Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
rs_sensor.h
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1 /* License: Apache 2.0. See LICENSE file in root directory.
2  Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
3 
10 #ifndef LIBREALSENSE_RS2_SENSOR_H
11 #define LIBREALSENSE_RS2_SENSOR_H
12 
13 #ifdef __cplusplus
14 extern "C" {
15 #endif
16 
17 #include "rs_types.h"
18 
22 typedef enum rs2_camera_info {
40 
42 typedef enum rs2_stream
43 {
55 } rs2_stream;
56 const char* rs2_stream_to_string(rs2_stream stream);
57 
59 typedef enum rs2_format
60 {
91 } rs2_format;
92 const char* rs2_format_to_string(rs2_format format);
93 
95 typedef struct rs2_extrinsics
96 {
97  float rotation[9];
98  float translation[3];
100 
105 void rs2_delete_sensor_list(rs2_sensor_list* info_list);
106 
113 int rs2_get_sensors_count(const rs2_sensor_list* info_list, rs2_error** error);
114 
119 void rs2_delete_sensor(rs2_sensor* sensor);
120 
127 rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error);
128 
136 
144 const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
145 
152 int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
153 
161 int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extension, rs2_error** error);
162 
168 float rs2_get_depth_scale(rs2_sensor* sensor, rs2_error** error);
169 
175 float rs2_depth_stereo_frame_get_baseline(const rs2_frame* frame_ref, rs2_error** error);
176 
182 float rs2_get_stereo_baseline(rs2_sensor* sensor, rs2_error** error);
183 
193 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);
194 
204 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);
205 
212 void rs2_open(rs2_sensor* device, const rs2_stream_profile* profile, rs2_error** error);
213 
222 void rs2_open_multiple(rs2_sensor* device, const rs2_stream_profile** profiles, int count, rs2_error** error);
223 
229 void rs2_close(const rs2_sensor* sensor, rs2_error** error);
230 
238 void rs2_start(const rs2_sensor* sensor, rs2_frame_callback_ptr on_frame, void* user, rs2_error** error);
239 
246 void rs2_start_cpp(const rs2_sensor* sensor, rs2_frame_callback* callback, rs2_error** error);
247 
254 void rs2_start_queue(const rs2_sensor* sensor, rs2_frame_queue* queue, rs2_error** error);
255 
261 void rs2_stop(const rs2_sensor* sensor, rs2_error** error);
262 
269 void rs2_set_notifications_callback(const rs2_sensor* sensor, rs2_notification_callback_ptr on_notification, void* user, rs2_error** error);
270 
278 
285 const char* rs2_get_notification_description(rs2_notification* notification, rs2_error** error);
286 
294 
302 
310 
317 const char* rs2_get_notification_serialized_data(rs2_notification* notification, rs2_error** error);
318 
326 
334 
341 const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error);
342 
353 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);
354 
363 void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
364 
374 rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
375 
388 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);
389 
390 
397 
405 int rs2_stream_profile_is(const rs2_stream_profile* mode, rs2_extension type, rs2_error** error);
406 
414 void rs2_get_video_stream_resolution(const rs2_stream_profile* mode, int* width, int* height, rs2_error** error);
415 
423 
432 
440 
446 
453 void rs2_get_extrinsics(const rs2_stream_profile* from,
454  const rs2_stream_profile* to,
455  rs2_extrinsics* extrin, rs2_error** error);
456 
464  const rs2_stream_profile* to,
465  rs2_extrinsics extrin, rs2_error** error);
466 
473 void rs2_get_video_stream_intrinsics(const rs2_stream_profile* mode, rs2_intrinsics* intrinsics, rs2_error** error);
474 
483 
492 
500 
506 
515 int rs2_import_localization_map(const rs2_sensor* sensor, const unsigned char* lmap_blob, unsigned int blob_size, rs2_error** error);
516 
524 //void rs2_export_localization_map(const rs2_sensor* sensor, const char* lmap_fname, rs2_error** error);
526 
536 int rs2_set_static_node(const rs2_sensor* sensor, const char* guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error** error);
537 
547 int rs2_get_static_node(const rs2_sensor* sensor, const char* guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error** error);
548 
556 int rs2_remove_static_node(const rs2_sensor* sensor, const char* guid, rs2_error** error);
557 
562 int rs2_load_wheel_odometry_config(const rs2_sensor* sensor, const unsigned char* odometry_config_buf, unsigned int blob_size, rs2_error** error);
563 
570 int rs2_send_wheel_odometry(const rs2_sensor* sensor, char wo_sensor_id, unsigned int frame_num,
571  const rs2_vector translational_velocity, rs2_error** error);
572 
580 void rs2_set_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile , const rs2_intrinsics* intrinsics, rs2_error** error);
581 
591 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);
592 
600 void rs2_set_motion_device_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile, const rs2_motion_device_intrinsic* intrinsics, rs2_error** error);
601 
602 
603 #ifdef __cplusplus
604 }
605 #endif
606 #endif // LIBREALSENSE_RS2_SENSOR_H
Definition: rs_sensor.h:33
Definition: rs_sensor.h:76
struct rs2_processing_block_list rs2_processing_block_list
Definition: rs_types.h:227
void rs2_register_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics extrin, rs2_error **error)
int rs2_get_sensors_count(const rs2_sensor_list *info_list, rs2_error **error)
rs2_camera_info
Read-only strings that can be queried from the device. Not all information attributes are available o...
