rs.h File Reference

Exposes librealsense functionality for C compilers. More...

#include "rsutil.h"
#include "h/rs_types.h"
#include "h/rs_context.h"
#include "h/rs_device.h"
#include "h/rs_frame.h"
#include "h/rs_option.h"
#include "h/rs_processing.h"
#include "h/rs_record_playback.h"
#include "h/rs_sensor.h"

Go to the source code of this file.

Macros
#define	RS2_API_MAJOR_VERSION   2
#define	RS2_API_MINOR_VERSION   56
#define	RS2_API_PATCH_VERSION   0
#define	RS2_API_BUILD_VERSION   0
#define	STRINGIFY(arg)   #arg
#define	VAR_ARG_STRING(arg)   STRINGIFY(arg)
#define	RS2_API_VERSION   (((RS2_API_MAJOR_VERSION) * 10000) + ((RS2_API_MINOR_VERSION) * 100) + (RS2_API_PATCH_VERSION))
#define	RS2_API_VERSION_STR   (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION))
#define	RS2_API_FULL_VERSION_STR   (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION.RS2_API_BUILD_VERSION))
#define	RS2_CONFIG_FILENAME   "realsense-config.json"

Functions
int	rs2_get_raw_data_size (const rs2_raw_data_buffer *buffer, rs2_error **error)
void	rs2_delete_raw_data (const rs2_raw_data_buffer *buffer)
const unsigned char *	rs2_get_raw_data (const rs2_raw_data_buffer *buffer, rs2_error **error)
int	rs2_get_api_version (rs2_error **error)
void	rs2_log_to_console (rs2_log_severity min_severity, rs2_error **error)
void	rs2_log_to_file (rs2_log_severity min_severity, const char *file_path, rs2_error **error)
void	rs2_log_to_callback_cpp (rs2_log_severity min_severity, rs2_log_callback *callback, rs2_error **error)
void	rs2_log_to_callback (rs2_log_severity min_severity, rs2_log_callback_ptr callback, void *arg, rs2_error **error)
void	rs2_reset_logger (rs2_error **error)
void	rs2_enable_rolling_log_file (unsigned max_size, rs2_error **error)
unsigned	rs2_get_log_message_line_number (rs2_log_message const *msg, rs2_error **error)
const char *	rs2_get_log_message_filename (rs2_log_message const *msg, rs2_error **error)
const char *	rs2_get_raw_log_message (rs2_log_message const *msg, rs2_error **error)
const char *	rs2_get_full_log_message (rs2_log_message const *msg, rs2_error **error)
void	rs2_log (rs2_log_severity severity, const char *message, rs2_error **error)
float	rs2_depth_frame_get_distance (const rs2_frame *frame_ref, int x, int y, rs2_error **error)
rs2_time_t	rs2_get_time (rs2_error **error)

Detailed Description

Exposes librealsense functionality for C compilers.

Macro Definition Documentation

RS2_API_BUILD_VERSION

#define RS2_API_BUILD_VERSION   0

RS2_API_FULL_VERSION_STR

#define RS2_API_FULL_VERSION_STR   (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION.RS2_API_BUILD_VERSION))

RS2_API_MAJOR_VERSION

#define RS2_API_MAJOR_VERSION   2

RS2_API_MINOR_VERSION

#define RS2_API_MINOR_VERSION   56

RS2_API_PATCH_VERSION

#define RS2_API_PATCH_VERSION   0

RS2_API_VERSION

#define RS2_API_VERSION   (((RS2_API_MAJOR_VERSION) * 10000) + ((RS2_API_MINOR_VERSION) * 100) + (RS2_API_PATCH_VERSION))

RS2_API_VERSION_STR

#define RS2_API_VERSION_STR   (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION))

RS2_CONFIG_FILENAME

#define RS2_CONFIG_FILENAME   "realsense-config.json"

The library keeps persistent global settings in a per-user configuration file. These settings can relate to tool behavior (e.g., realsense-viewer) or library functionality (context creation, etc.) where settings are accepted (e.g., rs2_create_context_ex).

The filename is appended to the user's AppData folder on Windows (<AppData>/<filename>) and home directory as a hidden file on Linux (~/.<filename>).

