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

#include "rs_types.h"

Macros
#define	RS2_PRODUCT_LINE_ANY 0xff

#define	RS2_PRODUCT_LINE_ANY_INTEL 0xfe

#define	RS2_PRODUCT_LINE_NON_INTEL 0x01

#define	RS2_PRODUCT_LINE_D400 0x02

#define	RS2_PRODUCT_LINE_SR300 0x04

#define	RS2_PRODUCT_LINE_L500 0x08

#define	RS2_PRODUCT_LINE_T200 0x10

#define	RS2_PRODUCT_LINE_D500 0x20

#define	RS2_PRODUCT_LINE_SW_ONLY 0x100

#define	RS2_PRODUCT_LINE_DEPTH ( RS2_PRODUCT_LINE_L500 \| RS2_PRODUCT_LINE_SR300 \| RS2_PRODUCT_LINE_D400 \| RS2_PRODUCT_LINE_D500 )

#define	RS2_PRODUCT_LINE_TRACKING RS2_PRODUCT_LINE_T200

Functions
rs2_context *	rs2_create_context (int api_version, rs2_error **error)
	Creates RealSense context that is required for the rest of the API. Context settings are taken from the library configuration file's 'context' key. More...

rs2_context *	rs2_create_context_ex (int api_version, const char json_settings, rs2_error *error)
	Creates RealSense context that is required for the rest of the API, and accepts a settings JSON. More...

void	rs2_delete_context (rs2_context *context)
	Frees the relevant context object. More...

void	rs2_set_devices_changed_callback_cpp (rs2_context context, rs2_devices_changed_callback callback, rs2_error **error)

void	rs2_set_devices_changed_callback (const rs2_context context, rs2_devices_changed_callback_ptr callback, void user, rs2_error **error)

rs2_device *	rs2_context_add_device (rs2_context ctx, const char file, rs2_error **error)

void	rs2_context_add_software_device (rs2_context ctx, rs2_device dev, rs2_error **error)

void	rs2_context_remove_device (rs2_context ctx, const char file, rs2_error **error)

void	rs2_context_unload_tracking_module (rs2_context ctx, rs2_error *error)

rs2_device_list *	rs2_query_devices (const rs2_context context, rs2_error *error)

rs2_device_list *	rs2_query_devices_ex (const rs2_context context, int product_mask, rs2_error *error)

rs2_device_hub *	rs2_create_device_hub (const rs2_context context, rs2_error *error)
	Creates RealSense device_hub . More...

void	rs2_delete_device_hub (const rs2_device_hub *hub)
	Frees the relevant device hub object. More...

rs2_device *	rs2_device_hub_wait_for_device (const rs2_device_hub hub, rs2_error *error)

int	rs2_device_hub_is_device_connected (const rs2_device_hub hub, const rs2_device device, rs2_error **error)

Detailed Description

Exposes RealSense context functionality for C compilers.

Macro Definition Documentation

◆ RS2_PRODUCT_LINE_ANY

#define RS2_PRODUCT_LINE_ANY 0xff

◆ RS2_PRODUCT_LINE_ANY_INTEL

#define RS2_PRODUCT_LINE_ANY_INTEL 0xfe

◆ RS2_PRODUCT_LINE_D400

#define RS2_PRODUCT_LINE_D400 0x02

◆ RS2_PRODUCT_LINE_D500

#define RS2_PRODUCT_LINE_D500 0x20

◆ RS2_PRODUCT_LINE_DEPTH

#define RS2_PRODUCT_LINE_DEPTH ( RS2_PRODUCT_LINE_L500 | RS2_PRODUCT_LINE_SR300 | RS2_PRODUCT_LINE_D400 | RS2_PRODUCT_LINE_D500 )

