8#ifndef LIBREALSENSE_RS_HPP
9#define LIBREALSENSE_RS_HPP
304 class error :
public std::runtime_error
306 std::string function, args;
365 std::function<void(
motion_data)> on_event_function;
385 on_event_function(std::move(data));
410 std::swap(
device, other.device);
411 std::swap(frame_ref, other.frame_ref);
539 return static_cast<format>(r);
549 return static_cast<stream>(s);
555 std::function<void(
frame)> on_frame_function;
1010 return r?
true:
false;
1022 return r ? true :
false;
1092 std::function<void(
log_severity,
const char *)> on_event_function;
Context.
Definition: rs.hpp:320
context(rs_context *handle)
Definition: rs.hpp:334
context()
Creates RealSense context that is required for the rest of the API.
Definition: rs.hpp:327
int get_device_count() const
Definition: rs.hpp:343
~context()
Definition: rs.hpp:336
device * get_device(int index)
Definition: rs.hpp:354
Provides convenience methods relating to devices.
Definition: rs.hpp:568
int get_stream_framerate(stream stream) const
Retrieves frame rate for specific stream.
Definition: rs.hpp:777
void enable_motion_tracking(std::function< void(motion_data)> motion_handler, std::function< void(timestamp_data)> timestamp_handler)
Sets callback for motion module event.
Definition: rs.hpp:841
void set_option(option option, double value)
Sets current value of single option.
Definition: rs.hpp:976
const char * get_name() const
Retrieves human-readable device model string.
Definition: rs.hpp:578
void disable_stream(stream stream)
Disables specific stream.
Definition: rs.hpp:723
int is_motion_tracking_active()
Checks if data acquisition is active
Definition: rs.hpp:869
double get_frame_timestamp(stream stream) const
Retrieves time at which the latest frame on a stream was captured.
Definition: rs.hpp:1028
int get_stream_height(stream stream) const
Retrieves height, in pixels, of a specific stream, equivalent to the height field from the stream's i...
Definition: rs.hpp:755
int get_stream_mode_count(stream stream) const
Determines number of streaming modes available for given stream.
Definition: rs.hpp:675
void enable_stream(stream stream, preset preset)
Enables specific stream and requests properties using preset.
Definition: rs.hpp:714
motion_intrinsics get_motion_intrinsics() const
Retrieves intrinsic camera parameters for motion module.
Definition: rs.hpp:799
void send_blob_to_device(rs::blob_type type, void *data, int size)
Sends device-specific data to device.
Definition: rs.hpp:1062
bool supports_option(option option) const
Determines if device allows specific option to be queried and set.
Definition: rs.hpp:664
void enable_stream(stream stream, int width, int height, format format, int framerate, output_buffer_format output_buffer_type=output_buffer_format::continous)
Enables specific stream and requests specific properties.
Definition: rs.hpp:704
bool poll_for_frames()
Checks if new frames are available, without blocking.
Definition: rs.hpp:994
void disable_motion_tracking(void)
Disables events polling.
Definition: rs.hpp:861
const char * get_option_description(option option)
Retrieves device-specific option description.
Definition: rs.hpp:965
void enable_motion_tracking(std::function< void(motion_data)> motion_handler)
Sets the callback for motion module event.
Definition: rs.hpp:853
unsigned long long get_frame_number(stream stream) const
Retrieves frame number.
Definition: rs.hpp:1039
extrinsics get_extrinsics(stream from_stream, stream to_stream) const
Retrieves extrinsic transformation between viewpoints of two different streams.
Definition: rs.hpp:630
bool supports(capabilities capability) const
Determines device capabilities.
Definition: rs.hpp:1005
void set_options(const option *options, size_t count, const double *values)
Efficiently sets value of arbitrary number of options, using minimal hardware IO.
Definition: rs.hpp:944
bool is_streaming() const
Determines if device is currently streaming.
Definition: rs.hpp:896
void get_options(const option *options, size_t count, double *values)
Efficiently retrieves value of arbitrary number of options, using minimal hardware IO.
Definition: rs.hpp:933
void set_frame_callback(rs::stream stream, std::function< void(frame)> frame_handler)
Sets callback for frame arrival event.
Definition: rs.hpp:817
extrinsics get_motion_extrinsics_from(stream from_stream) const
Retrieves extrinsic transformation between viewpoints of specific stream and motion module.
