Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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Classes | |
struct | rs_intrinsics |
struct | rs_motion_device_intrinsic |
struct | rs_motion_intrinsics |
struct | rs_extrinsics |
struct | rs_timestamp_data |
struct | rs_motion_data |
Macros | |
#define | RS_API_MAJOR_VERSION 1 |
#define | RS_API_MINOR_VERSION 12 |
#define | RS_API_PATCH_VERSION 1 |
#define | STRINGIFY(arg) #arg |
#define | VAR_ARG_STRING(arg) STRINGIFY(arg) |
#define | RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION)) |
#define | RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION)) |
#define RS_API_MAJOR_VERSION 1 |
#define RS_API_MINOR_VERSION 12 |
#define RS_API_PATCH_VERSION 1 |
#define RS_API_VERSION (((RS_API_MAJOR_VERSION) * 10000) + ((RS_API_MINOR_VERSION) * 100) + (RS_API_PATCH_VERSION)) |
#define RS_API_VERSION_STR (VAR_ARG_STRING(RS_API_MAJOR_VERSION.RS_API_MINOR_VERSION.RS_API_PATCH_VERSION)) |
#define STRINGIFY | ( | arg | ) | #arg |
#define VAR_ARG_STRING | ( | arg | ) | STRINGIFY(arg) |
typedef enum rs_blob_type rs_blob_type |
typedef enum rs_camera_info rs_camera_info |
typedef enum rs_capabilities rs_capabilities |
typedef struct rs_context rs_context |
typedef enum rs_distortion rs_distortion |
typedef enum rs_event_source rs_event_source |
typedef struct rs_extrinsics rs_extrinsics |
typedef struct rs_frame_callback rs_frame_callback |
typedef void(* rs_frame_callback_ptr) (rs_device *dev, rs_frame_ref *frame, void *user) |
typedef enum rs_frame_metadata rs_frame_metadata |
typedef struct rs_frame_ref rs_frame_ref |
typedef struct rs_frameset rs_frameset |
typedef struct rs_intrinsics rs_intrinsics |
typedef enum rs_ivcam_preset rs_ivcam_preset |
typedef struct rs_log_callback rs_log_callback |
typedef void(* rs_log_callback_ptr) (rs_log_severity min_severity, const char *message, void *user) |
typedef enum rs_log_severity rs_log_severity |
typedef struct rs_motion_callback rs_motion_callback |
typedef void(* rs_motion_callback_ptr) (rs_device *, rs_motion_data, void *) |
typedef struct rs_motion_data rs_motion_data |
typedef struct rs_motion_device_intrinsic rs_motion_device_intrinsic |
typedef struct rs_motion_intrinsics rs_motion_intrinsics |
typedef enum rs_output_buffer_format rs_output_buffer_format |
typedef struct rs_timestamp_callback rs_timestamp_callback |
typedef void(* rs_timestamp_callback_ptr) (rs_device *, rs_timestamp_data, void *) |
typedef struct rs_timestamp_data rs_timestamp_data |
typedef enum rs_timestamp_domain rs_timestamp_domain |
enum rs_blob_type |
enum rs_camera_info |
enum rs_capabilities |
enum rs_distortion |
enum rs_event_source |
enum rs_format |
Enumerator | |
---|---|
RS_FORMAT_ANY |
When passed to enable stream, librealsense will try to provide best suited format |
RS_FORMAT_Z16 |
16 bit linear depth values. The depth is meters is equal to depth scale * pixel value |
RS_FORMAT_DISPARITY16 |
16 bit linear disparity values. The depth in meters is equal to depth scale / pixel value |
RS_FORMAT_XYZ32F |
32 bit floating point 3D coordinates. |
RS_FORMAT_YUYV |
Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV |
RS_FORMAT_RGB8 |
8-bit Red, Green and Blue channels |
RS_FORMAT_BGR8 |
8-bit Blue, Green and Red channels, suitable for OpenCV |
RS_FORMAT_RGBA8 |
8-bit Red, Green, Blue channels + constant alpha channel equal to FF |
RS_FORMAT_BGRA8 |
8-bit Blue, Green, Red channels + constant alpha channel equal to FF |
RS_FORMAT_Y8 |
8-bit per-pixel grayscale image |
RS_FORMAT_Y16 |
16-bit per-pixel grayscale image |
RS_FORMAT_RAW10 |
Four 10-bit luminance values encoded into a 5-byte macropixel |
RS_FORMAT_RAW16 |
16-bit raw image |
RS_FORMAT_RAW8 |
8-bit raw image |
RS_FORMAT_COUNT |
enum rs_frame_metadata |
enum rs_ivcam_preset |
enum rs_log_severity |
enum rs_option |
enum rs_preset |
enum rs_source |
enum rs_stream |
enum rs_timestamp_domain |
const char* rs_blob_type_to_string | ( | rs_blob_type | type | ) |
const char * rs_camera_info_to_string | ( | rs_camera_info | info | ) |
const char* rs_capabilities_to_string | ( | rs_capabilities | capability | ) |
rs_context* rs_create_context | ( | int | api_version, |
rs_error ** | error | ||
) |
create realsense context required for rest of the API
[in] | api_version | the user is expected to pass his version of RS_API_VERSION to make sure he is running with correct librealsense version |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_delete_context | ( | rs_context * | context, |
rs_error ** | error | ||
) |
frees the relevant context object, this might invalidate rs_device pointers created from this context
[in] | context | the object that is no longer needed |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
determine if the device allows a specific option to be queried and set
[in] | option | the option to check for support |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
disable motion-tracking handlers
disable a specific stream
[in] | stream | the stream to disable |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_distortion_to_string | ( | rs_distortion | distortion | ) |
void rs_enable_motion_tracking | ( | rs_device * | device, |
rs_motion_callback_ptr | on_motion_event, | ||
void * | motion_handler, | ||