◆ RS2_PRODUCT_LINE_L500

#define RS2_PRODUCT_LINE_L500 0x08

◆ RS2_PRODUCT_LINE_NON_INTEL

#define RS2_PRODUCT_LINE_NON_INTEL 0x01

◆ RS2_PRODUCT_LINE_SR300

#define RS2_PRODUCT_LINE_SR300 0x04

◆ RS2_PRODUCT_LINE_SW_ONLY

#define RS2_PRODUCT_LINE_SW_ONLY 0x100

◆ RS2_PRODUCT_LINE_T200

#define RS2_PRODUCT_LINE_T200 0x10

◆ RS2_PRODUCT_LINE_TRACKING

#define RS2_PRODUCT_LINE_TRACKING RS2_PRODUCT_LINE_T200

Function Documentation

◆ rs2_context_add_device()

rs2_device* rs2_context_add_device	(	rs2_context *	ctx,
		const char *	file,
		rs2_error **	error
	)

Create a new device and add it to the context

Parameters

	ctx	The context to which the new device will be added
	file	The file from which the device should be created
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: A pointer to a device that plays data from the file, or null in case of failure

◆ rs2_context_add_software_device()

void rs2_context_add_software_device	(	rs2_context *	ctx,
		rs2_device *	dev,
		rs2_error **	error
	)

Add an instance of software device to the context

Parameters

	ctx	The context to which the new device will be added
	dev	Instance of software device to register into the context
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_context_remove_device()

void rs2_context_remove_device	(	rs2_context *	ctx,
		const char *	file,
		rs2_error **	error
	)

Removes a playback device from the context, if exists

Parameters

[in]	ctx	The context from which the device should be removed
[in]	file	The file name that was used to add the device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

◆ rs2_context_unload_tracking_module()

void rs2_context_unload_tracking_module	(	rs2_context *	ctx,
		rs2_error **	error
	)

Removes tracking module. function query_devices() locks the tracking module in the tm_context object. If the tracking module device is not used it should be removed using this function, so that other applications could find it. This function can be used both before the call to query_device() to prevent enabling tracking modules or afterwards to release them.

◆ rs2_create_context()

rs2_context* rs2_create_context	(	int	api_version,
		rs2_error **	error
	)

Creates RealSense context that is required for the rest of the API. Context settings are taken from the library configuration file's 'context' key.

Parameters

[in]	api_version	Users are expected to pass their version of `RS2_API_VERSION` to make sure they are running the correct librealsense version.
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Context object

◆ rs2_create_context_ex()

rs2_context* rs2_create_context_ex	(	int	api_version,
		const char *	json_settings,
		rs2_error **	error
	)

Creates RealSense context that is required for the rest of the API, and accepts a settings JSON.

Parameters

[in]	api_version	Users are expected to pass their version of `RS2_API_VERSION` to make sure they are running the correct librealsense version.
[in]	json_settings	Pointer to a string containing a JSON configuration to use, or null if none Possible <setting>:<default-value> : inherit: true - (bool) whether to inherit and override library configuration file values: the 'context' key in the file is taken as-is '<executable-name>/context' is merged, if it exists then the context-settings are merged dds: {} - (requires BUILD_WITH_DDS) false disables DDS; otherwise the DDS settings: domain: 0 - (int) the number of the DDS domain [0-232] participant: <exe name>=""> - (string) the name of the participant (see additional settings in realdds/doc/device.md#Settings) format-conversion: full - (string) how to convert formats full: provide all conversions (e.g., YUYV -> RGB8 etc.) basic: use mostly raw camera formats (no RGB8 etc.); convert interleaved (Y8I -> 2xY8) raw: leave all formats from camera as they are options-update-interval: 1000 - (uint32_t) time interval in milliseconds for option value change notifications (see rs2_set_options_changed_callback)
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Context object

◆ rs2_create_device_hub()

rs2_device_hub* rs2_create_device_hub	(	const rs2_context *	context,
		rs2_error **	error
	)

Creates RealSense device_hub .