Definition: rs.hpp:642
void start(rs::source source=rs::source::video)
Begins streaming on all enabled streams for this device.
Definition: rs.hpp:879
const char * get_firmware_version() const
Retrieves version of firmware currently installed on device.
Definition: rs.hpp:608
void get_stream_mode(stream stream, int index, int &width, int &height, format &format, int &framerate) const
Determines properties of specific streaming mode.
Definition: rs.hpp:690
const char * get_info(camera_info info) const
Retrieves camera-specific information such as versions of various components.
Definition: rs.hpp:618
void get_option_range(option option, double &min, double &max, double &step)
Retrieves available range of values of supported option.
Definition: rs.hpp:909
const char * get_serial() const
Retrieves unique serial number of device.
Definition: rs.hpp:588
const void * get_frame_data(stream stream) const
Retrieves contents of latest frame on a stream.
Definition: rs.hpp:1050
const char * get_usb_port_id() const
Retrieves USB port number of device.
Definition: rs.hpp:598
double get_option(option option)
Retrieves current value of single option.
Definition: rs.hpp:954
bool is_stream_enabled(stream stream) const
Determines if specific stream is enabled.
Definition: rs.hpp:733
void get_option_range(option option, double &min, double &max, double &step, double &def)
Retrieves available range of values of supported option.
Definition: rs.hpp:922
format get_stream_format(stream stream) const
Retrieves pixel format for specific stream.
Definition: rs.hpp:766
float get_depth_scale() const
Retrieves mapping between units of depth image and meters.
Definition: rs.hpp:653
int get_stream_width(stream stream) const
Retrieves width, in pixels, of a specific stream, equivalent to the width field from the stream's int...
Definition: rs.hpp:744
intrinsics get_stream_intrinsics(stream stream) const
Retrieves intrinsic camera parameters for specific stream.
Definition: rs.hpp:788
bool supports(camera_info info_param) const
Determines device capabilities.
Definition: rs.hpp:1017
void wait_for_frames()
Blocks until new frames are available.
Definition: rs.hpp:985
void stop(rs::source source=rs::source::video)
Ends streaming on all streams for this device.
Definition: rs.hpp:887
static void handle(rs_error *e)
Definition: rs.hpp:316
const std::string & get_failed_args() const
Definition: rs.hpp:315
error(rs_error *err)
Definition: rs.hpp:308
const std::string & get_failed_function() const
Definition: rs.hpp:314
void release() override
Definition: rs.hpp:564
frame_callback(std::function< void(frame)> on_frame)
Definition: rs.hpp:557
void on_frame(rs_device *device, rs_frame_ref *fref) override
Definition: rs.hpp:559
Frame.
Definition: rs.hpp:393
format get_format() const
Retrieves frame format.
Definition: rs.hpp:534
double get_timestamp() const
Definition: rs.hpp:426
frame & operator=(frame other)
Definition: rs.hpp:403
int get_width() const
Returns image width in pixels.
Definition: rs.hpp:487
timestamp_domain get_frame_timestamp_domain() const
Definition: rs.hpp:436
int get_stride() const
Retrieves frame stride, meaning the actual line width in memory in bytes (not the logical image width...
Definition: rs.hpp:514
~frame()
Definition: rs.hpp:414
frame(frame &&other)
Definition: rs.hpp:402
int get_bpp() const
Retrieves bits per pixel.
Definition: rs.hpp:524
void swap(frame &other)
Definition: rs.hpp:408
frame(rs_device *device, rs_frame_ref *frame_ref)
Definition: rs.hpp:401
const void * get_data() const
Definition: rs.hpp:478
stream get_stream_type() const
Retrieves frame stream type.
Definition: rs.hpp:544
double get_frame_metadata(rs_frame_metadata frame_metadata) const
Definition: rs.hpp:447
int get_height() const
Returns image height in pixels.
Definition: rs.hpp:496
frame()
Definition: rs.hpp:400
bool supports_frame_metadata(rs_frame_metadata frame_metadata) const
Definition: rs.hpp:458
int get_framerate() const
Returns configured frame rate.
