rs_sensor.h File Reference

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

#include "rs_types.h"

Go to the source code of this file.

Classes
struct	rs2_extrinsics
	Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. More...
struct	rs2_combined_motion
	RS2_STREAM_MOTION / RS2_FORMAT_COMBINED_MOTION content is similar to ROS2's Imu message. More...

Typedefs
typedef enum rs2_camera_info	rs2_camera_info
	Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications. More...
typedef enum rs2_stream	rs2_stream
	Streams are different types of data provided by RealSense devices. More...
typedef enum rs2_format	rs2_format
	A stream's format identifies how binary data is encoded within a frame. More...
typedef struct rs2_extrinsics	rs2_extrinsics
	Cross-stream extrinsics: encodes the topology describing how the different devices are oriented. More...
typedef struct rs2_combined_motion	rs2_combined_motion
	RS2_STREAM_MOTION / RS2_FORMAT_COMBINED_MOTION content is similar to ROS2's Imu message. More...

Enumerations
enum	rs2_camera_info {   RS2_CAMERA_INFO_NAME, RS2_CAMERA_INFO_SERIAL_NUMBER, RS2_CAMERA_INFO_FIRMWARE_VERSION, RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION,   RS2_CAMERA_INFO_PHYSICAL_PORT, RS2_CAMERA_INFO_DEBUG_OP_CODE, RS2_CAMERA_INFO_ADVANCED_MODE, RS2_CAMERA_INFO_PRODUCT_ID,   RS2_CAMERA_INFO_CAMERA_LOCKED, RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR, RS2_CAMERA_INFO_PRODUCT_LINE, RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER,   RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID, RS2_CAMERA_INFO_IP_ADDRESS, RS2_CAMERA_INFO_DFU_DEVICE_PATH, RS2_CAMERA_INFO_COUNT }
	Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications. More...
enum	rs2_stream {   RS2_STREAM_ANY, RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED,   RS2_STREAM_FISHEYE, RS2_STREAM_GYRO, RS2_STREAM_ACCEL, RS2_STREAM_GPIO,   RS2_STREAM_POSE, RS2_STREAM_CONFIDENCE, RS2_STREAM_MOTION, RS2_STREAM_COUNT }
	Streams are different types of data provided by RealSense devices. More...
enum	rs2_format {   RS2_FORMAT_ANY, RS2_FORMAT_Z16, RS2_FORMAT_DISPARITY16, RS2_FORMAT_XYZ32F,   RS2_FORMAT_YUYV, RS2_FORMAT_RGB8, RS2_FORMAT_BGR8, RS2_FORMAT_RGBA8,   RS2_FORMAT_BGRA8, RS2_FORMAT_Y8, RS2_FORMAT_Y16, RS2_FORMAT_RAW10,   RS2_FORMAT_RAW16, RS2_FORMAT_RAW8, RS2_FORMAT_UYVY, RS2_FORMAT_MOTION_RAW,   RS2_FORMAT_MOTION_XYZ32F, RS2_FORMAT_GPIO_RAW, RS2_FORMAT_6DOF, RS2_FORMAT_DISPARITY32,   RS2_FORMAT_Y10BPACK, RS2_FORMAT_DISTANCE, RS2_FORMAT_MJPEG, RS2_FORMAT_Y8I,   RS2_FORMAT_Y12I, RS2_FORMAT_INZI, RS2_FORMAT_INVI, RS2_FORMAT_W10,   RS2_FORMAT_Z16H, RS2_FORMAT_FG, RS2_FORMAT_Y411, RS2_FORMAT_Y16I,   RS2_FORMAT_M420, RS2_FORMAT_COMBINED_MOTION, RS2_FORMAT_COUNT }
	A stream's format identifies how binary data is encoded within a frame. More...

