Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
Loading...
Searching...
No Matches
rs_device.h
Go to the documentation of this file.
1/* License: Apache 2.0. See LICENSE file in root directory.
2 Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
3
7
8
9#ifndef LIBREALSENSE_RS2_DEVICE_H
10#define LIBREALSENSE_RS2_DEVICE_H
11
12#ifdef __cplusplus
13extern "C" {
14#endif
15
16#include "rs_types.h"
17#include "rs_sensor.h"
18
25int rs2_get_device_count(const rs2_device_list* info_list, rs2_error** error);
26
32
40int rs2_device_list_contains(const rs2_device_list* info_list, const rs2_device* device, rs2_error** error);
41
49rs2_device* rs2_create_device(const rs2_device_list* info_list, int index, rs2_error** error);
50
56
61int rs2_device_is_connected( const rs2_device * device, rs2_error ** error );
62
70const char* rs2_get_device_info(const rs2_device* device, rs2_camera_info info, rs2_error** error);
71
80
87void rs2_hardware_reset(const rs2_device * device, rs2_error ** error);
88
103const rs2_raw_data_buffer* rs2_build_debug_protocol_command(rs2_device* device, unsigned opcode, unsigned param1, unsigned param2,
104 unsigned param3, unsigned param4, void* data, unsigned size_of_data, rs2_error** error);
105
114const rs2_raw_data_buffer* rs2_send_and_receive_raw_data(rs2_device* device, void* raw_data_to_send, unsigned size_of_raw_data_to_send, rs2_error** error);
115
123int rs2_is_device_extendable_to(const rs2_device* device, rs2_extension extension, rs2_error ** error);
124
132
139void rs2_loopback_enable(const rs2_device* device, const char* from_file, rs2_error** error);
140
146void rs2_loopback_disable(const rs2_device* device, rs2_error** error);
147
154int rs2_loopback_is_enabled(const rs2_device* device, rs2_error** error);
155
162void rs2_connect_tm2_controller(const rs2_device* device, const unsigned char* mac_addr, rs2_error** error);
163
170void rs2_disconnect_tm2_controller(const rs2_device* device, int id, rs2_error** error);
171
172
179
186
196void rs2_update_firmware_cpp(const rs2_device* device, const void* fw_image, int fw_image_size, rs2_update_progress_callback* callback, rs2_error** error);
197
208void rs2_update_firmware(const rs2_device* device, const void* fw_image, int fw_image_size, rs2_update_progress_callback_ptr callback, void* client_data, rs2_error** error);
209
218
227const rs2_raw_data_buffer* rs2_create_flash_backup(const rs2_device* device, rs2_update_progress_callback_ptr callback, void* client_data, rs2_error** error);
228
229#define RS2_UNSIGNED_UPDATE_MODE_UPDATE 0
230#define RS2_UNSIGNED_UPDATE_MODE_READ_ONLY 1
231#define RS2_UNSIGNED_UPDATE_MODE_FULL 2
232
244void rs2_update_firmware_unsigned_cpp(const rs2_device* device, const void* fw_image, int fw_image_size, rs2_update_progress_callback* callback, int update_mode, rs2_error** error);
245
254int rs2_check_firmware_compatibility(const rs2_device* device, const void* fw_image, int fw_image_size, rs2_error** error);
255
268void rs2_update_firmware_unsigned(const rs2_device* device, const void* fw_image, int fw_image_size, rs2_update_progress_callback_ptr callback, void* client_data, int update_mode, rs2_error** error);
269
275void rs2_enter_update_state(const rs2_device* device, rs2_error** error);
276
312const rs2_raw_data_buffer* rs2_run_on_chip_calibration_cpp(rs2_device* device, const void* json_content, int content_size, float* health, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error);
313
352const rs2_raw_data_buffer* rs2_run_on_chip_calibration(rs2_device* device, const void* json_content, int content_size, float* health, rs2_update_progress_callback_ptr callback, void* client_data, int timeout_ms, rs2_error** error);
353
385const rs2_raw_data_buffer* rs2_run_tare_calibration_cpp(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, float* health, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error);
386
387
395const rs2_raw_data_buffer* rs2_process_calibration_frame(rs2_device* dev, const rs2_frame* f, float* const health, rs2_update_progress_callback* progress_callback, int timeout_ms, rs2_error** error);