Parameters

[in]	context	The context for the device hub
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: Device hub object

◆ rs2_delete_context()

void rs2_delete_context ( rs2_context * context )

Frees the relevant context object.

Parameters

[in] context Object that is no longer needed

◆ rs2_delete_device_hub()

void rs2_delete_device_hub ( const rs2_device_hub * hub )

Frees the relevant device hub object.

Parameters

[in] hub Object that is no longer needed

◆ rs2_device_hub_is_device_connected()

int rs2_device_hub_is_device_connected	(	const rs2_device_hub *	hub,
		const rs2_device *	device,
		rs2_error **	error
	)

Checks if device is still connected

Parameters

[in]	hub	The device hub object
[in]	device	The device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: 1 if the device is connected, 0 otherwise

◆ rs2_device_hub_wait_for_device()

rs2_device* rs2_device_hub_wait_for_device	(	const rs2_device_hub *	hub,
		rs2_error **	error
	)

If any device is connected return it, otherwise wait until next RealSense device connects. Calling this method multiple times will cycle through connected devices

Parameters

[in]	ctx	The context to creat the device
[in]	hub	The device hub object
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored.

Returns: device object

◆ rs2_query_devices()

rs2_device_list* rs2_query_devices	(	const rs2_context *	context,
		rs2_error **	error
	)

create a static snapshot of all connected devices at the time of the call

Parameters

	context	Object representing librealsense session
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the list of devices, should be released by rs2_delete_device_list

◆ rs2_query_devices_ex()

rs2_device_list* rs2_query_devices_ex	(	const rs2_context *	context,
		int	product_mask,
		rs2_error **	error
	)

create a static snapshot of all connected devices at the time of the call

Parameters

	context	Object representing librealsense session
	product_mask	Controls what kind of devices will be returned
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns: the list of devices, should be released by rs2_delete_device_list

◆ rs2_set_devices_changed_callback()

void rs2_set_devices_changed_callback	(	const rs2_context *	context,
		rs2_devices_changed_callback_ptr	callback,
		void *	user,
		rs2_error **	error
	)

set callback to get devices changed events these events will be raised by the context whenever new RealSense device is connected or existing device gets disconnected

Parameters

	context	Object representing librealsense session
[in]	callback	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_devices_changed_callback_cpp()

void rs2_set_devices_changed_callback_cpp	(	rs2_context *	context,
		rs2_devices_changed_callback *	callback,
		rs2_error **	error
	)

set callback to get devices changed events these events will be raised by the context whenever new RealSense device is connected or existing device gets disconnected

Parameters

	context	Object representing librealsense session
[in]	callback	callback object created from c++ application. ownership over the callback object is moved into the context
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ RS2_PRODUCT_LINE_ANY

◆ RS2_PRODUCT_LINE_ANY_INTEL

◆ RS2_PRODUCT_LINE_D400

◆ RS2_PRODUCT_LINE_D500

◆ RS2_PRODUCT_LINE_DEPTH

◆ RS2_PRODUCT_LINE_L500

◆ RS2_PRODUCT_LINE_NON_INTEL

◆ RS2_PRODUCT_LINE_SR300

◆ RS2_PRODUCT_LINE_SW_ONLY

◆ RS2_PRODUCT_LINE_T200

◆ RS2_PRODUCT_LINE_TRACKING

Function Documentation

◆ rs2_context_add_device()

◆ rs2_context_add_software_device()

◆ rs2_context_remove_device()

◆ rs2_context_unload_tracking_module()

◆ rs2_create_context()

◆ rs2_create_context_ex()

◆ rs2_create_device_hub()

◆ rs2_delete_context()

◆ rs2_delete_device_hub()

◆ rs2_device_hub_is_device_connected()

◆ rs2_device_hub_wait_for_device()

◆ rs2_query_devices()

◆ rs2_query_devices_ex()

◆ rs2_set_devices_changed_callback()

◆ rs2_set_devices_changed_callback_cpp()