Definition: rs.hpp:505
unsigned long long get_frame_number() const
Definition: rs.hpp:468
void release() override
Definition: rs.hpp:1101
void on_event(rs_log_severity severity, const char *message) override
Definition: rs.hpp:1096
log_callback(std::function< void(log_severity, const char *)> on_event)
Definition: rs.hpp:1094
void release() override
Definition: rs.hpp:374
void on_event(rs_motion_data e) override
Definition: rs.hpp:369
motion_callback(std::function< void(motion_data)> on_event)
Definition: rs.hpp:367
void release() override
Definition: rs.hpp:388
timestamp_callback(std::function< void(timestamp_data)> on_event)
Definition: rs.hpp:381
void on_event(rs_timestamp_data data) override
Definition: rs.hpp:383
distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs.hpp:77
frame_metadata
Types of value provided from the device with each frame.
Definition: rs.hpp:161
timestamp_domain
Specifies the clock in relation to which the frame timestamp was measured.
Definition: rs.hpp:243
output_buffer_format
Output buffer format: sets how librealsense works with frame memory.
Definition: rs.hpp:62
stream
Streams are different types of data provided by RealSense devices.
Definition: rs.hpp:25
@ infrared2_aligned_to_depth
@ depth_aligned_to_rectified_color
@ depth_aligned_to_infrared2
format
Formats: defines how each stream can be encoded. rs_format specifies how a frame is represented in me...
Definition: rs.hpp:43
void log_to_console(log_severity min_severity)
Definition: rs.hpp:1104
event
Source device that triggered specific timestamp event from the motion module.
Definition: rs.hpp:228
option
Defines general configuration controls.
Definition: rs.hpp:88
@ hardware_logger_enabled
@ sr300_auto_range_max_laser
@ fisheye_external_trigger
@ sr300_auto_range_upper_threshold
@ color_enable_auto_exposure
@ r200_auto_exposure_top_edge
@ sr300_auto_range_enable_motion_versus_range
@ sr300_auto_range_lower_threshold
@ r200_auto_exposure_mean_intensity_set_point
@ r200_depth_control_texture_difference_threshold
@ sr300_auto_range_enable_laser
@ r200_auto_exposure_bright_ratio_set_point
@ r200_depth_control_score_maximum_threshold
@ r200_lr_auto_exposure_enabled
@ r200_depth_control_estimate_median_increment
@ sr300_auto_range_min_laser
@ sr300_auto_range_max_motion_versus_range
@ r200_depth_control_median_threshold
@ r200_depth_control_score_minimum_threshold
@ r200_auto_exposure_kp_gain
@ r200_depth_control_neighbor_threshold
@ r200_depth_control_texture_count_threshold
@ r200_auto_exposure_kp_dark_threshold
@ r200_disparity_multiplier
@ sr300_auto_range_start_laser
@ fisheye_color_auto_exposure_sample_rate
@ r200_depth_control_second_peak_threshold
@ fisheye_color_auto_exposure_skip_frames
@ sr300_auto_range_min_motion_versus_range
@ color_enable_auto_white_balance
@ r200_depth_control_lr_threshold
@ r200_depth_control_estimate_median_decrement
@ color_backlight_compensation
@ r200_auto_exposure_right_edge
@ r200_auto_exposure_bottom_edge
@ r200_auto_exposure_left_edge
@ fisheye_color_auto_exposure_rate
@ f200_confidence_threshold
@ r200_auto_exposure_kp_exposure
@ fisheye_color_auto_exposure
@ fisheye_color_auto_exposure_mode
@ sr300_auto_range_start_motion_versus_range
blob_type
Proprietary formats for direct communication with device firmware.
Definition: rs.hpp:184
@ motion_module_firmware_update
log_severity
Severity of the librealsense logger.
Definition: rs.hpp:1081
capabilities
Specifies various capabilities of a RealSense device.
Definition: rs.hpp:170
@ motion_module_fw_update
std::ostream & operator<<(std::ostream &o, stream stream)
Definition: rs.hpp:1070
preset
Presets: general preferences that are translated by librealsense into concrete resolution and FPS.
Definition: rs.hpp:69
void log_to_file(log_severity min_severity, const char *file_path)
Definition: rs.hpp:1111
void log_to_callback(log_severity min_severity, std::function< void(log_severity, const char *)> callback)
Definition: rs.hpp:1118
void apply_depth_control_preset(device *device, int preset)
Definition: rs.hpp:1126
void apply_ivcam_preset(device *device, rs_ivcam_preset preset)
Definition: rs.hpp:1127
camera_info
Read-only strings that can be queried from the device.
Definition: rs.hpp:192
@ third_lens_coating_type
@ motion_module_firmware_version
@ camera_firmware_version
@ third_lens_nominal_baseline
@ adapter_board_firmware_version
source
Allows the user to choose between available hardware subdevices.