396
397
410
415{
416 // Anything >= 0 is not an issue
417 RS2_CALIBRATION_TRIGGERED = 0, // AC triggered and is active; conditions are valid
418 RS2_CALIBRATION_SPECIAL_FRAME = 1, // Special frame received; expect a frame-drop!
419 RS2_CALIBRATION_STARTED = 2, // Have all frames in hand; starting processing
420 RS2_CALIBRATION_NOT_NEEDED = 3, // Finished; existing calibration within tolerances; nothing done!
421 RS2_CALIBRATION_SUCCESSFUL = 4, // Finished; have new calibration in-hand
422
423 RS2_CALIBRATION_RETRY = -1, // Initiating retry (asked for a new special frame)
424 RS2_CALIBRATION_FAILED = -2, // Unexpected: exception, device removed, stream stopped, etc.
425 RS2_CALIBRATION_SCENE_INVALID = -3, // Scene was not good enough for calibration; will retry
426 RS2_CALIBRATION_BAD_RESULT = -4, // Calibration finished, but results aren't good; will retry
427 RS2_CALIBRATION_BAD_CONDITIONS = -5, // Trigger was attempted but conditions (temp/APD) were invalid (still inactive)
428
434
437
446
454
462
491const rs2_raw_data_buffer* rs2_run_tare_calibration(rs2_device* dev, float ground_truth_mm, const void* json_content, int content_size, float* health, rs2_update_progress_callback_ptr callback, void* client_data, int timeout_ms, rs2_error** error);
492
498
503void rs2_set_calibration_table(const rs2_device* device, const void* calibration, int calibration_size, rs2_error** error);
504
505/* Serialize JSON content, returns ASCII-serialized JSON string on success. otherwise nullptr */
507
508/* Load JSON and apply advanced-mode controls */
509void rs2_load_json(rs2_device* dev, const void* json_content, unsigned content_size, rs2_error** error);
510
524const rs2_raw_data_buffer* rs2_run_focal_length_calibration_cpp(rs2_device* device, rs2_frame_queue* left_queue , rs2_frame_queue* right_queue, float target_width, float target_height, int adjust_both_sides,
525 float* ratio, float* angle, rs2_update_progress_callback * progress_callback, rs2_error** error);
526
541const rs2_raw_data_buffer* rs2_run_focal_length_calibration(rs2_device* device, rs2_frame_queue* left_queue, rs2_frame_queue* right_queue, float target_width, float target_height, int adjust_both_sides,
542 float* ratio, float* angle, rs2_update_progress_callback_ptr callback, void* client_data, rs2_error** error);
543
556const rs2_raw_data_buffer* rs2_run_uv_map_calibration_cpp(rs2_device* device, rs2_frame_queue* left_queue, rs2_frame_queue* color_queue, rs2_frame_queue* depth_queue, int py_px_only,
557 float * health, int health_size, rs2_update_progress_callback * progress_callback, rs2_error** error);
558
573 int py_px_only, float* health, int health_size, rs2_update_progress_callback_ptr callback, void* client_data, rs2_error** error);
574
585 float target_width, float target_height,
586 rs2_update_progress_callback* callback, rs2_error** error);
587
599 float target_width, float target_height, rs2_update_progress_callback_ptr progress_callback, void* client_data, rs2_error** error);
600
608
615void rs2_set_calibration_config(rs2_device* device, const char* calibration_config_json_str, rs2_error** error);
616
617#ifdef __cplusplus
618}
619#endif
620#endif
rs2_device * rs2_create_device(const rs2_device_list *info_list, int index, rs2_error **error)
void rs2_set_calibration_config(rs2_device *device, const char *calibration_config_json_str, rs2_error **error)
int rs2_get_device_count(const rs2_device_list *info_list, rs2_error **error)
void rs2_update_firmware_cpp(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback *callback, rs2_error **error)
int rs2_device_is_connected(const rs2_device *device, rs2_error **error)
rs2_calibration_type
Definition rs_device.h:403
@ RS2_CALIBRATION_THERMAL
Definition rs_device.h:406
@ RS2_CALIBRATION_MANUAL_DEPTH_TO_RGB
Definition rs_device.h:405
@ RS2_CALIBRATION_TYPE_COUNT
Definition rs_device.h:407
@ RS2_CALIBRATION_AUTO_DEPTH_TO_RGB
Definition rs_device.h:404
