4 #ifndef LIBREALSENSE_RS_H 5 #define LIBREALSENSE_RS_H 11 #define RS_API_MAJOR_VERSION 1 12 #define RS_API_MINOR_VERSION 12 13 #define RS_API_PATCH_VERSION 1 15 #define STRINGIFY(arg) #arg 16 #define VAR_ARG_STRING(arg) STRINGIFY(arg) 22 #define RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION)) 24 #define RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION)) 308 float noise_variances[3];
309 float bias_variances[3];
323 float translation[3];
int rs_get_stream_width(const rs_device *device, rs_stream stream, rs_error **error)
int rs_supports(rs_device *device, rs_capabilities capability, rs_error **error)
void rs_get_motion_extrinsics_from(const rs_device *device, rs_stream from, rs_extrinsics *extrin, rs_error **error)
void rs_get_stream_intrinsics(const rs_device *device, rs_stream stream, rs_intrinsics *intrin, rs_error **error)
float coeffs[5]
Definition: rs.h:297
rs_timestamp_data timestamp_data
Definition: rs.h:337
const char * rs_stream_to_string(rs_stream stream)
void rs_start_source(rs_device *device, rs_source source, rs_error **error)
rs_event_source source_id
Definition: rs.h:330
void rs_disable_motion_tracking(rs_device *device, rs_error **error)
void rs_log_to_callback_cpp(rs_log_severity min_severity, rs_log_callback *callback, rs_error **error)
Definition: rscore.hpp:132
void rs_enable_motion_tracking(rs_device *device, rs_motion_callback_ptr on_motion_event, void *motion_handler, rs_timestamp_callback_ptr on_timestamp_event, void *timestamp_handler, rs_error **error)
const char * rs_source_to_string(rs_source source)
int rs_supports_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
void(* rs_frame_callback_ptr)(rs_device *dev, rs_frame_ref *frame, void *user)
Definition: rs.h:353
const char * rs_camera_info_to_string(rs_camera_info info)
int rs_get_device_count(const rs_context *context, rs_error **error)
frame_metadata
Definition: rs.hpp:155
rs_blob_type
Definition: rs.h:219
void rs_log_to_console(rs_log_severity min_severity, rs_error **error)
struct rs_intrinsics rs_intrinsics
rs_format rs_get_detached_frame_format(const rs_frame_ref *frame, rs_error **error)
void rs_enable_stream_ex(rs_device *device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_output_buffer_format output_format, rs_error **error)
void rs_get_device_options(rs_device *device, const rs_option *options, unsigned int count, double *values, rs_error **error)
void rs_set_device_options(rs_device *device, const rs_option *options, unsigned int count, const double *values, rs_error **error)
void(* rs_motion_callback_ptr)(rs_device *, rs_motion_data, void *)
Definition: rs.h:354
unsigned long long rs_get_detached_frame_number(const rs_frame_ref *frame, rs_error **error)
struct rs_frameset rs_frameset
Definition: rs.h:346
double rs_get_frame_timestamp(const rs_device *device, rs_stream stream, rs_error **error)
const void * rs_get_frame_data(const rs_device *device, rs_stream stream, rs_error **error)
int rs_is_device_streaming(const rs_device *device, rs_error **error)
float ppy
Definition: rs.h:293
const char * rs_frame_metadata_to_string(rs_frame_metadata md)
rs_timestamp_domain rs_get_detached_frame_timestamp_domain(const rs_frame_ref *frameset, rs_error **error)
const char * rs_distortion_to_string(rs_distortion distortion)
struct rs_timestamp_data rs_timestamp_data
void rs_delete_context(rs_context *context, rs_error **error)
void(* rs_log_callback_ptr)(rs_log_severity min_severity, const char *message, void *user)
Definition: rs.h:356
void rs_set_device_option(rs_device *device, rs_option option, double value, rs_error **error)
const char * rs_get_device_name(const rs_device *device, rs_error **error)
void rs_reset_device_options_to_default(rs_device *device, const rs_option *options, int count, rs_error **error)
int rs_get_detached_framerate(const rs_frame_ref *frameset, rs_error **error)
rs_option
Definition: rs.h:120
const char * rs_get_error_message(const rs_error *error)
float rs_get_device_depth_scale(const rs_device *device, rs_error **error)
const char * rs_blob_type_to_string(rs_blob_type type)
rs_output_buffer_format
Definition: rs.h:66
const char * rs_get_device_usb_port_id(const rs_device *device, rs_error **error)
rs_timestamp_domain
Definition: rs.h:280
void rs_log_to_callback(rs_log_severity min_severity, rs_log_callback_ptr on_log, void *user, rs_error **error)
void rs_log_to_file(rs_log_severity min_severity, const char *file_path, rs_error **error)
option
Definition: rs.hpp:82
struct rs_extrinsics rs_extrinsics
void rs_get_stream_mode(const rs_device *device, rs_stream stream, int index, int *width, int *height, rs_format *format, int *framerate, rs_error **error)
event
Definition: rs.hpp:220
int rs_get_stream_mode_count(const rs_device *device, rs_stream stream, rs_error **error)
int rs_poll_for_frames(rs_device *device, rs_error **error)
double timestamp
Definition: rs.h:329
const char * rs_get_failed_function(const rs_error *error)
rs_format rs_get_stream_format(const rs_device *device, rs_stream stream, rs_error **error)
rs_context * rs_create_context(int api_version, rs_error **error)
const char * rs_capabilities_to_string(rs_capabilities capability)