Definition: rs.hpp:220
const char * rs_get_device_name(const rs_device *device, rs_error **error)
Retrieves human-readable device model string.
const char * rs_preset_to_string(rs_preset preset)
int rs_get_detached_framerate(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic frame rate.
rs_format rs_get_stream_format(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the pixel format for a specific stream.
const char * rs_format_to_string(rs_format format)
void rs_delete_context(rs_context *context, rs_error **error)
Frees the relevant context object.
const char * rs_get_failed_function(const rs_error *error)
Returns static pointer to name of a failing function in case of error.
void rs_log_to_console(rs_log_severity min_severity, rs_error **error)
Starts logging to console.
void rs_log_to_file(rs_log_severity min_severity, const char *file_path, rs_error **error)
Starts logging to file.
void rs_enable_stream_preset(rs_device *device, rs_stream stream, rs_preset preset, rs_error **error)
Enables a specific stream and requests properties using a preset.
void rs_set_frame_callback_cpp(rs_device *device, rs_stream stream, rs_frame_callback *callback, rs_error **error)
Sets up a frame callback that is called immediately when an image is available, with no synchronizati...
const void * rs_get_detached_frame_data(const rs_frame_ref *frame, rs_error **error)
Retrieves data from frame reference.
struct rs_error rs_error
Definition: rs.h:357
int rs_get_stream_width(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the width in pixels of a specific stream, equivalent to the width field from the stream's i...
int rs_get_detached_frame_bpp(const rs_frame_ref *frame, rs_error **error)
Retrieves frame bits per pixel.
int rs_is_stream_enabled(const rs_device *device, rs_stream stream, rs_error **error)
Determines if a specific stream is enabled.
int rs_get_stream_height(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the height in pixels of a specific stream, equivalent to the height field from the stream's...
rs_timestamp_domain rs_get_detached_frame_timestamp_domain(const rs_frame_ref *frame, rs_error **error)
Retrieves timestamp domain from frame reference.
const char * rs_stream_to_string(rs_stream stream)
int rs_get_detached_frame_width(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic width in pixels.
void rs_free_error(rs_error *error)
Frees memory of an error object.
rs_context * rs_create_context(int api_version, rs_error **error)
Creates RealSense context that is required for the rest of the API.
int rs_get_detached_frame_height(const rs_frame_ref *frame, rs_error **error)
Retrieves frame intrinsic height.
rs_stream
Streams are different types of data provided by RealSense devices.
Definition: rs.h:34
const char * rs_option_to_string(rs_option option)
rs_frame_metadata
Types of value provided from the device with each frame.
Definition: rs.h:204
unsigned long long rs_get_frame_number(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves frame number.
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)
Determines the properties of a specific streaming mode.
int rs_is_device_streaming(const rs_device *device, rs_error **error)
Determines if the device is currently streaming.
float rs_get_device_depth_scale(const rs_device *device, rs_error **error)
Retrieves mapping between the units of the depth image and meters.
void rs_get_stream_intrinsics(const rs_device *device, rs_stream stream, rs_intrinsics *intrin, rs_error **error)
Retrieves intrinsic camera parameters for a specific stream.
rs_event_source
Source device that triggered a specific timestamp event from the motion module.
Definition: rs.h:277
int rs_get_detached_frame_stride(const rs_frame_ref *frame, rs_error **error)
Retrieves frame stride, meaning the actual line width in memory in bytes (not the logical image width...
double rs_get_frame_timestamp(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves time at which the latest frame on a stream was captured.
void rs_wait_for_frames(rs_device *device, rs_error **error)
Blocks until new frames are available.
void rs_disable_motion_tracking(rs_device *device, rs_error **error)
Disables motion-tracking handlers.
void rs_log_to_callback_cpp(rs_log_severity min_severity, rs_log_callback *callback, rs_error **error)
Starts logging to user-provided callback.
int rs_get_stream_mode_count(const rs_device *device, rs_stream stream, rs_error **error)
Determines the number of streaming modes available for a given stream.
rs_distortion
Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
Definition: rs.h:100
void rs_get_device_extrinsics(const rs_device *device, rs_stream from_stream, rs_stream to_stream, rs_extrinsics *extrin, rs_error **error)
Retrieves extrinsic transformation between the viewpoints of two different streams.
