Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
rs_types.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 
9 #ifndef LIBREALSENSE_RS2_TYPES_H
10 #define LIBREALSENSE_RS2_TYPES_H
11 
12 #ifdef __cplusplus
13 extern "C" {
14 #endif
15 
28 
30 typedef enum rs2_exception_type
31 {
43 
45 typedef enum rs2_distortion
46 {
55 const char* rs2_distortion_to_string(rs2_distortion distortion);
56 
58 typedef struct rs2_intrinsics
59 {
60  int width;
61  int height;
62  float ppx;
63  float ppy;
64  float fx;
65  float fy;
67  float coeffs[5];
69 
72 {
73  /* \internal
74  * Scale X cross axis cross axis Bias X \n
75  * cross axis Scale Y cross axis Bias Y \n
76  * cross axis cross axis Scale Z Bias Z */
77  float data[3][4];
79  float noise_variances[3];
80  float bias_variances[3];
82 
85 typedef struct rs2_vertex
86 {
87  float xyz[3];
88 } rs2_vertex;
89 
91 typedef struct rs2_pixel
92 {
93  int ij[2];
94 } rs2_pixel;
95 
97 typedef struct rs2_vector
98 {
99  float x, y, z;
100 }rs2_vector;
101 
103 typedef struct rs2_quaternion
104 {
105  float x, y, z, w;
107 
108 typedef struct rs2_pose
109 {
116  unsigned int tracker_confidence;
117  unsigned int mapper_confidence;
118 } rs2_pose;
119 
121 typedef enum rs2_log_severity {
132 
134 typedef enum rs2_extension
135 {
184 } rs2_extension;
186 const char* rs2_extension_to_string(rs2_extension type);
187 
189 typedef enum rs2_matchers
190 {
191  RS2_MATCHER_DI, //compare depth and ir based on frame number
192 
193  RS2_MATCHER_DI_C, //compare depth and ir based on frame number,
194  //compare the pair of corresponding depth and ir with color based on closest timestamp,
195  //commonly used by SR300
196 
197  RS2_MATCHER_DLR_C, //compare depth, left and right ir based on frame number,
198  //compare the set of corresponding depth, left and right with color based on closest timestamp,
199  //commonly used by RS415, RS435
200 
201  RS2_MATCHER_DLR, //compare depth, left and right ir based on frame number,
202  //commonly used by RS400, RS405, RS410, RS420, RS430
203 
204  RS2_MATCHER_DIC, //compare depth, ir and confidence based on frame number used by RS500
205 
206  RS2_MATCHER_DIC_C, //compare depth, ir and confidence based on frame number,
207  //compare the set of corresponding depth, ir and confidence with color based on closest timestamp,
208  //commonly used by RS515
209 
210  RS2_MATCHER_DEFAULT, //the default matcher compare all the streams based on closest timestamp
211 
213 }rs2_matchers;
214 
216 typedef struct rs2_device rs2_device;
217 typedef struct rs2_error rs2_error;
220 typedef struct rs2_frame rs2_frame;
222 typedef struct rs2_pipeline rs2_pipeline;
224 typedef struct rs2_config rs2_config;
231 typedef struct rs2_syncer rs2_syncer;
233 typedef struct rs2_source rs2_source;
238 typedef struct rs2_context rs2_context;
241 typedef struct rs2_sensor rs2_sensor;
242 typedef struct rs2_options rs2_options;
247 typedef void (*rs2_log_callback_ptr)(rs2_log_severity, rs2_log_message const *, void * arg);
251 typedef void (*rs2_frame_callback_ptr)(rs2_frame*, void*);
253 typedef void(*rs2_update_progress_callback_ptr)(const float, void*);
254 
255 typedef double rs2_time_t;
256 typedef long long rs2_metadata_type;
258 rs2_error * rs2_create_error(const char* what, const char* name, const char* args, rs2_exception_type type);
260 const char* rs2_get_failed_function (const rs2_error* error);
261 const char* rs2_get_failed_args (const rs2_error* error);
262 const char* rs2_get_error_message (const rs2_error* error);
263 void rs2_free_error (rs2_error* error);
264 
265 #ifdef __cplusplus
266 }
267 #endif
268 #endif
struct rs2_processing_block_list rs2_processing_block_list
Definition: rs_types.h:227
Definition: rs_types.h:125
struct rs2_device_serializer rs2_device_serializer
Definition: rs_types.h:232
Definition: rs_types.hpp:25
struct rs2_vertex rs2_vertex
3D coordinates with origin at topmost left corner of the lense, with positive Z pointing away from th...