rs_timestamp_callback_ptr | on_timestamp_event, | ||
void * | timestamp_handler, | ||
rs_error ** | error | ||
) |
enable and configure motion-tracking data handlers
[in] | on_motion_event | user-defined routine to be invoked when a motion data arrives |
[in] | motion_handler | a user data point to be passed to the motion event callback |
[in] | on_timestamp_event | user-defined routine to be invoked on timestamp |
[in] | timestamp_handler | a user data point to be passed to the motion event callback |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_enable_motion_tracking_cpp | ( | rs_device * | device, |
rs_motion_callback * | motion_callback, | ||
rs_timestamp_callback * | timestamp_callback, | ||
rs_error ** | error | ||
) |
enable and configure motion-tracking data handlers Note: rs_enable_motion_tracking is responsible for activating the motion module on-board the device. One of the services it provides is producing shared and high-resolution timestamps for all component hooked-up to it. Usually, librealsense takes care of that and copies the timestamps on the relevant frames. However, when the user has an external device (like a compass) and wishes to synchronize it precisely with image and motion stream he can connect the sensor to a GPIO avaialbe on some devices. Every time sensor will signal, the user will get a timestamp callback with a frame number, source ID and a timestamp. This would allow advanced user to synchronize his compass events (presumably coming though I2C or some other method) with realsense data. (This variant is provided specifically to enable passing lambdas with capture lists safely into the library)
[in] | motion_callback | user-defined routine to be invoked when a motion data arrives |
[in] | timestamp_callback | user-defined routine to be invoked on timestamp |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_enable_stream | ( | rs_device * | device, |
rs_stream | stream, | ||
int | width, | ||
int | height, | ||
rs_format | format, | ||
int | framerate, | ||
rs_error ** | error | ||
) |
enable a specific stream and request specific properties
[in] | stream | the stream to enable |
[in] | width | the desired width of a frame image in pixels, or 0 if any width is acceptable |
[in] | height | the desired height of a frame image in pixels, or 0 if any height is acceptable |
[in] | format | the pixel format of a frame image, or ANY if any format is acceptable |
[in] | framerate | the number of frames which will be streamed per second, or 0 if any framerate is acceptable |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_enable_stream_ex | ( | rs_device * | device, |
rs_stream | stream, | ||
int | width, | ||
int | height, | ||
rs_format | format, | ||
int | framerate, | ||
rs_output_buffer_format | output_format, | ||
rs_error ** | error | ||
) |
enable a specific stream and request specific properties
[in] | stream | the stream to enable |
[in] | width | the desired width of a frame image in pixels, or 0 if any width is acceptable |
[in] | height | the desired height of a frame image in pixels, or 0 if any height is acceptable |
[in] | format | the pixel format of a frame image, or ANY if any format is acceptable |
[in] | framerate | the number of frames which will be streamed per second, or 0 if any framerate is acceptable |
[in] | output_format | output buffer format (contious in memory / native with pitch) |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_enable_stream_preset | ( | rs_device * | device, |
rs_stream | stream, | ||
rs_preset | preset, | ||
rs_error ** | error | ||
) |
enable a specific stream and request properties using a preset
[in] | stream | the stream to enable |
[in] | preset | the preset to use to enable the stream |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_event_to_string | ( | rs_event_source | event | ) |
const char* rs_format_to_string | ( | rs_format | format | ) |
const char* rs_frame_metadata_to_string | ( | rs_frame_metadata | md | ) |
void rs_free_error | ( | rs_error * | error | ) |
frees memory of an error object
[in] | error | error object allocated by realsense API function |
int rs_get_api_version | ( | rs_error ** | error | ) |
retrieve the API version from the source code. Evaluate that the value is conformant to the established policies
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_detached_frame_bpp | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame bits per pixel
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const void* rs_get_detached_frame_data | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive data from safe frame handle, returned from detach, clone_ref or from frame callback
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
rs_format rs_get_detached_frame_format | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame format
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_detached_frame_height | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame intrinsic height
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
double rs_get_detached_frame_metadata | ( | const rs_frame_ref * | frame, |
rs_frame_metadata | frame_metadata, | ||
rs_error ** | error | ||
) |