Functions
const char *	rs2_camera_info_to_string (rs2_camera_info info)
const char *	rs2_stream_to_string (rs2_stream stream)
const char *	rs2_format_to_string (rs2_format format)
void	rs2_delete_sensor_list (rs2_sensor_list *info_list)
int	rs2_get_sensors_count (const rs2_sensor_list *info_list, rs2_error **error)
void	rs2_delete_sensor (rs2_sensor *sensor)
rs2_sensor *	rs2_create_sensor (const rs2_sensor_list *list, int index, rs2_error **error)
rs2_device *	rs2_create_device_from_sensor (const rs2_sensor *sensor, rs2_error **error)
const char *	rs2_get_sensor_info (const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
int	rs2_supports_sensor_info (const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
int	rs2_is_sensor_extendable_to (const rs2_sensor *sensor, rs2_extension extension, rs2_error **error)
float	rs2_get_depth_scale (rs2_sensor *sensor, rs2_error **error)
float	rs2_depth_stereo_frame_get_baseline (const rs2_frame *frame_ref, rs2_error **error)
float	rs2_get_stereo_baseline (rs2_sensor *sensor, rs2_error **error)
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 More...
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 More...
void	rs2_open (rs2_sensor *device, const rs2_stream_profile *profile, rs2_error **error)
void	rs2_open_multiple (rs2_sensor *device, const rs2_stream_profile **profiles, int count, rs2_error **error)
void	rs2_close (const rs2_sensor *sensor, rs2_error **error)
void	rs2_start (const rs2_sensor *sensor, rs2_frame_callback_ptr on_frame, void *user, rs2_error **error)
void	rs2_start_cpp (const rs2_sensor *sensor, rs2_frame_callback *callback, rs2_error **error)
void	rs2_start_queue (const rs2_sensor *sensor, rs2_frame_queue *queue, rs2_error **error)
void	rs2_stop (const rs2_sensor *sensor, 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_set_notifications_callback_cpp (const rs2_sensor *sensor, rs2_notifications_callback *callback, rs2_error **error)
const char *	rs2_get_notification_description (rs2_notification *notification, rs2_error **error)
rs2_time_t	rs2_get_notification_timestamp (rs2_notification *notification, rs2_error **error)
rs2_log_severity	rs2_get_notification_severity (rs2_notification *notification, rs2_error **error)
rs2_notification_category	rs2_get_notification_category (rs2_notification *notification, rs2_error **error)
const char *	rs2_get_notification_serialized_data (rs2_notification *notification, rs2_error **error)
rs2_stream_profile_list *	rs2_get_stream_profiles (rs2_sensor *sensor, rs2_error **error)
rs2_stream_profile_list *	rs2_get_debug_stream_profiles (rs2_sensor *sensor, rs2_error **error)
rs2_stream_profile_list *	rs2_get_active_streams (rs2_sensor *sensor, rs2_error **error)
const rs2_stream_profile *	rs2_get_stream_profile (const rs2_stream_profile_list *list, int index, rs2_error **error)
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)
void	rs2_set_stream_profile_data (rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
rs2_stream_profile *	rs2_clone_stream_profile (const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
rs2_stream_profile *	rs2_clone_video_stream_profile (const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, int width, int height, const rs2_intrinsics *intr, rs2_error **error)
void	rs2_delete_stream_profile (rs2_stream_profile *mode)
int	rs2_stream_profile_is (const rs2_stream_profile *mode, rs2_extension type, rs2_error **error)
void	rs2_get_video_stream_resolution (const rs2_stream_profile *mode, int *width, int *height, rs2_error **error)
void	rs2_get_motion_intrinsics (const rs2_stream_profile *mode, rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
int	rs2_is_stream_profile_default (const rs2_stream_profile *mode, rs2_error **error)
int	rs2_get_stream_profiles_count (const rs2_stream_profile_list *list, rs2_error **error)
void	rs2_delete_stream_profiles_list (rs2_stream_profile_list *list)
void	rs2_get_extrinsics (const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics *extrin, rs2_error **error)
void	rs2_register_extrinsics (const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
void	rs2_override_extrinsics (const rs2_sensor *sensor, const rs2_extrinsics *extrinsics, rs2_error **error)
	Override extrinsics of a given sensor that supports calibrated_sensor. More...
void	rs2_get_video_stream_intrinsics (const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
rs2_processing_block_list *	rs2_get_recommended_processing_blocks (rs2_sensor *sensor, rs2_error **error)
rs2_processing_block *	rs2_get_processing_block (const rs2_processing_block_list *list, int index, rs2_error **error)
int	rs2_get_recommended_processing_blocks_count (const rs2_processing_block_list *list, rs2_error **error)
void	rs2_delete_recommended_processing_blocks (rs2_processing_block_list *list)
int	rs2_import_localization_map (const rs2_sensor *sensor, const unsigned char *lmap_blob, unsigned int blob_size, rs2_error **error)
const rs2_raw_data_buffer *	rs2_export_localization_map (const rs2_sensor *sensor, rs2_error **error)
int	rs2_set_static_node (const rs2_sensor *sensor, const char *guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error **error)
int	rs2_get_static_node (const rs2_sensor *sensor, const char *guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error **error)
int	rs2_remove_static_node (const rs2_sensor *sensor, const char *guid, rs2_error **error)
int	rs2_load_wheel_odometry_config (const rs2_sensor *sensor, const unsigned char *odometry_config_buf, unsigned int blob_size, rs2_error **error)
int	rs2_send_wheel_odometry (const rs2_sensor *sensor, char wo_sensor_id, unsigned int frame_num, const rs2_vector translational_velocity, rs2_error **error)
void	rs2_set_intrinsics (const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_intrinsics *intrinsics, rs2_error **error)
void	rs2_override_intrinsics (const rs2_sensor *sensor, const rs2_intrinsics *intrinsics, rs2_error **error)
	Override intrinsics of a given sensor that supports calibrated_sensor. More...
void	rs2_set_extrinsics (const rs2_sensor *from_sensor, const rs2_stream_profile *from_profile, rs2_sensor *to_sensor, const rs2_stream_profile *to_profile, const rs2_extrinsics *extrinsics, rs2_error **error)
void	rs2_reset_sensor_calibration (rs2_sensor const *sensor, rs2_error **error)
void	rs2_set_motion_device_intrinsics (const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
float	rs2_get_max_usable_depth_range (rs2_sensor const *sensor, rs2_error **error)

Detailed Description

Exposes RealSense sensor functionality for C compilers.

