rs_config.h File Reference

#include "rs_types.h"
#include "rs_sensor.h"

Go to the source code of this file.

Macros
#define	RS2_DEFAULT_TIMEOUT   15000

Functions
rs2_config *	rs2_create_config (rs2_error **error)
void	rs2_delete_config (rs2_config *config)
void	rs2_config_enable_stream (rs2_config *config, rs2_stream stream, int index, int width, int height, rs2_format format, int framerate, rs2_error **error)
void	rs2_config_enable_all_stream (rs2_config *config, rs2_error **error)
void	rs2_config_enable_device (rs2_config *config, const char *serial, rs2_error **error)
void	rs2_config_enable_device_from_file (rs2_config *config, const char *file, rs2_error **error)
void	rs2_config_enable_device_from_file_repeat_option (rs2_config *config, const char *file, int repeat_playback, rs2_error **error)
void	rs2_config_enable_record_to_file (rs2_config *config, const char *file, rs2_error **error)
void	rs2_config_disable_stream (rs2_config *config, rs2_stream stream, rs2_error **error)
void	rs2_config_disable_indexed_stream (rs2_config *config, rs2_stream stream, int index, rs2_error **error)
void	rs2_config_disable_all_streams (rs2_config *config, rs2_error **error)
rs2_pipeline_profile *	rs2_config_resolve (rs2_config *config, rs2_pipeline *pipe, rs2_error **error)
int	rs2_config_can_resolve (rs2_config *config, rs2_pipeline *pipe, rs2_error **error)

Macro Definition Documentation

RS2_DEFAULT_TIMEOUT

#define RS2_DEFAULT_TIMEOUT   15000

Function Documentation

rs2_config_can_resolve()

int rs2_config_can_resolve	(	rs2_config *	config,
		rs2_pipeline *	pipe,
		rs2_error **	error
	)

Check if the config can resolve the configuration filters, to find a matching device and streams profiles. The resolution conditions are as described in resolve().

Parameters

[in]	config	A pointer to an instance of a config
[in]	pipe	The pipeline for which the selected filters are applied
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

True if a valid profile selection exists, false if no selection can be found under the config filters and the available devices.

rs2_config_disable_all_streams()

void rs2_config_disable_all_streams	(	rs2_config *	config,
		rs2_error **	error
	)

Disable all device stream explicitly, to remove any requests on the streams profiles. The streams can still be enabled due to pipeline computer vision module request. This call removes any filter on the streams configuration.

Parameters

[in]	config	A pointer to an instance of a config
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_disable_indexed_stream()

void rs2_config_disable_indexed_stream	(	rs2_config *	config,
		rs2_stream	stream,
		int	index,
		rs2_error **	error
	)

Disable a device stream explicitly, to remove any requests on this stream profile. The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the stream configuration.

Parameters

[in]	config	A pointer to an instance of a config
[in]	stream	Stream type, for which the filters are cleared
[in]	index	Stream index, for which the filters are cleared
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_disable_stream()

void rs2_config_disable_stream	(	rs2_config *	config,
		rs2_stream	stream,
		rs2_error **	error
	)

Disable a device stream explicitly, to remove any requests on this stream type. The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the stream configuration.

Parameters

[in]	config	A pointer to an instance of a config
[in]	stream	Stream type, for which the filters are cleared
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_all_stream()

void rs2_config_enable_all_stream	(	rs2_config *	config,
		rs2_error **	error
	)

Enable all device streams explicitly. The conditions and behavior of this method are similar to those of enable_stream(). This filter enables all raw streams of the selected device. The device is either selected explicitly by the application, or by the pipeline requirements or default. The list of streams is device dependent.

Parameters

[in]	config	A pointer to an instance of a config
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_device()

void rs2_config_enable_device	(	rs2_config *	config,
		const char *	serial,
		rs2_error **	error
	)

Select a specific device explicitly by its serial number, to be used by the pipeline. The conditions and behavior of this method are similar to those of enable_stream(). This method is required if the application needs to set device or sensor settings prior to pipeline streaming, to enforce the pipeline to use the configured device.

Parameters

[in]	config	A pointer to an instance of a config
[in]	serial	device serial number, as returned by RS2_CAMERA_INFO_SERIAL_NUMBER
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_device_from_file()

void rs2_config_enable_device_from_file	(	rs2_config *	config,
		const char *	file,
		rs2_error **	error
	)

Select a recorded device from a file, to be used by the pipeline through playback. The device available streams are as recorded to the file, and resolve() considers only this device and configuration as available. This request cannot be used if enable_record_to_file() is called for the current config, and vise versa By default, playback is repeated once the file ends. To control this, see 'rs2_config_enable_device_from_file_repeat_option'.