void rs2_trigger_device_calibration(rs2_device *dev, rs2_calibration_type type, rs2_error **error)
void rs2_reset_to_factory_calibration(const rs2_device *device, rs2_error **e)
const rs2_raw_data_buffer * rs2_run_tare_calibration(rs2_device *dev, float ground_truth_mm, const void *json_content, int content_size, float *health, rs2_update_progress_callback_ptr callback, void *client_data, int timeout_ms, rs2_error **error)
void rs2_set_calibration_table(const rs2_device *device, const void *calibration, int calibration_size, rs2_error **error)
const char * rs2_calibration_type_to_string(rs2_calibration_type)
void rs2_delete_device(rs2_device *device)
const rs2_raw_data_buffer * rs2_get_calibration_table(const rs2_device *dev, rs2_error **error)
const rs2_raw_data_buffer * rs2_get_calibration_config(rs2_device *device, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_focal_length_calibration(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *right_queue, float target_width, float target_height, int adjust_both_sides, float *ratio, float *angle, rs2_update_progress_callback_ptr callback, void *client_data, rs2_error **error)
int rs2_is_device_extendable_to(const rs2_device *device, rs2_extension extension, rs2_error **error)
void rs2_write_calibration(const rs2_device *device, rs2_error **e)
void rs2_update_firmware(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback_ptr callback, void *client_data, rs2_error **error)
void rs2_enter_update_state(const rs2_device *device, rs2_error **error)
int rs2_check_firmware_compatibility(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_error **error)
const rs2_raw_data_buffer * rs2_send_and_receive_raw_data(rs2_device *device, void *raw_data_to_send, unsigned size_of_raw_data_to_send, rs2_error **error)
void rs2_connect_tm2_controller(const rs2_device *device, const unsigned char *mac_addr, rs2_error **error)
void rs2_update_firmware_unsigned_cpp(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback *callback, int update_mode, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_uv_map_calibration(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *color_queue, rs2_frame_queue *depth_queue, int py_px_only, float *health, int health_size, rs2_update_progress_callback_ptr callback, void *client_data, rs2_error **error)
int rs2_loopback_is_enabled(const rs2_device *device, rs2_error **error)
rs2_raw_data_buffer * rs2_serialize_json(rs2_device *dev, rs2_error **error)
int rs2_supports_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_on_chip_calibration(rs2_device *device, const void *json_content, int content_size, float *health, rs2_update_progress_callback_ptr callback, void *client_data, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_process_calibration_frame(rs2_device *dev, const rs2_frame *f, float *const health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_create_flash_backup(const rs2_device *device, rs2_update_progress_callback_ptr callback, void *client_data, rs2_error **error)
const rs2_raw_data_buffer * rs2_create_flash_backup_cpp(const rs2_device *device, rs2_update_progress_callback *callback, rs2_error **error)
int rs2_device_list_contains(const rs2_device_list *info_list, const rs2_device *device, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_on_chip_calibration_cpp(rs2_device *device, const void *json_content, int content_size, float *health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
void rs2_delete_device_list(rs2_device_list *info_list)
const rs2_raw_data_buffer * rs2_build_debug_protocol_command(rs2_device *device, unsigned opcode, unsigned param1, unsigned param2, unsigned param3, unsigned param4, void *data, unsigned size_of_data, rs2_error **error)
void rs2_hardware_reset(const rs2_device *device, rs2_error **error)
rs2_sensor_list * rs2_query_sensors(const rs2_device *device, rs2_error **error)
