Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
Classes | Namespaces | Enumerations | Functions
rs.hpp File Reference

Exposes librealsense functionality for C++ compilers. More...

#include "rsutil.h"
#include "rscore.hpp"
#include <cmath>
#include <cstdint>
#include <cstring>
#include <sstream>
#include <stdexcept>
#include <functional>
#include <vector>

Go to the source code of this file.

Classes

struct  rs::float2
 
struct  rs::float3
 
struct  rs::intrinsics
 Video stream intrinsics. More...
 
struct  rs::motion_intrinsics
 Motion device intrinsics: scale, bias, and variances. More...
 
struct  rs::extrinsics
 Cross-stream extrinsics: encode the topology describing how the different devices are connected. More...
 
struct  rs::timestamp_data
 Timestamp data from the motion microcontroller. More...
 
struct  rs::motion_data
 Motion data from gyroscope and accelerometer from the microcontroller. More...
 
class  rs::error
 
class  rs::context
 Context. More...
 
class  rs::motion_callback
 
class  rs::timestamp_callback
 
class  rs::frame
 Frame. More...
 
class  rs::frame_callback
 
class  rs::device
 Provides convenience methods relating to devices. More...
 
class  rs::log_callback
 

Namespaces

 rs
 

Enumerations

enum class  rs::stream : int32_t {
  rs::depth , rs::color , rs::infrared , rs::infrared2 ,
  rs::fisheye , rs::points , rs::rectified_color , rs::color_aligned_to_depth ,
  rs::infrared2_aligned_to_depth , rs::depth_aligned_to_color , rs::depth_aligned_to_rectified_color , rs::depth_aligned_to_infrared2
}
 Streams are different types of data provided by RealSense devices. More...
 
enum class  rs::format : int32_t {
  rs::any , rs::z16 , rs::disparity16 , rs::xyz32f ,
  rs::yuyv , rs::rgb8 , rs::bgr8 , rs::rgba8 ,
  rs::bgra8 , rs::y8 , rs::y16 , rs::raw10 ,
  rs::raw16 , rs::raw8
}
 Formats: defines how each stream can be encoded. rs_format specifies how a frame is represented in memory (similar to the V4L pixel format). More...
 
enum class  rs::output_buffer_format : int32_t { rs::continous , rs::native }
 Output buffer format: sets how librealsense works with frame memory. More...
 
enum class  rs::preset : int32_t { rs::best_quality , rs::largest_image , rs::highest_framerate }
 Presets: general preferences that are translated by librealsense into concrete resolution and FPS. More...
 
enum class  rs::distortion : int32_t { rs::none , rs::modified_brown_conrady , rs::inverse_brown_conrady , rs::distortion_ftheta }
 Distortion model: defines how pixel coordinates should be mapped to sensor coordinates. More...
 
enum class  rs::option : int32_t {
  rs::color_backlight_compensation , rs::color_brightness , rs::color_contrast , rs::color_exposure ,
  rs::color_gain , rs::color_gamma , rs::color_hue , rs::color_saturation ,
  rs::color_sharpness , rs::color_white_balance , rs::color_enable_auto_exposure , rs::color_enable_auto_white_balance ,
  rs::f200_laser_power , rs::f200_accuracy , rs::f200_motion_range , rs::f200_filter_option ,
  rs::f200_confidence_threshold , rs::f200_dynamic_fps , rs::sr300_auto_range_enable_motion_versus_range , rs::sr300_auto_range_enable_laser ,
  rs::sr300_auto_range_min_motion_versus_range , rs::sr300_auto_range_max_motion_versus_range , rs::sr300_auto_range_start_motion_versus_range , rs::sr300_auto_range_min_laser ,
  rs::sr300_auto_range_max_laser , rs::sr300_auto_range_start_laser , rs::sr300_auto_range_upper_threshold , rs::sr300_auto_range_lower_threshold ,
  rs::r200_lr_auto_exposure_enabled , rs::r200_lr_gain , rs::r200_lr_exposure , rs::r200_emitter_enabled ,
  rs::r200_depth_units , rs::r200_depth_clamp_min , rs::r200_depth_clamp_max , rs::r200_disparity_multiplier ,
  rs::r200_disparity_shift , rs::r200_auto_exposure_mean_intensity_set_point , rs::r200_auto_exposure_bright_ratio_set_point , rs::r200_auto_exposure_kp_gain ,
  rs::r200_auto_exposure_kp_exposure , rs::r200_auto_exposure_kp_dark_threshold , rs::r200_auto_exposure_top_edge , rs::r200_auto_exposure_bottom_edge ,
  rs::r200_auto_exposure_left_edge , rs::r200_auto_exposure_right_edge , rs::r200_depth_control_estimate_median_decrement , rs::r200_depth_control_estimate_median_increment ,
  rs::r200_depth_control_median_threshold , rs::r200_depth_control_score_minimum_threshold , rs::r200_depth_control_score_maximum_threshold , rs::r200_depth_control_texture_count_threshold ,
  rs::r200_depth_control_texture_difference_threshold , rs::r200_depth_control_second_peak_threshold , rs::r200_depth_control_neighbor_threshold , rs::r200_depth_control_lr_threshold ,
  rs::fisheye_exposure , rs::fisheye_gain , rs::fisheye_strobe , rs::fisheye_external_trigger ,
  rs::fisheye_color_auto_exposure , rs::fisheye_color_auto_exposure_mode , rs::fisheye_color_auto_exposure_rate , rs::fisheye_color_auto_exposure_sample_rate ,
  rs::fisheye_color_auto_exposure_skip_frames , rs::frames_queue_size , rs::hardware_logger_enabled , rs::total_frame_drops
}
 Defines general configuration controls. More...
 