Definition: rs_types.h:210
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:219
struct rs2_pixel rs2_pixel
Pixel location within 2D image. (0,0) is the topmost, left corner. Positive X is right, positive Y is down.
rs2_exception_type
Exception types are the different categories of errors that RealSense API might return.
Definition: rs_types.h:30
float y
Definition: rs_types.h:105
void rs2_free_error(rs2_error *error)
rs2_vector angular_acceleration
Definition: rs_types.h:115
Definition: rs_types.h:165
Definition: rs_types.h:139
Definition: rs_types.h:172
Definition: rs_types.h:163
float z
Definition: rs_types.h:99
unsigned int tracker_confidence
Definition: rs_types.h:116
Definition: rs_types.h:164
Definition: rs_types.h:178
Definition: rs_types.hpp:39
Definition: rs_types.h:48
void(* rs2_frame_processor_callback_ptr)(rs2_frame *, rs2_source *, void *)
Definition: rs_types.h:252
Definition: rs_types.h:166
Definition: rs_types.h:145
struct rs2_frame_queue rs2_frame_queue
Definition: rs_types.h:221
rs2_distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs_types.h:45
Definition: rs_types.h:37
Definition: rs_types.h:175
const char * rs2_distortion_to_string(rs2_distortion distortion)
struct rs2_pipeline rs2_pipeline
Definition: rs_types.h:222
Definition: rs_types.h:129
struct rs2_context rs2_context
Definition: rs_types.h:238
struct rs2_device_info rs2_device_info
Definition: rs_types.h:215
rs2_vector translation
Definition: rs_types.h:110
Definition: rs_types.h:124
struct rs2_sensor_list rs2_sensor_list
Definition: rs_types.h:240
Definition: rs_types.h:147
Definition: rs_types.h:206
Definition: rs_types.h:204
Definition: rs_types.h:53
float data[3][4]
Definition: rs_types.h:77
Definition: rs_types.h:52
Definition: rs_types.hpp:69
Definition: rs_types.h:51
float coeffs[5]
Definition: rs_types.h:67
3D coordinates with origin at topmost left corner of the lense, with positive Z pointing away from th...
Definition: rs_types.h:85
Definition: rs_types.h:32
Definition: rs_types.h:159
const char * rs2_extension_to_string(rs2_extension type)
Definition: rs_types.h:143
Definition: rs_types.h:149
float x
Definition: rs_types.h:105
rs2_vector angular_velocity
Definition: rs_types.h:114
void(* rs2_log_callback_ptr)(rs2_log_severity, rs2_log_message const *, void *arg)
Definition: rs_types.h:247
struct rs2_sensor rs2_sensor
Definition: rs_types.h:241
Definition: rs_types.hpp:55
Definition: rs_types.h:122
void(* rs2_update_progress_callback_ptr)(const float, void *)
Definition: rs_types.h:253
Definition: rs_types.h:155
float ppx
Definition: rs_types.h:62
const char * rs2_exception_type_to_string(rs2_exception_type type)
unsigned int mapper_confidence
Definition: rs_types.h:117
Quaternion used to represent rotation.
Definition: rs_types.h:103
Definition: rs_types.h:136
float y
Definition: rs_types.h:99
Definition: rs_types.h:160
struct rs2_pipeline_profile rs2_pipeline_profile
Definition: rs_types.h:223
float noise_variances[3]
Definition: rs_types.h:79
struct rs2_config rs2_config
Definition: rs_types.h:224
struct rs2_notification rs2_notification
Definition: rs_types.h:245
rs2_vector velocity
Definition: rs_types.h:111
Definition: rs_types.h:47
Definition: rs_types.h:40
Definition: rs_types.h:39
struct rs2_device_hub rs2_device_hub
Definition: rs_types.h:239
Definition: rs_types.h:191
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Definition: rs_types.h:34
Definition: rs_types.hpp:32
Definition: rs_types.h:153
Definition: rs_types.h:179
const char * rs2_get_error_message(const rs2_error *error)
rs2_matchers
Specifies types of different matchers.