float rs2_calculate_target_z(rs2_device *device, rs2_frame_queue *queue1, rs2_frame_queue *queue2, rs2_frame_queue *queue3, float target_width, float target_height, rs2_update_progress_callback_ptr progress_callback, void *client_data, rs2_error **error)
void rs2_loopback_disable(const rs2_device *device, rs2_error **error)
void rs2_update_firmware_unsigned(const rs2_device *device, const void *fw_image, int fw_image_size, rs2_update_progress_callback_ptr callback, void *client_data, int update_mode, rs2_error **error)
const char * rs2_get_device_info(const rs2_device *device, rs2_camera_info info, rs2_error **error)
void rs2_loopback_enable(const rs2_device *device, const char *from_file, rs2_error **error)
void rs2_register_calibration_change_callback_cpp(rs2_device *dev, rs2_calibration_change_callback *callback, rs2_error **error)
void(* rs2_calibration_change_callback_ptr)(rs2_calibration_status, void *arg)
Definition rs_device.h:436
rs2_calibration_status
Definition rs_device.h:415
@ RS2_CALIBRATION_FAILED
Definition rs_device.h:424
@ RS2_CALIBRATION_STATUS_FIRST
Definition rs_device.h:429
@ RS2_CALIBRATION_BAD_RESULT
Definition rs_device.h:426
@ RS2_CALIBRATION_SPECIAL_FRAME
Definition rs_device.h:418
@ RS2_CALIBRATION_BAD_CONDITIONS
Definition rs_device.h:427
@ RS2_CALIBRATION_TRIGGERED
Definition rs_device.h:417
@ RS2_CALIBRATION_STARTED
Definition rs_device.h:419
@ RS2_CALIBRATION_NOT_NEEDED
Definition rs_device.h:420
@ RS2_CALIBRATION_STATUS_COUNT
Definition rs_device.h:431
@ RS2_CALIBRATION_SUCCESSFUL
Definition rs_device.h:421
@ RS2_CALIBRATION_SCENE_INVALID
Definition rs_device.h:425
@ RS2_CALIBRATION_STATUS_LAST
Definition rs_device.h:430
@ RS2_CALIBRATION_RETRY
Definition rs_device.h:423
void rs2_register_calibration_change_callback(rs2_device *dev, rs2_calibration_change_callback_ptr callback, void *user, rs2_error **error)
const char * rs2_calibration_status_to_string(rs2_calibration_status)
const rs2_raw_data_buffer * rs2_run_uv_map_calibration_cpp(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *color_queue, rs2_frame_queue *depth_queue, int py_px_only, float *health, int health_size, rs2_update_progress_callback *progress_callback, rs2_error **error)
void rs2_load_json(rs2_device *dev, const void *json_content, unsigned content_size, rs2_error **error)
float rs2_calculate_target_z_cpp(rs2_device *device, rs2_frame_queue *queue1, rs2_frame_queue *queue2, rs2_frame_queue *queue3, float target_width, float target_height, rs2_update_progress_callback *callback, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_tare_calibration_cpp(rs2_device *dev, float ground_truth_mm, const void *json_content, int content_size, float *health, rs2_update_progress_callback *progress_callback, int timeout_ms, rs2_error **error)
const rs2_raw_data_buffer * rs2_run_focal_length_calibration_cpp(rs2_device *device, rs2_frame_queue *left_queue, rs2_frame_queue *right_queue, float target_width, float target_height, int adjust_both_sides, float *ratio, float *angle, rs2_update_progress_callback *progress_callback, rs2_error **error)
void rs2_disconnect_tm2_controller(const rs2_device *device, int id, rs2_error **error)
Exposes RealSense sensor functionality for C compilers.
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
Exposes RealSense structs.
void(* rs2_update_progress_callback_ptr)(const float, void *)
Definition rs_types.h:271
struct rs2_sensor_list rs2_sensor_list
Definition rs_types.h:253
struct rs2_device rs2_device
Definition rs_types.h:229
rs2_extension
Specifies advanced interfaces (capabilities) objects may implement.
Definition rs_types.h:137
struct rs2_device_list rs2_device_list
Definition rs_types.h:238
struct rs2_error rs2_error
Definition rs_types.h:230
struct rs2_raw_data_buffer rs2_raw_data_buffer
Definition rs_types.h:232
struct rs2_frame_queue rs2_frame_queue
Definition rs_types.h:234
struct rs2_frame rs2_frame
Definition rs_types.h:233
Definition rs_types.hpp:69
Definition rs_types.hpp:93