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 {
39 
41 typedef enum rs2_stream
42 {
54 } rs2_stream;
55 const char* rs2_stream_to_string(rs2_stream stream);
56 
58 typedef enum rs2_format
59 {
84 } rs2_format;
85 const char* rs2_format_to_string(rs2_format format);
86 
88 typedef struct rs2_extrinsics
89 {
90  float rotation[9];
91  float translation[3];
93 
99 
106 int rs2_get_sensors_count(const rs2_sensor_list* info_list, rs2_error** error);
107 
112 void rs2_delete_sensor(rs2_sensor* sensor);
113 
120 rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error);
121 
129 
137 const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
138 
145 int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);
146 
154 int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extension, rs2_error** error);
155 
161 float rs2_get_depth_scale(rs2_sensor* sensor, rs2_error** error);
162 
168 float rs2_depth_stereo_frame_get_baseline(const rs2_frame* frame_ref, rs2_error** error);
169 
175 float rs2_get_stereo_baseline(rs2_sensor* sensor, rs2_error** error);
176 
186 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);
187 
197 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);
198 
205 void rs2_open(rs2_sensor* device, const rs2_stream_profile* profile, rs2_error** error);
206 
215 void rs2_open_multiple(rs2_sensor* device, const rs2_stream_profile** profiles, int count, rs2_error** error);
216 
222 void rs2_close(const rs2_sensor* sensor, rs2_error** error);
223 
231 void rs2_start(const rs2_sensor* sensor, rs2_frame_callback_ptr on_frame, void* user, rs2_error** error);
232 
239 void rs2_start_cpp(const rs2_sensor* sensor, rs2_frame_callback* callback, rs2_error** error);
240 
247 void rs2_start_queue(const rs2_sensor* sensor, rs2_frame_queue* queue, rs2_error** error);
248 
254 void rs2_stop(const rs2_sensor* sensor, rs2_error** error);
255 
262 void rs2_set_notifications_callback(const rs2_sensor* sensor, rs2_notification_callback_ptr on_notification, void* user, rs2_error** error);
263 
271 
278 const char* rs2_get_notification_description(rs2_notification* notification, rs2_error** error);
279 
287 
295 
303 
310 const char* rs2_get_notification_serialized_data(rs2_notification* notification, rs2_error** error);
311 
319 
326 const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error);
327 
338 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);
339 
348 void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
349 
359 rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);
360 
373 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);
374 
375 
382 
390 int rs2_stream_profile_is(const rs2_stream_profile* mode, rs2_extension type, rs2_error** error);
391 
399 void rs2_get_video_stream_resolution(const rs2_stream_profile* mode, int* width, int* height, rs2_error** error);
400 
408 
417 
425 
431 
438 void rs2_get_extrinsics(const rs2_stream_profile* from,
439  const rs2_stream_profile* to,
440  rs2_extrinsics* extrin, rs2_error** error);
441 
449  const rs2_stream_profile* to,
450  rs2_extrinsics extrin, rs2_error** error);
451 
458 void rs2_get_video_stream_intrinsics(const rs2_stream_profile* mode, rs2_intrinsics* intrinsics, rs2_error** error);
459 
468 
477 
485 
491 
500 int rs2_import_localization_map(const rs2_sensor* sensor, const unsigned char* lmap_blob, unsigned int blob_size, rs2_error** error);
501 
509 //void rs2_export_localization_map(const rs2_sensor* sensor, const char* lmap_fname, rs2_error** error);
511 
521 int rs2_set_static_node(const rs2_sensor* sensor, const char* guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error** error);
522 
532 int rs2_get_static_node(const rs2_sensor* sensor, const char* guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error** error);
533 
538 int rs2_load_wheel_odometry_config(const rs2_sensor* sensor, const unsigned char* odometry_config_buf, unsigned int blob_size, rs2_error** error);
539 
546 int rs2_send_wheel_odometry(const rs2_sensor* sensor, char wo_sensor_id, unsigned int frame_num,
547  const rs2_vector translational_velocity, rs2_error** error);
548 
556 void rs2_set_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile , const rs2_intrinsics* intrinsics, rs2_error** error);
557 
567 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);
568 