double rs_get_device_option(rs_device *device, rs_option option, rs_error **error)
void rs_get_device_option_range_ex(rs_device *device, rs_option option, double *min, double *max, double *step, double *def, rs_error **error)
int rs_get_detached_frame_bpp(const rs_frame_ref *frame, rs_error **error)
stream
Definition: rs.hpp:20
void rs_disable_stream(rs_device *device, rs_stream stream, rs_error **error)
void rs_set_frame_callback(rs_device *device, rs_stream stream, rs_frame_callback_ptr on_frame, void *user, rs_error **error)
void rs_release_frame(rs_device *device, rs_frame_ref *frame, rs_error **error)
void rs_get_device_extrinsics(const rs_device *device, rs_stream from_stream, rs_stream to_stream, rs_extrinsics *extrin, rs_error **error)
rs_camera_info
Definition: rs.h:227
int rs_device_supports_option(const rs_device *device, rs_option option, rs_error **error)
format
Definition: rs.hpp:38
void rs_send_blob_to_device(rs_device *device, rs_blob_type type, void *data, int size, rs_error **error)
int rs_get_detached_frame_height(const rs_frame_ref *frame, rs_error **error)
const char * rs_get_device_firmware_version(const rs_device *device, rs_error **error)
const char * rs_get_device_option_description(rs_device *device, rs_option option, rs_error **error)
void rs_enable_stream(rs_device *device, rs_stream stream, int width, int height, rs_format format, int framerate, rs_error **error)
source
Definition: rs.hpp:212
const char * rs_get_failed_args(const rs_error *error)
Definition: rscore.hpp:125
rs_format
Definition: rs.h:46
const char * rs_event_to_string(rs_event_source event)
Definition: rscore.hpp:118
double rs_get_detached_frame_timestamp(const rs_frame_ref *frame, rs_error **error)
Definition: rscore.hpp:146
const char * rs_get_device_info(const rs_device *device, rs_camera_info info, rs_error **error)
struct rs_error rs_error
Definition: rs.h:345
void rs_stop_source(rs_device *device, rs_source source, rs_error **error)
int rs_get_detached_frame_width(const rs_frame_ref *frame, rs_error **error)
int rs_get_detached_frame_stride(const rs_frame_ref *frame, rs_error **error)
unsigned long long rs_get_frame_number(const rs_device *device, rs_stream stream, rs_error **error)
int rs_supports_camera_info(rs_device *device, rs_camera_info info_param, rs_error **error)
void rs_free_error(rs_error *error)
int height
Definition: rs.h:291
void(* rs_timestamp_callback_ptr)(rs_device *, rs_timestamp_data, void *)
Definition: rs.h:355
float fy
Definition: rs.h:295
struct rs_motion_device_intrinsic rs_motion_device_intrinsic
unsigned int is_valid
Definition: rs.h:338
int rs_get_api_version(rs_error **error)
rs_source
Definition: rs.h:83
struct rs_motion_intrinsics rs_motion_intrinsics
int width
Definition: rs.h:290
int rs_is_motion_tracking_active(rs_device *device, rs_error **error)
const char * rs_timestamp_domain_to_string(rs_timestamp_domain info)
void rs_get_device_option_range(rs_device *device, rs_option option, double *min, double *max, double *step, rs_error **error)
const char * rs_preset_to_string(rs_preset preset)
rs_motion_device_intrinsic acc
Definition: rs.h:315
rs_preset
Definition: rs.h:74
int rs_get_stream_framerate(const rs_device *device, rs_stream stream, rs_error **error)
const char * rs_format_to_string(rs_format format)
distortion
Definition: rs.hpp:72
rs_stream
Definition: rs.h:27
const char * rs_option_to_string(rs_option option)
struct rs_motion_data rs_motion_data
unsigned long long frame_number
Definition: rs.h:331
rs_log_severity
Definition: rs.h:255
double rs_get_detached_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
float fx
Definition: rs.h:294
rs_capabilities
Definition: rs.h:204
void rs_set_frame_callback_cpp(rs_device *device, rs_stream stream, rs_frame_callback *callback, rs_error **error)
Definition: rscore.hpp:64
rs_device * rs_get_device(rs_context *context, int index, rs_error **error)
const char * rs_get_device_serial(const rs_device *device, rs_error **error)
void rs_wait_for_frames(rs_device *device, rs_error **error)
void rs_enable_stream_preset(rs_device *device, rs_stream stream, rs_preset preset, rs_error **error)
rs_motion_device_intrinsic gyro
Definition: rs.h:316
rs_distortion model
Definition: rs.h:296
Definition: rscore.hpp:139
Definition: rscore.hpp:44
rs_distortion
Definition: rs.h:92
void rs_start_device(rs_device *device, rs_error **error)
void rs_stop_device(rs_device *device, rs_error **error)
float ppx
Definition: rs.h:292
rs_frame_metadata
Definition: rs.h:195
int rs_is_stream_enabled(const rs_device *device, rs_stream stream, rs_error **error)
rs_ivcam_preset
Definition: rs.h:102
int rs_get_stream_height(const rs_device *device, rs_stream stream, rs_error **error)
rs_stream rs_get_detached_frame_stream_type(const rs_frame_ref *frameset, rs_error **error)
rs_event_source
Definition: rs.h:266
const void * rs_get_detached_frame_data(const rs_frame_ref *frame, rs_error **error)
void rs_get_motion_intrinsics(const rs_device *device, rs_motion_intrinsics *intrinsic, rs_error **error)
preset
Definition: rs.hpp:64
void rs_enable_motion_tracking_cpp(rs_device *device, rs_motion_callback *motion_callback, rs_timestamp_callback *timestamp_callback, rs_error **error)