Typedef Documentation

rs2_camera_info

typedef enum rs2_camera_info rs2_camera_info

Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.

rs2_combined_motion

typedef struct rs2_combined_motion rs2_combined_motion

RS2_STREAM_MOTION / RS2_FORMAT_COMBINED_MOTION content is similar to ROS2's Imu message.

rs2_extrinsics

typedef struct rs2_extrinsics rs2_extrinsics

Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.

rs2_format

typedef enum rs2_format rs2_format

A stream's format identifies how binary data is encoded within a frame.

rs2_stream

typedef enum rs2_stream rs2_stream

Streams are different types of data provided by RealSense devices.

Enumeration Type Documentation

rs2_camera_info

enum rs2_camera_info

Read-only strings that can be queried from the device. Not all information attributes are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.

Enumerator
RS2_CAMERA_INFO_NAME	Friendly name
RS2_CAMERA_INFO_SERIAL_NUMBER	Device serial number
RS2_CAMERA_INFO_FIRMWARE_VERSION	Primary firmware version
RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION	Recommended firmware version
RS2_CAMERA_INFO_PHYSICAL_PORT	Unique identifier of the port the device is connected to (platform specific)
RS2_CAMERA_INFO_DEBUG_OP_CODE	If device supports firmware logging, this is the command to send to get logs from firmware
RS2_CAMERA_INFO_ADVANCED_MODE	True iff the device is in advanced mode
RS2_CAMERA_INFO_PRODUCT_ID	Product ID as reported in the USB descriptor
RS2_CAMERA_INFO_CAMERA_LOCKED	True iff EEPROM is locked
RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR	Designated USB specification: USB2/USB3
RS2_CAMERA_INFO_PRODUCT_LINE	Device product line D400, etc.
RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER	ASIC serial number
RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID	Firmware update ID
RS2_CAMERA_INFO_IP_ADDRESS	IP address for remote camera.
RS2_CAMERA_INFO_DFU_DEVICE_PATH	DFU Device node path
RS2_CAMERA_INFO_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

rs2_format

enum rs2_format

A stream's format identifies how binary data is encoded within a frame.

Enumerator
RS2_FORMAT_ANY	When passed to enable stream, librealsense will try to provide best suited format
RS2_FORMAT_Z16	16-bit linear depth values. The depth is meters is equal to depth scale * pixel value.
RS2_FORMAT_DISPARITY16	16-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth.
RS2_FORMAT_XYZ32F	32-bit floating point 3D coordinates.
RS2_FORMAT_YUYV	32-bit y0, u, y1, v data for every two pixels. Similar to YUV422 but packed in a different order - https://en.wikipedia.org/wiki/YUV
RS2_FORMAT_RGB8	8-bit red, green and blue channels
RS2_FORMAT_BGR8	8-bit blue, green, and red channels – suitable for OpenCV
RS2_FORMAT_RGBA8	8-bit red, green and blue channels + constant alpha channel equal to FF
RS2_FORMAT_BGRA8	8-bit blue, green, and red channels + constant alpha channel equal to FF
RS2_FORMAT_Y8	8-bit per-pixel grayscale image
RS2_FORMAT_Y16	16-bit per-pixel grayscale image
RS2_FORMAT_RAW10	Four 10 bits per pixel luminance values packed into a 5-byte macropixel
RS2_FORMAT_RAW16	16-bit raw image
RS2_FORMAT_RAW8	8-bit raw image
RS2_FORMAT_UYVY	Similar to the standard YUYV pixel format, but packed in a different order
RS2_FORMAT_MOTION_RAW	Raw data from the motion sensor
RS2_FORMAT_MOTION_XYZ32F	Motion data packed as 3 32-bit float values, for X, Y, and Z axis
RS2_FORMAT_GPIO_RAW	Raw data from the external sensors hooked to one of the GPIO's
RS2_FORMAT_6DOF	Pose data packed as floats array, containing translation vector, rotation quaternion and prediction velocities and accelerations vectors
RS2_FORMAT_DISPARITY32	32-bit float-point disparity values. Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth
RS2_FORMAT_Y10BPACK	16-bit per-pixel grayscale image unpacked from 10 bits per pixel packed ([8:8:8:8:2222]) grey-scale image. The data is unpacked to LSB and padded with 6 zero bits
RS2_FORMAT_DISTANCE	32-bit float-point depth distance value.
RS2_FORMAT_MJPEG	Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB
RS2_FORMAT_Y8I	8-bit per pixel interleaved. 8-bit left, 8-bit right.
RS2_FORMAT_Y12I	12-bit per pixel interleaved. 12-bit left, 12-bit right. Each pixel is stored in a 24-bit word in little-endian order.
RS2_FORMAT_INZI	multi-planar Depth 16bit + IR 10bit.
RS2_FORMAT_INVI	8-bit IR stream.
RS2_FORMAT_W10	Grey-scale image as a bit-packed array. 4 pixel data stream taking 5 bytes
RS2_FORMAT_Z16H	DEPRECATED! - Variable-length Huffman-compressed 16-bit depth values.
RS2_FORMAT_FG	16-bit per-pixel frame grabber format.
RS2_FORMAT_Y411	12-bit per-pixel.
RS2_FORMAT_Y16I	12-bit per pixel interleaved. 12-bit left, 12-bit right.
RS2_FORMAT_M420	24-bit for every pixel: y for each pixel, and u,v data for every four pixels - packed as 2 lines of y, 1 line of u,v
RS2_FORMAT_COMBINED_MOTION	Combined motion data, as in the combined_motion structure
RS2_FORMAT_COUNT	Number of enumeration values. Not a valid input: intended to be used in for-loops.