Definition: rs_sensor.h:22
Definition: rs_types.hpp:25
const char * rs2_format_to_string(rs2_format format)
Definition: rs_sensor.h:67
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:219
Definition: rs_sensor.h:80
float rs2_get_depth_scale(rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:27
Definition: rs_sensor.h:28
Definition: rs_types.hpp:39
struct rs2_frame_queue rs2_frame_queue
Definition: rs_types.h:221
void rs2_get_video_stream_resolution(const rs2_stream_profile *mode, int *width, int *height, rs2_error **error)
void rs2_set_intrinsics(const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_intrinsics *intrinsics, rs2_error **error)
rs2_sensor * rs2_create_sensor(const rs2_sensor_list *list, int index, rs2_error **error)
Definition: rs_sensor.h:24
int rs2_get_static_node(const rs2_sensor *sensor, const char *guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error **error)
float translation[3]
Definition: rs_sensor.h:98
Definition: rs_sensor.h:30
void rs2_get_extrinsics(const rs2_stream_profile *from, const rs2_stream_profile *to, rs2_extrinsics *extrin, rs2_error **error)
rs2_device * rs2_create_device_from_sensor(const rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:79
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
Definition: rs_sensor.h:31
Definition: rs_sensor.h:62
Definition: rs_sensor.h:48
Definition: rs_sensor.h:82
int rs2_import_localization_map(const rs2_sensor *sensor, const unsigned char *lmap_blob, unsigned int blob_size, rs2_error **error)
Definition: rs_sensor.h:87
struct rs2_sensor_list rs2_sensor_list
Definition: rs_types.h:240
Definition: rs_sensor.h:52
void rs2_stop(const rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:65
void rs2_start_queue(const rs2_sensor *sensor, rs2_frame_queue *queue, rs2_error **error)
int rs2_stream_profile_is(const rs2_stream_profile *mode, rs2_extension type, rs2_error **error)
const char * rs2_get_notification_serialized_data(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:23
Definition: rs_sensor.h:51
rs2_log_severity rs2_get_notification_severity(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:34
Definition: rs_sensor.h:63
Definition: rs_sensor.h:49
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_list * rs2_get_active_streams(rs2_sensor *sensor, rs2_error **error)
struct rs2_sensor rs2_sensor
Definition: rs_types.h:241
float rotation[9]
Definition: rs_sensor.h:97
Definition: rs_sensor.h:46
rs2_stream_profile_list * rs2_get_stream_profiles(rs2_sensor *sensor, rs2_error **error)
void rs2_open(rs2_sensor *device, const rs2_stream_profile *profile, rs2_error **error)
void rs2_set_stream_profile_data(rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
Definition: rs_sensor.h:66
Quaternion used to represent rotation.
Definition: rs_types.h:103
Definition: rs_sensor.h:64
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)
Definition: rs_sensor.h:83
struct rs2_notification rs2_notification
Definition: rs_types.h:245
int rs2_is_stream_profile_default(const rs2_stream_profile *mode, rs2_error **error)
Exposes RealSense structs.