retrive metadata from safe frame handle, returned from detach, clone_ref or from frame callback
[in] | stream | the stream whose latest frame we are interested in |
[in] | frame_metadata | the rs_frame_metadata whose latest frame we are interested in |
unsigned long long rs_get_detached_frame_number | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame number from safe frame handle, returned from detach, clone_ref or from frame callback
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
rs_stream rs_get_detached_frame_stream_type | ( | const rs_frame_ref * | frameset, |
rs_error ** | error | ||
) |
retrive frame stream type
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_detached_frame_stride | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame stride, meaning the actual line width in memory in bytes (not the logical image width)
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
double rs_get_detached_frame_timestamp | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive timestamp from safe frame handle, returned from detach, clone_ref or from frame callback
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
rs_timestamp_domain rs_get_detached_frame_timestamp_domain | ( | const rs_frame_ref * | frameset, |
rs_error ** | error | ||
) |
retrive timestamp domain from safe frame handle, returned from detach, clone_ref or from frame callback this method is used to check if two timestamp values are comparable (generated from the same clock)
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_detached_frame_width | ( | const rs_frame_ref * | frame, |
rs_error ** | error | ||
) |
retrive frame intrinsic width in pixels
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_detached_framerate | ( | const rs_frame_ref * | frameset, |
rs_error ** | error | ||
) |
retrive frame intrinsic framerate
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
rs_device* rs_get_device | ( | rs_context * | context, |
int | index, | ||
rs_error ** | error | ||
) |
retrieve connected device by index
[in] | index | the zero based index of device to retrieve |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
int rs_get_device_count | ( | const rs_context * | context, |
rs_error ** | error | ||
) |
determine number of connected devices
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve mapping between the units of the depth image and meters
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_device_extrinsics | ( | const rs_device * | device, |
rs_stream | from_stream, | ||
rs_stream | to_stream, | ||
rs_extrinsics * | extrin, | ||
rs_error ** | error | ||
) |
retrieve extrinsic transformation between the viewpoints of two different streams
[in] | from_stream | stream whose coordinate space we will transform from |
[in] | to_stream | stream whose coordinate space we will transform to |
[out] | extrin | the transformation between the two streams |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the version of the firmware currently installed on the device
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_get_device_info | ( | const rs_device * | device, |
rs_camera_info | info, | ||
rs_error ** | error | ||
) |
retrieve camera specific information, like versions of various internal componnents
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve a human readable device model string
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the current value of a single option
[in] | option | the option whose value should be retrieved |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_get_device_option_description | ( | rs_device * | device, |
rs_option | option, | ||
rs_error ** | error | ||
) |
retrieve a static description of what a particular option does on given device
[in] | option | the option whose description should be retrieved |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_device_option_range | ( | rs_device * | device, |
rs_option | option, | ||
double * | min, | ||
double * | max, | ||
double * | step, | ||
rs_error ** | error | ||
) |
retrieve the available range of values of a supported option
[in] | option | the option whose range should be queried |
[out] | min | the minimum value which will be accepted for this option |
[out] | max | the maximum value which will be accepted for this option |
[out] | step | the granularity of options which accept discrete values, or zero if the option accepts continuous values |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_device_option_range_ex | ( | rs_device * | device, |
rs_option | option, | ||
double * | min, | ||
double * | max, | ||
double * | step, | ||
double * | def, | ||
rs_error ** | error | ||
) |
retrieve the available range of values of a supported option
[in] | option | the option whose range should be queried |
[out] | min | the minimum value which will be accepted for this option |
[out] | max | the maximum value which will be accepted for this option |
[out] | step | the granularity of options which accept discrete values, or zero if the option accepts continuous values |
[out] | def | the default value of the option |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_device_options | ( | rs_device * | device, |
const rs_option * | options, | ||
unsigned int | count, | ||
double * | values, | ||