Definition: rs_types.h:189
const char * rs2_extension_type_to_string(rs2_extension type)
Definition: rs_types.h:140
Definition: rs_types.h:50
Definition: rs_types.h:146
Definition: rs_types.h:108
Definition: rs_types.h:180
struct rs2_motion_device_intrinsic rs2_motion_device_intrinsic
Motion device intrinsics: scale, bias, and variances.
int ij[2]
Definition: rs_types.h:93
struct rs2_stream_profile_list rs2_stream_profile_list
Definition: rs_types.h:226
Definition: rs_types.h:154
void(* rs2_devices_changed_callback_ptr)(rs2_device_list *, rs2_device_list *, void *)
Definition: rs_types.h:250
rs2_quaternion rotation
Definition: rs_types.h:113
struct rs2_log_message rs2_log_message
Definition: rs_types.h:218
Definition: rs_types.h:176
int width
Definition: rs_types.h:60
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:228
Definition: rs_types.h:127
Definition: rs_types.h:173
Definition: rs_types.h:181
Definition: rs_types.h:150
rs2_exception_type rs2_get_librealsense_exception_type(const rs2_error *error)
struct rs2_options rs2_options
Definition: rs_types.h:242
struct rs2_syncer rs2_syncer
Definition: rs_types.h:231
struct rs2_vector rs2_vector
3D vector in Euclidean coordinate space
Definition: rs_types.h:49
float x
Definition: rs_types.h:99
Definition: rs_types.h:141
struct rs2_source rs2_source
Definition: rs_types.h:233
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Definition: rs_types.h:126
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Definition: rs_types.h:128
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Definition: rs_types.h:123
Definition: rs_types.h:25
struct rs2_intrinsics rs2_intrinsics
Video stream intrinsics.
void(* rs2_software_device_destruction_callback_ptr)(void *)
Definition: rs_types.h:249
Definition: rs_types.h:177
3D vector in Euclidean coordinate space
Definition: rs_types.h:97
Definition: rs_types.h:171
rs2_error * rs2_create_error(const char *what, const char *name, const char *args, rs2_exception_type type)
rs2_distortion model
Definition: rs_types.h:66
float w
Definition: rs_types.h:105
Definition: rs_types.hpp:76
struct rs2_processing_block rs2_processing_block
Definition: rs_types.h:234
Definition: rs_types.h:137
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
void(* rs2_notification_callback_ptr)(rs2_notification *, void *)
Definition: rs_types.h:248
long long rs2_metadata_type
Definition: rs_types.h:256
Definition: rs_types.h:182
Definition: rs_types.h:151
float fy
Definition: rs_types.h:65
float fx
Definition: rs_types.h:64
Definition: rs_types.h:138
struct rs2_device rs2_device
Definition: rs_types.h:216
Definition: rs_types.h:168
Video stream intrinsics.
Definition: rs_types.h:58
Definition: rs_types.h:174
Motion device intrinsics: scale, bias, and variances.
Definition: rs_types.h:71
rs2_vector acceleration
Definition: rs_types.h:112
void(* rs2_frame_callback_ptr)(rs2_frame *, void *)
Definition: rs_types.h:251
Definition: rs_types.h:170
int height
Definition: rs_types.h:61
Definition: rs_types.h:193
struct rs2_device_list rs2_device_list
Definition: rs_types.h:225
struct rs2_pose rs2_pose
const char * rs2_notification_category_to_string(rs2_notification_category category)
Definition: rs_types.h:162
const char * rs2_log_severity_to_string(rs2_log_severity info)
struct rs2_quaternion rs2_quaternion
Quaternion used to represent rotation.
Definition: rs_types.hpp:62
Definition: rs_types.h:156
Definition: rs_types.h:157
struct rs2_error rs2_error
Definition: rs_types.h:217
double rs2_time_t
Definition: rs_types.h:255
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:121
Definition: rs_types.h:201
Definition: rs_types.h:152
struct rs2_options_list rs2_options_list
Definition: rs_types.h:243
const char * rs2_get_failed_function(const rs2_error *error)
const char * rs2_get_failed_args(const rs2_error *error)
Definition: rs_types.h:197
float bias_variances[3]
Definition: rs_types.h:80
float xyz[3]
Definition: rs_types.h:87
Definition: rs_types.h:35
float z
Definition: rs_types.h:105
struct rs2_frame rs2_frame
Definition: rs_types.h:220
float ppy
Definition: rs_types.h:63
Pixel location within 2D image. (0,0) is the topmost, left corner. Positive X is right, positive Y is down.
Definition: rs_types.h:91
Definition: rs_types.h:167