rs2_stream

enum rs2_stream

Streams are different types of data provided by RealSense devices.

Enumerator
RS2_STREAM_ANY
RS2_STREAM_DEPTH	Native stream of depth data produced by RealSense device
RS2_STREAM_COLOR	Native stream of color data captured by RealSense device
RS2_STREAM_INFRARED	Native stream of infrared data captured by RealSense device
RS2_STREAM_FISHEYE	Native stream of fish-eye (wide) data captured from the dedicate motion camera
RS2_STREAM_GYRO	Native stream of gyroscope motion data produced by RealSense device
RS2_STREAM_ACCEL	Native stream of accelerometer motion data produced by RealSense device
RS2_STREAM_GPIO	Signals from external device connected through GPIO
RS2_STREAM_POSE	6 Degrees of Freedom pose data, calculated by RealSense device
RS2_STREAM_CONFIDENCE	4 bit per-pixel depth confidence level
RS2_STREAM_MOTION	Native stream of combined motion data (incl. accel & gyro)
RS2_STREAM_COUNT

Function Documentation

rs2_camera_info_to_string()

const char* rs2_camera_info_to_string

(

rs2_camera_info

info

)

rs2_clone_stream_profile()

rs2_stream_profile* rs2_clone_stream_profile	(	const rs2_stream_profile *	mode,
		rs2_stream	stream,
		int	index,
		rs2_format	format,
		rs2_error **	error
	)

Creates a copy of stream profile, assigning new values to some of the fields

Parameters

[in]	mode	input stream profile
[in]	stream	stream type for the profile
[in]	format	binary data format of the profile
[in]	index	stream index the profile in case there are multiple streams of the same type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

new stream profile, must be deleted by rs2_delete_stream_profile

rs2_clone_video_stream_profile()

rs2_stream_profile* rs2_clone_video_stream_profile	(	const rs2_stream_profile *	mode,
		rs2_stream	stream,
		int	index,
		rs2_format	format,
		int	width,
		int	height,
		const rs2_intrinsics *	intr,
		rs2_error **	error
	)

Creates a copy of stream profile, assigning new values to some of the fields

Parameters

[in]	mode	input stream profile
[in]	stream	stream type for the profile
[in]	format	binary data format of the profile
[in]	width	new width for the profile
[in]	height	new height for the profile
[in]	intr	new intrinsics for the profile
[in]	index	stream index the profile in case there are multiple streams of the same type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

new stream profile, must be deleted by rs2_delete_stream_profile

rs2_close()

void rs2_close	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

stop any streaming from specified subdevice

Parameters

[in]	sensor	RealSense device
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_create_device_from_sensor()

rs2_device* rs2_create_device_from_sensor	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

This is a helper function allowing the user to discover the device from one of its sensors

Parameters

[in]	sensor	Pointer to a sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

new device wrapper for the device of the sensor. Needs to be released by delete_device

rs2_create_sensor()

rs2_sensor* rs2_create_sensor	(	const rs2_sensor_list *	list,
		int	index,
		rs2_error **	error
	)

create sensor by index

Parameters

[in]	index	the zero based index of sensor to retrieve
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the requested sensor, should be released by rs2_delete_sensor

rs2_delete_recommended_processing_blocks()

void rs2_delete_recommended_processing_blocks

(

rs2_processing_block_list *

list

)

Deletes processing blocks list

Parameters

[in]

list

list to delete

rs2_delete_sensor()

void rs2_delete_sensor

(

rs2_sensor *

sensor

)

delete relasense sensor

Parameters

[in]

sensor

realsense sensor to delete

rs2_delete_sensor_list()

void rs2_delete_sensor_list

(

rs2_sensor_list *

info_list

)