rs_error ** | error | ||
) |
efficiently retrieve the value of an arbitrary number of options, using minimal hardware IO
[in] | options | the array of options which should be queried |
[in] | count | the length of the options and values arrays |
[out] | values | the array which will receive the values of the queried options |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the unique serial number of the device
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the USB port number of the device
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_get_error_message | ( | const rs_error * | error | ) |
returns static pointer to the error message
[in] | error | error object allocated by realsense API function |
const char* rs_get_failed_args | ( | const rs_error * | error | ) |
returns static pointer to the arguments of failing function in case of error
[in] | error | error object allocated by realsense API function |
const char* rs_get_failed_function | ( | const rs_error * | error | ) |
returns static pointer to the name of failing function in case of error
[in] | error | error object allocated by realsense API function |
retrieve the contents of the latest frame on a stream
[in] | stream | the stream whose latest frame we are interested in |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
unsigned long long rs_get_frame_number | ( | const rs_device * | device, |
rs_stream | stream, | ||
rs_error ** | error | ||
) |
retrieve the frame number
[in] | stream | the stream whose latest frame we are interested in |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the time at which the latest frame on a stream was captured
[in] | stream | the stream whose latest frame we are interested in |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_motion_extrinsics_from | ( | const rs_device * | device, |
rs_stream | from, | ||
rs_extrinsics * | extrin, | ||
rs_error ** | error | ||
) |
retrieve extrinsic transformation between specific stream and the motion module
[in] | from_stream | stream whose coordinate space we will transform from |
[out] | extrin | the transformation between the specific stream and motion module |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_motion_intrinsics | ( | const rs_device * | device, |
rs_motion_intrinsics * | intrinsic, | ||
rs_error ** | error | ||
) |
retrieve intrinsic camera parameters for a motion module
[out] | intrinsic | the intrinsic parameters |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the pixel format for a specific stream
[in] | stream | the stream whose format to retrieve |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the framerate for a specific stream
[in] | stream | the stream whose framerate to retrieve |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the height in pixels of a specific stream, equivalent to the height field from the stream's intrinsic
[in] | stream | the stream whose height to retrieve |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_stream_intrinsics | ( | const rs_device * | device, |
rs_stream | stream, | ||
rs_intrinsics * | intrin, | ||
rs_error ** | error | ||
) |
retrieve intrinsic camera parameters for a specific stream
[in] | stream | the stream whose parameters to retrieve |
[out] | intrin | the intrinsic parameters of the stream |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_get_stream_mode | ( | const rs_device * | device, |
rs_stream | stream, | ||
int | index, | ||
int * | width, | ||
int * | height, | ||
rs_format * | format, | ||
int * | framerate, | ||
rs_error ** | error | ||
) |
determine the properties of a specific streaming mode
[in] | stream | the stream whose mode will be queried |
[in] | index | the zero based index of the streaming mode |
[out] | width | the width of a frame image in pixels |
[out] | height | the height of a frame image in pixels |
[out] | format | the pixel format of a frame image |
[out] | framerate | the number of frames which will be streamed per second |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
determine the number of streaming modes available for a given stream
[in] | stream | the stream whose modes will be enumerated |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
retrieve the width in pixels of a specific stream, equivalent to the width field from the stream's intrinsic
[in] | stream | the stream whose width to retrieve |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
determine if the device is currently streaming
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
check if data acquisition is active
determine if a specific stream is enabled
[in] | stream | the stream to check |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_log_to_callback | ( | rs_log_severity | min_severity, |
rs_log_callback_ptr | on_log, | ||
void * | user, | ||
rs_error ** | error | ||
) |
start logging to user provided callback (C version)
[in] | on_log | callback function pointer |
[in] | min_severity | the minimum severity to be logged |
[in] | user | custom pointer for the callback |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_log_to_callback_cpp | ( | rs_log_severity | min_severity, |
rs_log_callback * | callback, | ||
rs_error ** | error | ||
) |
start logging to user provided callback