void rs2_start(const rs2_sensor *sensor, rs2_frame_callback_ptr on_frame, void *user, rs2_error **error)
void rs2_set_notifications_callback(const rs2_sensor *sensor, rs2_notification_callback_ptr on_notification, void *user, rs2_error **error)
float rs2_get_stereo_baseline(rs2_sensor *sensor, rs2_error **error)
int rs2_get_recommended_processing_blocks_count(const rs2_processing_block_list *list, rs2_error **error)
void rs2_delete_sensor(rs2_sensor *sensor)
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
Definition: rs_sensor.h:54
rs2_time_t rs2_get_notification_timestamp(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:32
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)
int rs2_remove_static_node(const rs2_sensor *sensor, const char *guid, rs2_error **error)
Definition: rs_sensor.h:53
Definition: rs_sensor.h:81
void rs2_delete_stream_profile(rs2_stream_profile *mode)
struct rs2_stream_profile_list rs2_stream_profile_list
Definition: rs_types.h:226
const rs2_stream_profile * rs2_get_stream_profile(const rs2_stream_profile_list *list, int index, rs2_error **error)
Definition: rs_sensor.h:88
void rs2_set_notifications_callback_cpp(const rs2_sensor *sensor, rs2_notifications_callback *callback, rs2_error **error)
Definition: rs_sensor.h:86
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:228
Definition: rs_sensor.h:61
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:59
int rs2_supports_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
Definition: rs_sensor.h:25
void rs2_delete_recommended_processing_blocks(rs2_processing_block_list *list)
Definition: rs_sensor.h:75
Definition: rs_sensor.h:37
Definition: rs_sensor.h:90
Definition: rs_sensor.h:77
Definition: rs_sensor.h:36
Definition: rs_sensor.h:45
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:42
void rs2_set_motion_device_intrinsics(const rs2_sensor *sensor, const rs2_stream_profile *profile, const rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
void rs2_get_video_stream_intrinsics(const rs2_stream_profile *mode, rs2_intrinsics *intrinsics, rs2_error **error)
Definition: rs_sensor.h:47
Definition: rs_sensor.h:50
Definition: rs_sensor.h:73
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented...
Definition: rs_sensor.h:95
const char * rs2_camera_info_to_string(rs2_camera_info info)
int rs2_is_sensor_extendable_to(const rs2_sensor *sensor, rs2_extension extension, rs2_error **error)
3D vector in Euclidean coordinate space
Definition: rs_types.h:97
struct rs2_processing_block rs2_processing_block
Definition: rs_types.h:234
const char * rs2_stream_to_string(rs2_stream stream)
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition: rs_types.h:134
rs2_notification_category
Category of the librealsense notification.
Definition: rs_types.h:17
Definition: rs_sensor.h:44
void(* rs2_notification_callback_ptr)(rs2_notification *, void *)
Definition: rs_types.h:248
void rs2_delete_stream_profiles_list(rs2_stream_profile_list *list)
void rs2_close(const rs2_sensor *sensor, rs2_error **error)
struct rs2_device rs2_device
Definition: rs_types.h:216
Video stream intrinsics.
Definition: rs_types.h:58
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_open_multiple(rs2_sensor *device, const rs2_stream_profile **profiles, int count, rs2_error **error)
void rs2_start_cpp(const rs2_sensor *sensor, rs2_frame_callback *callback, rs2_error **error)
Definition: rs_sensor.h:69
rs2_notification_category rs2_get_notification_category(rs2_notification *notification, rs2_error **error)
rs2_processing_block * rs2_get_processing_block(const rs2_processing_block_list *list, int index, rs2_error **error)
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:71
struct rs2_extrinsics rs2_extrinsics
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented...
void rs2_delete_sensor_list(rs2_sensor_list *info_list)
Definition: rs_sensor.h:35
int rs2_set_static_node(const rs2_sensor *sensor, const char *guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error **error)
void(* rs2_frame_callback_ptr)(rs2_frame *, void *)
Definition: rs_types.h:251
Definition: rs_sensor.h:78
const rs2_raw_data_buffer * rs2_export_localization_map(const rs2_sensor *sensor, rs2_error **error)
float rs2_depth_stereo_frame_get_baseline(const rs2_frame *frame_ref, rs2_error **error)
const char * rs2_get_sensor_info(const rs2_sensor *sensor, rs2_camera_info info, rs2_error **error)
const char * rs2_get_notification_description(rs2_notification *notification, rs2_error **error)
int rs2_get_stream_profiles_count(const rs2_stream_profile_list *list, rs2_error **error)
struct rs2_error rs2_error
Definition: rs_types.h:217
double rs2_time_t
Definition: rs_types.h:255
int rs2_load_wheel_odometry_config(const rs2_sensor *sensor, const unsigned char *odometry_config_buf, unsigned int blob_size, rs2_error **error)
Definition: rs_sensor.h:89
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:121
Definition: rs_sensor.h:71
rs2_processing_block_list * rs2_get_recommended_processing_blocks(rs2_sensor *sensor, 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_get_motion_intrinsics(const rs2_stream_profile *mode, rs2_motion_device_intrinsic *intrinsics, rs2_error **error)
Definition: rs_sensor.h:74
Definition: rs_sensor.h:29
Definition: rs_sensor.h:85
struct rs2_frame rs2_frame
Definition: rs_types.h:220
Definition: rs_sensor.h:68
Definition: rs_sensor.h:70
Definition: rs_sensor.h:84
Definition: rs_sensor.h:72