Deletes sensors list, any sensors created from this list will remain unaffected

Parameters

[in]

info_list

list to delete

rs2_delete_stream_profile()

void rs2_delete_stream_profile

(

rs2_stream_profile *

mode

)

Delete stream profile allocated by rs2_clone_stream_profile Should not be called on stream profiles returned by the device

Parameters

[in]

mode

input stream profile

rs2_delete_stream_profiles_list()

void rs2_delete_stream_profiles_list

(

rs2_stream_profile_list *

list

)

delete stream profiles list

Parameters

[in]

list

the list of supported profiles returned by rs2_get_supported_profiles

rs2_depth_stereo_frame_get_baseline()

float rs2_depth_stereo_frame_get_baseline	(	const rs2_frame *	frame_ref,
		rs2_error **	error
	)

Retrieve the stereoscopic baseline value from frame. Applicable to stereo-based depth modules

Parameters

[out]	float	Stereoscopic baseline in millimeters
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_export_localization_map()

const rs2_raw_data_buffer* rs2_export_localization_map	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

Extract and store the localization map of tm2 tracking device to file

Parameters

[in]	sensor	TM2 position-tracking sensor
[in]	lmap_fname	The file name of the localization map
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Device's response in a rs2_raw_data_buffer, which should be released by rs2_delete_raw_data

rs2_format_to_string()

const char* rs2_format_to_string

(

rs2_format

format

)

rs2_get_active_streams()

rs2_stream_profile_list* rs2_get_active_streams	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

check how subdevice is streaming

Parameters

[in]	sensor	input RealSense subdevice
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

list of stream profiles that given subdevice is currently streaming, should be released by rs2_delete_profiles_list

rs2_get_debug_stream_profiles()

rs2_stream_profile_list* rs2_get_debug_stream_profiles	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

retrieve list of debug stream profiles that given subdevice can provide

Parameters

[in]	sensor	input RealSense subdevice
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

list of debug stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list

rs2_get_depth_scale()

float rs2_get_depth_scale	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

When called on a depth sensor, this method will return the number of meters represented by a single depth unit

Parameters

[in]	sensor	depth sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the number of meters represented by a single depth unit

rs2_get_extrinsics()

void rs2_get_extrinsics	(	const rs2_stream_profile *	from,
		const rs2_stream_profile *	to,
		rs2_extrinsics *	extrin,
		rs2_error **	error
	)

Parameters

[in]	from	origin stream profile
[in]	to	target stream profile
[out]	extrin	extrinsics from origin to target
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_max_usable_depth_range()

float rs2_get_max_usable_depth_range	(	rs2_sensor const *	sensor,
		rs2_error **	error
	)

When called on a depth sensor, this method will return the maximum range of the camera given the amount of ambient light in the scene

Parameters

[in]	sensor	depth sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the max usable range in meters

rs2_get_motion_intrinsics()

void rs2_get_motion_intrinsics	(	const rs2_stream_profile *	mode,
		rs2_motion_device_intrinsic *	intrinsics,
		rs2_error **	error
	)

Obtain the intrinsics of a specific stream configuration from the device.

Parameters

[in]	mode	input stream profile
[out]	intrinsics	Pointer to the struct to store the data in
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_notification_category()

rs2_notification_category rs2_get_notification_category	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve category from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the notification category

rs2_get_notification_description()

const char* rs2_get_notification_description	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve description from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the notification description

rs2_get_notification_serialized_data()

const char* rs2_get_notification_serialized_data	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve serialized data from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the serialized data (in JSON format)

rs2_get_notification_severity()

rs2_log_severity rs2_get_notification_severity	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve severity from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the notification severity

rs2_get_notification_timestamp()

rs2_time_t rs2_get_notification_timestamp	(	rs2_notification *	notification,
		rs2_error **	error
	)

retrieve timestamp from notification handle

Parameters

[in]	notification	handle returned from a callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the notification timestamp

rs2_get_processing_block()

rs2_processing_block* rs2_get_processing_block	(	const rs2_processing_block_list *	list,
		int	index,
		rs2_error **	error
	)

Returns specific processing blocks from processing blocks list

Parameters

[in]	list	the processing blocks list
[in]	index	the requested processing block
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

processing block

rs2_get_recommended_processing_blocks()

rs2_processing_block_list* rs2_get_recommended_processing_blocks	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

Returns the list of recommended processing blocks for a specific sensor. Order and configuration of the blocks are decided by the sensor

Parameters

[in]	sensor	input sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

list of supported sensor recommended processing blocks

rs2_get_recommended_processing_blocks_count()

int rs2_get_recommended_processing_blocks_count	(	const rs2_processing_block_list *	list,
		rs2_error **	error
	)