576 void rs2_set_motion_device_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile, const rs2_motion_device_intrinsic* intrinsics, rs2_error** error);
577 
578 
579 #ifdef __cplusplus
580 }
581 #endif
582 #endif // LIBREALSENSE_RS2_SENSOR_H
Definition: rs_sensor.h:33
Definition: rs_sensor.h:75
struct rs2_processing_block_list rs2_processing_block_list
Definition: rs_types.h:219
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:66
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition: rs_types.h:211
Definition: rs_sensor.h:79
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:213
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:91
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:78
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:61
Definition: rs_sensor.h:47
Definition: rs_sensor.h:81
int rs2_import_localization_map(const rs2_sensor *sensor, const unsigned char *lmap_blob, unsigned int blob_size, rs2_error **error)
struct rs2_sensor_list rs2_sensor_list
Definition: rs_types.h:232
Definition: rs_sensor.h:51
void rs2_stop(const rs2_sensor *sensor, rs2_error **error)
Definition: rs_sensor.h:64
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:50
rs2_log_severity rs2_get_notification_severity(rs2_notification *notification, rs2_error **error)
Definition: rs_sensor.h:34
Definition: rs_sensor.h:62
Definition: rs_sensor.h:48
rs2_stream_profile * rs2_clone_stream_profile(const rs2_stream_profile *mode, rs2_stream stream, int index, rs2_format format, rs2_error **error)
struct rs2_sensor rs2_sensor
Definition: rs_types.h:233
float rotation[9]
Definition: rs_sensor.h:90
Definition: rs_sensor.h:45
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:65
Quaternion used to represent rotation.
Definition: rs_types.h:103
Definition: rs_sensor.h:63
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:82
struct rs2_notification rs2_notification
Definition: rs_types.h:237
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:53
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)
Definition: rs_sensor.h:52
Definition: rs_sensor.h:80
void rs2_delete_stream_profile(rs2_stream_profile *mode)
struct rs2_stream_profile_list rs2_stream_profile_list
Definition: rs_types.h:218
const rs2_stream_profile * rs2_get_stream_profile(const rs2_stream_profile_list *list, int index, rs2_error **error)
void rs2_set_notifications_callback_cpp(const rs2_sensor *sensor, rs2_notifications_callback *callback, rs2_error **error)
struct rs2_stream_profile rs2_stream_profile
Definition: rs_types.h:220
Definition: rs_sensor.h:60
rs2_format
A stream's format identifies how binary data is encoded within a frame.
Definition: rs_sensor.h:58
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:74
Definition: rs_sensor.h:36
Definition: rs_sensor.h:83
Definition: rs_sensor.h:76
Definition: rs_sensor.h:44
rs2_stream
Streams are different types of data provided by RealSense devices.
Definition: rs_sensor.h:41
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:46
Definition: rs_sensor.h:49
Definition: rs_sensor.h:72
Cross-stream extrinsics: encodes the topology describing how the different devices are oriented.
Definition: rs_sensor.h:88
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:226
const char * rs2_stream_to_string(rs2_stream stream)
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition: rs_types.h:133
rs2_notification_category
Category of the librealsense notification.
Definition: rs_types.h:17
Definition: rs_sensor.h:43
void(* rs2_notification_callback_ptr)(rs2_notification *, void *)
Definition: rs_types.h:239
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:209
rs2_stream_profile_list * rs2_get_stream_profiles(rs2_sensor *device, rs2_error **error)
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:68
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:241
Definition: rs_sensor.h:77
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:210
double rs2_time_t
Definition: rs_types.h:245
int rs2_load_wheel_odometry_config(const rs2_sensor *sensor, const unsigned char *odometry_config_buf, unsigned int blob_size, rs2_error **error)
rs2_log_severity
Severity of the librealsense logger.
Definition: rs_types.h:121
Definition: rs_sensor.h:70
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:73
Definition: rs_sensor.h:29
struct rs2_frame rs2_frame
Definition: rs_types.h:212
Definition: rs_sensor.h:67
Definition: rs_sensor.h:69
Definition: rs_sensor.h:71