void rs_send_blob_to_device(rs_device *device, rs_blob_type type, void *data, int size, rs_error **error)
Sends arbitrary binary data to the device.
void rs_get_device_option_range_ex(rs_device *device, rs_option option, double *min, double *max, double *step, double *def, rs_error **error)
Retrieves the available range of values for a supported option.
double rs_get_device_option(rs_device *device, rs_option option, rs_error **error)
Retrieves the current value of a single option.
double rs_get_detached_frame_timestamp(const rs_frame_ref *frame, rs_error **error)
Retrieves timestamp from frame reference.
const char * rs_get_device_option_description(rs_device *device, rs_option option, rs_error **error)
Retrieves a static description of what a particular option does on given device.
void rs_set_device_option(rs_device *device, rs_option option, double value, rs_error **error)
Sets the current value of a single option.
int rs_supports_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
Determines device metadata.
void rs_enable_motion_tracking_cpp(rs_device *device, rs_motion_callback *motion_callback, rs_timestamp_callback *timestamp_callback, rs_error **error)
Enables and configures motion-tracking data handlers.
rs_output_buffer_format
Output buffer format: sets how librealsense works with frame memory.
Definition: rs.h:74
const char * rs_get_failed_args(const rs_error *error)
Returns static pointer to arguments of a failing function in case of error.
rs_format rs_get_detached_frame_format(const rs_frame_ref *frame, rs_error **error)
Retrieves frame format.
void rs_get_motion_intrinsics(const rs_device *device, rs_motion_intrinsics *intrinsic, rs_error **error)
Retrieves intrinsic camera parameters for a motion module.
rs_preset
Presets: general preferences that are translated by librealsense into concrete resolution and FPS.
Definition: rs.h:82
rs_log_severity
Severity of the librealsense logger.
Definition: rs.h:265
const char * rs_get_device_firmware_version(const rs_device *device, rs_error **error)
Retrieves the version of the firmware currently installed on the device.
rs_device * rs_get_device(rs_context *context, int index, rs_error **error)
Retrieves connected device by index.
int rs_poll_for_frames(rs_device *device, rs_error **error)
Checks if new frames are available, without blocking.
rs_option
Defines general configuration controls.
Definition: rs.h:129
double rs_get_detached_frame_metadata(const rs_frame_ref *frame, rs_frame_metadata frame_metadata, rs_error **error)
Retrieves metadata from a frame reference.
int rs_supports(rs_device *device, rs_capabilities capability, rs_error **error)
Determines device capabilities.
const char * rs_distortion_to_string(rs_distortion distortion)
const char * rs_get_error_message(const rs_error *error)
Returns static pointer to error message.
void rs_start_source(rs_device *device, rs_source source, rs_error **error)
Begins streaming on all enabled streams for this device.
const char * rs_get_device_serial(const rs_device *device, rs_error **error)
Retrieves unique serial number of the device.
rs_format
Formats: defines how each stream can be encoded.
Definition: rs.h:54
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)
Enables a specific stream and requests specific properties.
int rs_is_motion_tracking_active(rs_device *device, rs_error **error)
Checks if data acquisition is active.
const char * rs_capabilities_to_string(rs_capabilities capability)
const char * rs_event_to_string(rs_event_source event)
int rs_get_stream_framerate(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the frame rate for a specific stream.
rs_blob_type
Proprietary formats for direct communication with device firmware.
Definition: rs.h:228
void rs_stop_source(rs_device *device, rs_source source, rs_error **error)
Ends data acquisition for the specified source providers.
rs_source
Source: allows you to choose between available hardware subdevices.
Definition: rs.h:91
unsigned long long rs_get_detached_frame_number(const rs_frame_ref *frame, rs_error **error)
Retrieves frame number from frame reference.
const char * rs_source_to_string(rs_source source)
void rs_get_device_options(rs_device *device, const rs_option *options, unsigned int count, double *values, rs_error **error)
Efficiently retrieves the value of an arbitrary number of options, using minimal hardware IO.
rs_camera_info
Read-only strings that can be queried from the device.
Definition: rs.h:237
const char * rs_get_device_info(const rs_device *device, rs_camera_info info, rs_error **error)
Retrieves camera specific information, such as versions of various internal componnents.
rs_capabilities
Specifies various capabilities of a RealSense device.