The content is a JSON file and by default contains an empty object so default values are used. JSON ordering may shift when written to by the various tools but the contents should stay the same. Any values that do not match the expected type may be ignored.

STRINGIFY

#define STRINGIFY

(

arg

)

#arg

VAR_ARG_STRING

#define VAR_ARG_STRING

(

arg

)

STRINGIFY(arg)

Function Documentation

rs2_delete_raw_data()

void rs2_delete_raw_data

(

const rs2_raw_data_buffer *

buffer

)

Delete rs2_raw_data_buffer

Parameters

[in]

buffer

rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data

rs2_depth_frame_get_distance()

float rs2_depth_frame_get_distance	(	const rs2_frame *	frame_ref,
		int	x,
		int	y,
		rs2_error **	error
	)

Given the 2D depth coordinate (x,y) provide the corresponding depth in metric units

Parameters

[in]	frame_ref	2D depth pixel coordinates (Left-Upper corner origin)
[in]	x,y	2D depth pixel coordinates (Left-Upper corner origin)
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_enable_rolling_log_file()

void rs2_enable_rolling_log_file	(	unsigned	max_size,
		rs2_error **	error
	)

Enable rolling log file when used with rs2_log_to_file: Upon reaching (max_size/2) bytes, the log will be renamed with an ".old" suffix and a new log created. Any previous .old file will be erased. Must have permissions to remove/rename files in log file directory.

Parameters

[in]	max_size	max file size in megabytes
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_api_version()

int rs2_get_api_version

(

rs2_error **

error

)

Retrieve the API version from the source code. Evaluate that the value is conformant to the established policies

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the version API encoded into integer value "1.9.3" -> 10903

rs2_get_full_log_message()

const char* rs2_get_full_log_message	(	rs2_log_message const *	msg,
		rs2_error **	error
	)

rs2_get_log_message_filename()

const char* rs2_get_log_message_filename	(	rs2_log_message const *	msg,
		rs2_error **	error
	)

rs2_get_log_message_line_number()

unsigned rs2_get_log_message_line_number	(	rs2_log_message const *	msg,
		rs2_error **	error
	)

rs2_get_raw_data()

const unsigned char* rs2_get_raw_data	(	const rs2_raw_data_buffer *	buffer,
		rs2_error **	error
	)

Retrieve char array from rs2_raw_data_buffer

Parameters

[in]	buffer	rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

raw data

rs2_get_raw_data_size()

int rs2_get_raw_data_size	(	const rs2_raw_data_buffer *	buffer,
		rs2_error **	error
	)

get the size of rs2_raw_data_buffer

Parameters

[in]	buffer	pointer to rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

size of rs2_raw_data_buffer

rs2_get_raw_log_message()

const char* rs2_get_raw_log_message	(	rs2_log_message const *	msg,
		rs2_error **	error
	)

rs2_get_time()

rs2_time_t rs2_get_time

(

rs2_error **

error

)

return the time at specific time point

Parameters

[out]

error

if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the time at specific time point, in live and record mode it will return the system time and in playback mode it will return the recorded time

rs2_log()

void rs2_log	(	rs2_log_severity	severity,
		const char *	message,
		rs2_error **	error
	)

Add custom message into librealsense log

Parameters

[in]	severity	The log level for the message to be written under
[in]	message	Message to be logged
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_log_to_callback()

void rs2_log_to_callback	(	rs2_log_severity	min_severity,
		rs2_log_callback_ptr	callback,
		void *	arg,
		rs2_error **	error
	)

rs2_log_to_callback_cpp()

void rs2_log_to_callback_cpp	(	rs2_log_severity	min_severity,
		rs2_log_callback *	callback,
		rs2_error **	error
	)

rs2_log_to_console()

void rs2_log_to_console	(	rs2_log_severity	min_severity,
		rs2_error **	error
	)

rs2_log_to_file()

void rs2_log_to_file	(	rs2_log_severity	min_severity,
		const char *	file_path,
		rs2_error **	error
	)

rs2_reset_logger()

void rs2_reset_logger

(

rs2_error **

error

)