Parameters

[in]	config	A pointer to an instance of a config
[in]	file	The playback file of the device
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_device_from_file_repeat_option()

void rs2_config_enable_device_from_file_repeat_option	(	rs2_config *	config,
		const char *	file,
		int	repeat_playback,
		rs2_error **	error
	)

Select a recorded device from a file, to be used by the pipeline through playback. The device available streams are as recorded to the file, and resolve() considers only this device and configuration as available. This request cannot be used if enable_record_to_file() is called for the current config, and vise versa

Parameters

[in]	config	A pointer to an instance of a config
[in]	file	The playback file of the device
[in]	repeat_playback	if true, when file ends the playback starts again, in an infinite loop; if false, when file ends playback does not start again, and should by stopped manually by the user.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_record_to_file()

void rs2_config_enable_record_to_file	(	rs2_config *	config,
		const char *	file,
		rs2_error **	error
	)

Requires that the resolved device would be recorded to file This request cannot be used if enable_device_from_file() is called for the current config, and vise versa

Parameters

[in]	config	A pointer to an instance of a config
[in]	file	The desired file for the output record
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_enable_stream()

void rs2_config_enable_stream	(	rs2_config *	config,
		rs2_stream	stream,
		int	index,
		int	width,
		int	height,
		rs2_format	format,
		int	framerate,
		rs2_error **	error
	)

Enable a device stream explicitly, with selected stream parameters. The method allows the application to request a stream with specific configuration. If no stream is explicitly enabled, the pipeline configures the device and its streams according to the attached computer vision modules and processing blocks requirements, or default configuration for the first available device. The application can configure any of the input stream parameters according to its requirement, or set to 0 for don't care value. The config accumulates the application calls for enable configuration methods, until the configuration is applied. Multiple enable stream calls for the same stream with conflicting parameters override each other, and the last call is maintained. Upon calling resolve(), the config checks for conflicts between the application configuration requests and the attached computer vision modules and processing blocks requirements, and fails if conflicts are found. Before resolve() is called, no conflict check is done.

Parameters

[in]	config	A pointer to an instance of a config
[in]	stream	Stream type to be enabled
[in]	index	Stream index, used for multiple streams of the same type. -1 indicates any.
[in]	width	Stream image width - for images streams. 0 indicates any.
[in]	height	Stream image height - for images streams. 0 indicates any.
[in]	format	Stream data format - pixel format for images streams, of data type for other streams. RS2_FORMAT_ANY indicates any.
[in]	framerate	Stream frames per second. 0 indicates any.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_config_resolve()

rs2_pipeline_profile* rs2_config_resolve	(	rs2_config *	config,
		rs2_pipeline *	pipe,
		rs2_error **	error
	)

Resolve the configuration filters, to find a matching device and streams profiles. The method resolves the user configuration filters for the device and streams, and combines them with the requirements of the computer vision modules and processing blocks attached to the pipeline. If there are no conflicts of requests, it looks for an available device, which can satisfy all requests, and selects the first matching streams configuration. In the absence of any request, the rs2::config selects the first available device and the first color and depth streams configuration. The pipeline profile selection during start() follows the same method. Thus, the selected profile is the same, if no change occurs to the available devices occurs. Resolving the pipeline configuration provides the application access to the pipeline selected device for advanced control. The returned configuration is not applied to the device, so the application doesn't own the device sensors. However, the application can call enable_device(), to enforce the device returned by this method is selected by pipeline start(), and configure the device and sensors options or extensions before streaming starts.

Parameters

[in]	config	A pointer to an instance of a config
[in]	pipe	The pipeline for which the selected filters are applied
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

A matching device and streams profile, which satisfies the filters and pipeline requests.

rs2_create_config()

rs2_config* rs2_create_config

(

rs2_error **

error

)

Create a config instance The config allows pipeline users to request filters for the pipeline streams and device selection and configuration. This is an optional step in pipeline creation, as the pipeline resolves its streaming device internally. Config provides its users a way to set the filters and test if there is no conflict with the pipeline requirements from the device. It also allows the user to find a matching device for the config filters and the pipeline, in order to select a device explicitly, and modify its controls before streaming starts.

Parameters

[out]

error

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

Returns

rs2_config* A pointer to a new config instance

rs2_delete_config()

void rs2_delete_config

(

rs2_config *

config

)

Deletes an instance of a config

Parameters

[in]

config

A pointer to an instance of a config