
429 #endif
430 #endif
Definition: rs_sensor.h:69
void rs2_register_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
int rs2_get_sensors_count(const rs2_sensor_list *info_list, rs2_error **error)
rs2_camera_info
Read-only strings that can be queried from the device. Not all information attributes are available o...
Definition: rs_sensor.h:22
Definition: rs_types.hpp:27
const char * rs2_format_to_string(rs2_format format)
Definition: rs_sensor.h:60
Definition: rs_sensor.h:73
float rs2_get_depth_scale(rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:26
Definition: rs_sensor.h:27
Definition: rs_types.hpp:41
struct rs2_frame_queue rs2_frame_queue
Definition: rs_types.h:151
void rs2_get_video_stream_resolution(const rs2_stream_profile *mode, int *width, int *height, rs2_error **error)
rs2_sensor * rs2_create_sensor(const rs2_sensor_list *list, int index, rs2_error **error)
Definition: rs_sensor.h:24
float translation[3]
Definition: rs_sensor.h:82
Definition: rs_sensor.h:29
void rs2_get_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics *extrin, rs2_error **error)
rs2_device * rs2_create_device_from_sensor(const rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:72
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
Definition: rs_sensor.h:30
Definition: rs_sensor.h:55
Definition: rs_sensor.h:42
std::function< void(frame_interface *)> on_frame
Definition: streaming.h:103
struct rs2_sensor_list rs2_sensor_list
Definition: rs_types.h:168
Definition: rs_sensor.h:46
void rs2_stop(const rs2_sensor *sensor, rs2_error **error)
Definition: api.h:18
Definition: rs_sensor.h:58
void rs2_start_queue(const rs2_sensor *sensor, rs2_frame_queue *queue, rs2_error **error)
int rs2_stream_profile_is(const rs2_stream_profile *mode, rs2_extension type, rs2_error **error)
const char * rs2_get_notification_serialized_data(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:23
Definition: rs_sensor.h:45
rs2_log_severity rs2_get_notification_severity(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:56
Definition: rs_sensor.h:43
rs2_stream_profile * rs2_clone_stream_profile(const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
struct rs2_sensor rs2_sensor
Definition: rs_types.h:169
float rotation[9]
Definition: rs_sensor.h:81
Definition: rs_sensor.h:40
void rs2_open(rs2_sensor *device, const rs2_stream_profile *profile, rs2_error **error)
void rs2_set_stream_profile_data(rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
Definition: rs_sensor.h:59
Definition: rs_sensor.h:57
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)
int rs2_is_stream_profile_default(const rs2_stream_profile *mode, rs2_error **error)
void rs2_start(const rs2_sensor *sensor, rs2_frame_callback_ptr on_frame, void *user, 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_delete_sensor(rs2_sensor *sensor)
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
Definition: rs_sensor.h:47
rs2_time_t rs2_get_notification_timestamp(rs2_notification *notification, rs2_error **error)
void rs2_delete_stream_profile(rs2_stream_profile *mode)
struct rs2_stream_profile_list rs2_stream_profile_list
Definition: rs_types.h:156
const rs2_stream_profile * rs2_get_stream_profile(const rs2_stream_profile_list *list, int index, rs2_error **error)
void rs2_set_notifications_callback_cpp(const rs2_sensor *sensor, rs2_notifications_callback *callback, rs2_error **error)
Definition: api.h:34
Definition: rs_sensor.h:54
rs2_format
Format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:52
int rs2_supports_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
Definition: rs_sensor.h:25
Definition: rs_sensor.h:68
Definition: rs_sensor.h:31
Definition: rs_sensor.h:74
Definition: rs_sensor.h:70
Definition: rs_sensor.h:39
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:36
Definition: context.h:35
void rs2_get_video_stream_intrinsics(const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
Definition: rs_sensor.h:41
Definition: rs_sensor.h:44
Definition: rs_sensor.h:66
Cross-stream extrinsics: encode the topology describing how the different devices are connected...
Definition: rs_sensor.h:79
const char * rs2_camera_info_to_string(rs2_camera_info info)
int rs2_is_sensor_extendable_to(const rs2_sensor *sensor, rs2_extension extension, rs2_error **error)
const char * rs2_stream_to_string(rs2_stream stream)
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition: rs_types.h:93
rs2_notification_category
Category of the librealsense notifications.
Definition: rs_types.h:17
Definition: rs_sensor.h:38
void(* rs2_notification_callback_ptr)(rs2_notification *, void *)
Definition: rs_types.h:174
void rs2_delete_stream_profiles_list(rs2_stream_profile_list *list)
void rs2_close(const rs2_sensor *sensor, rs2_error **error)
rs2_stream_profile_list * rs2_get_stream_profiles(rs2_sensor *device, rs2_error **error)
Video stream intrinsics.
Definition: rs_types.h:55
void rs2_open_multiple(rs2_sensor *device, const rs2_stream_profile **profiles, int count, rs2_error **error)
void rs2_start_cpp(const rs2_sensor *sensor, rs2_frame_callback *callback, rs2_error **error)
Definition: rs_sensor.h:62
rs2_notification_category rs2_get_notification_category(rs2_notification *notification, rs2_error **error)
Definition: api.h:26
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:68
struct rs2_extrinsics rs2_extrinsics
Cross-stream extrinsics: encode the topology describing how the different devices are connected...
void rs2_delete_sensor_list(rs2_sensor_list *info_list)
void(* rs2_frame_callback_ptr)(rs2_frame *, void *)
Definition: rs_types.h:176
Definition: rs_sensor.h:71
float rs2_depth_stereo_frame_get_baseline(const rs2_frame *frame_ref, rs2_error **error)
const char * rs2_get_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
const char * rs2_get_notification_description(rs2_notification *notification, rs2_error **error)
int rs2_get_stream_profiles_count(const rs2_stream_profile_list *list, rs2_error **error)
double rs2_time_t
Definition: rs_types.h:179
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:81
Definition: rs_sensor.h:64
void rs2_get_motion_intrinsics(const rs2_stream_profile *mode, rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
Definition: rs_sensor.h:67
Definition: rs_sensor.h:28
struct rs2_frame rs2_frame
Definition: rs_types.h:150
Definition: rs_sensor.h:61
Definition: rs_sensor.h:63
Definition: rs_sensor.h:65