[in] | callback | pointer to log into (must be created and used from C++) |
[in] | min_severity | the minimum severity to be logged |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_log_to_console | ( | rs_log_severity | min_severity, |
rs_error ** | error | ||
) |
start logging to console
[in] | min_severity | the minimum severity to be logged |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_log_to_file | ( | rs_log_severity | min_severity, |
const char * | file_path, | ||
rs_error ** | error | ||
) |
start logging to file
[in] | file_path | relative filename to log to, in case file exists it will be appended to |
[in] | min_severity | the minimum severity to be logged |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_option_to_string | ( | rs_option | option | ) |
check if new frames are available, without blocking
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_preset_to_string | ( | rs_preset | preset | ) |
void rs_release_frame | ( | rs_device * | device, |
rs_frame_ref * | frame, | ||
rs_error ** | error | ||
) |
relases the frame handle
[in] | frame | handle returned either detach, clone_ref or from frame callback |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_reset_device_options_to_default | ( | rs_device * | device, |
const rs_option * | options, | ||
int | count, | ||
rs_error ** | error | ||
) |
efficiently reset the value of an arbitrary number of options to default
[in] | options | the array of options which should be set to default |
[in] | count | the length of the options array |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_send_blob_to_device | ( | rs_device * | device, |
rs_blob_type | type, | ||
void * | data, | ||
int | size, | ||
rs_error ** | error | ||
) |
send a blob of data to the device. at the moment only RS_BLOB_TYPE_MOTION_MODULE_FIRMWARE_UPDATE is support of the motiohn module.
[in] | firmware | data. |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
set the current value of a single option
[in] | option | the option whose value should be set |
[in] | value | the value of the option |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_set_device_options | ( | rs_device * | device, |
const rs_option * | options, | ||
unsigned int | count, | ||
const double * | values, | ||
rs_error ** | error | ||
) |
efficiently set the value of an arbitrary number of options, using minimal hardware IO
[in] | options | the array of options which should be set |
[in] | count | the length of the options and values arrays |
[in] | values | the array of values to which the options should be set |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_set_frame_callback | ( | rs_device * | device, |
rs_stream | stream, | ||
rs_frame_callback_ptr | on_frame, | ||
void * | user, | ||
rs_error ** | error | ||
) |
set up a frame callback that will be called immediately when an image is available, with no synchronization logic applied
[in] | stream | the stream for whose images the callback should be registered |
[in] | on_frame | the callback which will receive the frame data and timestamp |
[in] | user | a user data point to be passed to the callback |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
void rs_set_frame_callback_cpp | ( | rs_device * | device, |
rs_stream | stream, | ||
rs_frame_callback * | callback, | ||
rs_error ** | error | ||
) |
set up a frame callback that will be called immediately when an image is available, with no synchronization logic applied (This variant is provided specificly to enable passing lambdas with capture lists safely into the library)
[in] | stream | the stream for whose images the callback should be registered |
[in] | callback | the callback which will receive the frame data and timestamp |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_source_to_string | ( | rs_source | source | ) |
begin streaming on all enabled streams for this device
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
begin streaming on all enabled streams for this device
[in] | source | the data source to be activated |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
end data acquisition for the specified source providers
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
end data acquisition for the specified source providers
[in] | source | the data source to be terminated |
[out] | error | if non-null, receives any error that occurs during this call, otherwise, errors are ignored |
const char* rs_stream_to_string | ( | rs_stream | stream | ) |
int rs_supports | ( | rs_device * | device, |
rs_capabilities | capability, | ||
rs_error ** | error | ||
) |
determine device capabilities
[in] | capability | the capability to check for support |
int rs_supports_camera_info | ( | rs_device * | device, |
rs_camera_info | info_param, | ||
rs_error ** | error | ||
) |
specialization over generic support to verify camera header block support
[in] | info_param | the parameter to check for support |
int rs_supports_frame_metadata | ( | const rs_frame_ref * | frame, |
rs_frame_metadata | frame_metadata, | ||
rs_error ** | error | ||
) |
determine device metadata
[in] | metadata | the metadata to check for support |
const char* rs_timestamp_domain_to_string | ( | rs_timestamp_domain | info | ) |