Returns the processing blocks list size

Parameters

[in]	list	the processing blocks list
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the processing block list size

rs2_get_region_of_interest()

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

Parameters

[in]	sensor	the RealSense sensor
[out]	min_x	lower horizontal bound in pixels
[out]	min_y	lower vertical bound in pixels
[out]	max_x	upper horizontal bound in pixels
[out]	max_y	upper vertical bound in pixels
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_sensor_info()

const char* rs2_get_sensor_info	(	const rs2_sensor *	sensor,
		rs2_camera_info	info,
		rs2_error **	error
	)

retrieve sensor specific information, like versions of various internal components

Parameters

[in]	sensor	the RealSense sensor
[in]	info	camera info type to retrieve
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

the requested camera info string, in a format specific to the device model

rs2_get_sensors_count()

int rs2_get_sensors_count	(	const rs2_sensor_list *	info_list,
		rs2_error **	error
	)

Determines number of sensors in a list

Parameters

[in]	info_list	The list of connected sensors captured using rs2_query_sensors
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Sensors count

rs2_get_static_node()

int rs2_get_static_node	(	const rs2_sensor *	sensor,
		const char *	guid,
		rs2_vector *	pos,
		rs2_quaternion *	orient,
		rs2_error **	error
	)

Retrieve a named location tag

Parameters

[in]	sensor	T2xx position-tracking sensor
[in]	guid	Null-terminated string of up to 127 characters
[out]	pos	Position in meters of the tagged (stored) location
[out]	orient	Quaternion orientation of the tagged (stored) location
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Non-zero if succeeded, otherwise 0

rs2_get_stereo_baseline()

float rs2_get_stereo_baseline	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

Retrieve the stereoscopic baseline value from sensor. Applicable to stereo-based depth modules

Parameters

[out]	float	Stereoscopic baseline in millimeters
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_stream_profile()

const rs2_stream_profile* rs2_get_stream_profile	(	const rs2_stream_profile_list *	list,
		int	index,
		rs2_error **	error
	)

Get pointer to specific stream profile

Parameters

[in]	list	the list of supported profiles returned by rs2_get_supported_profiles
[in]	index	the zero based index of the streaming mode
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_stream_profile_data()

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
	)

Extract common parameters of a stream profiles

Parameters

[in]	mode	input stream profile
[out]	stream	stream type of the input profile
[out]	format	binary data format of the input profile
[out]	index	stream index the input profile in case there are multiple streams of the same type
[out]	unique_id	identifier for the stream profile, unique within the application
[out]	framerate	expected rate for data frames to arrive, meaning expected number of frames per second
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_stream_profiles()

rs2_stream_profile_list* rs2_get_stream_profiles	(	rs2_sensor *	sensor,
		rs2_error **	error
	)

check if physical subdevice is supported

Parameters

[in]	sensor	input RealSense subdevice
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

list of stream profiles that given subdevice can provide, should be released by rs2_delete_profiles_list

rs2_get_stream_profiles_count()

int rs2_get_stream_profiles_count	(	const rs2_stream_profile_list *	list,
		rs2_error **	error
	)

get the number of supported stream profiles

Parameters

[in]	list	the list of supported profiles returned by rs2_get_supported_profiles
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

number of supported subdevice profiles

rs2_get_video_stream_intrinsics()

void rs2_get_video_stream_intrinsics	(	const rs2_stream_profile *	mode,
		rs2_intrinsics *	intrinsics,
		rs2_error **	error
	)

When called on a video profile, returns the intrinsics of specific stream configuration

Parameters

[in]	mode	input stream profile
[out]	intrinsics	resulting intrinsics for the video profile
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_get_video_stream_resolution()

void rs2_get_video_stream_resolution	(	const rs2_stream_profile *	mode,
		int *	width,
		int *	height,
		rs2_error **	error
	)

When called on a video stream profile, will return the width and the height of the stream

Parameters

[in]	mode	input stream profile
[out]	width	width in pixels of the video stream
[out]	height	height in pixels of the video stream
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_import_localization_map()

int rs2_import_localization_map	(	const rs2_sensor *	sensor,
		const unsigned char *	lmap_blob,
		unsigned int	blob_size,
		rs2_error **	error
	)

Imports a localization map from file to tm2 tracking device

Parameters

[in]	sensor	TM2 position-tracking sensor
[in]	lmap_blob	Localization map raw buffer, serialized
[in]	blob_size	The buffer's size in bytes
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Non-zero if succeeded, otherwise 0

rs2_is_sensor_extendable_to()

int rs2_is_sensor_extendable_to	(	const rs2_sensor *	sensor,
		rs2_extension	extension,
		rs2_error **	error
	)