enum class  rs::frame_metadata { rs::actual_exposure , rs::actual_fps }
 Types of value provided from the device with each frame. More...
 
enum class  rs::capabilities : int32_t {
  rs::depth , rs::color , rs::infrared , rs::infrared2 ,
  rs::fish_eye , rs::motion_events , rs::motion_module_fw_update , rs::adapter_board ,
  rs::enumeration
}
 Specifies various capabilities of a RealSense device. More...
 
enum class  rs::blob_type { rs::motion_module_firmware_update }
 Proprietary formats for direct communication with device firmware. More...
 
enum class  rs::camera_info {
  rs::device_name , rs::serial_number , rs::camera_firmware_version , rs::adapter_board_firmware_version ,
  rs::motion_module_firmware_version , rs::camera_type , rs::oem_id , rs::isp_fw_version ,
  rs::content_version , rs::module_version , rs::imager_model_number , rs::build_date ,
  rs::calibration_date , rs::program_date , rs::focus_alignment_date , rs::emitter_type ,
  rs::focus_value , rs::lens_type , rs::third_lens_type , rs::lens_coating_type ,
  rs::third_lens_coating_type , rs::lens_nominal_baseline , rs::third_lens_nominal_baseline
}
 Read-only strings that can be queried from the device. More...
 
enum class  rs::source : uint8_t { rs::video , rs::motion_data , rs::all_sources }
 Allows the user to choose between available hardware subdevices. More...
 
enum class  rs::event : uint8_t {
  rs::event_imu_accel , rs::event_imu_gyro , rs::event_imu_depth_cam , rs::event_imu_motion_cam ,
  rs::event_imu_g0_sync , rs::event_imu_g1_sync , rs::event_imu_g2_sync
}
 Source device that triggered specific timestamp event from the motion module. More...
 
enum class  rs::timestamp_domain { rs::camera , rs::microcontroller }
 Specifies the clock in relation to which the frame timestamp was measured. More...
 
enum class  rs::log_severity : int32_t {
  rs::debug = 0 , rs::info = 1 , rs::warn = 2 , rs::error = 3 ,
  rs::fatal = 4 , rs::none = 5
}
 Severity of the librealsense logger. More...
 

Functions

std::ostream & rs::operator<< (std::ostream &o, stream stream)
 
std::ostream & rs::operator<< (std::ostream &o, format format)
 
std::ostream & rs::operator<< (std::ostream &o, preset preset)
 
std::ostream & rs::operator<< (std::ostream &o, distortion distortion)
 
std::ostream & rs::operator<< (std::ostream &o, option option)
 
std::ostream & rs::operator<< (std::ostream &o, capabilities capability)
 
std::ostream & rs::operator<< (std::ostream &o, source src)
 
std::ostream & rs::operator<< (std::ostream &o, event evt)
 
void rs::log_to_console (log_severity min_severity)
 
void rs::log_to_file (log_severity min_severity, const char *file_path)
 
void rs::log_to_callback (log_severity min_severity, std::function< void(log_severity, const char *)> callback)
 
void rs::apply_depth_control_preset (device *device, int preset)
 
void rs::apply_ivcam_preset (device *device, rs_ivcam_preset preset)
 
void rs::apply_ivcam_preset (device *device, int preset)
 

Detailed Description

Exposes librealsense functionality for C++ compilers.