Definition: rs.h:214
void rs_set_device_options(rs_device *device, const rs_option *options, unsigned int count, const double *values, rs_error **error)
Efficiently sets the value of an arbitrary number of options, using minimal hardware IO.
void rs_get_motion_extrinsics_from(const rs_device *device, rs_stream from, rs_extrinsics *extrin, rs_error **error)
Retrieves extrinsic transformation between specific stream and the motion module.
void rs_get_device_option_range(rs_device *device, rs_option option, double *min, double *max, double *step, rs_error **error)
Retrieves the available range of values for a supported option.
const char * rs_get_device_usb_port_id(const rs_device *device, rs_error **error)
Retrieves the USB port number of the device.
#define RS_API_VERSION
Definition: rs.h:28
int rs_supports_camera_info(rs_device *device, rs_camera_info info_param, rs_error **error)
Returns true if given camera information parameter is supported by the device.
const void * rs_get_frame_data(const rs_device *device, rs_stream stream, rs_error **error)
Retrieves the contents of the latest frame on a stream.
void rs_release_frame(rs_device *device, rs_frame_ref *frame, rs_error **error)
Releases frame handle.
rs_stream rs_get_detached_frame_stream_type(const rs_frame_ref *frame, rs_error **error)
Retrieves frame stream type.
int rs_get_device_count(const rs_context *context, rs_error **error)
Determines number of connected devices.
int rs_device_supports_option(const rs_device *device, rs_option option, rs_error **error)
Determines if the device allows a specific option to be queried and set.
void rs_disable_stream(rs_device *device, rs_stream stream, rs_error **error)
Disables a specific stream.
rs_ivcam_preset
For SR300 devices: provides optimized settings (presets) for specific types of usage.
Definition: rs.h:110
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.hpp:282
bool is_identity() const
Definition: rs.hpp:283
float3 transform(const float3 &point) const
Definition: rs.hpp:284
float y
Definition: rs.hpp:248
float x
Definition: rs.hpp:248
float x
Definition: rs.hpp:249
float y
Definition: rs.hpp:249
float z
Definition: rs.hpp:249
Video stream intrinsics.
Definition: rs.hpp:253
float2 project_to_texcoord(const float3 &point) const
Definition: rs.hpp:268
float3 deproject(const float2 &pixel, float depth) const
Definition: rs.hpp:263
float vfov() const
Definition: rs.hpp:255
distortion model() const
Definition: rs.hpp:256
float hfov() const
Definition: rs.hpp:254
bool operator==(const intrinsics &r) const
Definition: rs.hpp:270
float2 project(const float3 &point) const
Definition: rs.hpp:267
float2 texcoord_to_pixel(const float2 &coord) const
Definition: rs.hpp:260
float3 deproject_from_texcoord(const float2 &coord, float depth) const
Definition: rs.hpp:264
float2 pixel_to_texcoord(const float2 &pixel) const
Definition: rs.hpp:259
Motion data from gyroscope and accelerometer from the microcontroller.
Definition: rs.hpp:296
motion_data()
Definition: rs.hpp:298
motion_data(rs_motion_data orig)
Definition: rs.hpp:297
Motion device intrinsics: scale, bias, and variances.
Definition: rs.hpp:276
motion_intrinsics()
Definition: rs.hpp:277
Timestamp data from the motion microcontroller.
Definition: rs.hpp:289
timestamp_data(rs_timestamp_data orig)
Definition: rs.hpp:290
timestamp_data()
Definition: rs.hpp:291
Definition: rscore.hpp:119
Definition: rscore.hpp:65
Cross-stream extrinsics: encode the topology describing how the different devices are connected.
Definition: rs.h:333
float translation[3]
Definition: rs.h:335
float rotation[9]
Definition: rs.h:334
Definition: rscore.hpp:133
Definition: rscore.hpp:45
Video stream intrinsics.
Definition: rs.h:301
float fy
Definition: rs.h:307
rs_distortion model
Definition: rs.h:308
float ppy
Definition: rs.h:305
float fx
Definition: rs.h:306
int height
Definition: rs.h:303
int width
Definition: rs.h:302
float ppx
Definition: rs.h:304
Definition: rscore.hpp:147
Definition: rscore.hpp:126
Motion data from gyroscope and accelerometer from the microcontroller.
Definition: rs.h:348
Motion module intrinsics: includes accelerometer and gyroscope intrinsics structs of type rs_motion_d...
Definition: rs.h:326
Definition: rscore.hpp:140
Timestamp data from the motion microcontroller.
Definition: rs.h:340