Test if the given sensor can be extended to the requested extension

Parameters

[in]	sensor	Realsense sensor
[in]	extension	The extension to which the sensor should be tested if it is extendable
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

non-zero value iff the sensor can be extended to the given extension

rs2_is_stream_profile_default()

int rs2_is_stream_profile_default	(	const rs2_stream_profile *	mode,
		rs2_error **	error
	)

Returns non-zero if selected profile is recommended for the sensor This is an optional hint we offer to suggest profiles with best performance-quality tradeof

Parameters

[in]	mode	input stream profile
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

non-zero if selected profile is recommended for the sensor

rs2_load_wheel_odometry_config()

int rs2_load_wheel_odometry_config	(	const rs2_sensor *	sensor,
		const unsigned char *	odometry_config_buf,
		unsigned int	blob_size,
		rs2_error **	error
	)

Load Wheel odometer settings from host to device

Parameters

[in]

odometry_config_buf

odometer configuration/calibration blob serialized from jsom file

Returns

true on success

rs2_open()

void rs2_open	(	rs2_sensor *	device,
		const rs2_stream_profile *	profile,
		rs2_error **	error
	)

open subdevice for exclusive access, by committing to a configuration

Parameters

[in]	device	relevant RealSense device
[in]	profile	stream profile that defines single stream configuration
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_open_multiple()

void rs2_open_multiple	(	rs2_sensor *	device,
		const rs2_stream_profile **	profiles,
		int	count,
		rs2_error **	error
	)

open subdevice for exclusive access, by committing to composite configuration, specifying one or more stream profiles this method should be used for interdependent streams, such as depth and infrared, that have to be configured together

Parameters

[in]	device	relevant RealSense device
[in]	profiles	list of stream profiles discovered by get_stream_profiles
[in]	count	number of simultaneous stream profiles to configure
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_override_extrinsics()

void rs2_override_extrinsics	(	const rs2_sensor *	sensor,
		const rs2_extrinsics *	extrinsics,
		rs2_error **	error
	)

Override extrinsics of a given sensor that supports calibrated_sensor.

This will affect extrinsics at the source device and may affect multiple profiles. Used for DEPTH_TO_RGB calibration.

Parameters

[in]	sensor	The sensor
[in]	extrinsics	Extrinsics from Depth to the named sensor
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_override_intrinsics()

void rs2_override_intrinsics	(	const rs2_sensor *	sensor,
		const rs2_intrinsics *	intrinsics,
		rs2_error **	error
	)

Override intrinsics of a given sensor that supports calibrated_sensor.

This will affect intrinsics at the source and may affect multiple profiles. Used for DEPTH_TO_RGB calibration.

Parameters

[in]	sensor	The RealSense device
[in]	intrinsics	Intrinsics value to be written to the sensor
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_register_extrinsics()

void rs2_register_extrinsics	(	const rs2_stream_profile *	from,
		const rs2_stream_profile *	to,
		rs2_extrinsics	extrin,
		rs2_error **	error
	)

Parameters

[in]	from	origin stream profile
[in]	to	target stream profile
[out]	extrin	extrinsics from origin to target
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_remove_static_node()

int rs2_remove_static_node	(	const rs2_sensor *	sensor,
		const char *	guid,
		rs2_error **	error
	)

Remove a named location tag

Parameters

[in]	sensor	T2xx position-tracking sensor
[in]	guid	Null-terminated string of up to 127 characters
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Non-zero if succeeded, otherwise 0

rs2_reset_sensor_calibration()

void rs2_reset_sensor_calibration	(	rs2_sensor const *	sensor,
		rs2_error **	error
	)

Reset the sensor DSM parameters This should ideally be done when the stream is NOT running. May not take effect immediately.

Parameters

[in]	sensor	Sensor that supports the CALIBRATED_SENSOR extension
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_send_wheel_odometry()

int rs2_send_wheel_odometry	(	const rs2_sensor *	sensor,
		char	wo_sensor_id,
		unsigned int	frame_num,
		const rs2_vector	translational_velocity,
		rs2_error **	error
	)

Send wheel odometry data for each individual sensor (wheel)

Parameters

[in]	wo_sensor_id	- Zero-based index of (wheel) sensor with the same type within device
[in]	frame_num	- Monotonocally increasing frame number, managed per sensor.
[in]	translational_velocity	- Translational velocity of the wheel sensor [meter/sec]

Returns

true on success

rs2_set_extrinsics()

void rs2_set_extrinsics	(	const rs2_sensor *	from_sensor,
		const rs2_stream_profile *	from_profile,
		rs2_sensor *	to_sensor,
		const rs2_stream_profile *	to_profile,
		const rs2_extrinsics *	extrinsics,
		rs2_error **	error
	)

Set extrinsics between two sensors

Parameters

[in]	from_sensor	Origin sensor
[in]	from_profile	Origin profile
[in]	to_sensor	Target sensor
[in]	to_profile	Target profile
[out]	extrinsics	Extrinsics from origin to target
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_set_intrinsics()

void rs2_set_intrinsics	(	const rs2_sensor *	sensor,
		const rs2_stream_profile *	profile,
		const rs2_intrinsics *	intrinsics,
		rs2_error **	error
	)

Set intrinsics of a given sensor

Parameters

[in]	sensor	The RealSense device
[in]	profile	Target stream profile
[in]	intrinsics	Intrinsics value to be written to the device
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_set_motion_device_intrinsics()

void rs2_set_motion_device_intrinsics	(	const rs2_sensor *	sensor,
		const rs2_stream_profile *	profile,
		const rs2_motion_device_intrinsic *	intrinsics,
		rs2_error **	error
	)

Set motion device intrinsics

Parameters

[in]	sensor	Motion sensor
[in]	profile	Motion stream profile
[out]	intrinsics	Pointer to the struct to store the data in
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_set_notifications_callback()

void rs2_set_notifications_callback	(	const rs2_sensor *	sensor,
		rs2_notification_callback_ptr	on_notification,
		void *	user,
		rs2_error **	error
	)

set callback to get notifications from specified sensor

Parameters

[in]	sensor	RealSense device
[in]	on_notification	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_notifications_callback_cpp()

void rs2_set_notifications_callback_cpp	(	const rs2_sensor *	sensor,
		rs2_notifications_callback *	callback,
		rs2_error **	error
	)

set callback to get notifications from specified device

Parameters

[in]	sensor	RealSense sensor
[in]	callback	callback object created from c++ application. ownership over the callback object is moved into the relevant subdevice lock
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_set_region_of_interest()

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

Parameters

[in]	sensor	the RealSense sensor
[in]	min_x	lower horizontal bound in pixels
[in]	min_y	lower vertical bound in pixels
[in]	max_x	upper horizontal bound in pixels
[in]	max_y	upper vertical bound in pixels
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_set_static_node()

int rs2_set_static_node	(	const rs2_sensor *	sensor,
		const char *	guid,
		const rs2_vector	pos,
		const rs2_quaternion	orient,
		rs2_error **	error
	)

Create a named location tag

Parameters

[in]	sensor	T2xx position-tracking sensor
[in]	guid	Null-terminated string of up to 127 characters
[in]	pos	Position in meters, relative to the current tracking session
[in]	orient	Quaternion orientation, expressed the the coordinate system of the current tracking session
[out]	error	If non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

Non-zero if succeeded, otherwise 0

rs2_set_stream_profile_data()

void rs2_set_stream_profile_data	(	rs2_stream_profile *	mode,
		rs2_stream	stream,
		int	index,
		rs2_format	format,
		rs2_error **	error
	)

Override some of the parameters of the stream profile

Parameters

[in]	mode	input stream profile
[in]	stream	stream type for the profile
[in]	format	binary data format of the profile
[in]	index	stream index the profile in case there are multiple streams of the same type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start()

void rs2_start	(	const rs2_sensor *	sensor,
		rs2_frame_callback_ptr	on_frame,
		void *	user,
		rs2_error **	error
	)

start streaming from specified configured sensor

Parameters

[in]	sensor	RealSense device
[in]	on_frame	function pointer to register as per-frame callback
[in]	user	auxiliary data the user wishes to receive together with every frame callback
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start_cpp()

void rs2_start_cpp	(	const rs2_sensor *	sensor,
		rs2_frame_callback *	callback,
		rs2_error **	error
	)

start streaming from specified configured sensor

Parameters

[in]	sensor	RealSense device
[in]	callback	callback object created from c++ application. ownership over the callback object is moved into the relevant streaming lock
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_start_queue()

void rs2_start_queue	(	const rs2_sensor *	sensor,
		rs2_frame_queue *	queue,
		rs2_error **	error
	)

start streaming from specified configured sensor of specific stream to frame queue

Parameters

[in]	sensor	RealSense Sensor
[in]	queue	frame-queue to store new frames into
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_stop()

void rs2_stop	(	const rs2_sensor *	sensor,
		rs2_error **	error
	)

stops streaming from specified configured device

Parameters

[in]	sensor	RealSense sensor
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_stream_profile_is()

int rs2_stream_profile_is	(	const rs2_stream_profile *	mode,
		rs2_extension	type,
		rs2_error **	error
	)

Try to extend stream profile to an extension type

Parameters

[in]	mode	input stream profile
[in]	type	extension type, for example RS2_EXTENSION_VIDEO_STREAM_PROFILE
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

non-zero if profile is extendable to specified extension, zero otherwise

rs2_stream_to_string()

const char* rs2_stream_to_string

(

rs2_stream

stream

)

rs2_supports_sensor_info()

int rs2_supports_sensor_info	(	const rs2_sensor *	sensor,
		rs2_camera_info	info,
		rs2_error **	error
	)

check if specific sensor info is supported

Parameters

[in]	info	the parameter to check for support
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

true if the parameter both exist and well-defined for the specific device